JP3653196B2 - Construction support information system using virtual reality. - Google Patents

Description

【００２８】
同表に示したように、一例としてトンネル建設工事、法面保護工、開削工事等における各施工段階で必要とされる多種の施工支援情報が細かい工種に対応したインデックスに対応して得られるようになっている。また、各施工支援情報には必須データ、オプションデータとしてのレベル付け（○、△で表示）がされており、作業者が状況に応じて必要とする描画オブジェクトを適宜選択することもできる。
【００２９】
この施工支援情報データベース蓄積部３２に蓄積される描画オブジェクトのもととなる基本形状データ３０が、たとえばトンネル建設工事におけるロックボルト工のロックボルトの描画オブジェクトの生成情報であれば、直径、長さ、ロックボルトの打設方向、打設位置等のデータから構成される。また２次覆工のための配筋データ等における異形鉄筋の各種情報も同様な線材の情報として与えられる。鉄筋のような線材データは表示において適当な簡略化を行っても映像においてリアル感が損なわれないが、覆工コンクリートのように面形状で構成される立体データにおいては、骨格となるフレームデータに、質感を考慮した適当なテクスチャー要素の貼り付けを行った描画オブジェクトとして生成される。
【００３０】
ところで、作業者Ｗの位置情報（視点位置Ｅ1、視点姿勢Ｅ2）を視点パラメータとして描画オブジェクトを生成する際、実際に作業者ＷがＳＴＨＭＤ１０を通じて見ている現実空間の広がりと描画オブジェクトの表示スケール、消失点、立体視のための整合は厳密にはとられていない。そこで、この描画オブジェクトを現実空間内でのリアルな立体画像として生成するために、映像切替コントローラ３１を介して位置情報（Ｅ1、Ｅ2）の初期化、微調整、表示スケールの調整、各作業者固有の身体情報（頭頂部Ｅ0と視点位置Ｅ1とのずれ、瞳孔間距離）による画像調整が行えるようになっている。これらの調整を行いながら、描画オブジェクト再構築部３４で作業者Ｗの視点の移動に追従して変化する視点パラメータをもとに描画オブジェクトの立体形状等を変化させる。
【００３１】
さらにこの描画オブジェクトは仮想立体映像として映像データ変換部４０、映像信号転送部としてのＨＭＤコントローラ４３から作業者ＷのＳＴＨＭＤ１０に搭載されている映像信号受信部１５を介して映像表示装置１２としての表示素子（図示せず）に表示される。
【００３２】
ここで、図２を参照してノートＰＣ３１内で構築された描画オブジェクトを立体映像に変換するための映像データ変換部４０の構成について説明する。
作業者Ｗが携帯するノートＰＣ３１のディスプレイは図２に模式的に示したように、４個の分割画面で構成されている。これら４個の分割画面のうち、上部画面には描画オブジェクトをＳＴＨＭＤ１０で立体視するために、描画オブジェクトが作業者Ｗの左右の目で別々に見たときの視距、光路長差を考慮した左目、右目用の画像として生成して表示されている（以下、左目用画像をＬ画像、右目用画像をＲ画像と記す。）他の分割画面には作業者Ｗの位置情報（視点位置Ｅ1、視点姿勢Ｅ2）が上述した検出手段により作業者Ｗの動きに追従して逐次変化する数値情報として出力されている。
【００３３】
上述のＬ画像、Ｒ画像を構成する描画オブジェクトは、この数値情報としての視点位置Ｅ1、視点姿勢Ｅ2をもとに高速レンダリングされ、最新の画像データに更新される。そして、この画像データ（Ｌ画像、Ｒ画像）はアナログＲＧＢ信号としてノートＰＣ３１から出力され、さらに図２に示したスキャンコンバータによってＮＴＳＣ信号に変換され、ＨＭＤコントローラ４３に出力される。
【００３４】
図２に示したように、上述のアナログＲＧＢ信号は映像データ変換部４０としてのスキャンコンバータでＲ画像データ及びＬ画像データの左右の２つの画像データに分離され、この画像データを交互にＳＴＨＭＤに出力することにより立体映像信号を得ることができる。
ここで、ノートＰＣ３１上に逐次蓄えられている前述した作業者Ｗの位置情報（視点位置Ｅ1、視点姿勢Ｅ2）を考慮した描画オブジェクトから右目用の立体映像と左目用の立体映像を生成する手順について簡単に説明する。
まず、仮想立体映像構築ソフトによってノートＰＣ３１の画面上に表示されたＲ画像とＬ画像に対して作業者Ｗの位置情報が視点パラメータとして与えられる。そして与えられた視点パラメータに対応してそれぞれの画像において所定インターバルで高速レンダリングが行われる。
そして、再構築により更新された最新の画像データは映像データ変換部４０の第１のスキャンコンバータ４１に入力され、第１のスキャンコンバータ４１で右目用のＲ画像データが取り出される。さらに第２のスキャンコンバータ４２に出力信号がスルーアウトされ、次いで左目用のＬ画像データが取り出される。このＲ画像データとＬ画像データとは外部同期を取りながら、高速にスイッチングされて映像信号転送部としてのＨＭＤコントローラ４３に出力される。このとき画像信号はＮＴＳＣ準拠信号に変換されている。このＨＭＤコントローラ４３を介して作業者Ｗが装着しているＳＴＨＭＤ１０の映像信号受信部１５に立体画像信号が送出され、ＳＴＨＭＤ１０内の表示素子に仮想立体映像が表示される。このときＨＭＤコントローラ４３から作業者ＷのＳＴＨＭＤ１０までのデータ伝送は無線または有線のいずれも可能である。
【００３５】
次に、図１、図３に示した作業者の本システムの利用環境について簡単に説明する。
まず、作業者Ｗは作業対象となる位置近くでＳＴＨＭＤ１０を装着する。このＳＴＨＭＤ１０には付帯装置として作業者Ｗの視点の３次元の回転が計測できるジャイロセンサー２３が装着されている。また、本実施の形態では作業者Ｗのかぶる安全帽の頂部に反射プリズム２１が装着されている。この反射プリズム２１に対して作業位置の後方の既知座標点に設定されたトータルステーション２２等によりレーザー測距を逐次行うことにより、作業者Ｗの視点位置は自動追尾され、これにより作業者Ｗの位置情報が絶対座標で得られる。なお、屋外の場合は、ＤＧＰＳにより直接、作業者Ｗの絶対座標を求めることができる。
【００３６】
作業者Ｗは映像切替コントローラ３１を操作して施工支援情報データベースのインデックスメニューによってこれからの作業に必要な施工支援情報を施工支援情報データベース蓄積部３２内から選択する。このとき選択された施工支援情報の描画オブジェクトは、作業者Ｗの位置情報を視点とした最新の形状として再構築されて作業者ＷのＳＴＨＭＤ１０の表示素子に転送される。表示映像はさらに内蔵光学系を介してあたかも作業者Ｗが観察している現実空間内に存在するかのようにＳＴＨＭＤ１０の視野内のハーフミラーに映し出される。
映し出された仮想立体映像は作業者Ｗがこれから行う作業の完成形状であったり、作業をガイドする指標であったりする。このため作業者Ｗは手元の図面等の値を現場においてスケールアウトしたりすることなく、映し出された映像に従って直接、各作業を進めることができる。このとき作業者Ｗが移動したり、頭を動かした場合、その位置情報は逐次ＰＣ３１に送られ、描画オブジェクトの形状や消失点の更新がなされる。これにより、移動後の作業者Ｗの視点情報に合わせて常に作業者Ｗは自分が見ている方向の現実空間内に仮想物体を現実空間上に重ね合わせることができ、作業者Ｗの連続した作業を確実にフォローしていくことができる。
【００３７】
次に、このシステムを用いた実施例としてトンネル工事における各工程での作業を行う場合の適用例について説明する。
図４（ａ）は発破工法によるトンネル掘削時の切羽の発破孔の削孔に利用される仮想現実感を模式的に示した模式縦断面図である。同図には、説明のために削孔予定の発破孔が仮想線で表示されている。
一方、図４（ｂ）は、作業者Ｗが実際に見ている切羽１を含む現実空間と、作業者Ｗが装着したＳＴＨＭＤ１０のハーフミラーに投影された削孔予定の発破孔２の仮想映像とがその位置、方向が重畳された状態で映し出されている。作業者Ｗは現実空間の切羽面に映し出された仮想立体画像としての発破孔２位置および必要な削孔ロッド３の差し角に合わせてロックボルトジャンボ４に搭載された削岩機の削孔ロッド５の先端を３次元的に映し出された発破孔２の延長上に移動させ、削孔作業を行うことができる。
