JP2020033771A - Spray surface state monitoring method and spray surface state monitoring device - Google Patents

Abstract

To provide a spray surface state monitoring method and a spray surface state monitoring device capable of visually recognizing a state of a spray surface hidden by the spray concrete in real time even after spraying the spray concrete.SOLUTION: A pre-spray color image of an area including a working face is acquired, the area including the working face is scanned to obtain a pre-spray point group data, the area including the sprayed surface where the spray concrete is sprayed on the working face is scanned to obtain a post-spray point group data, and a point group data of the sprayed surface is extracted from the pre-spray point group data and the post-spray point group data. The extracted pre-spray point group data and the post-spray point group data are associated with each other, color information of the pre-spray color image corresponding to the position of the corresponding pre-spray point group data is added to the extracted post-spray group point data, and an irradiation image of the post-spray point group data to which the color information is added is generated and projected on the spray surface.SELECTED DRAWING: Figure 4

Description

  TECHNICAL FIELD The present invention relates to a spraying surface state monitoring method and a spraying surface state monitoring device capable of visually recognizing a state of a spraying surface hidden by the spraying concrete in real time even after spraying the spraying concrete.

  In mountain tunnels, when excavating the ground, the skin may fall off. It has been clarified that skin fall disasters are likely to be serious disasters once they occur. As a countermeasure against the surface fall of the face, there is a case where immediately after the excavation debris is carried out, a work of mirror spraying in which the face is sprayed with concrete.

  This mirror spraying reduces the loosening of the face, makes it easier to see cracks and deformation of the face that are newly generated due to the deformation of the face, and in the case of expansive ground, the air or moisture in the ground and the mine Has the effect of preventing contact with the ground and preventing expansion of the ground.

  On the other hand, in the case of mirror spraying, the ground is hidden by shotcrete, and it is no longer possible to check the geological condition of the face, so work after mirror spraying, e.g. It is difficult to confirm information about which parts are fragile and easy to fall off when installing bolts, installing rock bolts, etc., and workers may accidentally enter places where skin is easy to fall off and get caught in a skin fall disaster there is a possibility. In addition, when multiple cracks occur, it is difficult to visually grasp the locations where the cracks occurred and the timing at which the cracks occurred, and there is a possibility that the worker may accidentally enter a place where the skin may easily fall off and may be involved in a skin fall disaster There is.

  According to Patent Document 1, the shape of the tunnel is measured using a 3D scanner, and the necessity of excavation is determined from the measurement result using an arithmetic unit. A method is described in which a different image is generated, the image is radiated using a projector, and a location requiring excavation is specified.

  Non-Patent Document 1 discloses a device in which a 3D scanner and a camera are integrated, and combines point cloud data, which is a measurement result of the 3D scanner, with image data captured by the camera, to generate a point. Color information can be assigned to the group.

JP 2017-58312 A

Manabu Shimakawa, Soichiro Murakami, Kimiyo Kiyota: Research on staircase detection using RGB-Depth images, 31st Fuzzy System Symposium, pp.699-702, 2015

  Therefore, even after spraying the ground concrete or the like, it is desired that the state of the shot surface such as the ground hidden by the shot concrete can be visually recognized in real time.

  The present invention has been made in view of the above, and even after spraying a sprayed concrete, a sprayed surface state monitoring method and a sprayed surface state in which the state of the sprayed surface hidden by the sprayed concrete can be visually recognized in real time. It is an object to provide a state monitoring device.

  In order to solve the above-described problems and achieve the object, a sprayed surface state monitoring method according to the present invention includes a color image acquisition step of acquiring a color image of an area including a measurement target surface on which shotcrete is sprayed, A pre-spray point cloud data acquisition step of acquiring a pre-spray point cloud data obtained by scanning an area including the measurement target surface, and a spray surface on which the shot concrete is sprayed on the measurement target surface. A post-spray point group data obtaining step of obtaining post-spray point group data, which is post-spray point group data obtained by scanning a region including the above, and the pre-spray point group data and the post-spray point An extracting step of extracting the point cloud data of the sprayed surface from the group data, and associating the extracted point cloud data before spraying with the point cloud data after spraying, and extracting the extracted point cloud data after the spraying. Point cloud data On the other hand, an image generating step of giving color information of the color image corresponding to the position of the corresponding point group data before spraying, and generating an image of point group data after spraying to which the color information is added, Projecting an image of the point cloud data after spraying to which the information has been added onto the spraying surface.

