JP6688151B2 - Position specifying device, position specifying method, and position specifying program - Google Patents

Description

  INDUSTRIAL APPLICABILITY The present invention can be used, for example, for specifying the position of a three-dimensional surveying device in construction work.

  At the construction site, it is necessary to confirm whether the work is being performed as designed. A method using a laser scanner is known as a method for improving the efficiency of this work (for example, refer to Patent Document 1).

JP, 2005-213972, A

  When installing a laser scanner, it is important to accurately determine its position. However, there is a problem that the positioning work is complicated and an error is likely to occur when it is simply performed. Against this background, the present invention has an object to provide a technique capable of efficiently positioning a surveying device that acquires three-dimensional information.

  The invention according to claim 1 is a three-dimensional information acquisition unit that acquires three-dimensional information of a construction object from a three-dimensional surveying device, a first three-dimensional model based on design data of the construction object, and the three-dimensional object. A correspondence relationship specifying unit that specifies a correspondence relationship with the second three-dimensional model based on the information; and a calculation unit that calculates the position of the three-dimensional surveying device with respect to the construction object by the backward public method based on the correspondence relationship. A position specifying device comprising:

  The invention according to claim 2 is a three-dimensional information acquisition step of acquiring three-dimensional information of a construction object from a three-dimensional surveying device, a first three-dimensional model based on design data of the construction object, and the three-dimensional object. A correspondence relationship specifying step of specifying a correspondence relationship with the second three-dimensional model based on the information, and a calculation step of calculating the position of the three-dimensional surveying device with respect to the construction object by the backward public method based on the correspondence relationship. The position specifying method comprises:

  The invention according to claim 3 is a program to be read by a computer and executed, wherein the computer acquires three-dimensional information of a construction object from a three-dimensional surveying device, and the construction object. Correspondence relationship specifying step of specifying a correspondence relationship between a first three-dimensional model based on design data and a second three-dimensional model based on the three-dimensional information, and the three-dimensional object for the construction object based on the correspondence relationship And a calculation step of calculating the position of the surveying instrument by the backward public method, which is a position specifying program.

  According to the present invention, it is possible to efficiently position a surveying device that acquires three-dimensional information.

It is a block diagram of an embodiment. It is a block diagram of an embodiment. It is a block diagram of an embodiment. It is a principle diagram of the backward public law. 6 is a flowchart showing a procedure of processing in the embodiment. 6 is a flowchart showing a procedure of processing in the embodiment. 6 is a flowchart showing a procedure of processing in the embodiment. It is an image diagram of a construction site.

(Hardware configuration)
FIG. 1 shows a design data management device 100. The design data management device 100 manages design data and construction management data. The design data is data of a design drawing of a construction object (a building in this case). In the design data, data relating to the structure, the material of the member used, the method of fixing the member, the construction method, etc. are associated. The construction management data is data that describes the construction procedure. In this example, design data and construction management data are updated according to the progress of construction work. By performing this update, information such as the work progress status, design change, and work content change at the construction site is updated (corrected) to the latest information. The update frequency is once a day (after the end of the work of the day), twice a day (for example, after the end of the work in the morning and after the work in the afternoon), and the end of the predetermined process for each specific period. Examples include the timing of the break.

  The design data management device 100 includes a storage unit 101, a communication unit 102, a design data and construction management data acquisition unit 103, a scan processing setting unit 104, a scan data acquisition unit 105, a scan data processing unit 106, a construction content identification unit 107, It has a design change determination unit 108 and a design data and construction management data updating unit 109.

  Each functional unit described above may be configured by software or may be configured by a dedicated arithmetic circuit. Further, the functional unit configured by software and the functional unit configured by a dedicated arithmetic circuit may be mixed. For example, each functional unit illustrated is configured by an electronic circuit such as a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), and a PLD (Programmable Logic Device) such as an FPGA (Field Programmable Gate Array).

  Whether each functional unit is configured by dedicated hardware or software by executing a program in the CPU is determined in consideration of the required calculation speed, cost, power consumption, and the like. For example, if the specific function unit is configured by the FPGA, it is advantageous in terms of processing speed but high in cost. On the other hand, the configuration in which a specific functional unit is realized by executing a program by the CPU can save hardware resources, and thus has a cost advantage. However, when the functional unit is realized by the CPU, the processing speed is inferior to that of dedicated hardware. Further, when the functional unit is realized by the CPU, it may not be possible to deal with complicated calculation. It should be noted that configuring the functional unit with dedicated hardware and configuring it with software are equivalent from the viewpoint of realizing a specific function, although there are differences as described above.

