JP2017058312A - Measurement system, measurement processor and measurement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measurement system which can easily and exactly confirm a deformation-necessary point, in a tunnel excavation construction support system or the like.SOLUTION: A measurement system comprises a three-dimensional scanner which measures a three-dimensional shape, a measurement processor and a projector which projects an inputted image. The measurement processor comprises: a deformation-necessary region determination part which determines a deformation-necessary region which is necessary to be deformed in a measurement objective range on the basis of the three-dimensional shape of the measurement objective range which is measured by the three-dimensional scanner; an image creation part which creates a projection image including an image of the deformation-necessary region whose shape is imparted with strain so that the image of the deformation-necessary region included in the projection image which is displayed by projection coincides with a position range of an actual deformation-necessary region when the image is projected to the measurement objective range; and an image output part which outputs the projection image created by the image creation part so as to be projected by the projector.SELECTED DRAWING: Figure 13

Description

  The present invention relates to a measurement system, a measurement processing apparatus, and a measurement method.

  In machine excavation such as a mountain tunnel, the excavation surface is measured to check whether the excavation surface is left behind. As a method for measuring such an excavated surface, measurement using a non-prism cross-section measuring device, measuring scale using a rod, and the like are known. However, in the measurement by the non-prism cross-section measuring device, it is difficult to perform the measurement by irradiating light to the shadowed portion of the support work. Further, in each of the above methods, since only information by points can be obtained, it takes a lot of time to grasp an accurate shape as a surface.

  Therefore, a 3D scanner is installed behind the face, tunnel coordinates are measured, and information on the comparison cross section is output based on the comparison cross section data obtained by comparing the measured tunnel coordinates with the reference data. A tunnel excavation construction support system is known (see, for example, Patent Document 1).

Japanese Patent No. 5500709

  However, the information of the comparison cross section by the tunnel excavation construction support system is output as a developed view showing the face and the left and right side walls by, for example, printing, display on a monitor, or the like. In such an output mode, for example, confirmation of a place where excavation (deformation) is required requires that the worker perform a work of comparing the output development drawing and the excavation surface of the site, and both labor and experience are required. Cost.

  The present invention has been made in view of such circumstances, and an object of the present invention is to make it possible to easily and accurately confirm a portion that requires deformation.

  One aspect of the present invention for solving the above-described problem includes a three-dimensional scanner that measures a three-dimensional shape, a measurement processing device, and a projection device that projects an input image, and the measurement processing device includes: Based on the three-dimensional shape of the measurement target range measured by the three-dimensional scanner, a deformation required region determination unit that determines a deformation required region that needs to be deformed in the measurement target range, and when projecting to the measurement target range And generating a projection image including an image of the necessary deformation region in which the shape is distorted so that the image of the necessary deformation region included in the projection image displayed by the projection matches the position range of the actual necessary deformation region. It is a measurement system provided with an image generation part and an image output part which outputs so that the image for projection generated by the image generation part may be projected with a projection device.

  According to another aspect of the present invention, a deformation required area determination unit that determines a deformation necessary area that needs to be deformed in the measurement target range based on a three-dimensional shape of the measurement target range measured by a three-dimensional scanner; An image of the deformation required area in which the shape is distorted so that the image of the deformation required area included in the projection image displayed by the projection coincides with the position range of the actual deformation required area when projected onto the measurement target range. Is a measurement processing device including an image generation unit that generates an image for projection including the image, and an image output unit that outputs the projection image generated by the image generation unit so as to be projected by the projection device.

  According to another aspect of the present invention, a shape measurement step of measuring a three-dimensional shape of a measurement target range by a three-dimensional scanner, and the measurement target based on the three-dimensional shape of the measurement target range measured by the shape measurement step A required deformation area determining step for determining a required deformation area that requires deformation in the range, and an image of the required deformation area included in the projected image displayed by the projection when projected onto the measurement target area is the actual required deformation area An image generation step for generating an image for projection including an image of a necessary deformation area whose shape is distorted so as to match the position range of the image, and projection for projecting the image for projection generated by the image generation step by the projection device A measuring method including steps.

  As described above, according to the present invention, there is an effect that it is possible to easily and accurately check a portion that requires deformation.

It is a figure which shows the structural example of the measurement system in 1st Embodiment. It is a figure which shows the structural example of the position measurement projection apparatus in 1st Embodiment. It is a figure which shows the example of installation of the measurement system of 1st Embodiment in the tunnel inside. It is a figure which shows an example of the installation aspect of the position measurement projection apparatus of 1st Embodiment in the inside of a tunnel. It is a figure which shows the other example of the installation aspect of the position measurement projection apparatus of 1st Embodiment in the tunnel inside. It is a figure explaining the calculation process of the projection distance in 1st Embodiment. It is a figure which shows the positional relationship of the measurement object range in the wall surface of a tunnel, and a three-dimensional scanner. It is a figure explaining the excavation necessity judgment which makes one measurement point object in 1st Embodiment. It is a figure explaining the example of formation of the unit excavation required area | region by the measurement processing apparatus of 1st Embodiment. It is a figure explaining the example of formation of the unit excavation required area | region by the measurement processing apparatus of 1st Embodiment. It is a figure explaining the example of formation of the unit excavation required area | region by the measurement processing apparatus of 1st Embodiment. It is a figure explaining the example of formation of the unit excavation required area | region by the measurement processing apparatus of 1st Embodiment. It is a figure explaining the example of formation of the excavation required area | region by the measurement processing apparatus of 1st Embodiment. It is a figure which shows the relationship of the coordinate of the excavation required area | region formed by the measurement processing apparatus of 1st Embodiment, and the excavation required area image in the image for a projection. It is a figure which shows the relationship of the coordinate of the excavation required area | region formed by the measurement processing apparatus of 1st Embodiment, and the excavation required area image in the image for a projection. It is a figure which shows typically the image for a projection containing the excavation required area | region image in 1st Embodiment. It is a figure which shows the structural example of the measurement processing apparatus in 1st Embodiment. It is a flowchart which shows the example of a process procedure regarding the excavation of the tunnel in 1st Embodiment. It is a figure which shows the example of a mode of the projection image displayed in 2nd Embodiment. It is a flowchart which shows the example of a procedure of the excavation guide operation corresponding | compatible process which the measurement processing apparatus in 2nd Embodiment performs.

[First Embodiment]
FIG. 1 shows a configuration example of a measurement system in the present embodiment. The measurement system of the present embodiment shown in the figure is provided in a tunnel tunnel where excavation work is performed. In addition, the measurement system of the present embodiment measures the three-dimensional shape of the wall surface (tunnel wall surface) in the tunnel mine such as the face of the tunnel and the side wall, and excavation (an example of deformation) is required based on the measurement result of the three-dimensional shape of the wall surface. The right part (excavation required area) is determined. And a measurement system projects the image which shows the position range of the determined excavation required area | region on a tunnel wall surface. At this time, the area of the excavation required area in the projection image is displayed in a state where the actual excavation necessary area on the wall surface matches the position range.

  The measurement system in FIG. 1 includes a total station 100, a PC (Personal Computer) 200, a router 300, a measurement processing device 400, and a position measurement projection device 500.

