JP2018104985A - Method and system of supporting restoration of stone wall - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of supporting restoration of a stone wall that restores the stone that collapsed from the surface of the stone wall to the surface of the stone wall with high accuracy.SOLUTION: The method of supporting restoration of a stone wall 10 is to restore a stone 14 collapsed from the surface of the stone wall 10. The method of supporting restoration of the stone wall 10 includes a three-dimensional stone wall data acquisition step of measuring the surface shape of the stone wall 10 before a stone 10a collapses in advance with a three-dimensional laser scanner 21 and acquiring three-dimensional stone wall data of the surface shape of the stone wall 10 before the stone 10a collapses, an exposed portion data acquisition step of specifying an exposed portion 15 exposed on the surface of the stone wall 10 before the stone 14 collapsed from the surface of the stone wall 10 collapses, measuring the specified exposed portion 15 with laser and acquiring three-dimensional exposed portion data of the exposed portion 15, and an arrangement specifying step of comparing the three-dimensional stone wall data with the three-dimensional exposed portion data and specifying the arrangement state on the stone wall 10 before the stone 14 collapsed collapses.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a stone wall repair support method and a stone wall repair support system, and more particularly to a stone wall repair support method and a repair support system using a laser scanner.

  Many of the stone walls established in castles and temples have been several hundred years old, and are aging due to deterioration over time. Such stone walls are apt to collapse due to natural disasters such as earthquakes and typhoons. In particular, when stone walls with high cultural value are destroyed, accurate restoration of their appearance is also required.

  Here, since the stones used for the construction of the stone wall are all different in shape, in order to accurately restore the broken stone, an accurate construction control chart before the stone wall collapses is required. Therefore, various methods for creating construction control charts have been proposed recently (see, for example, Patent Document 1).

JP 2004-212107 A

  However, the construction management chart described in Patent Document 1 is for restoring the cross section of the stone wall and the tension of the stone wall, and also grasps the shape and arrangement of the individual stones that make up the appearance of the stone wall and It is not meant to be repaired. Therefore, in the construction control chart described in Patent Document 1, it is difficult to accurately restore the surface shape of the stone wall including the shape and arrangement of the stones constituting the stone wall. A stone wall with a high cultural value has a cultural value including the appearance of its appearance, and it is preferable to restore the arrangement of individual stones on the surface of the stone wall constituting the appearance with high accuracy.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a stone wall repair support method and a stone wall repair support system for restoring a stone that has collapsed from the surface of the stone wall to the surface of the stone wall with high accuracy.

  The present invention is a stone wall repair support method for restoring stones that have fallen from the surface of the stone wall, wherein the surface shape of the stone wall before the stones fall is preliminarily measured with a three-dimensional laser scanner, before the stones fall down The three-dimensional stone wall data acquisition process to acquire the three-dimensional stone wall data of the surface shape of the stone wall, and the exposed part that was exposed on the surface of the stone wall before collapsing the stone that collapsed from the surface of the stone wall, and the identified exposed part The exposed part data acquisition step of obtaining the three-dimensional exposed part data of the exposed part by laser measurement with the three-dimensional laser scanner, and comparing the three-dimensional stone wall data and the three-dimensional exposed part data, The above object is achieved by providing a stone wall repair support method including an arrangement specifying step for specifying an arrangement state of a stone wall before collapse of the stone wall.

  And, the stone wall restoration support method for restoring stones that have fallen from the surface of the stone wall of the present invention, the surface shape of the stone wall before the stone collapses is previously imaged with a camera, and the surface shape of the stone wall before the stone collapses A two-dimensional stone wall image acquisition step of acquiring a two-dimensional stone wall image, and in the arrangement specifying step, the three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed portion data are compared, and the collapsed stone collapses It is preferable to specify the arrangement state in the previous stone wall.

  Further, according to the present invention, the stone wall restoration support method for restoring stones that have collapsed from the surface of the stone wall, in the three-dimensional stone wall data acquisition step, acquires the public coordinates of each stone constituting the stone wall using a GPS antenna. It is preferable to acquire three-dimensional stone wall data.

  Further, the stone wall restoration support method for restoring stones that have collapsed from the surface of the stone wall of the present invention uses the three-dimensional stone wall data and the three-dimensional exposed portion data in the placement specifying step, It is preferable to calculate the match rate with the stone after collapse, select the stone before collapse from the collapsed stone based on the calculated match rate, and specify the arrangement state.