  In this example, the design data management device 100 is composed of a computer such as a workstation that can process a large amount of data at high speed. Of course, if there is no problem in the processing capacity, the design data management device 100 can be configured using a commercially available personal computer. Further, a configuration in which the functions of the design data management device 100 are distributed and processed by a plurality of computers is also possible.

  The storage unit 101 stores data handled by the design data management apparatus 100 and a program for operating the design data management apparatus 100. The storage unit 101 includes one or more of a semiconductor memory, a hard disk device, and other known data storage devices. An external storage capacity can be used for storing data.

  The communication unit 102 communicates with other devices. Examples of other devices that perform communication include surveying devices such as laser scanners and TSs (total stations), other computers such as tablets and PCs, and smartphones. In this embodiment, it is possible to access the design data management device 100 using a tablet or a smartphone and browse various data managed by the design data management device 100. Further, various instructions (for example, instructions for specific work) can be issued from the design data management device 100 to a tablet or a smartphone carried by an operator. The communication unit 102 communicates with other devices using known communication means such as an internet line, a wireless LAN, a wired LAN, and Bluetooth (registered trademark).

  The design data / construction management data acquisition unit 103 acquires design data and construction management data to be updated, which are stored in the storage unit 101. It is also possible to store the design data and the construction management data in an external storage device and obtain it from there.

  The scan processing setting unit 104 performs various settings necessary for laser scanning performed by the laser scanner. FIG. 2 shows details of the scan processing setting unit 104. The scan processing setting unit 104 includes a scanner position calculation unit 141 based on known data, a scan range setting unit 142, and a scan light condition setting unit 143.

  The scanner position calculation unit 141 based on known data calculates the installation position of the laser scanner on the construction site based on the design data and the construction management data. By determining the installation position of the laser scanner, the origin (viewpoint) of scanning by the laser scanner is determined. The installation position (scanning viewpoint) of the laser scanner is also called a machine point.

  The scanner position calculation unit 141 based on known data performs the following processing. Here, a process will be described in which a laser scan is performed at the end of the work on one day and three-dimensional data of a portion where the work is performed on the day is acquired. First, prepare the latest design data and construction management data at that time. From the construction management data, the part (for example, a specific wall surface) scheduled to be worked on that day is identified. Next, the portion where the work was scheduled for the day is specified on the latest design drawing at that time. This specified portion is the scan target. Next, a viewpoint that can scan the specified scan target as much as possible (least occlusion occurs) is obtained.

  In the process of obtaining this viewpoint, the process of (1) provisional setting of the viewpoint → (2) calculation of the area of the occlusion in the scan target is repeated to find the position of the viewpoint at which the area of the occlusion in the scan target is minimum. . If the occurrence of occlusion cannot be prevented, the second viewpoint is introduced, and the second viewpoint is calculated by repeatedly performing the above processes (1) → (2). If the occlusion cannot be resolved even if the second viewpoint is introduced, the third viewpoint is further introduced, and the processes (1) to (2) are repeated to calculate the third viewpoint. Of course, it is possible to introduce the fourth or more viewpoints. However, it is preferable that the number of viewpoints is small from the viewpoint of reducing the load of subsequent calculations. After the viewpoint is determined, that point is set as a machine point (laser scanner installation position). This processing is performed in the scanner position calculation unit 141 based on known data.

  For example, by performing the above processing after the end of the work of one day, the machine point is updated every day according to the progress status of the work. In addition, the position of the optimum machine point may change as the work progresses. For example, the installable position of the laser scanner changes before and after floor construction. In this case, the machine point is updated by re-calculating the machine point by the above processing. The information on the machine point is transmitted from the communication unit 102 to a laser scanner or a terminal of a worker who operates the laser scanner (for example, a tablet carried by the worker). This is the same for the information relating to the setting of the scan range and the information relating to the setting of the scanning conditions described later.