  Further, the spray surface condition monitoring method according to the present invention, in the above invention, the post-spray color image obtaining step of obtaining a post-spray color image of an area including the spray surface on which the shot concrete is sprayed. The image generation step further includes, if the color information of the color image after spraying corresponding to the position of the extracted point group data after spraying is color information within a predetermined range, the point group data after spraying. On the other hand, color information different from the color information of the color image is provided.

  Further, the spray surface state monitoring method according to the present invention is the above-mentioned invention, wherein the after-spray color image obtaining step, the after-spray point group data obtaining step, the extracting step, the image generating step, and the image irradiation. Repeating the process, the image generation step, if the color information of the color image after spraying changes to a predetermined range of color information, the post-spray point group data having the color information generated until immediately before And generating point group data after spraying in which the point group data after spraying at a position corresponding to the changed color information is changed to color information different from the different color information.

  In the spraying surface state monitoring method according to the present invention, in the above-described invention, the image generating step includes dividing the extracted post-spray point group data into a plurality of predetermined divided points including a plurality of post-spray point group data. Except for the post-spray point group data in which the color information of the post-spray color image is changed to color information in a predetermined range, each color information to be added to each post-spray point group data is It is characterized by being converted into representative color information.

  Further, the spraying surface condition monitoring device according to the present invention obtains a color image of an area including the measurement target surface on which the shotcrete is sprayed, and scans the area including the measurement target surface before spraying. Acquiring point cloud data, and acquiring post-sprayed point cloud data, which is point cloud data after spraying obtained by scanning an area including a sprayed surface where sprayed concrete is sprayed on the measurement target surface. A camera-integrated 3D scanner that extracts point group data of the spraying surface from the point group data before spraying and the point group data after spraying, and extracts the extracted point group data before spraying and the point group data The post-spray point group data is associated with the extracted post-spray point group data, and the color information of the color image corresponding to the position of the corresponding point group data is assigned, and the color information is assigned. Tabuki An arithmetic unit for generating an image of the post-cast point cloud data, and an irradiation device fixed to the camera-integrated 3D scanner and projecting the image of the post-spray point cloud data provided with the color information on the spray surface. , Is provided.

  In the spraying surface condition monitoring apparatus according to the present invention, in the above invention, the camera-integrated 3D scanner acquires a post-spray color image of an area including the spraying surface on which the spraying concrete is sprayed. The arithmetic device, when the color information of the color image after spraying corresponding to the position of the extracted point group data after spraying is color information of a predetermined range, It is characterized in that color information different from the color information of the color image is added.

  In the spraying surface state monitoring apparatus according to the present invention, in the above-mentioned invention, the camera-integrated 3D scanner obtains the color image after spraying, obtains the point cloud data after spraying, Of the point cloud data and the post-spray point cloud data, the extraction of the point cloud data of the spray surface is repeatedly performed, and the arithmetic unit newly sets the color information of the color image after spraying to a predetermined range of color information. When the point group data after spraying has color information generated immediately before, the point group data after spraying at the position corresponding to the changed color information changes to color information different from the different color information. It is characterized by generating point cloud data after spraying.

  Further, in the spraying surface state monitoring device according to the present invention, in the above invention, the arithmetic unit may convert the extracted post-spray point group data into a plurality of predetermined divided regions including a plurality of post-spray point group data. Each color information to be added to each point group data after spraying is representative of each predetermined divided area, except for the point group data after spraying in which the color information of the color image after spraying has changed to color information in a predetermined range. It is characterized by conversion into color information.