  Further, the stone wall restoration support method for restoring stones that have fallen from the surface of the stone wall according to the present invention selects a plurality of stones having a relatively high match rate in the placement specifying step, and falls down from the selected stones. It is preferred to further select the previous stone.

  Further, the present invention is a stone wall restoration support system for restoring stones that have fallen from the surface of the stone wall, wherein the surface shape of the stone wall before the stones fall is preliminarily measured with a three-dimensional laser scanner and the stones are broken down with a GPS antenna. Obtain the public coordinates of each stone that makes up the previous stone wall, and obtain the three-dimensional stone wall data acquisition unit that acquires the three-dimensional stone wall data of the surface shape of the stone wall before the stone collapses, and the surface shape of the stone wall before the stone collapses 2D stone wall image acquisition unit that acquires a 2D stone wall image of the surface shape of the stone wall before the stone collapses, and exposed to the surface of the stone wall before the stone collapsed from the surface of the stone wall The exposure part data acquisition which identifies the exposed part which has been, and laser-measures the specified exposure part with the three-dimensional laser scanner and acquires the three-dimensional exposure part data of the exposure part And a three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed portion data, and an arrangement specifying unit that specifies an arrangement state in the stone wall before the collapsed stone collapses. By providing a support system, the above object has been achieved.

  Further, the stone wall repair support system for restoring stones that have collapsed from the surface of the stone wall of the present invention, the arrangement specifying unit uses the three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed portion data, It is preferable to calculate the match rate between the stone before collapse and the stone after collapse, select the stone before collapse from the collapsed stone based on the calculated match rate, and specify the arrangement state.

  Further, the stone wall restoration support system for restoring stones that have collapsed from the surface of the stone wall of the present invention is the stone wall before the 3D stone wall data, the 2D stone wall image, the 3D exposed portion data, and the collapsed stone before collapsed. It is preferable to include a storage unit that stores arrangement data in which the arrangement state is recorded.

  According to the stone wall repair support method of the present invention, it is possible to repair a stone wall that restores the stone that has collapsed from the surface of the stone wall to the surface of the stone wall with high accuracy. In addition, according to the stone wall repair support system of the present invention, it is possible to repair the stone wall that restores the stone that has collapsed from the surface of the stone wall to the surface of the stone wall with high accuracy.

1 is a block diagram illustrating a schematic configuration of a stone wall repair support system according to a preferred embodiment of the present invention. It is a flowchart figure of the restoration support method of the stone wall which concerns on preferable one Embodiment of this invention. FIG. 3 is a flowchart of arrangement specification in the stone wall repair support method shown in FIG. 2. It is a perspective view which shows the state before the stone of the stone wall repaired by the restoration support method and restoration support system of the stone wall which concerns on preferable one Embodiment of this invention falls down. It is a perspective view which shows an example of the stone collapsed from the stone wall shown in FIG.

  The restoration support method for stone wall 10 and the restoration support system 30 for stone wall 10 according to a preferred embodiment of the present invention shown in FIGS. 1 to 3 are such that the stone wall 10 as shown in FIG. This is employed as a repair support method for restoring the arrangement state of the stone 10a exposed on the surface thereof with high accuracy and the repair support system for performing this. Many of the stone walls 10 provided in castles, temples and shrines are several hundred years old, and are aging due to deterioration over time, so they are easily destroyed by natural disasters such as earthquakes and typhoons. Many of these stone walls 10 have high cultural value, and when they are destroyed by natural disasters or the like, it is required to restore the stone 10a exposed on the surface with high accuracy. On the other hand, there are many such stone walls 10 that do not have an accurate construction control chart.

  In the stone wall 10 restoration support method and the stone wall 10 restoration support system 30 according to the present embodiment, for example, a stone wall 10 shown in FIG. 4 is used with a three-dimensional laser scanner 21 as shown in FIGS. The surface shape of the stone wall 10 before the stone 10a collapses is laser-measured in advance. Then, the individual stones 14 shown in FIG. 5 are preferably imaged by the camera 22 to identify the exposed portion 15 and the three-dimensional exposed portion data obtained by laser measurement of the identified exposed portion 15 and the tertiary of the stone wall 10. Compared with the original stone wall data, the restoration support method and the repair support system 30 are used to restore the stone 14 collapsed from the surface of the stone wall 10 to the original position in the original posture.