このとき仮想立体画像には切羽奥の地盤内での地盤状況も合わせて映し出されている。このため、切羽１で観察困難な弱部１ａでの発破作業を慎重に行うようにすることもできる。
このように作業者Ｗが観察している実際の切羽１に削孔予定の発破孔２が３次元的に表示されるため、従来のように切羽にレーザーポインター等で削孔点を投影したり、スプレー等でマーキングした場合に対して、勘に頼らずに削孔ロッドの差し角等を正確に決定することができる。このため、トンネルの余掘りが大幅に減少する。また、削岩機の位置決めが迅速に行えるため全体の作業工程が短縮されるという利点もある。
【００３８】
図５（ａ）は掘削に伴い、切羽後方で支保工を建て込む場合に利用される仮想現実感について説明した縦断面図である。作業者Ｗが支保工の組立位置からトンネルの切羽１側を観察したときに、作業者ＷのＳＴＨＭＤ１０を通して見た視野内には、図５（ｂ）に示したように所定サイズの鋼製支保工６が奥行き方向に所定のピッチで建て込まれた仮想立体映像が映し出されている。従って、この仮想立体映像中の支保工位置に重ね合せるように実際の支保工７を移動させ、支保工７を正確な位置に容易かつ迅速に建て込んで設置することができる。
【００３９】
図６（ａ）は覆工コンクリート工事までの工程が完了し、２次覆工の出来形検査を行う検査員がトンネル内を移動している状態を示した縦断面である。図６（ａ）に示した完成状態において、正確な寸法形状に設定された２次覆工コンクリート８の仮想立体映像を現実の覆工コンクリート９と重畳させて観察すると、実際に打設された覆工コンクリート９とあらかじめ設計上設定されていた覆工コンクリート８との形状や覆工厚の施工誤差を確認することができる。このとき仮想立体映像の覆工形状と現実の覆工との重なり部分８ａを比較することにより、この正規の設計覆工断面に対して過大厚となった部分、過小厚となった部分、トンネル軸線とのずれ等を直観して確認でき、出来形精度を迅速に確認することができる。また、この方法による出来形検査では、従来所定の距離程ごとにしか行っていなかった出来形検査をトンネル縦断方向に歩きながら全長にわたって実施することができるようになるという効果がある。
【００４０】
次に、現場の計測データを収集し、その計測データをもとにして解析した結果を所定の仮想立体映像として生成し、この仮想立体映像を現場作業者ＷのＳＴＨＭＤを介して実際に見える視野内の実像に重ねて表示し、現場位置での迅速な安全確認や地質構造推定等を行えるようにした実施の形態について図７を参照して説明する。
【００４１】
本システムでは、図７のシステム構成図に示したように、前述した各種の解析を行うために種々の計測データを収集し、そのデータを加工して入力データとして解析部５０で行った解析結果を、施工支援情報データベース３２及び描画オブジェクト再構築部３４に取り込み、所定の仮想立体映像として生成するようになっている。
【００４２】
以下、前述の施工例と同様に、トンネル建設工事を例に説明する。
トンネル現場で収集される計測データとして代表的なものに以下がある。
(1)所定計測断面ごとに収集されるデータ
・内空変位量、天端沈下量、岩盤内の地中変位量、応力変化量、支保部材（Ｈ形鋼、吹付けコンクリート、ロックボルト、ロックアンカー）のひずみ、応力、軸力
・支保工の変状状況（Ｈ形鋼、ロックボルト、吹付けコンクリート）
(2)切羽面で収集されるデータ
・切羽観察記録（切羽の画像、岩質、風化変質程度、亀裂の頻度・形態、湧水状況など）
・岩盤の亀裂の走向・傾斜情報
これらのうち、長さデータは各種測距儀、精密写真測量、スチールテープ等により測定され、その他のデータはそれぞれ地中変位計、各種歪み計、応力計等の計測機器を用いた計測が行われ、データロッガの入力装置を利用して一定のフォーマットのデータとして記録媒体に収集される。
【００４３】
さらにこれらの収集された各データは、公知の通信プロトコルに基づいて現場に近い事務所等のＰＣ等のデータ処理部に連続ないし所定タイミングで送信される。このデータ処理部（プリプロセッサ部）において、計測データは対象となる解析システムの入力データあるいはデータベースの蓄積項目としてのデータフォーマットに加工される。また前述した精密写真測量において収集されたディジタル画像は所定の方法で画像処理を行うことで写真座標を取得することができる。この写真座標を仮想立体画像の基礎データとして有効である。
【００４４】
特に、前述した「３次元地質分析システム」では図８に示したようにトンネル縦断方向に関して複数の断面データから連続した平面図、側面図が得られるが、さらに、これらの地質構造を、本発明の仮想立体映像として生成して実際の視野に重ね合わせることができる。これにより、切羽では平面的にしか確認できない破砕帯、断層等の規模、走向傾斜等を図９（ａ）、（ｂ）に示したように、視認方向Ａ，Ｂ（図８参照）のそれぞれの方向において、作業者Ｗはトンネル切羽より奥方の地質の変化を含めて立体的に把握することができる。これにより、切羽の進行に伴って適用される各種の補助工法の適切な選定に活用することができる。
【００４５】
また、本実施の形態の逆解析システムでは、現場事務所に設置されたＰＣにインストール可能な程度の容量のシステムを想定している。このＰＣ上の逆解析システムの入力データとして内空変位計測データを加工したものを用いている。通常、この種の逆解析システムでは対象断面の解析モデルをあらかじめ作成しておき、この解析モデルに計測データを入力し、解析を行う。この解析により周辺地山（岩盤）弾性係数、初期地圧、ポアソン比を同定して、この同定物性値を用いて次段階の掘削に伴う地山や支保部材の変位・応力予測が行える。したがって、トンネル天端、側壁の変位を仮想立体映像として生成し、実際の視野上に重ね合わせることにより、ビジュアルにトンネル内空変位を確認することができる。
【００４６】
逆解析結果を用いた予測解析は、周辺地山のひずみ分布や支保部材の応力も精度良く予測できる。これらのひずみ分布や支保部材の応力分布と、所定の計測管理基準値（ひずみや応力度など）と比較し、計測管理基準値を超えた値が生じた領域等を映像として実現場の映像と重ね合わせることができる。図１０は仮想立体映像として地山内に仮想の設計ロックボルトＢを映し出し、そのときボルトＢの支保作用が効いた状態でのトンネル地山側での支保部材の応力分布がコンター形状Ｃで模式表示されている。これにより、作業者Ｗは地山のどの部分が実際に許容値内にあるかどうか等を視覚的に判断することができる。
【００４７】
また、対策工選定ファジーエキスパートシステムでは、現場から得られた地質、各種計測データ、切羽画像データや切羽観察記録をデータベース内の蓄積データと照合して必要に応じて適切な対策工を選定することができる。選定された対策工は、推奨された規模、範囲を実現場の座標、形状データに合わせて仮想空間映像として再構築させ、作業員が視認した現場の景色と重ね合わせることができ、視覚的にその対策工の規模等を確認できるとともに、施工時のガイドとして施工の迅速化、精度向上を図ることができる。
【００４８】
さらに、キーブロック解析の結果、潜在的に滑り出す危険性をもっている岩石ブロック（キーブロック）の位置、規模が確認された場合でも、キーブロックは地盤内に存在しているため実際には見ることができない。そこでその位置、規模を仮想立体映像として再構築し、作業員の視認している範囲にその映像を重ね合わせてやることで、実施工では、きわめて特定しにくいキーブロックの位置や補強工の方向などが容易に判断することが可能になる。特に、ドーム状（半球状）空洞などの場合には通常のトンネルとは異なり、掘削の方向が常に変化するため、キーブロック位置が特定しにくい。このような場合にその効果は一層大きい。
【００４９】
これらの逆解析、キーブロック解析の結果は従来、２次元ないし３次元出力結果として図化していた。本発明では、これらの解析結果データに作業者の視点座標データを盛り込み、仮想立体画像として生成している。これらの画像データはたとえば必要に応じて座標変換プログラムでＤＸＦファイル等の画像ファイルに変換する。そして作業者の視点座標を取り込んだオブジェクトとして生成し、ＳＴＨＭＤにシースルー表示させ、作業者の視野内に情報を重ね合わせる。
【００５０】