  According to the present invention, even after the shotcrete is sprayed, the state of the shot surface hidden by the shotcrete can be visually recognized in real time.

FIG. 1 is a diagram showing a configuration of a spray surface condition monitoring device according to an embodiment of the present invention. FIG. 2 is a diagram showing a detailed configuration of the shape measurement / irradiation device 10 constituting the spray surface state monitoring device shown in FIG. FIG. 3 is a perspective view showing an arrangement state of the spray surface condition monitoring device arranged in the tunnel. FIG. 4 is a flowchart illustrating a spray surface state monitoring process performed by the spray surface state monitoring device. FIG. 5 is a diagram showing photographing of the face face imaged by the camera-integrated 3D scanner and point group data before spraying of the face face measured by the camera-integrated 3D scanner. FIG. 6 is an explanatory diagram illustrating the coordinate conversion processing of the point cloud data by the arithmetic device. FIG. 7 is a diagram showing post-spray point cloud data including the spray surface. FIG. 8 is a diagram showing point cloud data before spraying and point cloud data after spraying. FIG. 9 is a diagram showing the point cloud data before spraying and the point cloud data after spraying. FIG. 10 is an explanatory diagram for explaining the assignment of the color information in the grid area to the point group data before spraying. FIG. 11 is an explanatory diagram illustrating the addition of color information in the grid area to the point cloud data after spraying. FIG. 12 is a diagram illustrating a state in which point group data after spraying, to which color information has been added, is irradiated onto the spraying surface. FIG. 13 is a diagram illustrating an example of the generated irradiation image. FIG. 14 is a diagram illustrating a state in which the irradiation image generated in FIG. 13 is irradiated on a sprayed surface having a crack. FIG. 15 is a diagram illustrating a state in which the sprayed surface is irradiated with the post-spray point group data to which the color information is added based on the post-spray point group data and the post-spray color image that have been acquired again. FIG. 16 is a diagram illustrating an example of an irradiation image generated based on the post-spray point group data and the post-spray color image acquired again. FIG. 17 is a diagram showing a state in which the irradiation image generated in FIG. 16 is irradiated on a sprayed surface having a crack. FIG. 18 is a plan view, a front view, and a side view showing a configuration of a spraying surface state monitoring device having a flexible attachment. FIG. 19 is a diagram illustrating a state in which the spraying surface condition monitoring device is attached to a steel support using a flexible attachment.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.

[Overall configuration and layout]
FIG. 1 is a diagram showing a configuration of a spray surface condition monitoring device 1 according to an embodiment of the present invention. FIG. 2 is a diagram showing a detailed configuration of a shape measurement / irradiation device 10 constituting the sprayed surface state monitoring device 1 shown in FIG. In the present embodiment, an example will be described in which the spraying surface condition monitoring device 1 is arranged in a mountain tunnel during excavation.

  As shown in FIG. 1, the spraying surface condition monitoring device 1 includes a shape measurement / irradiation device 10 supported by a tripod 14 and a calculation device 15. The shape measurement / irradiation device 10 includes a camera-integrated 3D scanner 11 and a projector 12. The camera-integrated 3D scanner 11 and the projector 12 are each electrically connected to the arithmetic unit 15.

  As shown in FIG. 2, the projector 12 is disposed in the protective container 13, and has an opening 13a formed on the irradiation direction A2 (ξ direction) of the irradiation image. The camera-integrated 3D scanner 11 is fixedly arranged above the protective container 13 (in the direction ζ). A screw hole 13b for attaching a tripod 14 is formed in a lower portion of the protective container 13.