  And the restoration | repair assistance method of the stone wall 10 which restores the stone 14 which collapsed from the surface of the stone wall 10 of this embodiment WHEREIN: As shown in FIGS. 3-5, the surface shape of the stone wall 10 before the stone 10a collapses is tertiary beforehand. The laser measurement is performed by the original laser scanner 21 and the three-dimensional stone wall data acquisition process for acquiring the three-dimensional stone wall data of the surface shape of the stone wall 10 before the stone 10a collapses, and before the stone 14 that collapses from the surface of the stone wall 10 collapses. An exposed portion data acquisition step of specifying the exposed portion 15 exposed on the surface of the stone wall 10 and measuring the specified exposed portion 15 with a three-dimensional laser scanner 21 to obtain three-dimensional exposed portion data of the exposed portion 15. And the three-dimensional stone wall data and the three-dimensional exposed part data, and the arrangement specifying step for specifying the arrangement state of the stone 14 before the collapsed stone 14 collapses , And a.

  Moreover, in this embodiment, the restoration support method of the stone wall 10 is a two-dimensional surface shape of the stone wall 10 before the stone 10a collapses by previously capturing the surface shape of the stone wall 10 before the stone 10a collapses with the camera 22 in advance. A two-dimensional stone wall image acquisition step of acquiring a stone wall image, and in the arrangement specifying step, the three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed portion data are compared before the collapsed stone 14 collapses. The arrangement state of the stone wall 10 is specified.

  Furthermore, in this embodiment, the restoration support method for the stone wall 10 uses the GPS antenna 23 to obtain the public coordinates of the stone 10a constituting the stone wall 10 in the three-dimensional stone wall data acquisition step, and obtains the three-dimensional stone wall data. To get.

  Furthermore, in the present embodiment, the stone wall 10 restoration support method uses the three-dimensional stone wall data and the three-dimensional exposed portion data in the placement specifying step, and uses the stone 10a before collapse and the stone 14 after collapse. The match rate is calculated, and based on the calculated match rate, the stone 10a before being collapsed from the collapsed stone 14 is selected, and the arrangement state is specified.

  In the present embodiment, the stone wall 10 restoration support method selects a plurality of stones 14 having a relatively high match rate in the arrangement specifying step, and further selects a stone 10a before collapsed from the selected stones 14. It is supposed to be.

  And the restoration | repair assistance system 30 which restores the stone 14 which collapsed from the surface of the stone wall 10 of this embodiment can be used for the restoration assistance method of the above-mentioned stone wall 10, and is shown in FIG.1, FIG4 and FIG.5. As described above, the surface shape of the stone wall 10 before the stone 10a collapses is laser-measured in advance by the three-dimensional laser scanner 21 and the public coordinates of the stones 10a constituting the stone wall 10 before the stone 10a collapses are acquired by the GPS antenna 23. The surface shape of the stone wall 10 before the stone 10a collapses, and the three-dimensional stone wall data acquisition unit 31 that acquires the three-dimensional stone wall data of the surface shape of the stone wall 10 before the stone 10a collapses, A two-dimensional stone wall image acquisition unit 32 that acquires a two-dimensional stone wall image of the surface shape of the stone wall 10 before the stone 10 a collapses, and the stone 14 that has collapsed from the surface of the stone wall 10. An exposure portion 15 that is exposed on the surface of the stone wall 10 before being collapsed is specified, and the specified exposure portion 15 is laser-measured by the three-dimensional laser scanner 21 to obtain the three-dimensional exposure portion data of the exposure portion 15. The partial data acquisition unit 33 is compared with the three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed partial data to determine the arrangement state of the stone 14 before the collapsed stone 14 collapses. 34.

  Further, in the present embodiment, the restoration support system for the stone wall 10 uses the three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed portion data, and the arrangement specifying unit has collapsed with the stone before the collapse. The match rate with the later stone is calculated, and based on the calculated match rate, the stone before collapse from the collapsed stone is selected, and the arrangement state is specified.

  Furthermore, in this embodiment, the restoration support system for the stone wall 10 is an arrangement that records the arrangement state of the three-dimensional stone wall data, the two-dimensional stone wall image, the three-dimensional exposed portion data, and the stone wall before the collapsed stone collapses. A storage unit for storing data is provided.

  In this embodiment, as shown in FIG. 4, the stone wall 10 is a wall or a fence made by stacking various kinds of stones, and is often seen in castles, temples and shrines. There are two methods for building stone walls: a field area construction method in which natural stones are piled up as they are, a driving joint construction method in which some parts are processed and piled up, and a cutting joint construction method in which all parts are processed and piled up. Have. The stone wall 10 shown in FIG. 4 is constructed by the incision method, and the joint of the stone 10a exposed on the surface passes therethrough, so that very high accuracy is required. The surface of the stone wall 10 means an exposed portion of the wall surface of the stone wall 10.

