JP6631206B2 - Earthwork management method - Google Patents

Description

  TECHNICAL FIELD The present invention relates to an earthwork pipe and earthwork management method for managing earthwork such as embankment and cutting using an image taken using a flying object such as a UAV (unmanned airplane).

  Conventionally, in order to manage earthworks such as embankment and cut soil, the approximate amount of soil was checked by controlling the number of dump trucks that came out of the site, and for the shape confirmation, the situation was checked by on-site patrols and photographs. I was Therefore, it has been difficult to accurately grasp the construction amount, the unexcavated amount, and the like, and to accurately determine whether the work is completed according to the process.

  Therefore, in recent years, CIM (Construction Information Modeling) has been promoted, and a three-dimensional model has been used for earthwork management. By creating and comparing a three-dimensional model including the terrain at predetermined intervals, it is possible to calculate the embankment amount and the cut amount. Terrain surveying is required to create a three-dimensional model, and since a three-dimensional model is created every predetermined period, it is not possible to take time and effort for one terrain survey. Therefore, it has been studied to perform terrain surveying using a plurality of captured images captured using a flying object such as a UAV (unmanned airplane) (for example, see Patent Document 1).

JP 2012-242321 A

  However, in the related art, a tie point common to the two images is extracted in the overlapped portion, and the terrain is surveyed by synthesizing the image based on the tie point, but the three-dimensional measurement is performed with the accuracy required for earthwork management. There was a problem that it could not be performed.

  The present invention has been made in view of such a situation, and solves the above-described problems, can create a high-precision three-dimensional model in a short time, and can accurately and quickly determine the embankment amount and the cut amount. It is an object of the present invention to provide an earthwork management method that can be calculated.

Earthwork management method of the present invention, as earthwork management area for soil Engineering management is included in the closed area obtained by connecting a plurality of outer circumferential known point plane coordinates and altitude are measured in advance, a plurality of the peripheral known point A known point setting step for setting, flying a flying object including a camera and a photographing information measuring means for measuring a photographing position and a photographing posture of the camera, and photographing the earthwork management region a plurality of times by the camera, A photographing step in which the photographing position and the photographing posture are measured as photographing information by photographing information measuring means; and a photographed image photographed in the photographing step is subjected to altitude and distortion correction based on the photographing information, and then adjacent to each other. An ortho-image creating step of automatically extracting feature points from the photographed images as matching points and sequentially combining them to create one ortho-image; A 3D data generating step of generating 3D data from the ortho image created in the ortho image creating step and correcting the 3D data using the known outer circumference point; Comparing the 3D data, and calculating a fill amount or a cut amount from the difference , the known point setting step, the highest elevation point in the earthwork management area, The plane coordinates and the elevation are set as the highest known points measured in advance, and the point with the lowest elevation in the earthwork management area is set as the lowest known point where the plane coordinates and the elevation are measured in advance, and In the 3D data generation step, 3D data is generated from the ortho image created in the ortho image creation step, and the highest known point and the maximum Position and correcting using known point.

  According to the present invention, by setting the perimeter known points whose plane coordinates and altitudes are measured in advance so that the earthwork management area for performing the earthwork management is included in the closed area connecting the perimeter known points, high accuracy is achieved. It is possible to create a three-dimensional model in a short time, and it is possible to calculate the amount of embankment and the amount of cut soil accurately and quickly.

It is a flow chart which shows an embodiment of an earthwork management method concerning the present invention. It is a figure showing an example of setting of a known point. It is a figure showing composition of a flight object used for photography. It is a figure showing composition of a soil quantity calculation device.

  Next, embodiments for carrying out the present invention (hereinafter, simply referred to as “embodiments”) will be specifically described with reference to the drawings.