  The camera-integrated 3D scanner 11 irradiates a laser beam in the entire circumferential direction A1 to measure a three-dimensional shape of a region including a facet surface which is a shape symmetry plane in the tunnel, and a color image of the facet in the imaging direction A3. Is imaged. The arithmetic unit 15 scans the point group data before spraying obtained by scanning the area including the facet before the shotcrete is sprayed on the facet, and the sprayed face where the shotcrete is sprayed on the facet. From the post-spray point cloud data obtained by scanning the area including, extract the point cloud data of the sprayed surface, and associate the extracted pre-spray point cloud data with the post-spray point cloud data, A color image corresponding to the position of the corresponding pre-spray point group data is added to the extracted post-spray point group data, and an irradiation image including the post-spray point group data to which the color information is added. Generate The projector 12 irradiates the generated irradiation image to the spraying surface. The camera-integrated 3D scanner 11 is installed such that the ξ and η axes are in the horizontal direction and the ζ axis is in the vertical direction.

  FIG. 3 is a perspective view showing an arrangement state of the spraying surface state monitoring device 1 arranged in the tunnel T. A geology A and a geology B different from the geology A appear after excavation on a face E in the tunnel T. The tunnel T is a rectangular coordinate system of x, y, and z, with the x-axis and y-axis being horizontal and the z-axis being vertical. The spray surface condition monitoring device 1 disposed in the tunnel T has a rectangular coordinate system of ξ, η, and 、, and does not match the rectangular coordinate system of x, y, and z. The camera-integrated 3D scanner 11 scans the face E of the tunnel T and a scan area that is the inner peripheral surface of the tunnel in the vicinity of the face E in a state where it is disposed in the tunnel T, and scans the face including the face E in the tunnel T. The three-dimensional shape of the area ES is measured and output as point cloud data.

[Blowing surface condition monitoring process]
Here, with reference to the flowchart shown in FIG. 4, a spraying surface state monitoring processing procedure according to an embodiment of the present invention will be described. As shown in FIG. 4, first, the shape measurement / irradiation device 10 is installed in the tunnel T (step S101). In this installation, as shown in FIG. 3, the shape measurement range and the photographing range of the camera-integrated 3D scanner 11 and the irradiation range of the projector 12 include the face E. In addition, it is preferable that the shape measuring / irradiating device 10 be provided with a level, for example, so that the η axis and the ξ axis are in the horizontal direction. With this installation, に 対 し て, η, and ξ axes are shifted from the x, y axes by a predetermined rotation angle θ with respect to the rectangular coordinate system in the tunnel T of x, y, and z, respectively. Is a rectangular coordinate system. The ζ axis coincides with the z axis.

  Thereafter, the camera-integrated 3D scanner 11 performs photographing of the ground (face face) before spraying (mirror spraying) with shotcrete and three-dimensional shape measurement of the face face and the existing portion in the vicinity (step S102). As shown in FIG. 5, in photographing the face, a pre-spray color image is obtained in which the geology A and the geology B each have color information. Further, as shown in FIG. 5, in the shape measurement, the point group data D1 before spraying on the face face and the peripheral existing portion is obtained.

  After that, since the obtained shape measurement coordinates are in the rectangular coordinate system of ξ, η, and ζ, the arithmetic device 15 performs coordinate conversion to the rectangular coordinate system of x, y, and z, which are the coordinates in the tunnel T (step S103). ). That is, as shown in FIG. 6, first, the three-dimensional shape measurement result by the camera-integrated 3D scanner 11 is projected on the ηζ plane, and the maximum value ηmax, the minimum value ηmin, the maximum value ζmax in the η-axis direction and the ζ-axis direction are obtained. Find the minimum value ζmin. Then, the area Aη of the rectangle is determined based on the maximum value ηmax, the minimum value ηmin, the maximum value ζmax, and the minimum value 求 め る min. The same processing is rotated about the ζ axis by a predetermined rotation angle θ, and when the area Aηζ is minimized, the rotation angle θζ is obtained. Then, the three-dimensional shape measurement result is rotated about the ζ axis using the rotation angle θζ. As a result, the directions of the y and z axes coincide with the directions of the η and ζ axes.

  After that, the camera-integrated 3D scanner 11 performs photographing of the sprayed surface EC on which the shotcrete 2 is sprayed on the face E and the surrounding existing portion and three-dimensional shape measurement (step S104). That is, as shown in FIG. 7, the post-spray point group data D2 including the spray surface EC is obtained.