  The scan range setting unit 142 sets a range for laser scanning based on the design data and the construction management data. Laser scanning is performed at a predetermined timing according to the progress of construction work (for example, at the end of daily work). At this time, the laser scan is necessary for the part where the work of the day is performed. This is because the point cloud data has been acquired by the laser scan up to the previous day for the part that has already been constructed and the work has not been performed on that day. Then, the portion where the work is performed on that day is described in the construction management data, and can be specified by comparing the design data and the construction management data.

  This identified portion is the portion that requires laser scanning on that day. The scan range is set based on the identified portion and the mechanical point calculated by the "scanner position calculation unit 141 based on known data" described above. Specifically, the range of the portion (the portion where the work is performed) constructed on the day viewed from the machine point (the viewpoint of performing the scan) is set as the scan range. Of course, the scan range is set with a margin. By setting the scan range, it is possible to prevent useless scanning, shorten the working time associated with laser scanning, and suppress the increase in calculation time and error due to useless point cloud data.

  The scanning light condition setting unit 143 sets a condition for performing laser scanning based on the design data and the construction management data. The condition for performing laser scanning is one or more set values of the intensity of scanning light, wavelength, and scanning density. The design data and the construction management data describe information about the material and color of the scan target (the target to which the laser beam is applied). The light reflection characteristics are affected by the material output, color, and surface condition of the reflective material. If the intensity of the reflected light is weak, the point cloud data will be missing, so it is necessary to ensure that the reflected light is obtained. The scan light setting unit 143 sets one of the intensity, wavelength, and scan density of the scan light according to the material, color, and surface state (for example, embossed surface) of the scan target so as to obtain reflected light equal to or more than a threshold value. Adjust multiple values.

  When using a laser scanner in which the wavelength of the measurement light can be changed, it is possible to detect the intensity of the reflected light of the scan light and select the wavelength at which the detected intensity is equal to or higher than the threshold (or maximum). For example, by using a laser scanner that can change the wavelength of the scanning light, a first scan at the first wavelength and a second scan at the second wavelength (of course, the third and subsequent scans are also possible) are performed. A method of using the higher data or a method of synthesizing a plurality of scan data may be used. Further, there is a method of irradiating the measurement light with a plurality of times at different wavelengths and adopting the data of high reflection intensity, or a method of synthesizing the data of a plurality of reflected lights. Further, it is also possible to perform a pre-scan with a plurality of wavelengths set in advance to acquire preliminary data, and select a wavelength in the main scan based on the preliminary data. Further, in the case of a material to be used that does not have a good reflection property of the scan light, it is possible to set the irradiation intensity of the scan light to be high. Further, there is a setting in which the scan density is relatively reduced when the scan target is a surface, and the scan density is relatively increased when the scan target includes an edge portion such as a beam or a column.

  Returning to FIG. 1, the scan data acquisition unit 105 acquires scan data (point cloud data) measured by the laser scanner. As the laser scanner, a model that can obtain three-dimensional point cloud data by performing three-dimensional laser scanning is used. As the laser scanner, the techniques described in JP2010-151682A, JP2008-268004A, US Pat. No. 8767190A, and the like can be used. The point cloud data is data in which a scan target is captured as a set of points for which three-dimensional coordinates are acquired.

  FIG. 3 shows a block diagram of the scan data processing unit 106. The scan data processing unit 106 has a scanner position calculation unit 151 based on scan data, a three-dimensional model creation unit 152, and a correspondence relationship identification unit 153.

  The scanner position calculation unit 151 based on the scan data performs the following processing. In this process, the correspondence between scan data (or a three-dimensional model obtained from scan data) and design data is obtained, and the position of the laser scanner that obtained the scan data is calculated.

  First, in the design data, the value of the coordinate of each part is known. Here, when the correspondence between the scan data (or the 3D model obtained from the scan data) and the design data is known, the coordinate values of each point of the scan data (or the 3D model obtained from the scan data) are designed. See through data. On the other hand, the relative positional relationship between the scan data (point cloud data) and the laser scanner is known (the primary data obtained by laser scanning is the direction and distance from the machine point in the first place). Therefore, if the coordinate values of the point cloud data are found by comparison with the design data, the position (machine point) of the laser scanner can be found.