表示映像は通常、３次元データとして立体的に表示されるが、所定地山断面での内空変位、歪み等はデータの簡略化を図り、２次元表示することで見やすくしてもよい。なお、３次元的な地質構造の表示に関しては、作業者が切羽を見た視野内の切羽前方だけでなく、トンネル全線にわたる表示も可能である。さらにファジーエキスパートシステムで選定された各種補助工法、たとえば増しボルト、増し吹付けコンクリート、鏡吹付けコンクリート、先受け工等は選定部材データ、施工ピッチ、施工範囲等を考慮した仮想映像を生成するようにし、現状地盤に補助工法を付加した状態を視覚的に確認することができる。
【００５１】
以上の説明では、トンネル工事を例に挙げ、各工程において本発明のシステムを適用した施工例について説明したが、この他対象となる工事としては狭い場所での複雑な空間設定を行うものや、土工事における切土、盛土等の形状等を確認したり、また掘削仮設工事においてその掘削状態や支保工の組立情報等を与えることにより山留め工事を迅速に行うことも可能である。
【００５２】
【発明の効果】
以上に述べたように、建設工事において現実空間に重ね合わせて映し出された仮想立体映像を利用して、対象とする現場に即した計測データの解析結果情報、施工管理情報等を提供し、施工の迅速化、合理化、安全性の向上という効果を奏する。
【００５３】
また、１次元線情報あるいは２次元面情報であった計測データ及び解析結果を、本発明において３次元化し、さらに作業者の視覚情報を重ね合わせた立体映像として可視化することによって、補強工法の範囲や縫返し区間等を具体的に判定しやすくなるという効果も期待できる。
【図面の簡単な説明】
【図１】本発明による仮想現実感を利用した施工支援情報システムの一実施の形態を示した概略システム構成図。
【図２】本発明の施工支援情報システムのうち、映像データ変換部の一実施の形態を示した概略システム構成図。
【図３】作業者の位置情報を得るためのシステム構成の一実施の形態を示した模式説明図。
【図４】本システムをトンネル建設工事における発破孔削孔作業に適用した実施の形態を示した模式状態図。
【図５】本システムをトンネル建設工事における支保工建て込み作業に適用した実施の形態を示した模式状態図。
【図６】本システムをトンネル建設工事における覆工出来形検査に適用した実施の形態を示した模式状態図。
【図７】本発明による仮想現実感を利用した施工支援情報システムの他の実施の形態を示した概略システム構成図。
【図８】３次元地質分析システムの解析結果例を示した模式説明図。
【図９】図８に示したデータをトンネル建設工事における切羽観察データとして適用した実施の形態を示した模式状態図。
【図１０】設計ロックボルトによる地山内応力分布状態を示した模式状態図。
【符号の説明】
１０ シースルーヘッドマウンテッドディスプレイ（ＳＴＨＭＤ）
１１ ゴーグル
１２ 映像表示装置
１５ 映像信号受信部
２１ 視点位置検出手段
２３ 視点姿勢検出手段
３１ 映像切替コントローラ
３２ 施工支援情報データベース蓄積部
３３ 画像データ変換部
４０ 映像データ変換部
４３ 映像信号転送部
５０ 解析部[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a construction support information system using virtual reality, in particular, analysis result information of measurement data according to a target site using a virtual stereoscopic image projected and superimposed on a real space in construction work, The present invention relates to a construction support information system using virtual reality that provides construction management information and the like to streamline construction.
[0002]
[Prior art]
With the recent development of computer technology, a proposal of virtual reality that incorporates real virtual stereoscopic video into a real space has been made. CG (computer graphics) created in advance as a moving image of a three-dimensional figure is projected as a virtual three-dimensional image onto an HMD (head mounted display) worn by the observer, and optically compared with the real space viewed by the observer through goggles Various simulation systems that synthesize and provide visual work information to an observer and support the actions of the worker in a real space have been proposed. This simulation system is called an AR (Augmented Reality) system. In this AR system, in order to support various operations performed by an observer, it is required to provide high-accuracy CG information capable of providing appropriate work suggestions.
[0003]
In this AR system, a stereoscopic image such as a virtual structure by CG displayed on a display element incorporated in an HMD is superimposed on incident light on a half mirror positioned so as to transmit light from the outside that is incident through goggles. A see-through type HMD that can be projected through an optical system is used. Thus, in an AR system using a see-through type HMD (hereinafter referred to as STHMD), a CG image space is optically accurately superimposed on a real space viewed by an observer, thereby realizing a real space and a virtual three-dimensional space. And the virtual reality of the observer can be realized. For this reason, in this AR system, it is important to grasp the three-dimensional position of the viewpoint of the observer wearing the STHMD. At present, the laboratory level in the room is realistic as an environment in which an observer can use STHMD.