  The total station 100 is a surveying instrument that is configured by combining, for example, a light wave rangefinder and a theodolite, and can simultaneously measure a distance and an angle. In the present embodiment, the total station 100 is used to measure the position and direction where the position measurement projection device 500 is installed.

The PC 200 is a device that relays communication between the total station 100 and the router 300. In other words, the total station 100 in this case does not have a wireless communication function. Therefore, the total station 100 and the PC 200 are connected by wire, and the PC 200 and the router 300 are connected wirelessly.
The router 300 is a communication device that performs routing between communication devices via wireless communication corresponding to a wireless local area network (LAN), for example. In this case, the router 300 performs routing so that the PC 200 and the measurement processing device 400 are connected via wireless communication. By performing the routing in this way, the measurement processing device 400 can receive the position and direction information of the position measurement projection device 500 measured by the total station 100 via the PC 200 and the router 300.

  The measurement processing apparatus 400 performs the following arithmetic processing, for example. Based on the measurement information indicating the three-dimensional shape of the tunnel wall surface (measurement object) measured by the position measurement projection device 500, the excavation necessary area on the measured tunnel wall surface is determined. In addition, the measurement processing device 400 generates an image for projection that is a position range of the determined excavation required area and is projected onto the tunnel wall surface.

The position measurement projection device 500 is a device that includes a measurement device that measures a three-dimensional shape of a tunnel wall surface and a projector (projection device) that projects an image on the tunnel wall surface.
Here, a three-dimensional scanner is used as a measuring device for measuring the three-dimensional shape of the tunnel wall surface. A three-dimensional scanner is a device that can measure three-dimensional spatial data by performing biaxial scanning as a range sensor. The three-dimensional scanner of the position measurement projection apparatus 500 in this embodiment measures the three-dimensional shape of the tunnel side wall. The measurement result of the three-dimensional shape by the three-dimensional scanner is used for the measurement processing device 400 to determine the excavation required area as described above.

  Further, the projector in the position measurement projection device 500 projects the projection image output from the measurement processing device 400 onto the tunnel wall surface. In this way, the projection image displayed on the tunnel wall surface by the projection shows the necessary excavation area on the tunnel wall surface as described above. That is, the area of the excavation required area included in the projection image is displayed in a state where the actual excavation necessary area on the wall surface matches the position range.

Here, the three-dimensional shape of the tunnel wall surface on which the projection image is projected is not a plane, but has irregularities. Further, for example, the side wall surface of the tunnel is generally curved with a cross section of an arc shape. For this reason, when a normal image of, for example, a rectangle is generated as a projection image and is projected as it is by the projector using the generated image, the projected image projected on the tunnel wall surface depends on the unevenness and curvature of the tunnel wall surface. Will not be displayed correctly by the rectangle. If the deformation occurs in this way, the shape of the excavation required area included in the projection image is also deformed, and the actual excavation necessary area on the tunnel wall surface does not match the position range.
In view of this, the measurement processing apparatus 400 according to the present embodiment is configured so that the excavation required area in the image projected on the tunnel wall surface as a projection image matches the actual excavation necessary area on the tunnel wall surface with the position range. A projection image deformed (distorted) corresponding to the dimensional shape is generated.

  FIG. 2 shows a configuration example of the position measurement projection apparatus 500. FIG. 2A is a plan view of the position measurement projection device 500 as seen from the plane direction. FIG. 2B is a front view of the position measurement projection device 500 as viewed from the front. FIG. 2C is a side view of the position measurement projection device 500 as seen from the side surface direction.

The position measurement projection device 500 includes a rectangular parallelepiped casing 510. The case 510 has an opening 511 by opening a surface corresponding to the front surface. Inside the housing 510, a three-dimensional scanner 530 and a projector 540 (projection device) are provided.
The three-dimensional scanner 530 measures the three-dimensional shape in the measurement target range with the direction indicated by the arrow Ya shown in FIG.
Projector 540 projects an image with the direction indicated by arrow Yb as the projection direction. Here, the projector 540 is set so that the projection range substantially coincides with the measurement range of the three-dimensional scanner 530.

  Two prisms 520A and 520B are provided on the upper surface of the housing 510. The prisms 520 </ b> A and 520 </ b> B are used when the total station 100 measures the position and direction of the position measurement projection device 500. That is, the total station 100 of the present embodiment is a prism distance measuring type, and based on the horizontal angle and the vertical angle when the irradiation light is reflected again by the prisms 520A and 520B and enters the position measuring and projecting device 500. Measure distance and direction.

  Moreover, in the same figure, the fixing tool for fixing the position measurement projection apparatus 500 to a tunnel wall surface is attached. The fixture has a clamp CLP attached to one end of the flexible arm AM and a magnet MG attached to the other end. In the present embodiment, there are four fixing tools, and each of the four fixing tools is attached to each of the lower four corners of the position measurement projection device 500 by clamps CLP as shown in the figure.

FIG. 3 shows an installation example of the measurement system in the tunnel TN where excavation work is performed.
For example, the total station 100, the PC 200, the router 300, the measurement processing device 400, and the position measurement projection device 500 in the measurement system are installed in the tunnel TN as shown in FIG. In the case of the example in the figure, each device is installed close to the wall surface so that the work is not hindered as much as possible and the measurement is easy without overlapping with a heavy machine. In addition, arrangement | positioning of each apparatus in the figure is an example, and changes suitably according to conditions, such as arrangement | positioning of the heavy machine in the tunnel of tunnel TN, and equipment.
In the present embodiment, the position of the tunnel TN in the mine is represented by a triaxial orthogonal coordinate system (x, y, z). In the example of the figure, the x axis corresponds to the width direction in the tunnel TN, the y axis corresponds to the extending direction in the tunnel TN, and the z axis corresponds to the vertical direction in the tunnel TN.
In the present embodiment, an orthogonal coordinate system (ξ, η, ζ) having a projector lens as an origin is used to generate a projection image.

Here, FIG. 4 shows an example of a mode of fixing to the side wall surface of the tunnel when installing the position measurement projection device 500 as shown in FIG. 3 in the tunnel TN.
In the same figure, the case where the steel support construction TM was provided with respect to the side wall surface of a tunnel is shown. In this case, the position measuring and projecting apparatus 500 fixes the magnet MG of the fixture to the support with magnetic force, adjusts the flexible arm AM, and the position measuring and projecting apparatus 500 so that the opening 511 faces in a desired direction. Adjust the orientation.

FIG. 5 shows an example of installation of the position measurement projection device 500 when the position measurement projection device 500 cannot be fixed by a fixture having a magnet MG, for example, because a steel support is not provided. .
That is, in this case, as shown in the figure, the position measurement projection device 500 is fixed to the tripod FT, and then the position measurement projection device 500 is moved together with the tripod FT so that the opening 511 is oriented in a desired direction.

Then, the process procedure regarding excavation using the measurement system of this embodiment is demonstrated.
First, the operator calculates a projection distance L at which a predetermined projection image size determined in advance by the projector 540 is obtained prior to use of the measurement system in the field. The step of calculating the projection distance L may not be performed in the tunnel TN. Rather, it is preferably performed in a room where there are few external factors such as external vibration and contact.