  The repair support method for the stone wall 10 according to the present embodiment is a repair support method used when restoring the stone 14 collapsed from the surface of the stone wall 10 shown in FIG. 4 with high accuracy, and uses the repair support system 30 for the stone wall 10. Can be executed. As shown in FIG. 1, a restoration support system 30 for a stone wall 10 capable of executing the restoration support method for the stone wall 10 includes a three-dimensional stone wall data acquisition unit 31 that acquires three-dimensional stone wall data for the stone wall 10, and a two-dimensional stone wall 10. A two-dimensional stone wall image acquisition unit 32 that acquires a stone wall image, an exposed portion data acquisition unit 33 that acquires three-dimensional exposure portion data of the exposed portion 15 of the collapsed stone 14 shown in FIG. 5, and a collapsed stone shown in FIG. 14 includes an arrangement specifying unit 34 that specifies an arrangement state of the stone wall 10 illustrated in FIG. 4 and a storage unit 35 that stores various types of acquired data and the like.

  In the restoration support method for the stone wall 10 of the present embodiment, first, the three-dimensional stone wall data acquisition unit 31 uses the three-dimensional laser scanner 21 to perform laser measurement on the surface shape of the stone wall 10 before the stone 10a collapses in advance. The three-dimensional stone wall data of the surface shape of the stone wall 10 before falling down is acquired (three-dimensional basic image acquisition step, step ST1). The laser measurement of the surface shape of the stone wall 10 is preferably performed from the front of the stone wall 10 from the viewpoint of specifying the arrangement state of the stone wall 10 with high accuracy. Further, the laser measurement of the surface shape of the stone wall 10 may be performed partially for each area of the stone wall 10, or the entire stone wall 10 may be measured over a wide area. When measuring the entire stone wall 10 over a wide area, for example, a three-dimensional laser scanner 21 is mounted on the vehicle, and the surface shape of the stone wall 10 is measured from the front of the stone wall 10 while the vehicle is traveling along the stone wall 10. It is preferable to measure.

  The three-dimensional laser scanner 21 used for laser measurement of the surface shape of the stone wall 10 irradiates the laser toward an arbitrary measurement target point of the stone wall 10 and returns after being reflected by the arbitrary measurement target point of the stone wall 10. The distance to the measurement target point of the stone wall 10 can be measured based on the round trip time until the laser is received by the sensor. Further, the three-dimensional laser scanner 21 calculates an irradiation angle from the position irradiated with the laser, and can acquire arbitrary three-dimensional coordinates at the measurement target point of the stone wall 10 from this angle information and distance. Thus, the output value of the laser measurement obtained by the three-dimensional laser scanner 21 becomes a set of point data, and the three-dimensional stone wall data acquisition unit 31 arranges this set of point data on arbitrary three-dimensional coordinates, Three-dimensional point cloud data of the surface shape of the stone wall 10 on arbitrary three-dimensional coordinates is obtained. In addition, the origin of the arbitrary three-dimensional coordinates at this time is a point where the three-dimensional laser scanner 21 irradiates the laser.

  Next, the three-dimensional stone wall data acquisition unit 31 acquires the three-dimensional public coordinates of the stone wall 10 using the GPS antenna 23. When the three-dimensional laser scanner 21 is mounted on a vehicle and the surface shape of the stone wall 10 is measured while the vehicle is traveling along the stone wall 10, three units are used to specify the traveling direction and direction of the vehicle. The GPS antenna 23 is preferably used.

  When the three-dimensional public coordinates are acquired, the three-dimensional stone wall data acquisition unit 31 arranges the above-described set of point data on the acquired three-dimensional public coordinates, and the point cloud of the public three-dimensional position information of the stone wall 10. Acquire data (3D point cloud data). Unlike the case where 3D point cloud data is created on arbitrary 3D coordinates by creating 3D point cloud data on 3D public coordinates acquired using the GPS antenna 23, 3D point cloud data is created. Can be stored for a long time. In the present embodiment, the three-dimensional point cloud data arranged on the three-dimensional public coordinates acquired in this way becomes the three-dimensional stone wall data of the surface shape of the stone wall 10 acquired by the three-dimensional stone wall data acquisition unit 31. .

  The acquired three-dimensional stone wall data is stored in the storage unit 35 together with the date when the data is acquired. Further, the three-dimensional stone wall data stored in the storage unit 35 can be displayed on a monitor 24 electrically connected to the storage unit 35. The storage unit 35 may be configured using hardware or may be provided on a cloud capable of wireless communication.