[0004]
By the way, in civil engineering work where there is a lot of work outdoors, there have been no reports of using virtual reality as described above to improve work efficiency, but the completed construction structure created by CG in the original landscape photograph etc. Conventionally, a method for simulating a shape and a color by fitting the is used. That is, in construction work such as civil engineering and construction, the construction position of the structure is grasped by absolute coordinates, and a structure having a structural dimension in design is constructed based on the absolute coordinates. For this reason, if various structures using a CG image of a predetermined size can be fitted in the real space and various constructions can be performed using this structure, construction with the same quality as the result of so-called skilled work becomes possible. It will be possible to improve the efficiency and accuracy of the work at the site.
[0005]
In actual construction, measurements are made to manage the finished shape, and ground conditions that change with the progress of construction and ground deformation due to construction effects are measured. Various analyzes have been conducted in order to teach the countermeasures against the problem and to perform appropriate construction. Based on these analysis results, when the ground condition at the face position that progresses in tunnel construction works, etc., changes every moment, the ground deformation is predicted in advance, and necessary information for safe construction is provided. Can be obtained.
[0006]
In tunnel excavation work, the following analysis system has been developed by the applicant as an analysis example based on such measurement results.
(1) Inverse analysis
Create an analysis model of the cross section of the tunnel in advance and perform reverse analysis based on various measurement data to identify the elastic modulus, initial ground pressure, Poisson's ratio (output by reverse analysis) of the surrounding natural ground. This identification value is used to predict the displacement and stress of the ground and supporting members in the next stage excavation.
(2) 3D geological analysis system
Using the digital image of the tunnel face, the geological structure of the natural mountain in the longitudinal direction of the tunnel is analyzed, the change of the geology in the back part of the face is assumed in advance, and a preparatory work for that is performed.
▲ 3 ▼ Fuzzy expert system for selecting countermeasures
Use construction database such as face image data and face observation records, etc., to select appropriate countermeasures for the crushing zone encountered, and use it for construction such as precautions and emergency measures.
(4) Key block analysis
Key block analysis estimates the position and size of a rock block (key block) that can potentially slide out when cavities or tunnels are excavated. To stabilize the tunnel.
[0007]
[Problems to be solved by the invention]
By the way, in civil engineering construction work taking tunnel excavation work as an example, there is room for improvement in efficiency and high accuracy of the following work by introducing an AR system in the following work.
[0008]
(1) In blast drilling at the face, rock bolt hole drilling as a support member, and fore-piling work in the receiving method for supporting the ground in front of the face, the drilling position is measured with a laser marker or directly. The determined position was marked with paint or the like, and the operator adjusted the flea position of the drilling machine mounted on the drill jumbo at that position by operating the operation panel. Therefore, skill is required for work.
(2) In the support construction, the support construction position is marked with a laser marker, and the support work held by the lifting machine is suspended at the position previously determined by surveying by the heavy equipment operator. .
(3) Arrangement of lining concrete was performed while actually measuring based on the design drawings.
(4) In the case of workmanship management, after the completion of the secondary lining of the tunnel, the measurement staff will use the steel tape or distance measuring device to measure the internal dimensions of the measuring points set at predetermined intervals in the tunnel. It was actually measured using.
[0009]
In other words, the following points have been pointed out as problems in conventional tunnel construction. In addition, measures have been proposed for more effectively using the analysis results described above in field construction.
(1) With drilling holes, rock bolt holes, and fore-pilling holes in the face, the drilling position on the rock surface can be confirmed by a laser marker, but the flea angle (determined for determining the direction of the hole extending into the rock mass) Determining etc. depended on the intuition and experience of skilled workers. If the hole cannot be drilled at an appropriate insertion angle, there will be excess digging around the tunnel and lack of internal cross section.
(2) Since the heavy equipment operator cannot directly see the position where the support work is to be built, an assistant for guidance is required, and there is a possibility that the work efficiency and the safety of the worker cannot be sufficiently achieved.
(3) When inspecting the finished shape, there is only information at the measuring points, information between the measuring points is not obtained at all, and if the construction section is long, it takes a lot of time to measure, and it is not at the measuring point. There is also a possibility that the defective shape cannot be covered.
(4) The analysis results by the above-described analysis system are output in various output formats using 2D or 3D display, and it is necessary to make a concrete construction plan based on the analysis results on the site.
[0010]
However, by further advancing these forms of use, for example, in inverse analysis, it is possible to accurately predict the strain distribution of the surrounding natural ground and the stress of the supporting member based on the analysis results, but the analysis results obtained at a certain position (region) are predetermined. When an analysis value larger than the control value is generated, it is desirable that the appropriate length of the lock bolt and the appropriateness of the proof stress can be visually determined at the site position. Further, if the inner space displacement can be visually confirmed at the actual site, it can be intuitively understood that the predetermined inner space cannot be secured. If the virtual stereoscopic video can be used specifically, there are the following advantages in each analysis.
[0011]
Since the analysis result by the 3D geological analysis system is stored as 3D coordinate data, it is relatively easy to display on the AR system. By displaying the analysis result superimposed on the actual image, Can effectively grasp the geology in front of the face and confirm the construction safety against the next excavation that cannot be seen.
[0012]
Furthermore, by displaying the countermeasure work selected by the fuzzy expert system superimposed on the actual image at the actual site, the effect of the countermeasure work can be confirmed more easily. On the contrary, by comparing based on the database so far, it is possible to know in advance the defects due to inappropriate countermeasures, and the selection mistakes of countermeasures by young engineers are drastically reduced.
[0013]
In the key block analysis described above, the shape and scale of the key block that is assumed in the ground and cannot be actually confirmed can be visually confirmed by superimposing it on the actual ground, and reinforcement to prevent collapse It is possible to easily determine the layout, direction, scale, etc. of the work.
[0014]
Therefore, the object of the present invention is to solve the above-mentioned problems of the prior art, and to make the virtual stereoscopic video information created by the CG fit into the real space that the operator views through the STHMD. The purpose is to provide analysis result information, construction management information, and the like useful for various kinds of work performed by the worker in the space, thereby improving work efficiency, construction accuracy, and safety.
[0015]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides viewpoint position detection means for obtaining the worker's viewpoint position, viewpoint posture detection means for obtaining the worker's viewpoint position, and the reality of the outside world to be observed through the attached goggles. In order to capture the space in the field of view, the image display means has a transflective surface that transmits the incident light from the outside world and projects the image information displayed on the equipped display element through the built-in optical system. And in the real space to be observed In this case, the post-construction shape assumed according to the construction type or process to be constructed is stored by assigning an index corresponding to a predetermined menu, and the index is obtained by the operator operating the video switching means at hand. Obtained by selecting and changing video information projected on the video display means With the construction support information database storage unit that stores drawing objects generated from three-dimensional shape data, the position information of the worker obtained from the viewpoint position detection means and the viewpoint posture detection means, and the movement of the worker Based on the changed position information, a drawing object restructuring unit that sequentially reconstructs the drawing object to superimpose the drawing object on the default coordinates of the real space to be observed, and the reconstructed drawing object A video signal conversion unit that converts image data into a video information signal that can be displayed on a display element mounted on the video display means, and a video that transfers the video information signal to a video signal reception unit provided in the video display means And a signal transfer unit.