  The process of calculating the projection distance L will be described with reference to FIG. FIG. 6A shows a state in which an image is projected onto the projection plane PL by the projector 540. FIG. 6B shows an image (projected image) projected onto the projection plane PL by the projector 540. FIG. 6C shows a projection image generated by the measurement processing device 400.

The operator prepares a projector 540 to which the measurement processing device 400 is connected, for example, indoors. The operator causes the measurement processing device 400 to generate the projection image Ppcs having the same size as that generated in the tunnel TN (FIG. 6C). Here, the projection image Ppcs generated by the measurement processing device 400 is predetermined as the horizontal size H1 and the vertical size V1 with respect to the size at the time of display.
The generated projection image Ppcs is input to the projector 540, and the projector 540 projects the projection image Ppcs onto the projection plane PL (FIGS. 6A and 6B). Here, the projection plane PL may be a screen, for example.

The size (horizontal size H2, vertical size V2) of the projection image Pprj displayed on the projection plane PL by projecting the projection image Ppcs as shown in FIG. 6B is between the projector 540 and the projection plane PL. The distance varies depending on the distance, i.e., the projection distance. Therefore, the operator adjusts the projection distance so that the horizontal size H2 and the vertical size V2 of the projection image Pprj are the same as the horizontal size H1 and the vertical size V1 of the projection image, respectively. The projection distance obtained in this way is obtained as the projection distance L corresponding to the prescribed projection image size.
By obtaining the projection distance L in this way, it is possible to grasp the appropriate projection distance L in advance regardless of the difference in the specifications of the projector 540 or the like.

  After obtaining the projection distance L as described above, the worker installs the measurement system of the present embodiment in the tunnel TN as described with reference to FIGS. Here, when the measurement system is installed, the position measurement projection device 500 is set in a direction so that, for example, a range of the wall surface in the tunnel TN in which digging is to be confirmed can be measured by a three-dimensional scanner. To be done.

After installing the measurement system in the tunnel TN, the operator uses the total station 100 to measure the position and direction of the position measurement projection device 500. Here, depending on the direction of the position measurement projection device 500, the direction (opening direction) in which the opening 511 is opened is indicated. The opening direction of the opening 511 corresponds to the measurement direction in which the measurement target range is located with respect to the three-dimensional scanner and the projection direction in which the projector 540 projects an image.
Information on the position and direction of the position measurement projection device 500 measured as described above (measurement projection position direction information) is transmitted from the total station 100 to the measurement processing device 400 via communication between the PC 200 and the router 300. The measurement processing device 400 acquires the transmitted measurement projection position / direction information.
The step of causing the measurement processing device 400 to acquire the measurement projection position / direction information in this way is included in the initial setting step for the measurement system at the site (inside the tunnel TN).

After performing installation and initial setting of the measurement system as described above, the worker causes the measurement system to execute an excavation guide operation. Here, the excavation guide operation includes a series of measurements including measurement of a measurement target range by the three-dimensional scanner 530, determination of an excavation required area by the measurement processing device 400, and projection of an image showing the excavation necessary area by the projector 540 onto the tunnel wall surface. Is the action.
In the present embodiment, the excavation guide operation is performed under the control of the measurement processing device 400 in response to the operator performing an operation for instructing the start of the excavation guide operation.

In the excavation guide operation, first, the three-dimensional shape measurement of the measurement target range is performed by the three-dimensional scanner 530. The three-dimensional shape measurement in this embodiment will be described with reference to FIG. FIG. 7 shows the positional relationship between the measurement target range OBJ and the three-dimensional scanner 530 on the wall surface of the tunnel TN. FIG. 7A is a plan view of the positional relationship between the measurement target range OBJ and the three-dimensional scanner 530 viewed from the plane direction. FIG. 7B is a front view of the positional relationship between the measurement target range OBJ and the three-dimensional scanner 530 as viewed from the front. FIG. 7C is a side view of the positional relationship between the measurement target range OBJ and the three-dimensional scanner 530 viewed from the side surface direction.
The measurement target range OBJ is not particularly limited as long as it is a wall portion of the tunnel TN. Specifically, the wall portion of the tunnel TN as the measurement target range OBJ may be a face portion in the tunnel of the tunnel TN, or may be one of the left and right side walls. Furthermore, the wall surface portion of the tunnel TN as the measurement target range OBJ may extend from the face to at least one of the left side wall and the right side wall.

In each of FIG. 7A, FIG. 7B, and FIG. 7C, there is an example in which an actual excavation required area PT that is an actual excavation necessary area exists on the tunnel wall surface as the measurement target range OBJ. It is shown. In this case, the three-dimensional scanner 530 measures the three-dimensional shape using the measurement target range OBJ including the actual excavation necessary area PT as a measurement target.
In measuring the three-dimensional shape, the three-dimensional scanner 530 measures the coordinates (positions) for each measurement point MP shown in FIG. The measurement points MP are set so as to be arranged at regular intervals in a matrix with respect to the measurement target range OBJ as shown in FIG. The three-dimensional scanner 530 outputs coordinate value information measured for each measurement point MP to the measurement processing device 400 as measurement target range position information.

  The measurement processing device 400 determines the necessary excavation area corresponding to the actual excavation necessary area PT in the measurement target range OBJ based on the measurement target range position information acquired from the three-dimensional scanner 530. In determining the necessary excavation area, the measurement processing device 400 determines whether or not excavation is necessary for each measurement point MP included in the measurement target range position information, and uses the determination result of whether or not excavation is necessary for each measurement point MP. Determine the required area. Here, “determining a necessary excavation area” means determining whether there is an excavation necessary area, and forming an excavation necessary area when there is an excavation necessary area.

With reference to FIG. 8, the excavation necessity determination for one measurement point MP will be described. In the figure, a cross-sectional view of the tunnel TN is shown. In the same figure, an example in which a part of the side wall in the tunnel TN is set as the measurement target range is shown.
In the figure, the position measured for the measurement point MP to be determined is represented as a point P (x ₁ , y ₁ , z ₁ ). Further, in the figure, the point Q (x ₂ , y ₁ , z ₂ ) is located on a line passing through the center defined in the extending direction of the tunnel TN in the tunnel, and in the same section of the tunnel TN as the point P, It is a reference point located on a line passing through the center position set in the extending direction in the TN tunnel.

  The necessity of excavation for the point P is determined by the distance c between the point P and the point Q. Therefore, the measurement processing apparatus 400 calculates the distance c using, for example, the following formula 1.

  In the figure, the excavation radius d is a value determined according to the design of the tunnel TN, and represents the radius to be excavated from the center of the tunnel TN in the extending direction. Therefore, as to whether or not excavation is necessary, it is determined that excavation is necessary if c <d is satisfied with respect to the distance c and the excavation radius d obtained by the above formula 1, and excavation is performed if c <d is not satisfied. What is necessary is just to determine that it is unnecessary. However, the three-dimensional scanner 530 has a certain measurement error ± e as shown in FIG. For this reason, it is preferable to consider the measurement error of the three-dimensional scanner 530 in order to increase the reliability of the necessity of excavation.