  Referring to FIGS. 1 and 2, in the earthwork management method according to the present embodiment, first, a plurality of outer peripheral known points 2P, a highest known point 2H, and a lowest known point 2L are set in the site 1. (Step A1). The outer peripheral known point 2P, the highest known point 2H, and the lowest known point 2L are points whose plane coordinates and altitude are accurately measured in advance by reference point surveying, GNSS positioning, or the like. Referring to FIG. 2, the known outer circumference point 2P is set such that the closed area connecting the known outer circumference point 2P includes the earthwork management area 1a for performing the earthwork management in the site 1. In addition, the highest known point 2H is set to a point having the highest altitude in the earthwork management area 1a. Further, the lowest known point 2L is set to a point having the lowest altitude in the earthwork management area 1a. In addition, in FIG. 2, (a) is a plan view of the site 1, and (b) is an XX cross-sectional view shown in (a). In addition, the outer known point 2P, the highest known point 2H, and the lowest known point 2L may be provided with an anti-aircraft sign that clearly appears in a captured image, which will be described later, and an existing structure that clearly appears in the captured image. May be set as the outer circumference known point 2P, the highest known point 2H, and the lowest known point 2L.

  Next, the earthwork management area 1a is photographed using the flying object 10 shown in FIG. 3 (step A2). The flying object 10 is a UAV (unmanned airplane), and includes a flight information storage unit 11, a camera 12, a captured image storage unit 13, a GNSS (Global Navigation Satellite System) 14, a barometric altimeter 15, a gyro 16, A photographing information storage unit 17;

  The flight information storage unit 11 is a storage unit that stores the set flight altitude and shooting area. After reaching the flight altitude and the shooting area stored in the flight information storage unit 11, the flying object 10 automatically performs photographing with the camera 12.

The camera 12 is fixed to the body of the flying object 10 downward. Further, in the present embodiment, a digital camera is used as the camera 12, and calibration of output correction for lens distortion is performed in advance. The photographing by the camera 12 is performed a plurality of times while overlapping, and the photographed image is stored in the photographed image storage unit 13. The lap ratio affects the workability and data amount when synthesizing the photographed photographs, and is usually set at 30 to 80%. For example, when the flight altitude is 150 m, about 600 photographs are taken per 1 km ^{2 in the} earthwork management area 1a.

  The GNSS 14, the barometric altimeter 15, and the gyro 16 measure position information, altitude, and body attitude (roll angle ω, pitch angle φ, yaw angle κ) at the time of photographing, respectively. The position information measured by the GNSS 14, the altitude measured by the barometric altimeter 15, and the aircraft attitude (roll angle ω, pitch angle φ, yaw angle κ) measured by the gyro 16 are associated with the captured image. Is stored in the shooting information storage unit 17 as shooting information. It is fixed to the flying object 10 as described above. Accordingly, the position information measured by the GNSS 14, the altitude measured by the barometric altimeter 15, and the aircraft attitude (roll angle ω, pitch angle φ, yaw angle κ) measured by the gyro 16 are each captured by the camera 12. The position, the shooting altitude, and the shooting posture. Note that a detachable storage means such as an SD card is used for the photographed image storage unit 13 and the photographing information storage unit 17, and after the flying object 10 lands, the photographed image storage unit 13 and the photographing information storage unit 17 fly. It is detached from the body 10 to collect the photographed image and photographing information.

  Next, the captured image and the captured information collected after the landing of the flying object 10 are input to the soil volume calculation device 20 illustrated in FIG. 4 (step A3). The soil volume calculation device 20 is an information processing device that operates under program control such as a personal computer, and includes a captured image input unit 21, a captured information input unit 22, a matching point input unit 23, a known point input unit 24, The control unit 25 includes a control unit 25, a 3D data storage unit 26, and an output unit 27.

  The photographed image input unit 21 and the photographed information input unit 22 are interfaces to which the photographed image storage unit 13 and the photographed information storage unit 17 detached from the flying object 10 are connected, respectively. The unit 24 is input means such as a keyboard and a mouse for the user to input information.