  After that, of the pre-spray point group data D1 and the post-spray point group data D2 obtained in steps S102 and S104, the pre-spray point group data D1E and the post-spray point group data D2E on the spray surface EC are changed. It is extracted (step S105).

For example, point group data satisfying all of the following expressions (1) to (3) are extracted as point group data before spraying D1 on the face E and point group data D2 after spraying on the spraying surface EC. Perform processing.
xmax-ΔD <xi <xmax (1)
yi ² + zi ² <R ² (2)
zi> H (3)
Here, xmax is the maximum value of the x-coordinate value of the obtained point cloud data, ΔD is one progress length of the support of the tunnel T, and R is the shotcrete from the center C of the tunnel to the outer periphery of the tunnel. 2, the distance to the design surface 2C, H is the height of the roadbed, xi is the x coordinate value of the point cloud data, yi is the y coordinate value of the point cloud data, and zi is This is the z coordinate value of the point cloud data.

  As a result, as shown in FIG. 9, the point group data D1 before spraying and the point group data D1 before spraying on the face E are selected from all the point group data D1 before spraying and the point group data D2 after spraying shown in FIG. The point group data D2 after spraying on the attachment surface EC is extracted.

  Thereafter, the arithmetic unit 15 compares the extracted point group data D1 before spraying on the face F with the point group data D2 after spraying on the spraying plane EC and associates them. Color information indicated by the pre-spray color image of the face E photographed in step 102 is added to the post-spray point group data D2 (step S106).

  Further, the extracted point group data D2 of the sprayed surface EC after the spraying is associated with the color image after the spraying captured in step S104. Color information indicating a crack is added to the point group data D2 after spraying corresponding to the information (step S107). The color information of the predetermined range is, for example, color information indicating black. Further, the color information indicating the crack is different from the color information indicated by the color image before spraying of the face E.

  Then, an irradiation image to which the color information of the face E and the color information indicating the crack are added is generated (Step S108), and this irradiation image is irradiated on the spraying surface EC. The construction is performed while visually confirming the geology of the face E and the deformed portion such as the crack CL (step S109).

  For example, as shown in FIG. 10, the addition of the color information and the generation of the irradiation image are performed by dividing the pre-spray point group data D1 by the grid GD, and setting a plurality of the pre-spray point group data in each grid area GDE. Out of a plurality of pieces of color information of the color image before spraying corresponding to the position of D1, excellent color information, for example, average color information is assigned.

  Then, as shown in FIG. 11, the post-spray point group data D2 is also divided by the same grid GD, and the assigned color information is added to the post-spray point group data D2 in each grid area GDE. However, when color information within a predetermined range is indicated in the color image after spraying, only the post-spray point group data D2 'corresponding to the position of the color information is provided with color information indicating a crack CL.

  Then, the post-spray point group data D2 to which the color information is added is radiated to the blast surface EC as the irradiation image shown in FIG. Actually, since each of the post-spray point group data D2 is dense, it is generated as an irradiation image as shown in FIG. In FIG. 13, the color information of the geology A is given to the area EA corresponding to the face E of the geology A, and the color information of the geology B is given to the area EB corresponding to the face E of the geology B. I have. Further, color information indicating the crack CL is added to the point group data D2 'after spraying at a position corresponding to the crack CL on the spray surface EC. Then, when the irradiation image is irradiated on the spraying surface EC, as shown in FIG. 14, the post-spray point group data D2 ′ to which the color information indicating the crack CL is added is projected onto the actual crack CL. You.

  After that, the spraying surface state monitoring device 1 determines whether or not there is an instruction that the construction up to the next excavation work has been completed (step S110). If there is no instruction to the effect that the construction up to the next excavation work has been completed (step S110, No), a color image is further taken after the spraying surface EC is sprayed, and the shape of the spraying surface EC is measured. Is performed (step S111). Further, from the post-spray point group data D2 obtained in step S111, the post-spray point group data D2 on the spray surface EC is extracted (step S112), and the process proceeds to step S107 to repeat the above-described processing.