  Hereinafter, a specific example of the process of calculating the position of the scanner based on the scan data will be described. First, the three-dimensional model of the building at that time is obtained from the CAD data of the design data. Next, a three-dimensional model is created from the laser scan data (point cloud data). This processing is performed by the three-dimensional model creation unit 152. The three-dimensional model creation unit 152 creates a three-dimensional model in which the object is captured as contour line data based on the point cloud data. The data of the three-dimensional model has a high affinity with the three-dimensional CAD data. As a technique for creating a three-dimensional model based on point cloud data, the techniques described in International Publication No. WO2011 / 070927, JP2012-230594A, JP2014-35702A, and the like can be used.

  Design data may be used in creating a three-dimensional model based on scan data. The scan data includes data related to the structure described in the design data. Therefore, by comparing and specifying the scan data (or the 3D model obtained from the scan data) and at least a part of the 3D model obtained from the design data, it is possible to efficiently create the 3D model based on the scan data. To be done.

  In addition, when creating a three-dimensional model based on scan data, previously acquired scan data may be used. That is, in this example, laser scanning is performed at the end of the work for one day. Here, the scan data before the previous day has already been required to have a correspondence relationship with the design data. Therefore, when the scan range is the same as or the same as the previous day, the 3D model can be created by using the previously acquired scan data as the initial value or reference value in the creation of the 3D model based on the newly acquired scan data. The processing related to can be made efficient.

  When two three-dimensional models (three-dimensional model obtained from design data and three-dimensional model obtained from scan data) are obtained, the corresponding relationship is specified. This processing is performed by the correspondence identifying unit 153. Techniques for identifying the correspondence relationship between two three-dimensional models are described in, for example, WO2012 / 141235, JP2014-35702A, JP2015-46128A, and Japanese Patent Application No. 2015-133736. Things are available. It is also possible to directly obtain the correspondence between the three-dimensional model obtained from the design data and the scan data.

  By specifying the correspondence between the three-dimensional model (first three-dimensional model) obtained from the design data and the three-dimensional model (second three-dimensional model) obtained from the scan data, each part of the second three-dimensional model is identified. The value of the coordinate of is obtained as the value in the coordinate system describing the first three-dimensional model. That is, since the first three-dimensional model is a three-dimensional model in which the coordinate values of each part obtained from the design data are known, the correspondence between the first three-dimensional model and the second three-dimensional model can be obtained. , The coordinates on the design data of each part of the second three-dimensional model are known.

  FIG. 4 shows the principle of the backward public law. The backward intersection method is a method of observing a direction from an unknown point toward three or more known points and determining a position of the unknown point as an intersection of the direction lines. Examples of the backward meeting method include a single-photograph orientation method and a DLT method (Direct Linear Transformation Method). The meeting method is described in Basic Surveying (Denki Shoin: 2010/4) 182p, p184. Further, Japanese Patent Laid-Open No. 2013-186816 discloses an example of a specific calculation method related to the social interaction method.

In FIG. 4, it is assumed that P ₁ , P ₂ , and P ₂ are points that constitute the above-mentioned second three-dimensional model. Here, when the correspondence relationship between the first three-dimensional model and the second three-dimensional model is specified, the coordinate values of the points P ₁ , P ₂ , P ₂ are specified as values to be handled on the design data. On the other hand, from the scan data, the direction of the direction line (optical axis of the measurement light) to P ₁ , P ₂ , P ₂ seen from the scanner (machine point) can be known. Therefore, the position of the point O (X ₀ , Y ₀ , Z ₀ ) in FIG. 4, which is the machine point (scanning viewpoint), can be geometrically obtained. _{Specifically, P} 1, P _2, the coordinates of _{P 2, P 1} and Equations direction line connecting the O, equations direction line connecting the _{P 2} and O, 3 from the equation of the direction line connecting _{P 3} and O By obtaining the intersection of the two direction lines, the coordinate value of the point O (X ₀ , Y ₀ , Z ₀ ) (the coordinate value in the coordinate system handled on the design data) can be obtained.

Based on the above principle, the position O (X ₀ of the laser scanner on the coordinate system describing the design data is based on the first three-dimensional model obtained from the design data and the second three-dimensional model obtained from the laser scanner data. , Y ₀ , Z ₀ ) can be obtained. The scanner position calculation unit 151 based on the scan data performs the calculation related to the process of obtaining the point O (X ₀ , Y ₀ , Z ₀ ) using the principle of FIG.