  The three-dimensional stone wall data acquired by the three-dimensional stone wall data acquisition unit 31 is three-dimensional stone wall data obtained by adding color information (R, G, B) to the three-dimensional point cloud data obtained using the three-dimensional laser scanner 21. Also good. By using the three-dimensional stone wall data obtained by adding color information (R, G, B) to the three-dimensional point cloud data, for example, each stone 10a in the surface shape of the stone wall 10 can be easily identified. The three-dimensional stone wall data acquired by the three-dimensional stone wall data acquisition unit 31 may be three-dimensional stone wall data obtained by adding a mesh (altitude) to the three-dimensional point cloud data obtained by using the three-dimensional laser scanner 21. By using three-dimensional stone wall data obtained by adding a mesh to the three-dimensional point cloud data, for example, the unevenness of each stone 10a in the surface shape of the stone wall 10 can be easily understood, and identification of each stone 10a is facilitated.

Next, when acquiring the three-dimensional stone wall data (three-dimensional point cloud data) of the surface shape of the stone wall 10,
The two-dimensional stone wall image acquisition unit 32 uses the camera 22 to image in advance the surface shape of the stone wall 10 before the stone 10a collapses, and acquires a two-dimensional stone wall image of the surface shape of the stone wall 10 before the stone 10a collapses ( Two-dimensional basic image acquisition step, step ST2). The imaging of the surface shape of the stone wall 10 is preferably performed from the front of the stone wall 10 from the viewpoint of specifying the arrangement state of the stone wall with high accuracy. Moreover, the imaging of the surface shape of the stone wall 10 may be performed partially for each area of the stone wall 10, or the entire stone wall 10 may be imaged over a wide area. When imaging the entire stone wall 10 over a wide area, for example, the camera 22 is mounted on the vehicle, and the surface shape of the stone wall 10 is imaged from the front of the stone wall 10 while the vehicle travels along the stone wall 10. preferable.

  When the two-dimensional stone wall image is acquired, the two-dimensional stone wall image acquisition unit 32 reflects the two-dimensional coordinate data on the two-dimensional stone wall image using the three-dimensional public coordinates acquired using the GPS antenna 23. The acquired two-dimensional image data is stored in the storage unit 35 together with the date when the data is acquired. The two-dimensional image data stored in the storage unit 35 can be displayed on a monitor 24 electrically connected to the storage unit 35.

  Next, when a two-dimensional stone wall image of the surface shape of the stone wall 10 is acquired, the exposed portion 15 of the stone 14 that has collapsed from the surface of the stone wall 10 and that has been exposed on the surface of the stone wall 10 before collapse is specified. In the present embodiment, the exposed portion data acquisition unit 33 uses the camera 22 to capture an image of the stone 14 that has collapsed from the surface of the stone wall 10 and identify the exposed portion 15 that has been exposed to the surface of the stone wall 10 before it collapses. Then, the specified exposed portion 15 is laser-measured by the three-dimensional laser scanner 21 to acquire the three-dimensional exposure data of the exposed portion 15 (exposed portion data acquisition step, step ST3).

  Specifically, the exposed portion data acquisition unit 33 first images the stone 14 collapsed from the stone wall 10 shown in FIG. Next, the exposed portion data acquisition unit 33 specifies the exposed portion 15 of the stone 14 that has collapsed from the stone wall 10 and exposed on the surface of the stone wall 10 before it has collapsed from the stone wall 10 using the captured image. In the present embodiment, the exposed portion data acquisition unit 33 specifies the exposed surface 15 a as the exposed portion 15. The exposed portion data acquisition unit 33, for example, captures all the surfaces of the collapsed stone 14 (six surfaces in the case of a rectangle) with the camera 22, and has different features from the other surfaces (the other five surfaces in the case of a rectangle). One surface having the same is estimated as the exposed surface 15a, and this is used as the exposed surface 15a. For example, if the color on one side is different from the color on the other 5 sides (for example, the color on only one side is light), or if the other 5 sides have many irregularities due to adhesion of soil, etc., the one side is exposed. The exposed portion data acquisition unit 33 identifies this as the exposed surface 15a. Note that the exposure surface 15a is specified by the exposure portion data acquisition unit 33 by extracting the contour and unevenness of an image captured using a general image processing technique and based on the extracted contour and unevenness.