Therefore, the measurement processing device 400 determines whether or not excavation is necessary as follows. That is, the measurement processing device 400 determines which of the following formula 2, formula 3, and formula 4 holds for the distance c.
c <d−e (Formula 2)
d−e ≦ c ≦ d + e (Formula 3)
c> d + e (Formula 4)

When Equation 2 is satisfied, it can be said that the actual distance from the point Q to the point P is less than the excavation radius d even if the error e is added to the distance c and a large amount is estimated. Therefore, the measurement processing apparatus 400 is. When Expression 2 is satisfied, it is determined that excavation is necessary.
When Equation 3 is satisfied, the actual distance from the point Q to the point P is longer than the excavation radius d by the error e, but may be as short as (d−e) at the shortest. There is. In the present embodiment, the existence of an excavation site in a state of being less than the excavation radius d is not allowed, but excavation in a state that exceeds the excavation radius d to some extent is allowed. Therefore, the measurement processing device 400 determines that excavation is necessary when Equation 3 is satisfied.
In addition, when Equation 4 is satisfied, it can be said that the actual distance from the point Q to the point P is longer than the excavation radius d even if the short distance is estimated in consideration of the error e. Therefore, the measurement processing device 400 determines that excavation is not necessary when Expression 4 is satisfied.
As described above, the measurement processing apparatus 400 according to the present embodiment determines whether or not excavation is necessary for the position (coordinates) measured for each measurement point MP by the three-dimensional scanner 530.

Here, the determination result regarding the necessity of excavation obtained as described above is information corresponding to each point as the measurement point MP. Therefore, the measurement processing apparatus 400 according to the present embodiment determines a necessary excavation area as a surface (range) in the measurement target range using the result of the excavation necessity determination for each measurement point MP.
With reference to FIG. 9, an example of a method for determining the excavation required area by the measurement processing apparatus 400 of the present embodiment will be described. FIG. 9A shows a part of the unit measurement target range OBJu in which nine measurement points MP of 3 × 3 exist in the measurement target range. In the unit measurement target range OBJu, there is one actual excavation necessary area PT including three measurement points MP adjacent to each other. Here, the measurement point MP by the white square indicates that the necessity of excavation has not yet been determined.

The determination of the excavation required area corresponding to the actual excavation necessary area PT in the figure is performed as follows, for example.
The measurement processing device 400 determines whether or not excavation is necessary for each of one attention point selected from the measurement points MP and an adjacent point adjacent to the attention point. In FIG. 9B, among the nine measurement points, the central measurement point MP is set as the attention point, and the surrounding eight measurement points MP adjacent to the attention point are set as the adjacent points, and the attention point and the adjacent points are excavated. The result of the necessity determination is shown.
Here, in the description of FIG. 10 and the subsequent FIGS. 10 to 13, a measurement point MP by a white triangle indicates a point of interest determined to require excavation. Although not shown in the figure, a measurement point MP by a black triangle indicates a point of interest that is determined to be unnecessary for excavation. Moreover, the measurement point MP by a white circle shows the adjacent point determined to require excavation. A measurement point MP by a black circle indicates an adjacent point where it is determined that excavation is unnecessary.

  In FIG. 9B, the following determination result of necessity of excavation is shown according to the actual excavation necessary area PT. That is, it is determined that excavation is necessary for the measurement point MP as a point of interest, and it is determined that excavation is necessary for adjacent points adjacent to each other on the right and below the point of interest. Further, it is determined that excavation is unnecessary for the remaining six adjacent points.

After determining whether or not excavation is necessary for each of the attention point and the adjacent point as described above, the measurement processing device 400 connects one measurement point MP by connecting three measurement points MP that are determined to require excavation. A unit excavation required area DARu corresponding to the point is formed.
In the figure, a triangular unit excavation required area DARu is formed by connecting a measurement point MP as a point of interest and a measurement point MP as two adjacent points.

  In addition, in the unit measurement target range OBJu as shown in FIG. 10 (A), when there is a substantially square plane-shaped actual excavation necessary region PT including four adjacent measurement points MP, FIG. 10 (B). As shown, it is determined that excavation is necessary for the measurement point MP as the attention point and the three measurement points MP as adjacent points located on the right, lower, and lower right of the attention point. According to such a determination result, in this case, a unit of a rectangle connecting the measurement point MP as the attention point and the three measurement points MP as the adjacent points respectively located on the right, lower and lower right of the attention point The excavation required area DARu is formed.

  Further, as shown in FIG. 11A, in the unit measurement target range OBJu, when there is an actual excavation necessary region PT including eight measurement points MP other than the central measurement point MP in the lowermost row, FIG. As shown in (B), it is determined that excavation is unnecessary for the central adjacent point in the lowermost row in the unit measurement target range OBJu, and excavation is necessary for all the other eight measurement points MP. Determined. According to such a determination result, a polygonal unit excavation required area DARU connecting eight measurement points MP excluding the measurement point MP as a central adjacent point in the lowermost row in the unit measurement target range OBJu is formed. The

  In addition, as shown in FIG. 12A, there is an actual excavation required region PT in a hollow state including eight measurement points MP other than the center (center) measurement point MP in the second row in the unit measurement target range OBJu. In this case, the determination result of necessity of excavation shown in FIG. That is, it is determined that only the measurement point MP as the attention point is not required to be excavated, and it is determined that excavation is necessary for all the remaining eight measurement points MP as adjacent points. In this case, by connecting eight adjacent points determined to require excavation, a unit excavation required area DARu is formed so as to surround the measurement point MP of the target point with four triangular areas as shown in FIG. The

And the measurement processing apparatus 400 forms the unit excavation required area | region as an aggregate | assembly of the unit excavation required area DARu as it demonstrates with FIG. 13 below.
FIG. 13A shows an example of the measurement target range OBJ. In the measurement target range OBJ in the figure, there are two actual excavation necessary areas PT1 and PT2. Further, 50 measurement points MP of 5 rows × 10 columns are arranged for the measurement target range OBJ in FIG.

The measurement processing device 400 has the measurement points MP of 5 rows × 10 columns from the left to the right in the first row, and then from the left (the first column) to the right (the 10th column) of each row after the second row. ) Will be set as points of interest sequentially. Then, the measurement processing device 400 determines whether or not excavation is necessary for each adjacent point adjacent to the target point set, and forms the unit excavation necessary region as described above.
In FIG. 13B, the measurement point MP at the position of the first row and the first column is set as the attention point, and the three measurement points MP at the respective positions of the first row, the second column, the second row, the first column, and the second row and the second column are adjacent. The result of having performed excavation necessity judgment as a point is shown.
In this case, the point of interest at the position of the 1st row and the 1st column is determined not to be excavated, and the adjacent points at the respective positions of the 1st row and 2nd column and the 2nd row and 1st column are determined to be unnecessary, and the adjacent point at the position of the 2nd row and 2nd column Is determined to require excavation. At this stage, since the measurement point MP determined to require excavation is only one of the positions of 2 rows and 2 columns, the excavation required area DAR is not formed. The formation of the excavation required area DAR requires the measurement points MP determined to require three or more excavations.