  The specification of the position of the laser scanner by the scanner position calculation unit 151 based on the scan data has the following meanings. The position (machine point) of the laser scanner is obtained by the processing in the scanner position calculation unit 141 based on the known data in FIG. 2, and if the laser scanner is correctly installed at the designated position, the position is determined from the scan data. The resulting scanner position matches the position originally specified. However, accurate installation of the laser scanner at the designated position requires complicated work and requires specialized knowledge. Therefore, an error may occur in the installation of the laser scanner at the construction site.

  In such a case, the mechanical point error can be corrected by calculating the mechanical point from the scan data. Then, by correcting the error of the machine point, the accuracy of the three-dimensional model obtained from the scan data can be improved. In addition, if the initial installation of the scanner is arbitrarily performed, that is, if the laser scanner is installed without particular attention to the position specification and its accuracy, the installation position of the laser scanner (machine The point) can be specified after the laser scan.

  In addition, the installation position of the laser scanner may have to be changed from the previous installation position due to reasons such as construction of a floor. In this case, if the installation position of the new scanner is accurately known in advance, it is not necessary to calculate the position of the scanner after obtaining the scan data. However, when the installation position of the scanner is unknown or unclear, it is possible to obtain the coordinates of the new scanner position by performing a laser scan and calculating the scanner position based on the obtained scan data. it can. In this case, the burden of work such as accurate measurement of the scanner position can be suppressed.

  Returning to FIG. 1, the construction content identifying unit 107 compares the three-dimensional model obtained from the design data with the three-dimensional model obtained from the scan data, and the work additionally performed in the last updated design data. Specify the contents of. The details of this processing will be described below. When the laser scanning of the construction target portion is performed at the time when the work of the day is completed, the latest design data updated at that time is at the stage of the work completion of the previous day. In this case, the work of the day is performed based on the content (latest design data). Therefore, the difference between the 3D model of the construction site at the time the laser scan was performed and the 3D model based on the design data updated on the previous day was different from the stage at the end of the previous day as a result of the execution on that day. It corresponds to the part. Utilizing this, the construction content identifying unit 107 identifies the construction portion performed on that day.

  Hereinafter, an example of the processing performed by the construction content identifying unit 107 will be described. First, a three-dimensional model based on the latest design data (design data updated after the work on the previous day) is acquired at that time. This three-dimensional model is referred to as a first three-dimensional model. This first three-dimensional model is a three-dimensional model that reflects the contents of construction up to the previous day.

Next, a three-dimensional model based on the scan data obtained by the laser scan performed after the work on that day is acquired. This three-dimensional model is referred to as a second three-dimensional model. Here, in creating the second three-dimensional model, the position accuracy of the machine point is ensured as much as possible, and the coordinate accuracy of each part of the second three-dimensional model is ensured. For example, the following processes (1) → (2) → (3) are repeated a plurality of times to perform a process for improving the position accuracy of the mechanical point. By increasing the position accuracy of the machine point, the position accuracy of the second three-dimensional model can be improved.
(1) Identification of the correspondence between the first three-dimensional model and the second three-dimensional model (2) Calculation of machine points using the backward public method of FIG. 4 (3) Re-creation of the second three-dimensional model

  When the first three-dimensional model and the second three-dimensional model are obtained, the two three-dimensional models are compared and the non-matching portion is extracted. Then, the extracted portion is specified as the portion on which construction was performed on that day. This processing is performed by the construction content identifying unit 107. There are the following aspects in the processing for specifying the construction content.

  The first mode is a mode in which the three-dimensional data of the non-coincident portions of the first three-dimensional model and the second three-dimensional model are replaced with design data. In this case, the laser scan data is only used to identify the newly constructed portion, and the three-dimensional model of the portion (the above-mentioned non-matching portion) is replaced with the one based on the design data. In the first aspect, the construction specific portion can be converted into accurate drawing data. However, information such as design changes at the construction site and changes in member dimensions due to actual matching is not reflected.

  The second aspect takes the following steps. First, when a portion where the first three-dimensional model and the second three-dimensional model do not match is obtained, it is determined whether or not the portion is as designed data. Here, if the portion is in accordance with the design data, the portion is specified as the constructed portion. In this case, the three-dimensional data of the constructed portion may be three-dimensional data based on the design data or may be three-dimensional data based on the scan data.