[0016]
Viewpoint position detecting means for obtaining the worker's viewpoint position, viewpoint posture detecting means for obtaining the worker's viewpoint position, and in order to capture the real space of the outside world to be observed through the attached goggles in the field of view The image information displayed on the display element equipped with the image light is transmitted through the built-in optical system. An analysis unit that performs analysis using the transmitted measurement data as an input value, and an analysis result returned from the analysis unit is processed and generated as information display data that can be projected into the field of view In addition, the post-construction shape assumed according to the construction type or process to be constructed is stored with an index corresponding to a predetermined menu, and the operator selects the index by operating the video switching means at hand. Obtained by changing the video information projected on the video display means With the construction support information database storage unit that stores drawing objects generated from three-dimensional shape data, the position information of the worker obtained from the viewpoint position detection means and the viewpoint posture detection means, and the movement of the worker Based on the changed position information, a drawing object restructuring unit that sequentially reconstructs the drawing object to superimpose the drawing object on the default coordinates of the real space to be observed, and the reconstructed drawing object A video signal conversion unit that converts image data into a video information signal that can be displayed on a display element mounted on the video display means, and a video that transfers the video information signal to a video signal reception unit provided in the video display means And a signal transfer unit.
[0017]
In the construction support information database storage unit, the drawing object is stored with an index corresponding to a predetermined menu, and the operator selects the index by operating the video switching unit at hand to display the video display unit. It is preferable to change the video information projected on the screen.
[0018]
The analysis unit is a reverse analysis system, or a three-dimensional geological analysis system, wherein the cross-sectional data of the system is generated as continuous image data and stored in the construction support information database, or It is a countermeasure work selection fuzzy expert system, and when a predetermined countermeasure work information stored in the system is selected, it is generated as image data. Further, it is a key block analysis system, which is obtained by the system. It is preferable that the shape and / or the size of the key block formed is generated as image data.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of a construction support information system using virtual reality according to the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a system configuration diagram showing an example of a construction support information system according to the present invention. As shown in FIG. 1, for example, an operator (operator) who operates a construction machine in a tunnel wears an STHMD in order to experience a virtual reality by a stereoscopic image in addition to predetermined safety equipment. This STHMD is a goggle type display capable of projecting an image by a known optical see-through method, and is used by directly attaching to the face of the worker W.
[0020]
The STHMD 10 has a goggle 11 portion having a liquid crystal shutter (not shown) capable of adjusting transmission of incident light from the outside, and a video display capable of projecting an image on a half mirror (not shown) housed in the goggle 11. Device 12. A TFT liquid crystal panel is used as a display element of the video display device 12. The image displayed on the liquid crystal panel is projected onto a half mirror through an optical system (not shown) composed of a plurality of relay lenses and mirrors housed on the side of the goggles 11.
[0021]
Further, as shown in FIG. 3, a reflective prism 21 as a viewpoint position detecting means is attached to a part of the safety cap worn by the worker W. The reflecting prism 21 reflects the laser light emitted from the total station 22 installed at a predetermined position behind. Since the reflected light is received again on the total station 22 side, the position of the top position E0 of the operator W can be grasped. Further, since the total station 22 is provided with an automatic tracking function, it is possible to keep track of the top position E0 of the moving worker W sequentially. Since position correction of the top position E0 of the worker W and the viewpoint position E1 (the center position between the left and right pupils) is also sequentially performed, the position information of the worker W is handled as the viewpoint position E1. Note that this viewpoint position E1 is handled after being converted into left and right pupil positions (EL, ER) specific to the operator for the purpose of creating a stereoscopic image, which will be described later. I will describe it on behalf of E1.
[0022]
For example, in a structure such as a tunnel, the absolute coordinates of the wellhead are required, so the total station 22 position can be set using the distance from the wellhead. Further, the viewpoint position E1 of the worker W can be obtained by distance measurement from the total station 22. On the other hand, in outdoor construction, the viewpoint position E1 of the worker W can be detected in absolute coordinates by a monitoring function using DGPS (differential GPS) using the artificial satellite S.
[0023]
A gyro sensor 23 is attached to the safety cap of the worker W as viewpoint posture detection means for detecting the viewpoint posture E2 of the worker W with the STHMD 10 attached. The gyro sensor 23 used in the present embodiment is composed of a three-axis sensor, and posture (angle) data with respect to the center of the sensor can be acquired from the sensor output. The viewpoint posture E2 can be detected by mounting a servo accelerometer or the like instead of the gyro sensor 23. Further, the viewpoint posture E2 and the viewpoint position E1 may be tracked from the detected movement of the pupil of the worker W by using software. Using such data, the viewpoint position E1 and viewpoint posture E2 of the worker W are acquired as data. This data is used as information for updating the drawing object of the virtual stereoscopic video displayed on the STHMD 10 worn by the worker W later.
[0024]
Here, data processing for obtaining the viewpoint posture E2 and the viewpoint position E1 using the gyro sensor 23 and the reflecting prism 21 mounted on the top of the worker W will be described. From the gyro sensor 23 attached to the head of the worker W, the direction in which the head (face) of the worker W is facing is the unit vector E2 (θx, θy) around the XYZ axes with the center position of the gyro sensor 23 as the origin. , θz). A viewpoint posture E2 is obtained based on the unit vector E2.
On the other hand, the position of the reflecting prism 21 from the reflected light information obtained by receiving again the laser light emitted from the total station 22 installed at the rear known measuring point A (X, Y, Z) on the total station 22 side, that is, the work. The coordinates E0 (X0, Y0, Z0) of the top position of the person W are obtained. Further, this is corrected to the viewpoint position E1 (X1, Y1, Z1) which is the center position between the pupils of the left and right eyes of the operator. In this way, even when the worker W changes the location in accordance with various kinds of work, the position information (viewpoint position E1) can be sequentially detected by the automatic tracking function of the total station 22.
At this time, the position coordinates of the real space visually recognized by the worker W are determined in advance as the default coordinates by the surveying, so that the gaze direction and distance of the worker W are uniquely associated with the real space to be viewed. Determined. As a result, a virtual stereoscopic image that is completely superimposed on the real space that the worker W is viewing can be displayed on the STHMD 10 worn by the worker W.
[0025]
Next, a construction support information database for various constructions used for constructing a virtual stereoscopic image displayed superimposed on the real space will be described.
The construction support information database creates three-dimensional solid shapes, such as various temporary and permanent structures, for which construction support is performed using virtual reality, at a predetermined scale based on actual design drawings, etc. Based on the basic shape data 30 of the three-dimensional shape, it is generated as a drawing object that can be drawn as viewpoint information, the shape and the vanishing point being appropriately changed, and stored in the construction support information database storage unit 32 shown in FIG. Has been.
[0026]
The basic shape data 30 is created on three-dimensional CAD software running on a workstation (WS) or a personal computer (PC), and is saved in a DXF file format. And it is accumulate | stored in the construction assistance information database storage part 32 as a drawing object converted into the data format which can be handled with virtual stereoscopic video construction software. From the construction support information database storage unit 32, construction support information data corresponding to the index assigned by the operation of the image switching controller 31 (see FIG. 1) carried by the worker W near the actual site. The drawing object is taken out as appropriate and can be displayed.