Next, FIG. 13C shows the result of moving the attention point to the position of 1 row and 2 column and determining whether or not excavation is necessary for the attention point and the adjacent point. Here, when the measurement point MP in the first row and the second column is set as the attention point, the adjacent points are positions in the first row and the first column, the first row and the third column, the second row and the first column, the second row and the second column, and the second row and the third column. The measurement point MP.
Here, as shown in FIG. 13B, the measurement points MP at the positions of 1 row, 1 column, 1 row, 2 columns, 2 rows, 1 column, and 2 rows and 2 columns are the measurement points of 1 row and 1 column. The excavation necessity determination is completed at the stage of attention. Therefore, at the stage of FIG. 13C, the excavation necessity determination may be performed with the two measurement points MP corresponding to the adjacent two rows, three columns, and three rows and three columns as the necessity determination targets. About each measurement point MP as an adjacent point of 2 rows 3 columns and 3 rows 3 columns, it is determined that excavation is necessary, respectively.
At this stage, it has been determined that excavation is necessary for the three measurement points MP at each position of 1 row 2 columns, 2 rows 2 columns, and 2 rows 3 columns. Therefore, the measurement processing device 400 forms the unit excavation required area DARu by connecting these three measurement points MP, as shown in FIG. 13C. The unit excavation required area DARu formed in this way corresponds to the case where the measurement point MP of 2 rows and 2 columns is set as the attention point, and also corresponds to a partial area of the actual excavation necessary area PT1.

  Then, the measurement processing device 400 determines whether or not excavation is necessary for the measurement point MP that is determined for each point of interest while sequentially moving the measurement point MP as the point of interest from the above state. . And the measurement processing apparatus 400 will form a unit excavation required area | region, if a unit excavation required area | region can be formed whenever the measurement point MP determined to be excavation is newly obtained. As a result of performing the processing in this way, a plurality of unit excavation necessary areas are formed. The measurement processing device 400 connects the adjacent unit excavation areas that are adjacent to each other or the areas that overlap in part.

FIG. 13D shows an example of an intermediate process when processing is performed as described above. In the same figure, the excavation necessity determination is performed on the measurement point MP that is the necessity determination target with the measurement point MP at the position of 2 rows and 6 columns as the attention point, and the unit excavation formed based on the excavation necessity determination so far The result of concatenating the necessary areas is shown.
As shown in the figure, at the stage where the necessity of excavation is determined so far, the excavation required area DAR1 is formed corresponding to the actual excavation necessary area PT1. The excavation required area DAR1 is formed by a set of a plurality of unit excavation necessary areas that have been formed based on the ten measurement points MP that have been determined to require excavation corresponding to the actual excavation necessary area PT1 so far. It is.
Further, an excavation required area DAR2 is formed corresponding to the actual excavation necessary area PT2. The excavation required area DAR2 is formed by a set of a plurality of unit excavation necessary areas that have been formed based on the four measurement points MP that have been determined to be necessary for excavation corresponding to the actual excavation necessary area PT2 so far. It is.

Then, the necessity of excavation is determined for the measurement point MP that is the necessity determination target while sequentially moving the measurement point MP as the attention point. Finally, the excavation necessity determination is completed for all measurement points MP in the measurement target range OBJ. At this stage, as shown in FIG. 13E, the excavation required area DAR1 and the excavation necessary area DAR2 are formed. The excavation required area DAR1 and the excavation necessary area DAR2 are the results of aggregation of unit excavation necessary areas formed by connecting the measurement points MP determined to be excavation corresponding to each point of interest.
In this way, the measurement processing device 400 can form the excavation required area DAR in the measurement target range OBJ based on the position (coordinates) for each measurement point MP measured by the three-dimensional scanner 530.

When the excavation required area DAR is formed as described above, the measurement processing device 400 generates a projection image to be projected on the wall surface of the tunnel TN in order to present the position of the excavation necessary area DAR to the operator.
Here, as described above, the wall surface of the tunnel TN is not a flat surface like a general screen, but is deformed by unevenness or curvature. For this reason, in order to match the required excavation area in the projection image with the position range of the actual excavation location on the wall surface of the tunnel TN, the projection image is made to correspond to the shape of the tunnel wall surface from the normal rectangular shape. And distort it.

  14 and 15 show the relationship between coordinates of the excavation required area DAR formed by the measurement processing device 400 and the image of the excavation necessary area (excavation required area image Pdar) in the projection image. 14 and 15 show an example in which the excavation required area DAR is determined for the side wall surface of the tunnel TN.

N number of coordinates corresponding to each measurement point MP in the excavation necessary area _{DAR, A 1 (ξ 1,} η 1, ζ 1), A 2 (ξ 2, η 2, ζ 2) ····, A n It is represented by (ξ _n , η _n , ζ _n ). Further, the coordinates A ₁ (ξ ₁ , η ₁ , ζ ₁ ), A ₂ (ξ ₂ , η ₂ , ζ ₂ ),..., A _n (ξ _n , η _n , ζ _n ) in the excavation required area DAR The coordinates in the excavation necessary region image Pdar corresponding to each of the coordinates are represented by A ′ ₁ (L, y ₁ , z ₁ ), A ′ ₂ (L, y ₂ , z ₂ ),..., A ′ _n (L, y _n , z _n ).
In FIG. 14, the relationship between the coordinates A ₁ (ξ ₁ , η ₁ , ζ ₁ ) and the coordinates A ′ ₁ (L, y ₁ , z ₁ ) is explicitly shown. FIG. 15 shows the relationship between a certain arbitrary coordinate A _i (ξ _i , η _i , ζ _i ) and the coordinate A ′ _i (L, y _i , z _i ).
Note that the coordinates of the origin 0 correspond to the measurement reference point of the three-dimensional scanner 530 and the lens position of the projector 540. The measurement reference point of the three-dimensional scanner 530 and the lens position of the projector 540 are physically different. Accordingly, the measurement processing device 400, when generating the excavation required region image Pdar, makes the coordinates of both coincide as the origin 0 based on the difference between the measurement reference point of the three-dimensional scanner 530 and the position of the projection lens of the projector 540. Set to.

In FIG. 14, for convenience, the excavation required area DAR is shown as a plane, but actually there are irregularities, and accordingly, the coordinate value ζ _{i at the} coordinates A _i (ξ _i , η _i , ζ _i ). Will change. On the other hand, the projection distance L obtained in advance is constant.
From this, the coordinate zi in the vertical direction of the excavation required area image Pdar corresponding to an arbitrary coordinate A _i (ξ _i , η _i , ζ _i ) in the excavation necessary area DAR is expressed by the following equation 5 using a triangle similarity: It is calculated by. Similarly, the coordinate yi in the horizontal direction of the excavation necessary region image Pdar is obtained by the following formula 6 using the similarity of triangles.

The measurement processing device 400 corresponds to each coordinate A ₁ (ξ ₁ , η ₁ , ζ ₁ ) to _An (ξ _n , η _n , ζ _n ) of the excavation required region DAR using Equation 5 and Equation 6. The coordinates A ′ ₁ (L, y ₁ , z ₁ ) to A ′ _n (L, y _n , z _n ) of the excavation necessary region image Pdar are calculated. Then, the measurement processing device 400 has a necessary excavation area image formed by coordinates A ′ ₁ (L, y ₁ , z ₁ ) to A ′ _n (L, y _n , z _n ) calculated as shown in FIG. A projection image Ppcs including the portion of Pdar is generated. In the drawing, for convenience, a rectangular excavation required area image Pdar is shown, but the excavation necessary area image Pdar is calculated from coordinates A ′ ₁ (L, y ₁ , z ₁ ) to A ′ _n (L , Y _n , z _n ).