  On the other hand, if the part does not conform to the design data, it is searched whether a change in the part has been reported. Workers and site managers create daily work reports and work records, and the contents are stored in a database. The above search is performed by searching this database. When the change is reported, the 3D data of the part different from the above design data is acquired from the second 3D model and reflected in the design data. If no change is reported, the 3D data of the part different from the above design data is treated as pending. When the second mode is used, the update data reflects information such as a change at the construction site and a change in member size due to actual matching.

  A third aspect in which the first aspect and the second aspect are used in combination is also possible. In this case, first, the non-coincident part (difference part) of the first lower third-order model and the second three-dimensional model is acquired. Next, the difference portion is compared with the corresponding original design data, and the difference between the two is calculated. If this difference is less than or equal to a predetermined threshold value, the design data is updated by replacing the difference portion with the design data to be constructed. Specifically, the difference portion is treated as a construction completion portion on the design data.

  On the other hand, the difference portion is compared with the corresponding original design data, and if this difference exceeds a predetermined threshold value, it is determined that construction different from the design was performed, and the difference portion is obtained from the laser scan data. The design data is updated with the replaced 3D model. Specifically, the difference portion is acquired from the second three-dimensional model, combined with the first lower third-order model, and the data of the construction portion captured by the scan data is reflected in the design data. In the case of the third mode, within the error range defined by the threshold value, the design data is updated using the data prepared in advance, and when the scan data exceeding the error is obtained, the scan data The design data is updated using (that is, actual measurement data). The processing according to the above first to third aspects is performed by the construction content identifying unit 107.

  The design change determination unit 108, when the difference portion between the first three-dimensional model obtained from the design data and the second three-dimensional model obtained from the scan data is not as originally designed, changes the design of the difference portion. It is determined that the part has been performed. The parts identified as design changes are converted to data so that they can be identified later.

  The design data and construction management data updating unit 109 updates the data of the portion of the design data, which is constructed by the construction content identifying unit 107 and constructed on the day. By performing this update, the construction content is reflected in the design data, and the information that can determine the construction on the design data becomes the latest. For example, the information on which part is constructed and which part is not constructed on the design data is updated to the latest information. Further, the construction management data is also updated in correspondence with the update of the design data.

  In the description here, the frequency of design data update is once a day, but it may be twice a day or once every two days. Further, it is also possible to update the design data every time a specific process is completed.

(Example of processing)
Hereinafter, an example of processing using the design data management device 100 of FIG. 1 will be shown. FIG. 5 shows an example of the basic processing. 6 and 7 are sub-charts that further explain part of the processing of FIG. The program that executes the processing of FIGS. 5 to 7 is stored in the storage unit 101 or an appropriate storage medium, and is read and executed in an appropriate memory area.

  When the process is started, first, design data and construction management data are acquired (step S101). This processing is performed by the design data and construction management data acquisition unit 103. Next, the laser scan data measured by the laser scanner is acquired (step S102). FIG. 6 shows details of the processing performed in step S102.

  In the process of FIG. 6, first, the scanner position (machine point) is calculated based on the latest design data (the last updated design data) and the latest construction management data (the last updated construction management data) ( Step S111). This processing is performed by the scanner position calculation unit 141 based on known data. After step S111, the scan range is set based on the latest construction management data (step S112). This processing is performed by the scan range setting unit 142.

  Next, the wavelength and output of the scanning light are set based on the color or material of the scan target, and the scan density is set based on the shape of the scan target (step S113). This processing is performed by the scanning light condition setting unit 143. Then, when the worker who installed the laser scanner receives a notification of the completion of the installation, the start of the laser scanning is instructed (step S114), and the laser scanning is performed. After the laser scan ends, the scan data is output from the laser scanner to the design data management device 100, and the design data management device 100 acquires the scan data (step S115). The scan data acquisition unit 105 acquires the scan data.

  Returning to the flow of FIG. 5, when the scan data is acquired (step S102), the process proceeds to step S103. In step S103, a three-dimensional model is created based on the scan data acquired in step S102. FIG. 7 shows the details of step S103. In the process of FIG. 7, first, the scanner position (machine point) is specified based on the scan data (step S121). If the machine point has an error in the initial setting, the coordinate value of the machine point is corrected by this processing. This processing can also be performed using the function of TS (total station). In this case, a laser scanner having a TS function is used.