Table-1 is a list showing a part of the construction support information database storage unit 32 in the present embodiment. As shown in the table, in the construction support information database accumulating unit 32, each drawing object as construction support information data is stored in a table format corresponding to a matrix divided by work type and necessary construction support information. . For this reason, common construction support information is repeatedly extracted from the construction support information database storage unit 32 even when the work types are different.
[0027]
[Table 1]

[0028]
As shown in the table, as an example, various construction support information required at each construction stage in tunnel construction work, slope protection work, open-cut work, etc. can be obtained corresponding to the index corresponding to the detailed work type. It has become. In addition, each construction support information is leveled as essential data and optional data (indicated by ◯ and Δ), so that the operator can select a drawing object required according to the situation as appropriate.
[0029]
If the basic shape data 30 that is the basis of the drawing object stored in the construction support information database storage unit 32 is, for example, generation information of a rock bolt drawing object of a rock bolt worker in tunnel construction work, the diameter, length , And is composed of data such as the direction and position of the lock bolt. Various information on deformed reinforcing bars in the reinforcing bar data for secondary lining is also given as similar wire information. Wire rod data such as rebar does not lose its sense of realism even if appropriate simplification in display, but in 3D data composed of surface shapes like lining concrete, it becomes frame data that becomes a skeleton. The drawing object is generated by pasting an appropriate texture element in consideration of the texture.
[0030]
By the way, when a drawing object is generated using the position information (viewpoint position E1, viewpoint posture E2) of the worker W as viewpoint parameters, the actual space spread and the display scale of the drawing object that the worker W actually sees through the STHMD 10; Matching for vanishing point and stereoscopic vision is not strictly taken. Therefore, in order to generate the drawing object as a real stereoscopic image in the real space, the position information (E1, E2) is initialized, finely adjusted, the display scale is adjusted, and each operator is selected via the video switching controller 31. Image adjustment can be performed based on unique body information (deviation between the top of the head E0 and the viewpoint position E1, the distance between the pupils). While making these adjustments, the drawing object reconstruction unit 34 changes the three-dimensional shape of the drawing object based on the viewpoint parameters that change following the movement of the viewpoint of the worker W.
[0031]
Further, the drawing object is displayed as the video display device 12 via the video signal receiving unit 15 mounted on the STHMD 10 of the worker W from the video data converting unit 40 as the virtual stereoscopic video and the HMD controller 43 as the video signal transfer unit. Displayed on an element (not shown).
[0032]
Here, the configuration of the video data conversion unit 40 for converting a drawing object constructed in the notebook PC 31 into a stereoscopic video will be described with reference to FIG.
The display of the notebook PC 31 carried by the worker W is composed of four divided screens as schematically shown in FIG. Among these four divided screens, in order to stereoscopically view the drawing object with the STHMD 10 on the upper screen, the viewing distance and the optical path length difference when the drawing object is viewed separately by the left and right eyes of the worker W are considered. The left eye and right eye images are generated and displayed (hereinafter, the left eye image is referred to as an L image, and the right eye image is referred to as an R image). Position information (viewpoint position E1) of the worker W is displayed on the other divided screens. The viewpoint posture E2) is output as numerical information that sequentially changes following the movement of the worker W by the detection means described above.
[0033]
The drawing objects constituting the above-described L image and R image are rendered at high speed based on the viewpoint position E1 and viewpoint posture E2 as the numerical information, and updated to the latest image data. This image data (L image, R image) is output from the notebook PC 31 as an analog RGB signal, further converted into an NTSC signal by the scan converter shown in FIG. 2, and output to the HMD controller 43.
[0034]
As shown in FIG. 2, the analog RGB signal described above is separated into two image data on the left and right of the R image data and the L image data by the scan converter as the video data conversion unit 40, and this image data is alternately converted into STHMD. By outputting, a stereoscopic video signal can be obtained.
Here, a procedure for generating a right-eye stereoscopic video and a left-eye stereoscopic video from a drawing object in consideration of the position information (viewpoint position E1, viewpoint posture E2) of the worker W described above that is sequentially stored on the notebook PC 31. A brief explanation will be given.
First, the position information of the operator W is given as a viewpoint parameter to the R image and the L image displayed on the screen of the notebook PC 31 by the virtual stereoscopic video construction software. Then, high-speed rendering is performed at predetermined intervals in each image corresponding to the given viewpoint parameter.
Then, the latest image data updated by the reconstruction is input to the first scan converter 41 of the video data conversion unit 40, and the R-image data for the right eye is taken out by the first scan converter 41. Further, the output signal is passed through to the second scan converter 42, and then the left eye L image data is taken out. The R image data and L image data are switched at high speed while being externally synchronized, and output to the HMD controller 43 as a video signal transfer unit. At this time, the image signal is converted into an NTSC-compliant signal. A stereoscopic image signal is sent to the video signal receiving unit 15 of the STHMD 10 worn by the worker W via the HMD controller 43, and a virtual stereoscopic video is displayed on the display element in the STHMD 10. At this time, data transmission from the HMD controller 43 to the worker W's STHMD 10 can be either wireless or wired.
[0035]
Next, a usage environment of the system of the worker shown in FIGS. 1 and 3 will be briefly described.
First, the worker W wears the STHMD 10 near the position to be worked. The STHMD 10 is equipped with a gyro sensor 23 that can measure the three-dimensional rotation of the viewpoint of the operator W as an accessory device. In the present embodiment, the reflecting prism 21 is attached to the top of the safety cap worn by the worker W. By sequentially performing laser ranging with the total station 22 or the like set at a known coordinate point behind the work position with respect to the reflecting prism 21, the viewpoint position of the worker W is automatically tracked, whereby the position of the worker W is determined. Information is obtained in absolute coordinates. In the case of outdoors, the absolute coordinates of the operator W can be obtained directly by DGPS.
[0036]
The operator W operates the video switching controller 31 and selects construction support information necessary for the future work from the construction support information database storage unit 32 by using the index menu of the construction support information database. The drawing object of the construction support information selected at this time is reconstructed as the latest shape with the position information of the worker W as a viewpoint, and transferred to the display element of the worker W's STHMD 10. The display image is further displayed on the half mirror in the field of view of the STHMD 10 through the built-in optical system as if it exists in the real space observed by the operator W.
The projected virtual stereoscopic image may be a completed shape of the work to be performed by the worker W or an index for guiding the work. For this reason, the worker W can directly proceed with each work according to the projected image without scaling out the value of the drawing at hand or the like at the site. At this time, when the worker W moves or moves his / her head, the position information is sequentially sent to the PC 31 to update the shape and vanishing point of the drawing object. Thereby, according to the viewpoint information of the worker W after movement, the worker W can always superimpose virtual objects on the real space in the real space in the direction in which he / she is looking. You can follow the work reliably.
[0037]
Next, as an embodiment using this system, an application example in the case of performing work in each process in tunnel construction will be described.
FIG. 4A is a schematic longitudinal sectional view schematically showing a virtual reality used for drilling a blast hole in a face at the time of tunnel excavation by a blasting method. In the figure, the blasting holes scheduled for drilling are indicated by virtual lines for the purpose of explanation.