  When the exposed surface 15a of the collapsed stone 14 is specified, the exposed portion data acquisition unit 33 next performs laser measurement on the exposed surface 15a specified using the three-dimensional laser scanner 21 with the three-dimensional laser scanner 21, and exposes the exposed surface 15a. 3D exposure part data (3D point cloud data) is acquired. As shown in FIG. 2, the exposed portion data acquisition unit 33 performs this for all the stones 14 that have collapsed from the surface of the stone wall 10 (step ST4). In the present embodiment, the three-dimensional point cloud data becomes the three-dimensional exposed portion data of the exposed surface 15a of the collapsed stone 14 acquired by the exposed portion data acquiring unit 33.

  The acquired three-dimensional exposure part data is stored in the storage unit 35 together with the date when the data is acquired. Further, the three-dimensional exposure portion data stored in the storage unit 35 can be displayed on the monitor 24 electrically connected to the storage unit 35.

  Next, when the three-dimensional exposed portion data of the exposed surface 15a is acquired, the arrangement specifying unit 34 compares the three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed portion data, and the stone 14 that has collapsed before being collapsed. The arrangement state in the stone wall 10 is specified (arrangement specifying step, step ST5). In addition, the arrangement state in the stone wall 10 before the collapsed stone 14 collapses refers to the position of the broken stone 14 in the stone wall 10 (for example, the positions 11a, 12a, 13a... Shown in FIG. 4), and the stone wall 10. This also includes the posture of the stone 10a at each position.

  As shown in FIG. 3, the arrangement specifying unit 34 first extracts the acquired three-dimensional stone wall data from the storage unit 35 and displays it on the monitor 24 (step ST10). When the three-dimensional stone wall data is displayed on the monitor 24, the arrangement specifying unit 34 next, a portion (two-dimensional shape) corresponding to the contour of each stone 10a on the three-dimensional stone wall data, a portion corresponding to a protrusion or unevenness ( A characteristic portion such as a three-dimensional shape is extracted (step ST11). Next, as shown in FIG. 4, the arrangement specifying unit 34 attaches a code to the position of each stone 10a before the stone 10a on the three-dimensional stone wall data collapses based on the contour extracted in step ST11 (step S11). ST12). That is, the arrangement specifying unit 34 attaches a code to the position of each stone 10a on the three-dimensional stone wall data and associates the code with each position.

  Next, the arrangement specifying unit 34 sequentially extracts the acquired three-dimensional exposed portion data of the collapsed stone 14 from the storage unit 35 and displays it on the monitor 24 (step ST13). When the three-dimensional exposed portion data is displayed on the monitor 24, the arrangement specifying unit 34 next displays a portion (two-dimensional shape) corresponding to the outline of the stone 14 collapsed from the three-dimensional exposed portion data or a portion (third order) corresponding to the protrusion. A plurality of characteristic parts such as original shapes are extracted (step ST14).

  Next, the arrangement specifying unit 34 extracts the stone at the position of each stone 10a before the stone 10a on the three-dimensional exposed portion data extracted in step ST14 and the three-dimensional stone wall data extracted in step ST12 collapses. The contour (shape) is compared, and a matching point is extracted (step ST15). At this time, the arrangement specifying unit 34 calculates a matching rate according to the number of matching points in each three-dimensional exposure portion data, and displays it on the monitor 24. Further, the comparison is performed for each position to which reference numerals 11a, 12a, 13a,... Shown in FIG. This is performed for all three-dimensional exposure portion data (step ST16).

  When calculation of the matching points with the characteristic portions at the respective positions 11a, 12a, 13a... Of the three-dimensional stone wall data for all the three-dimensional exposed portion data is completed, the arrangement specifying unit 34 then relatively matches. Select multiple 3D exposure part data with high rate. In the present embodiment, the arrangement specifying unit 34 selects a plurality of matches having a match rate of 70% or more (step ST17). When the three-dimensional exposed portion data having a relatively high match rate is selected, the arrangement specifying unit 34 then calculates these match rates in more detail, and the three-dimensional exposed portion data having the highest match rate from these. Is selected, and this is estimated as the stone 10a to be placed at the position (step ST18).

  Once the position of the stone 14 is estimated based on the three-dimensional stone wall data and the three-dimensional exposed portion data of the broken stone 14, the arrangement specifying unit 34 extracts the acquired two-dimensional stone wall image from the storage unit 35. The information is displayed on the monitor 24 (step ST19). When the acquired two-dimensional stone wall image is extracted from the storage unit 35, the arrangement specifying unit 34 then compares the three-dimensional stone wall data and the three-dimensional exposed portion data of the broken stone 14 with the two-dimensional stone wall image. The position of the stone 14 is specified (step ST20). At this time, for the two-dimensional stone wall image, outline extraction is performed by general image processing. Then, for example, the position in the two-dimensional stone wall image corresponding to the estimated position where the three-dimensional exposed portion data of the collapsed stone 14 is located and the three-dimensional exposed portion data of the collapsed stone 14 are compared and matched. Calculate the rate. When the match rate is a predetermined value (for example, 90% or more), the position is specified as the position of the three-dimensional exposure portion data. This is performed for the three-dimensional exposed portion data of all the collapsed stones 14 (step ST21).