  On the other hand, when there is an instruction that the construction up to the next excavation work has been completed (Step S110, Yes), this processing is ended.

  The processing of steps S111 and S112 detects a new crack CL 'and adds color information indicating the crack CL' to the point group data D2a 'after spraying at the position of the crack CL'. The color information indicating the crack CL ′ is overwritten on the irradiation image on a color different from the color information indicating the crack CL so far. This makes it possible to visually check the progress of the cracks CL and CL ′.

  For example, the post-spray point group data D2 to which color information has been added by the processing through steps S111 and S112 is radiated to the blast surface EC as the irradiation image shown in FIG. 15 corresponding to FIG. This irradiation image is provided with color information indicating the crack CL ′ in the post-spray point group data D2a ′ corresponding to the new crack CL ′. At this time, the color information added to the new point group data D2a ′ after spraying is different from the color information of the point group data D2 ′ after spraying to which the color information has already been added.

  In practice, since each of the post-spray point group data D2 is dense, it is generated as an irradiation image as shown in FIG. 16 corresponding to FIG. In the irradiation image shown in FIG. 16, the color information of the newly generated point group data D2a 'after spraying is overwritten on the irradiation image shown in FIG. Then, when the irradiation image is irradiated on the spraying surface EC, as shown in FIG. 17 corresponding to FIG. 14, the post-spray point group data in which color information indicating the crack CL is added on the actual crack CL D2 'is projected, and the point group data D2a' after spraying, to which color information indicating the crack CL 'is added, is projected on the actual new crack CL'.

  The processing of steps S111 and S112 is repeatedly performed until there is an instruction that the construction up to the next excavation work is completed.

  In the spraying surface state monitoring device 1 shown in the above-described embodiment, the shape measurement / irradiation device 10 is arranged in the tunnel T using the tripod 14, but the present invention is not limited to this, and is shown in FIG. As shown in FIG. 19, the spraying surface condition monitoring device 101 may be mounted on the steel support 50 of the pit wall using the flexible mounting tool 40 instead of the tripod 14, as shown in FIG.

  As shown in FIGS. 18 and 19, the flexible mounting tool 40 of the spraying surface condition monitoring device 101 has four flexible arms 41, one ends of which are attached to the four corners of the protective container 13 by clamps 42, and the other ends of which are magnets 43. Is attached. Therefore, the flexible arm 41 can be bent and attached to the steel support 50 via the magnet 43. At this time, it is preferable to use a level or the like so that the ξη plane is horizontal.

  In the above-described embodiment, the case where sprayed concrete is sprayed on the face face has been described.However, the invention is not limited to this. Can also be applied. Further, in the above-described embodiment, the deformation of the crack on the sprayed surface is made visible. However, the present invention is not limited to this, and the deformation of the location where the spring water is generated may be made visible.

  As described above, the embodiment to which the invention made by the present inventors is applied has been described. However, the present invention is not limited by the description and the drawings that constitute a part of the disclosure of the present invention according to the present embodiment. That is, other embodiments, examples, operation techniques, and the like performed by those skilled in the art based on this embodiment are all included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1, 101 Sprayed surface condition monitoring device 2 Shotcrete 2C Design surface 10 Shape measurement / irradiation device 11 Camera-integrated 3D scanner 12 Projector 13 Protective container 13a Opening 13b Screw hole 14 Tripod 15 Arithmetic device 40 Flexible mounting tool 41 Flexible Arm 42 Clamp 43 Magnet 50 Steel support A, B Geology A1 All-around direction A2 Irradiation direction A3 Imaging direction C Tunnel center CL, CL 'Crack D1, D1E Point group data before spraying D2, D2', D2a ', D2E Point group data after spraying E Face face EA, EB area EC Spraying face GD grid GDE grid area T Tunnel

Claims (8)