On the other hand, FIG. 4B shows a virtual image of the actual space including the face 1 that the worker W actually sees and the blast hole 2 scheduled to be drilled projected on the half mirror of the STHMD 10 worn by the worker W. Are projected with their positions and directions superimposed. The operator W is a drilling rod of a rock drill mounted on the rock bolt jumbo 4 in accordance with the position of the blasting hole 2 as a virtual stereoscopic image projected on the face of the real space and the required angle of the drilling rod 3. The tip of 5 can be moved onto the extension of the blasting hole 2 projected three-dimensionally to perform the drilling operation.
At this time, the virtual three-dimensional image also shows the ground condition in the ground behind the face. For this reason, it is possible to carefully perform the blasting operation at the weak part 1a that is difficult to observe with the face 1.
In this way, the blasting hole 2 scheduled to be drilled is displayed in a three-dimensional manner on the actual face 1 being observed by the operator W, so that a drilling point can be projected onto the face with a laser pointer or the like as before. In contrast to marking with a spray or the like, it is possible to accurately determine the insertion angle of the drill rod without depending on intuition. For this reason, the excessive excavation of the tunnel is greatly reduced. In addition, since the rock drill can be positioned quickly, there is also an advantage that the entire work process is shortened.
[0038]
FIG. 5A is a longitudinal sectional view for explaining virtual reality used when a support work is built behind the face along with excavation. When the worker W observes the face 1 of the tunnel from the assembling position of the support work, the steel support of a predetermined size as shown in FIG. A virtual stereoscopic image in which the work 6 is built at a predetermined pitch in the depth direction is displayed. Accordingly, the actual support work 7 can be moved so as to overlap the support work position in the virtual stereoscopic image, and the support work 7 can be easily and quickly installed and installed at the correct position.
[0039]
FIG. 6A is a longitudinal section showing a state in which the process up to the lining concrete work is completed and the inspector who performs the inspection of the secondary lining is moving in the tunnel. In the completed state shown in FIG. 6A, when a virtual stereoscopic image of the secondary lining concrete 8 set to an accurate size and shape is observed while being superimposed on the actual lining concrete 9, it is actually placed. The construction error of the shape and lining thickness of the lining concrete 9 and the lining concrete 8 set in advance by design can be confirmed. At this time, by comparing the overlapping portion 8a between the lining shape of the virtual stereoscopic image and the actual lining, a portion that is excessively thick, a portion that is excessively thin with respect to the regular design lining section, a tunnel The deviation from the axis can be confirmed intuitively, and the accuracy of the finished shape can be confirmed quickly. In addition, in the completed inspection by this method, there is an effect that the completed inspection, which has been conventionally performed only at predetermined distances, can be performed over the entire length while walking in the tunnel longitudinal direction.
[0040]
Next, on-site measurement data is collected, and an analysis result based on the measurement data is generated as a predetermined virtual stereoscopic video. This virtual stereoscopic video is actually viewed through the local worker W's STHMD. An embodiment in which a real image is displayed in a superimposed manner so that quick safety confirmation and geological structure estimation at a site position can be performed will be described with reference to FIG.
[0041]
In this system, as shown in the system configuration diagram of FIG. 7, various measurement data are collected to perform the various types of analysis described above, the data are processed, and the analysis results obtained by the analysis unit 50 as input data Is taken into the construction support information database 32 and the drawing object reconstruction unit 34, and is generated as a predetermined virtual stereoscopic video.
[0042]
Hereinafter, the tunnel construction work will be described as an example in the same manner as the above construction example.
Typical measurement data collected at the tunnel site is as follows.
(1) Data collected for each predetermined measurement section
・ Internal air displacement, top sinkage, underground displacement in rock mass, stress change, strain, stress, axial force of supporting members (H-section steel, shotcrete, rock bolt, rock anchor)
-Deformation of support work (H-section steel, rock bolt, shotcrete)
(2) Data collected on the face
-Face observation observation record (face image, rock texture, weathering alteration degree, frequency and form of cracks, spring conditions, etc.)
・ Strike / slope information of bedrock cracks
Of these, length data is measured with various distance measuring instruments, precision photogrammetry, steel tape, etc., and other data is measured using measuring instruments such as underground displacement gauges, various strain gauges, and stress gauges. In other words, it is collected on a recording medium as data of a certain format using an input device of a data logger.
[0043]
Further, each collected data is transmitted continuously or at a predetermined timing to a data processing unit such as a PC in an office or the like close to the site based on a known communication protocol. In this data processing unit (preprocessor unit), the measurement data is processed into a data format as input data of a target analysis system or an accumulation item of a database. In addition, the digital image collected in the above-mentioned precision photogrammetry can be subjected to image processing by a predetermined method to obtain photographic coordinates. This photographic coordinate is effective as basic data of a virtual stereoscopic image.
[0044]
In particular, in the above-described “three-dimensional geological analysis system”, as shown in FIG. 8, continuous plan views and side views can be obtained from a plurality of cross-sectional data with respect to the tunnel longitudinal direction. Can be generated as a virtual 3D image and superimposed on the actual visual field. As a result, as shown in FIGS. 9 (a) and 9 (b), the crushing zone, the scale of the fault, etc., the strike inclination, etc., which can only be confirmed in a plane on the face, are respectively shown in the viewing directions A and B (see FIG. 8). In this direction, the worker W can grasp three-dimensionally including the change of geology behind the tunnel face. Thereby, it can utilize for the appropriate selection of the various auxiliary construction methods applied with the progress of a face.
[0045]
Further, the inverse analysis system of the present embodiment assumes a system having a capacity that can be installed on a PC installed in a field office. As the input data of the inverse analysis system on the PC, data obtained by processing the internal displacement measurement data is used. Normally, in this type of inverse analysis system, an analysis model of the target cross section is created in advance, and measurement data is input to this analysis model for analysis. By this analysis, the surrounding natural ground (rock mass) elastic modulus, initial ground pressure, Poisson's ratio are identified, and the displacement / stress prediction of the natural ground and supporting members associated with the next excavation can be performed using the identified physical properties. Therefore, the displacement of the tunnel top and side walls is generated as a virtual stereoscopic image and superimposed on the actual field of view, so that the sky displacement in the tunnel can be visually confirmed.
[0046]
Predictive analysis using the inverse analysis result can accurately predict the strain distribution of the surrounding natural ground and the stress of the supporting member. Compare these strain distributions and stress distributions of supporting members with predetermined measurement control reference values (strain, stress level, etc.), and display the realization field image as an image of the area where the value exceeding the measurement control reference value has occurred. Can be overlapped. FIG. 10 shows a virtual design rock bolt B in the ground as a virtual stereoscopic image, and the stress distribution of the supporting member on the tunnel ground side in a state in which the supporting action of the bolt B is effective is schematically displayed in contour shape C. ing. Thereby, the operator W can visually determine which part of the natural ground is actually within the allowable value.
[0047]
In addition, in the fuzzy expert system for selecting countermeasures, check the geology obtained from the field, various measurement data, face image data, and face observation records against the stored data in the database, and select appropriate countermeasures as necessary. Can do. The selected countermeasures can reconstruct the recommended scale and range as virtual space images according to the coordinates and shape data of the realization field, and can superimpose them with the scenery of the site that the worker has visually confirmed. In addition to confirming the scale of the countermeasure work, it is possible to speed up construction and improve accuracy as a guide for construction.