The measurement processing device 400 outputs the projection image Ppcs generated as described above to the projector 540, and causes the projector 540 to project the projection image Ppcs.
Here, the measurement standard of the three-dimensional scanner 530 and the projection lens are substantially matched. For this reason, when the projector 540 projects the projection image Ppcs, the excavation required area image Pdar in the projection image displayed on the wall surface of the tunnel TN is in a state existing at a position corresponding to the actual excavation necessary area PT. In addition, the excavation necessary area image Pdar is distorted according to the shape of the excavation necessary area DAR as described above. For this reason, the portion of the necessary excavation area image Pdar included in the projection image displayed on the wall surface substantially matches the position range of the actual excavation necessary area PT without greatly deviating in position and shape from the actual excavation necessary area PT. It will be in the state.

Thus, in the present embodiment, the presentation of the necessary excavation location to the worker is not performed by display or printing on the monitor, but by projection of the excavation required area image Pdar on the actual excavation necessary area PT on the wall surface of the tunnel TN. Done. Thereby, the operator can grasp | ascertain the excavation required part immediately and exactly.
And an operator should just excavate the location corresponding to actual excavation required area PT, with the excavation required area image Pdar being displayed with respect to actual excavation required area PT. At this time, since the necessary excavation area image Pdar is displayed, it becomes a guideline for grasping the work location, and the work can be performed accurately and efficiently.

Then, for example, when the work related to excavation is performed for a certain period of time, the worker once interrupts the excavation work, and again, for confirmation, the measurement of the three-dimensional shape of the same measurement target range OBJ by the three-dimensional scanner 530 is performed. Then, formation of the excavation required region DAR based on the measurement result by the measurement processing device 400 is performed.
Here, when a portion that requires excavation remains in the measurement target range OBJ, the measurement processing device 400 forms an excavation required area DAR having a shape different from the previous one, and generates the corresponding excavation necessary area DAR. The projected image is projected again. The operator may confirm the portion of the necessary excavation area image Pdar in the projection image displayed on the wall surface and further perform excavation work.
If the 3D shape is measured again by the 3D scanner 530 and the excavation required area DAR is formed by the measurement processing device 400, if the excavation required area DAR is not formed, the measurement target range OBJ is determined. This means that there are no remaining parts that need to be excavated. In this case, the operator may perform the excavation work similarly for the next measurement target range OBJ, assuming that the excavation work for the measurement target range OBJ has been completed.

With reference to FIG. 17, a configuration example of the measurement processing device 400 in the present embodiment will be described. The measurement processing apparatus 400 in the figure includes a position / direction information acquisition unit 401, a measurement result acquisition unit 402, an excavation required region determination unit 403, an image generation unit 404, and an image output unit 405.
Note that the time monitoring unit 406 is a functional unit provided in a second embodiment to be described later, and a description thereof is omitted here.

The position / direction information acquisition unit 401 acquires measurement projection position / direction information measured by the total station 100. The measurement projection position / direction information is information indicating the position and direction of the position measurement projection device 500 as described above.
In FIG. 1, illustration of the PC 200 and the router 300 that intervene between the total station 100 and the measurement processing device 400 in FIG. 1 is omitted.

  The measurement result acquisition unit 402 acquires measurement target range position information as a measurement result of the three-dimensional scanner 530. As described above, the measurement target range position information is information indicating coordinate values for each measurement point in the measurement target range.

Based on the three-dimensional shape of the measurement target range measured by the three-dimensional scanner 530, the excavation necessary area determination unit 403 determines an excavation necessary area that requires excavation (an example of deformation) in the measurement target range.
The excavation necessary area determination unit 403 determines the excavation necessary area as described above with reference to FIGS. That is, the excavation necessary area determination unit 403 uses the coordinate value for each measurement point MP in the measurement target range position information acquired by the measurement result acquisition unit 402, and corresponds to each measurement point MP sequentially set as the attention point. The necessary unit excavation area DARu is formed, and the necessary excavation area DAR corresponding to the actual excavation necessary area PT is formed by the set of the formed unit excavation necessary areas DARu. Thus, the excavation required area determination unit 403 determines that the excavation required area DAR is present in the measurement target range OBJ by forming the excavation necessary area DAR. Further, when the excavation required area DAR is not formed, the excavation necessary area determination unit 403 determines that there is no excavation necessary area DAR in the measurement target range OBJ.

When projecting to the measurement target range OBJ, the image generation unit 404 distorts the shape so that the image of the excavation necessary area included in the projection image Pprj displayed by the projection matches the position range of the actual excavation necessary area PT. A projection image Ppcs including the image of the given excavation required area (excavation required area image Pdar) is generated.
The image output unit 405 outputs the projection image Ppcs generated by the image generation unit 404 to the projector 540 so that the projection image Ppcs is projected by the projector 540. The projector 540 projects the projection image Ppcs input from the image output unit 405, whereby the projection image Pprj is displayed on the wall surface of the tunnel TN. At this time, the excavation required area image Pdar in the projection image Pprj is displayed in a state where the position range matches the actual excavation necessary area PT.

Next, an example of a process procedure related to excavation of the tunnel TN in the present embodiment will be described with reference to the flowchart of FIG.
First, as described with reference to FIG. 6, the operator calculates a projection distance L at which a predetermined projection image size determined in advance is obtained by the projector 540 (step S <b> 101).
Next, for example, as described with reference to FIGS. 3 to 5, the worker installs each device constituting the measurement system of the present embodiment in the tunnel TN (step S <b> 102).
Next, the operator uses the total station 100 to measure the position and direction of the position measurement projection device 500 (step S103).

Subsequently, excavation guide operation handling processing by the measurement processing device 400 is executed (step S104). The excavation guide operation corresponding process as step S104 is performed by the following procedure, for example.
In the measurement processing apparatus 400, the position / direction information acquisition unit 401 acquires measurement projection position / direction information indicating the position and direction of the position measurement / projection apparatus 500 measured in step S103 from the total station 100 (step S111).
Next, the measurement result acquisition unit 402 causes the three-dimensional scanner 530 to measure the three-dimensional shape of the measurement target range OBJ (step S112). Note that when the three-dimensional scanner 530 performs measurement, the operator may operate the three-dimensional scanner 530 regardless of the control of the measurement processing apparatus 400.
The three-dimensional scanner 530 obtains coordinates (positions) for each measurement point MP in the measurement target range OBJ as a measurement result. Therefore, the measurement result acquisition unit 402 acquires measurement target range position information including coordinate values for each measurement point MP from the three-dimensional scanner 530 (step S113).