  The control unit 25 is an information processing unit such as a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The ROM stores a control program for controlling the operation of the soil volume calculation device 20. The control unit 25 reads the control program stored in the ROM, and expands the control program in the RAM, so that the ortho image creation unit 251, the point cloud data extraction unit 252, the mesh data conversion unit 253, and the soil volume calculation unit 254 Function as

  The ortho image creating unit 251 reads the captured image and the captured information, performs altitude correction and distortion correction of each captured image based on the captured information, and then automatically extracts a feature point from a neighboring captured image as a matching point. To form one ortho image (step A4). If the earthwork management area 1a is smooth and has little change, it may not be possible to automatically extract a matching point accurately. In this case, the user inputs a matching point from the matching point input unit 23. Further, the set outer circumference known point 2P, the highest known point 2H, and the lowest known point 2L may be matched points.

  The point cloud data extraction unit 252 extracts point cloud data, which is 3D data, from the ortho image created by the ortho image creation unit 251, and outputs the known point information (outer circumference known point 2 P, highest point) input from the known point input unit 24. The correction is performed using the known coordinates 2H and the lowest known point 2L (plane coordinates and altitude) (step A5). The correction of the point cloud data is performed by correcting three known points out of the outer circumference known point 2P, the highest known point 2H, and the lowest known point 2L because each point has three variables (plane coordinates and elevation). This is performed using three known numbers (plane coordinates and elevation). The measurement of the plane coordinates and elevation of the outer periphery known point 2P, the highest known point 2H, and the lowest known point 2L may be performed after the shooting of the flying object 10.

  Since the outer circumference known point 2P is set so that the closed area connecting the outer circumference known point 2P includes the earthwork management area 1a, any point of the point group data of the earthwork management area 1a to be managed is Any of the three known outer peripheral points 2P will fall within the triangle formed by the plane coordinates. Therefore, in the correction of the point cloud data, by selecting each of the three known outer peripheral points 2P forming the triangle including the point to be corrected by the plane coordinates, the plane coordinates (2D) of each point in the point cloud data of the earthwork management area 1a are selected. The two variables) can improve the accuracy of the plane coordinates in the point cloud data without causing a large error.

  Further, when either or both of the highest known point 2H and the lowest known point 2L are selected from the three known points, any point of the point group data of the earthwork management area 1a to be managed is also selected. In addition to being within the triangle formed by the plane coordinates of the three known points, most points of the point group data of the earthwork management area 1a to be managed are formed by any three known points in side view. Will fall within the triangle. Therefore, when correcting the point cloud data, three known points (including one or both of the highest known point 2H and the lowest known point 2L) that form a triangle including the point to be corrected in planar coordinates and side view are respectively provided. By making the selection, the plane coordinates and elevation (three variables) of each point in the point cloud data of the earthwork management area 1a can improve the accuracy of the plane coordinates and elevation in the point cloud data without causing a large error. it can. For points in the point group of the earthwork management area 1a that do not fall within the triangle when viewed from the side, correction is performed by forming a new triangular relation with the corrected point as a known point, and this is corrected to a point in the earthwork management area 1a. It may be repeated until the correction of all the points of the group is completed.

  The mesh data conversion unit 253 converts the point cloud data extracted by the point cloud data extraction unit 252 into mesh data (step A6) and stores the mesh data in the 3D data storage unit 26. The mesh data is 3D data that can be used in CAD.

  The soil volume calculation unit 254 compares the mesh data converted by the mesh data conversion unit 253 with the past mesh data stored in the 3D data storage unit 26, and determines the embankment amount or cut volume from the difference. The amount is calculated (step A7), and the calculated soil amount is output by the output unit 27 including a display and a printer (step A8). In this embodiment, the point cloud data is converted to mesh data, and the difference between the mesh data is calculated to calculate the soil volume. However, the point cloud data is calculated by the point cloud difference method. The amount may be calculated. In this case, the point cloud data extracted and corrected by the point cloud data extraction unit 252 is stored in the 3D data storage unit 26, and the soil volume calculation unit 254 is extracted and corrected by the point cloud data extraction unit 252. The obtained point cloud data is compared with the past point cloud data stored in the 3D data storage unit 26, and the embankment amount or cut volume is calculated from the difference. Further, it is also possible to configure so that the soil volume is calculated by the average section method or the surface difference.