  As described above, according to the method for supporting the repair of the stone wall 10 of the present embodiment, the stone wall 10 can be repaired so that the stone 14 that has collapsed from the surface of the stone wall 10 is restored to the surface of the stone wall 10 with high accuracy. In other words, the stone wall 10 restoration support method according to the present embodiment includes a three-dimensional stone wall data acquisition step in which the stone wall 10 before the stone 10a collapses is laser-measured in advance by the three-dimensional laser scanner 21 to acquire three-dimensional stone wall data, A three-dimensional exposed portion data acquisition step of acquiring three-dimensional exposed portion data of the exposed portion 15 of the stone 14 that has collapsed from the surface of the ten, and in the placement specifying step, the three-dimensional exposed portion data and the three-dimensional exposed portion data are obtained. Since the comparison is performed, a more accurate comparison is possible. Therefore, the stone 14 that has collapsed from the surface of the stone wall 10 can be restored to the surface of the stone wall 10 with high accuracy.

  In addition, by acquiring a 2D stone wall image of the surface shape of the stone wall before the stone collapses, and adding a 2D stone wall image to the 3D stone wall data and 3D exposed part data for comparison, a more accurate comparison can be made. It becomes possible, and the stone 14 collapsed from the surface of the stone wall 10 can be restored to the surface of the stone wall 10 with higher accuracy.

  Also, using the three-dimensional stone wall data and the three-dimensional exposed portion data, the match rate between the stone 10a before the collapse and the stone 14 after the collapse is calculated, and based on the calculated match rate, from the collapsed stone 14 By specifying the position of the stone 10a before it collapses, it can be restored with higher accuracy. At this time, by selecting a plurality of stones having a relatively high match rate and selecting a stone that is estimated to be a stone before further collapse from among the selected stones, for example, the calculation of the stone selection in a short time is performed. Will be able to do.

  Further, according to the repair support system for the stone wall 10 of the present embodiment, the stone wall 10 can be repaired so that the stone 14 collapsed from the surface of the stone wall 10 is restored to the surface of the stone wall 10 with high accuracy. That is, the stone wall 10 restoration support system of the present embodiment includes a three-dimensional stone wall data acquisition unit, a two-dimensional stone wall image acquisition unit, an exposed portion data acquisition unit, and an arrangement specifying unit. Since the image and the three-dimensional exposed portion data are compared, more accurate comparison is possible, and the stone 14 that has collapsed from the surface of the stone wall 10 can be restored to the surface of the stone wall 10 with higher accuracy.

  Similarly to the restoration support method, the match rate between the stone 10a before collapse and the stone 14 after collapse is calculated using the three-dimensional stone wall data and the three-dimensional exposed portion data, and based on the calculated match rate. By specifying the position of the stone 10a before it collapses from the collapsed stone 14, it can be restored with higher accuracy. At this time, by selecting a plurality of stones having a relatively high match rate and selecting a stone that is estimated to be a stone before further collapse from among the selected stones, for example, the calculation of the stone selection in a short time is performed. Will be able to do.

The present invention is not limited to the above-described embodiment, and various modifications can be made.
For example, in the stone wall repair support method according to the present embodiment, the GPS antenna 23 is used to acquire the three-dimensional public coordinates of the stone wall 10 and the three-dimensional stone wall data using the acquired three-dimensional public coordinates is acquired. The three-dimensional stone wall data may be acquired using arbitrary three-dimensional coordinates.

  Further, in the stone wall repair support method according to the present embodiment, a two-dimensional stone wall image of the surface shape of the stone wall before the stone collapses is acquired, and the stone 14 before the stone 14 collapsed using the two-dimensional stone wall image is obtained. Although the arrangement state is specified, the arrangement state in the stone wall 10 before the collapsed stone 14 is collapsed by the three-dimensional stone wall data of the surface shape of the stone wall 10 and the three-dimensional exposed part data of the exposed portion 15 of the collapsed stone 14 is identified. May be.