The subsequent processes in steps S114 to S117 are processes for determining the excavation required area DAR. First, the excavation required area determination unit 403 sets one of the measurement points MP included in the measurement target range position information as an attention point (step S114). By setting one attention point, one unit measurement target range OBJu is determined as described with reference to FIG.
Next, the excavation required area determination unit 403 determines whether or not excavation is necessary for each measurement point MP that is determined as the necessity determination target according to the attention point set in step S114 (step S115). As described with reference to FIG. 13, the measurement point MP that is the necessity determination target is a measurement that has not yet been subjected to the excavation necessity determination among the measurement points MP as the attention point and the adjacent points adjacent to the attention point. Point MP.
The excavation required area determination unit 403 forms the unit excavation necessary area DARu in the corresponding unit measurement target range OBJu based on the result of the excavation necessity determination in step S115 (step S116). However, if the number of measurement points MP determined to require excavation in the unit measurement target range OBJu is less than 3, the unit excavation required area DARu is not formed in step S116.
Next, if the unit excavation required area DARu formed in step S116 can be connected so far, the excavation required area determination unit 403 performs connection (step S117).

After the process of step S117, the excavation required area determination unit 403 determines whether or not the excavation necessity determination has been completed for all measurement points MP included in the measurement target range position information (step S118).
When the excavation necessity determination for all the measurement points MP has not been completed (step S118—NO), the excavation necessary area determination unit 403 returns the process to step S114. As a result, the measurement point MP as the next point of interest is set, the excavation necessity determination for the new necessity determination target measurement point MP, and the formation of the unit excavation necessary area DARU according to the excavation necessity determination result, The unit excavation required area DARu is connected to the excavation required area DAR formed so far. In this way, the processing of steps S114 to S117 is repeated, so that the excavation required area DAR is formed so as to approach the shape corresponding to the actual excavation necessary area PT.

  When the excavation necessity determination for all the measurement points MP is completed (step S118—YES), the excavation necessary area determination unit 403 determines whether the excavation necessary area DAR has been formed by the processes of steps S114 to S118 thus far. Is determined (step S119).

When the excavation required area DAR is formed (step S119—YES), the image generation unit 404 generates the projection image Ppcs (step S120). Here, as described with reference to FIGS. 14 to 16, the image generation unit 404 performs a process of distorting the required excavation area image Pdar according to the shape of the excavation required area DAR when generating the projection image Ppcs.
Then, the image output unit 405 outputs the projection image Ppcs generated in step S120 to the projector 540 (step S121).

In response to the projection image Ppcs being output in step S121, the projector 540 projects the projection image Ppcs. Thereby, the projection image Pprj is displayed at a position corresponding to the measurement target range OBJ in the tunnel TN. At this time, the excavation required area image Pdar in the projection image Pprj is in a state where the position range matches the actual excavation necessary area PT.
Therefore, the operator determines a location to be excavated using the displayed excavation required area image Pdar as a guide, and performs excavation work (step S105). For example, after performing excavation work for a certain period of time, the operator operates the measurement processing device 400, for example, and causes the measurement processing device 400 to resume the processing after step S112.
Thus, while the process of steps S112 to S121 by the measurement processing device 400 is repeated together with the excavation process in step S105, the excavation required area DAR is not formed in step S119 at a certain stage (excavation required area). It is determined that there is no DAR. In this case, assuming that excavation has been completed for the corresponding measurement target range OBJ, the process of FIG.

  Although illustration is omitted, if it is determined in step S119 that the excavation required area DAR is no longer formed, the operator is notified that excavation for the corresponding measurement target range OBJ has been completed. The image to be projected may be projected by the projector 540.

[Second Embodiment]
Next, the second embodiment will be described. In the present embodiment, the processes from the measurement by the three-dimensional scanner 530 to the determination of the excavation necessary area DAR based on the measurement result and the projection of the projection image including the excavation necessary area image Pdar are determined to have no excavation necessary area DAR. It is repeatedly executed at regular intervals until it is done.

A configuration example of the measurement processing apparatus 400 corresponding to the present embodiment will be described again with reference to FIG. The measurement processing apparatus 400 in this embodiment further includes a time monitoring unit 406.
The time monitoring unit 406 performs control so that the measurement by the three-dimensional scanner 530 is performed at regular time intervals. For this reason, the time monitoring unit 406 instructs the measurement result acquisition unit 402 to acquire the measurement target range position information every time a predetermined time elapses.
Upon receiving the instruction, the measurement result acquisition unit 402 causes the three-dimensional scanner 530 to perform measurement, and acquires measurement target range position information as a measurement result. Then, the excavation required area determination unit 403, the image generation unit 404, and the image output unit 405 execute the respective processes in response to the measurement target range position information being acquired by the measurement result acquisition unit 402.
By performing the processing as described above, in the present embodiment, the determination result for the excavation required area DAR is updated every fixed time, and accordingly, the determination result updated as the excavation necessary area image Pdar is obtained. The display of the projection image Pprj is also updated so as to be reflected. It should be noted that it takes about one minute from the start of measurement by the three-dimensional scanner 530 until the determination of the excavation required area DAR is performed and the display of the projection image Pprj is updated.

  In this case, the worker starts the excavation work at the timing when the display of the projection image Pprj is updated, and interrupts the excavation work until the next measurement by the three-dimensional scanner 530 is started. The worker waits until the next measurement by the three-dimensional scanner 530 is started and the display of the projection image Pprj is updated, and when the display of the projection image Pprj is updated, the excavation work is started again. In this way, in the second embodiment, the measurement by the three-dimensional scanner 530 is performed at regular intervals, and the display of the projection image Pprj is updated accordingly. In this case, the operator does not need to perform operations for starting the next measurement by the three-dimensional scanner 530, for example.

  For example, the time from when the display of the projection image Pprj is updated until the next measurement by the three-dimensional scanner 530 is started may be grasped by an operator by looking at a clock or the like. However, in this case, each time the excavation work is resumed, the worker must manage time, which may be a burden on the worker.

Therefore, in the present embodiment, the measurement processing device 400 displays the time until the next measurement by the three-dimensional scanner 530 is started in the projection image Pprj.
FIG. 19 shows an example of a mode for displaying the time until the next measurement by the three-dimensional scanner 530 is started in the projection image Pprj. In the example of the figure, it is shown that the remaining time until the next measurement by the three-dimensional scanner 530 is started is 2 minutes and 15 seconds in the excavation necessary area image Pdar. As time elapses, the remaining time shown in the excavation required region image Pdar decreases. The operator can perform the excavation work while confirming the remaining time displayed, and can interrupt the excavation work until the remaining time becomes “0”.
In this way, it is not necessary for the operator to grasp the remaining time until the next measurement by the three-dimensional scanner 530 is started while looking at the clock, and the work efficiency can be improved.

The flowchart in FIG. 20 illustrates a procedure example of the excavation guide operation handling process (step S104A) executed by the measurement processing apparatus 400 in the present embodiment.
Note that the steps of calculating the projection distance L, installing the measurement system, and measuring the position and direction of the position measurement projection apparatus 500 using the total station 100 shown as steps S101 to S103 in FIG. The excavation guide operation corresponding process (step S104A) in FIG.

  In the figure, step S131 is the same as step S111 of FIG. That is, the position / direction information acquisition unit 401 in the measurement processing apparatus 400 acquires measurement projection position / direction information indicating the position and direction of the position measurement / projection apparatus 500 measured by the total station 100.