As described above, the present embodiment is configured such that the outer circumference known point 2P whose plane coordinates and elevation are measured in advance is included in the closed area connecting the outer circumference known point 2P with the earthwork management area 1a for performing the earthwork management. A flying object 10 having a known point setting step to be set and a camera 12 and photographing information measuring means (GNSS 14 and gyro 16) for measuring a photographing position and a photographing attitude is caused to fly, and the earthwork management area 1a is moved by the camera 12 a plurality of times. A photographing step of photographing and measuring a photographing position and a photographing posture as photographing information by photographing information measuring means, and a photographed image photographed in the photographing step are subjected to altitude and distortion correction based on the photographing information, and then adjacent to each other. Ortho image creation that automatically extracts feature points from captured images as matching points and sequentially combines them to create one ortho image 3D data (point group data or mesh data) generated from the ortho image created in the ortho image creation step, and corrected using the outer circumference known point 2P, and generated in the 3D data creation step. Comparing the corrected 3D data with the past 3D data, and calculating an embankment amount or a cut amount from the difference.
With this configuration, the accuracy of the accuracy can be improved by setting the known outer circumference point 2P whose plane coordinates and altitude are measured in advance so that the earthwork management area 1a for performing the earthwork management is included in the closed area connecting the outer circumference known point 2P. A high three-dimensional model can be created in a short time, and the embankment amount and cut amount can be calculated accurately and quickly. By correcting the point cloud data using the outer circumference known point 2P, the accuracy of the plane coordinates in the point cloud data can be improved.

Further, in the present embodiment, in the known point setting step, the point having the highest elevation in the earthwork management area 1a is set as the highest known point 2H whose plane coordinates and elevation are measured in advance, and the earthwork management area 1a is set. Among the points having the lowest elevation are set as the lowest known points 2L whose plane coordinates and elevation are measured in advance, and in the 3D data generation step, 3D data is generated from the ortho image created in the ortho image creation step, The correction is performed using the highest known point 2H and the lowest known point 2L.
With this configuration, the accuracy of the elevation in the point cloud data can be improved by correcting the point cloud data using the highest known point 2H and the lowest known point 2L.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to the combination of the components, and that such modifications are also within the scope of the present invention.

1 Site 1a Earthwork management area 10 Aircraft 2P Outer circumference known point 2H Highest known point 2L Lowest known point 11 Flight information storage unit 12 Camera 13 Photographed image storage unit 14 GNSS
15 barometric altimeter 16 gyro 17 photographic information storage unit 20 soil volume calculation device 21 photographic image input unit 22 photographic information input unit 23 matching point input unit 24 known point input unit 25 control unit 26 3D data storage unit 27 output unit 251 ortho image creation Unit 252 point cloud data extraction unit 253 mesh data conversion unit 254 soil volume calculation unit

Claims (1)

As earthwork management area for soil Engineering management is included in the closed area obtained by connecting a plurality of outer circumferential known point plane coordinates and altitude are measured in advance, and the known point setting step of setting a plurality of the peripheral known point,
Not fly the aircraft comprising an imaging information measuring means for measuring the photographing position and photographing posture of the camera and the camera, as well as capturing a plurality of times the earthwork management area by the camera, the imaging position by the imaging information measuring means And a photographing step of measuring the photographing posture as photographing information,
After performing altitude and distortion correction on each of the photographed images photographed in the photographing process based on the photographing information, feature points are automatically extracted from adjacent photographed images as matching points and sequentially combined, An ortho-image creating step of creating one ortho image,
A 3D data generation step of generating 3D data from the ortho image created in the ortho image creation step and correcting using the outer circumference known point;
Comparing the 3D data generated and corrected in the 3D data generating step with the past 3D data, and calculating a fill amount or a cut amount from the difference ,
In the known point setting step, the point with the highest altitude in the earthwork management area is set as the highest known point whose plane coordinates and altitude are measured in advance, and the altitude is the lowest in the earthwork management area. Set the point as the lowest known point whose plane coordinates and elevation are measured in advance,
The earthwork management method, wherein in the 3D data generation step, 3D data is generated from the orthoimage created in the orthoimage creation step, and the 3D data is corrected using the highest known point and the lowest known point .

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