  In the stone wall restoration support method according to the present embodiment, in the exposure portion data acquisition step, the exposure portion data acquisition unit 33 uses the camera 22 to capture the image of the stone 14 that has collapsed from the surface of the stone wall 10. The exposed portion 15 exposed on the surface of the stone 10 is specified. For example, the user may specify the exposed portion 15 of the stone 14 collapsed from the surface of the stone wall 10 by visual observation.

DESCRIPTION OF SYMBOLS 10 Ishigaki 10a Stone 14 Collapsed stone 15 Exposed part 21 Three-dimensional laser scanner 22 Camera 23 GPS antenna 30 Restoration support system 31 Three-dimensional stone wall data acquisition part 32 Two-dimensional stone wall image acquisition part 33 Exposure part data acquisition part 34 Arrangement specification part

Claims (8)

A stone wall restoration support method for restoring stones that have collapsed from the surface of the stone wall,
A three-dimensional stone wall data acquisition step for measuring the surface shape of the stone wall before the stone collapses with a three-dimensional laser scanner in advance, and acquiring three-dimensional stone wall data of the surface shape of the stone wall before the stone collapses,
The exposed part that was exposed on the surface of the stone wall before the stone collapsed from the surface of the stone wall is identified, and the identified exposed part is laser-measured by the three-dimensional laser scanner to obtain the three-dimensional exposed part data of the exposed part. An exposure part data acquisition process to be acquired; and
An arrangement specifying step of comparing the three-dimensional stone wall data with the three-dimensional exposed portion data and specifying an arrangement state in the stone wall before the collapsed stone collapses. It has a two-dimensional stone wall image acquisition process that captures the surface shape of the stone wall before the stone collapses in advance with a camera and acquires a two-dimensional stone wall image of the surface shape of the stone wall before the stone collapses,
The said arrangement | positioning specification process compares the said three-dimensional stone wall data, the said two-dimensional stone wall image, and the said three-dimensional exposure part data, and specifies the arrangement | positioning state in the stone wall before the collapsed stone collapses. Stone wall restoration support method.   The method for supporting restoration of a stone wall according to claim 1 or 2, wherein, in the three-dimensional stone wall data acquisition step, a GPS antenna is used to acquire public coordinates of each stone constituting the stone wall to acquire three-dimensional stone wall data. .   In the arrangement specifying step, using the three-dimensional stone wall data and the three-dimensional exposed portion data, the match rate between the stone before collapse and the stone after collapse is calculated, and the collapse rate is calculated based on the calculated match rate. The stone wall restoration support method according to any one of claims 1 to 3, wherein a stone before falling from a stone is selected and an arrangement state is specified.   The stone wall repair support method according to claim 4, wherein, in the arrangement specifying step, a plurality of stones having a relatively high match rate are selected, and a stone before being collapsed is further selected from the selected stones. A stone wall restoration support system that restores stone that has collapsed from the surface of the stone wall,
The surface of the stone wall before the stone collapses by measuring the surface shape of the stone wall before the stone collapses with a 3D laser scanner in advance and obtaining the public coordinates of each stone that makes up the stone wall before the stone collapses with the GPS antenna A three-dimensional stone wall data acquisition unit that acquires three-dimensional stone wall data of the shape;
A two-dimensional stone wall image acquisition unit that captures a surface shape of the stone wall before the stone collapses with a camera in advance, and acquires a two-dimensional stone wall image of the surface shape of the stone wall before the stone collapses,
The exposed part that was exposed on the surface of the stone wall before the stone collapsed from the surface of the stone wall is identified, and the identified exposed part is laser-measured by the three-dimensional laser scanner to obtain the three-dimensional exposed part data of the exposed part. An exposure data acquisition unit to acquire;
Compare the three-dimensional stone wall data, the two-dimensional stone wall image and the three-dimensional exposed portion data, an arrangement specifying unit for specifying the arrangement state in the stone wall before the collapsed stone collapses,
Ishigaki restoration support system equipped with.   The arrangement specifying unit uses the three-dimensional stone wall data, the two-dimensional stone wall image, and the three-dimensional exposed portion data to calculate a match rate between the stone before collapse and the stone after collapse, and the calculated match rate The stone wall restoration support system according to claim 6, wherein a stone before being collapsed is selected from collapsed stones based on, and an arrangement state is specified. The storage part which memorize | stores the arrangement | positioning data which recorded the arrangement | positioning state in the stone wall before the said three-dimensional stone wall data, the said two-dimensional stone wall image, the said three-dimensional exposure part data, and the collapsed stone collapsed is provided. Stone wall restoration support system.

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