In addition, the time monitoring unit 406 inputs a measurement time interval prior to the start of measurement related to the subsequent excavation required area (step S132). The measurement time interval is a time interval at which measurement by the three-dimensional scanner 530 is started.
The operator performs an operation of specifying the value of the measurement time interval. The operator determines the time length suitable for excavation work corresponding to one measurement, for example, considering the situation such as the hardness of the wall in the tunnel TN, for example, and the measurement time according to the determined time length What is necessary is just to determine an interval.
The time monitoring unit 406 inputs the value of the time interval specified by the operation as the measurement time interval.

Then, for example, in response to an operation for instructing the measurement processing device 400 to start measurement, the following processing is started.
First, the time monitoring unit 406 in the measurement processing device 400 resets the timer so that the timer value corresponding to the measurement time interval input in step S132 is set, starts the timer, and counts down the timer value. Execute (Step S133).

The subsequent processes in steps S134 to S141 are the same as the processes in steps S112 to S119 in FIG.
When it is determined in step S141 that the excavation required area DAR has been formed, the image generation unit 404 starts generating the projection image Ppcs (step S142). When generating the projection image Ppcs, the image generation unit 404 distorts the necessary excavation area image Pdar according to the shape of the excavation necessary area DAR, and an image of the remaining time according to the timer value currently counted by the timer. Is synthesized.
Then, the image output unit 405 starts outputting the projection image Ppcs generated in step S141 (step S143). Thereby, as illustrated in FIG. 19, the display of the projection image Pprj indicating the remaining time until the start of the measurement of the next three-dimensional scanner 530 is started, and the remaining time in the projection image Pprj as time elapses. Will decrease.
The worker starts the display of the projection image Pprj updated in step S142 and proceeds with the excavation work until the displayed remaining time becomes “0”.

The time monitoring unit 406 waits for the timer value of the timer activated in step S133 to become “0” (NO in step S144). Then, when the timer value becomes “0” (step S144—YES), and the timing for starting the next measurement by the three-dimensional scanner 530 is reached, the process returns to step S113. Accordingly, in the present embodiment, measurement by the three-dimensional scanner 530 and update of the projection image Pprj corresponding to the measurement result are performed at every measurement time interval even if the operator does not perform any operation. The operator performs excavation while confirming the excavation location by the excavation necessary area image Pdar in the updated projection image Pprj.
Then, when the excavation of the actual excavation required area PT in the corresponding measurement target range OBJ is completed, it is determined in step S140 that the excavation required area DAR has not been formed, and the process of FIG. Also in this case, if it is determined in step S140 that the excavation required area DAR is not formed, an image of a message notifying the operator that excavation for the corresponding measurement target range OBJ has been completed. You may make it project with the projector 540. FIG.

  In the description so far, an example has been given in which one position measurement projection device 500 is installed in the tunnel TN, the excavation required area DAR in one measurement target range OBJ is determined, and an image is projected. However, when the area of the measurement target range OBJ is large, for example, a plurality of position measurement projection devices 500 may be installed so that the plurality of measurement target ranges OBJ are connected. As a result, it is possible to determine the excavation required area DAR and project an image corresponding to a wide measurement target range.

In the description so far, the description has been given of the case where the unreserved portion in the tunnel is determined and guided by the projection image. However, the configuration of the present embodiment can also be applied to the management of the amount of surplus excavation that is larger than the design cross-sectional area in the tunnel, for example.
The configuration of this embodiment is also effective for excavation of a complicated shape such as a curved face.
Furthermore, the configuration of the present embodiment can be effectively applied not only to the management of the wall surface in the tunnel, but also to a filling process, for example.

  Note that a program for realizing the function as the above-described measurement processing device 400 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed, thereby executing the above-described process. You may perform the process as the measurement processing apparatus 400. FIG. Here, “loading and executing a program recorded on a recording medium into a computer system” includes installing the program in the computer system. The “computer system” here includes an OS and hardware such as peripheral devices. The “computer system” may include a plurality of computer devices connected via a network including a communication line such as the Internet, WAN, LAN, and dedicated line. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. As described above, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM. The recording medium also includes a recording medium provided inside or outside that is accessible from the distribution server in order to distribute the program. The code of the program stored in the recording medium of the distribution server may be different from the code of the program that can be executed by the terminal device. That is, the format stored in the distribution server is not limited as long as it can be downloaded from the distribution server and installed in a form that can be executed by the terminal device. Note that the program may be divided into a plurality of parts, downloaded at different timings, and combined in the terminal device, or the distribution server that distributes each of the divided programs may be different. Furthermore, the “computer-readable recording medium” holds a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or a client when the program is transmitted via a network. Including things. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

100 total station, 200 PC, 300 router, 400 measurement processing device, 401 position / direction information acquisition unit, 402 measurement result acquisition unit, 403 excavation area determination unit, 404 image generation unit, 405 image output unit, 406 time monitoring unit, 500 Position measurement and projection device, 510 housing, 511 opening, 520A, 520B prism, 520B prism, 530 three-dimensional scanner, 540 projector

Claims (6)

A three-dimensional scanner that measures a three-dimensional shape, a measurement processing device, and a projection device that projects an input image;
The measurement processing apparatus includes:
A deformation required area determination unit that determines a deformation required area that needs to be deformed in the measurement target range based on the three-dimensional shape of the measurement target range measured by the three-dimensional scanner;
When the projection is performed on the measurement target range, the deformation required region in which the shape is distorted so that the image of the deformation necessary region included in the projection image displayed by the projection matches the position range of the actual deformation necessary region. An image generation unit for generating a projection image including an image;
An image output unit that outputs the projection image generated by the image generation unit so as to be projected by the projection device. The image generation unit
The measurement system according to claim 1, wherein when the deformation necessary area determination unit determines that there is no deformation necessary area, a projection image including an image of the deformation necessary area is not generated. The deformation required area determination unit
Determining the necessary deformation area based on the 3D shape of the measurement target range measured by the 3D scanner at regular time intervals;
The image generation unit
The measurement system according to claim 1, wherein the projection-use image is generated in response to the determination of the deformation-necessary area at regular time intervals by the deformation-necessary area determination unit. The measurement system according to claim 3, wherein the image generation unit generates the projection image indicating a time until the next measurement by the three-dimensional scanner is started. A deformation required area determination unit that determines a deformation required area that needs to be deformed in the measurement target range based on the three-dimensional shape of the measurement target range measured by a three-dimensional scanner;
When the projection is performed on the measurement target range, the deformation required region in which the shape is distorted so that the image of the deformation necessary region included in the projection image displayed by the projection matches the position range of the actual deformation necessary region. An image generation unit for generating a projection image including an image;
An image output unit that outputs the projection image generated by the image generation unit so as to be projected by the projection device. A shape measuring step for measuring a three-dimensional shape of a measurement target range by a three-dimensional scanner;
Based on the three-dimensional shape of the measurement target range measured by the shape measurement step, a deformation necessary region determination step for determining a deformation necessary region that requires deformation in the measurement target range;
When projecting to the measurement target range, an image of the necessary deformation area in which the image of the necessary deformation area included in the projection image displayed by the projection is distorted in shape so as to match the position range of the actual necessary deformation area An image generation step for generating an image for projection including:
A projection step of projecting the projection image generated by the image generation step by a projection device.

Images