[0048]
Furthermore, even if the location and scale of a rock block (key block) that has the potential to slide out as a result of the key block analysis is confirmed, the key block is actually present because it exists in the ground. Can not. Therefore, by reconstructing the position and scale as a virtual stereoscopic image and overlaying the image on the area that the worker is viewing, the position of the key block and the direction of the reinforcement work that are extremely difficult to identify by the operator Etc. can be easily determined. In particular, in the case of a dome-shaped (hemispherical) cavity or the like, unlike a normal tunnel, the direction of excavation always changes, so the key block position is difficult to specify. In such a case, the effect is even greater.
[0049]
The results of these inverse analysis and key block analysis have been conventionally plotted as two-dimensional or three-dimensional output results. In the present invention, the viewpoint coordinate data of the worker is included in these analysis result data, and is generated as a virtual stereoscopic image. These image data are converted into an image file such as a DXF file by a coordinate conversion program as necessary. And it produces | generates as an object which took in a worker's viewpoint coordinate, and made it see-through-display on STHMD, and superimposes information in a worker's visual field.
[0050]
The display image is usually displayed three-dimensionally as three-dimensional data. However, the internal air displacement, distortion, etc. in a predetermined ground section may be simplified to make the data easier to see by simplifying the data. In addition, regarding the display of the three-dimensional geological structure, it is possible to display not only in front of the face within the field of view where the operator looks at the face but also across the entire tunnel. In addition, various auxiliary methods selected by the fuzzy expert system, such as extra bolts, extra shotcrete, mirror shotcrete, pre-casting, etc., will generate virtual images that take into account selected member data, construction pitch, construction range, etc. In addition, it is possible to visually confirm the state where the auxiliary construction method is added to the current ground.
[0051]
In the above description, tunnel construction is taken as an example, and construction examples in which the system of the present invention is applied in each process have been described.Other constructions that are subject to complicated construction in a narrow space, It is also possible to quickly carry out the mountain retaining work by confirming the shape of the cut, embankment, etc. in the earth work, or by providing the excavation state and the assembly information of the support work in the temporary excavation work.
[0052]
【The invention's effect】
As described above, using virtual 3D images that are superimposed and displayed in the real space during construction work, provide analysis result information, construction management information, etc. for measurement data in line with the target site. Effects of speeding up, rationalization, and safety improvement.
[0053]
In addition, the measurement data and analysis results that are one-dimensional line information or two-dimensional surface information are three-dimensionalized in the present invention, and further visualized as a three-dimensional image in which the visual information of the operator is superimposed. In addition, it is possible to expect an effect that it is easy to specifically determine the sewing back section and the like.
[Brief description of the drawings]
FIG. 1 is a schematic system configuration diagram showing an embodiment of a construction support information system using virtual reality according to the present invention.
FIG. 2 is a schematic system configuration diagram showing an embodiment of a video data conversion unit in the construction support information system of the present invention.
FIG. 3 is a schematic explanatory diagram showing an embodiment of a system configuration for obtaining worker position information.
FIG. 4 is a schematic state diagram showing an embodiment in which the present system is applied to blast hole drilling work in tunnel construction work.
FIG. 5 is a schematic state diagram showing an embodiment in which the present system is applied to a support construction work in a tunnel construction work.
FIG. 6 is a schematic state diagram showing an embodiment in which the present system is applied to lining work shape inspection in tunnel construction work.
FIG. 7 is a schematic system configuration diagram showing another embodiment of a construction support information system using virtual reality according to the present invention.
FIG. 8 is a schematic explanatory diagram showing an example of an analysis result of a three-dimensional geological analysis system.
FIG. 9 is a schematic state diagram showing an embodiment in which the data shown in FIG. 8 is applied as face observation data in tunnel construction work.
FIG. 10 is a schematic state diagram showing a stress distribution state in a natural ground by a design rock bolt.
[Explanation of symbols]
10 See-through head mounted display (STHMD)
11 Goggles
12 Video display device
15 Video signal receiver
21 viewpoint position detection means
23 viewpoint posture detection means
31 Video switching controller
32 Construction support information database storage
33 Image data converter
40 Video data converter
43 Video signal transfer unit
50 Analysis Department

Claims (6)

Viewpoint position detecting means for obtaining the worker's viewpoint position, viewpoint posture detecting means for obtaining the worker's viewpoint position, and in order to capture the real space of the outside world to be observed through the attached goggles in the field of view Image display means having a semi-transparent surface on which the image information displayed on the equipped display element is projected through the built-in optical system and the real space to be observed are transmitted . The post-construction shape assumed according to the type of work or process to be constructed is stored with an index corresponding to a predetermined menu, and the operator selects the index by operating the video switching means at hand. and said image display means installation support information database storing unit that accumulates the drawing object generated from the three-dimensional shape data obtained by changing the image information to be projected, the visual Based on the position information of the worker obtained from the position detecting means and the viewpoint posture detecting means and the position information changed with the movement of the worker, the drawing object is set at a predetermined coordinate in the real space to be observed. A drawing object restructuring unit for sequentially reconstructing the drawing object to superimpose the image, and converting the image data of the reconstructed drawing object into a video information signal that can be displayed on a display element mounted on the video display means Construction support information using virtual reality, comprising: a video signal conversion unit that transmits the video information signal to a video signal reception unit provided in the video display means system. Viewpoint position detecting means for obtaining the worker's viewpoint position, viewpoint posture detecting means for obtaining the worker's viewpoint position, and in order to capture the real space of the outside world to be observed through the attached goggles in the field of view The image information displayed on the display element equipped with the image light is transmitted through the built-in optical system. an analysis unit for analyzing using the transmitted measured data as input, processes the analysis result that is returned from the analyzer, together with the generated as projectable information display data in said field of view, is the construction The post-construction shape assumed according to the type of work or process is stored by assigning an index corresponding to a predetermined menu, and the index can be stored by the operator operating the video switching means at hand. And installation support information database storing unit that accumulates the drawing object generated from the three-dimensional shape data obtained by changing the image information-option to be projected on the image display means, the viewpoint position detecting means and the viewpoint position detecting means In order to superimpose the drawing object on the predetermined coordinates in the real space to be observed based on the position information of the worker obtained from the above and the position information changed with the movement of the worker, the drawing object A drawing object reconstruction unit for reconstructing the image, a video signal conversion unit for converting image data of the reconstructed drawing object into a video information signal that can be displayed on a display element mounted on the video display means, and the video A video signal transfer unit configured to transfer the video information signal to a video signal receiving unit provided in the display means; Installation support information system using virtual reality that.   The construction support information system using virtual reality according to claim 2, wherein the analysis unit is an inverse analysis system.   3. The virtual reality according to claim 2, wherein the analysis unit is a three-dimensional geological analysis system, wherein cross-sectional data of the system is generated as continuous image data and accumulated in the construction support information database. Used construction support information system.   3. The analysis unit according to claim 2, wherein the analysis unit is a countermeasure work selection expert system, and is generated as image data when predetermined countermeasure work information stored in the system is selected. Construction support information system using virtual reality.   3. The virtual reality according to claim 2, wherein the analysis unit is a key block analysis system, and the shape and / or scale of the key block obtained by the system is generated as image data. Construction support information system using

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