A color image acquisition step of acquiring a color image of an area including the measurement target surface on which the shotcrete is sprayed,
A pre-spray point group data acquisition step of acquiring pre-spray point group data obtained by scanning an area including the measurement target surface,
Post-sprayed point cloud data to obtain post-sprayed point cloud data, which is point cloud data after spraying obtained by scanning an area including the sprayed surface where the shotcrete is sprayed on the measurement target surface The acquisition process,
An extraction step of extracting the point cloud data of the spray surface from among the point cloud data before spraying and the point cloud data after spraying,
The extracted point group data before spraying is associated with the point group data after spraying, and the extracted point group data after spraying corresponds to the position of the corresponding point group data before spraying. An image generating step of providing the color information of the color image and generating an image of the point group data after spraying to which the color information is provided,
An image projection step of projecting an image of the point group data after spraying to which the color information has been imparted, on the spraying surface;
A spraying surface condition monitoring method comprising: The method further includes a post-spray color image obtaining step of obtaining a post-spray color image of an area including a spray surface on which the shot concrete is sprayed,
The image generating step, when the color information of the color image after spraying corresponding to the position of the extracted point group data after spraying is color information of a predetermined range, for the point group data after spraying, 2. The spray surface state monitoring method according to claim 1, wherein color information different from color information of the color image is added. Repeating the after spraying color image acquisition step, the after-spray point group data acquisition step, the extraction step, the image generation step, and the image irradiation step,
When the color information of the color image after the spraying is newly changed to the color information in the predetermined range, the changed color information is added to the post-spray point group data having the color information generated immediately before. 3. The method of monitoring a sprayed surface state according to claim 2, wherein after spraying, the point cloud data at the position corresponding to (b) is changed to color information different from the different color information. .   The image generating step divides the extracted point group data after spraying into a plurality of predetermined divided regions including a plurality of point group data after spraying, and the color information of the color image after spraying has a predetermined range of color information. The color information to be added to each point data after spraying is converted into representative color information of each predetermined divided region, except for the point cloud data after spraying that has changed to (3). Spraying surface condition monitoring method. A color image of an area including the measurement target surface on which the shotcrete is sprayed is obtained, and pre-spray point group data obtained by scanning the area including the measurement target surface is obtained. A camera-integrated 3D scanner that obtains post-sprayed point cloud data, which is point cloud data after spraying, obtained by scanning an area including a sprayed surface on which the applied concrete is sprayed;
Of the point group data before spraying and the point group data after spraying, the point group data of the spray surface is extracted, and the extracted point group data before spraying and the point group data after spraying are extracted. The color information of the color image corresponding to the position of the corresponding point cloud data is assigned to the extracted point cloud data after spraying, An arithmetic unit for generating an image,
An irradiation device that is fixed to the camera-integrated 3D scanner and projects an image of the point group data after spraying to which the color information is added, on the spray surface;
A spray surface condition monitoring device comprising: The camera-integrated 3D scanner acquires a post-spray color image of an area including a sprayed surface on which the shotcrete is sprayed,
When the color information of the color image after spraying corresponding to the position of the extracted point group data after spraying is color information within a predetermined range, the arithmetic unit performs the color conversion on the point group data after spraying. The spray surface state monitoring device according to claim 5, wherein color information different from color information of the image is added. The camera-integrated 3D scanner obtains the color image after spraying, obtains the post-spray point group data, and obtains the pre-spray point group data and the post-spray point group data. Repeat the extraction of point cloud data,
When the color information of the color image after the spraying is changed to the color information in the predetermined range, the arithmetic unit newly applies the changed color information to the post-spray point group data having the color information generated immediately before. The spraying surface state monitoring apparatus according to claim 6, wherein the sprayed point group data in which the sprayed point group data at the corresponding position is changed to color information different from the different color information is generated.   The arithmetic unit divides the extracted post-blowing point cloud data into a plurality of predetermined divided regions including a plurality of post-blowing point cloud data, and converts the color information of the blown color image into color information of a predetermined range. 8. The blowing device according to claim 6, wherein each color information to be added to each of the after-blowing point group data is converted into representative color information of each predetermined divided region, except for the changed after-blowing point group data. Surface condition monitoring device.

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