  After step S121, three-dimensional design data is created based on the corrected machine point and the scan data obtained in step S115. This processing is performed by the three-dimensional model creation unit 152. It is effective to improve the accuracy of the three-dimensional model to be obtained by repeating the processing of step 121 → step S122.

  After creating the three-dimensional model based on the scan data, the process proceeds to step S104 in FIG. In step S104, the construction portion performed after the last update is specified. This processing is performed by the construction content determination unit 107. After specifying the constructed part, the part is reflected on the design data and the design data is updated (corrected). Similarly, the construction management data is also updated. This processing is performed by the design data and construction management data updating unit 109.

  According to the above processing, the state in which construction is progressing daily is grasped as electronic data by laser scanning, and the design data and construction management data are updated. By using the laser scan data, the work of updating the design data can be saved and speeded up.

  By updating the construction management data, for example, it is possible to display a screen on which the work end, work in progress, and work not yet started can be visually discriminated on the design drawing. In addition, in the screen display of the construction schedule, it is possible to visually determine the work end, the work in progress, and the part where the work has not been started.

  An example of the scan frequency is when the work is completed for the day, but it is also possible to update the construction management data at a frequency of twice a day or once every two days. Is. Further, instead of deciding the update timing by time, it is also possible to decide the data update timing (that is, laser scanning) according to the construction content.

  The design data management device 100 can also be used as a position specification device of a laser scanner that uses the function of the scanner position calculation unit 151 based on scan data.

(Other)
As a device for acquiring three-dimensional information, a stereo camera that performs stereoscopic photo measurement may be used in addition to or instead of the laser scanner. In this case, a three-dimensional model is created using the stereo pair image.

(Concrete example)
FIG. 8A shows building frames 301 and 302 and columns 303. FIG. 8B shows a state in which the support member 304 is fixed to the skeletons 301 and 302 in the state of FIG. 8A. 8C shows a state in which the wall 305 is attached to the support member 304 and the pillar 303 in the state of FIG. 8B. Each stage of construction shown in FIGS. 8A to 8C is grasped as three-dimensional information by laser scanning, and the design drawing and construction management data are updated based on the grasped information. That is, by performing a laser scan, the design data corresponding to the state of FIG. 8A, the design data corresponding to the state of FIG. 8B, and the design corresponding to the state of FIG. 8C are updated. The data is updated by the design data management device 100.

(Application example)
A technology that uses the laser scan data for maintenance of the completed building by leaving the laser scanner in the completed building or placing markings and pedestals that specify the installation position of the laser scanner in the completed building The present invention is applicable to The idea is the same as in the case of construction management described above. For example, when the building after completion is remodeled, the above-mentioned laser scanning during construction and updating (correction) of the design data based on the laser scan data at this time are performed to update the design data during the remodeling work. Work (correction work) can be made more efficient.

  Further, the design data management device 100 can be used to confirm the temporal change of the building and the damage situation at the time of disaster. In this case, whether or not the structure has changed due to a factor other than construction is detected by comparing the laser scan data and the design data. The design data in this specification include not only data used for building a building but also data for the structure of the building used for building management. In addition, construction objects include office buildings, commercial buildings, commercial facilities, various complex facilities, residential buildings, schools, gymnasiums, stadiums, stations, factories, warehouses, viaducts, port facilities, airports, power plants, Examples include environmental plant facilities (for example, water purification plants), chemical plants, tunnels, and the like.

Claims (3)

A three-dimensional information acquisition unit that acquires three-dimensional information of the construction object from the three-dimensional surveying device,
A correspondence relationship specifying unit that specifies a correspondence relationship between the first three-dimensional model based on the design data of the construction object and the second three-dimensional model based on the three-dimensional information;
And a calculating unit that calculates the position of the three-dimensional surveying device with respect to the construction object based on the correspondence relationship by the rear public method. A three-dimensional information acquisition step of acquiring three-dimensional information of the construction object from the three-dimensional surveying device,
A correspondence relationship specifying step of specifying a correspondence relationship between the first three-dimensional model based on the design data of the construction object and the second three-dimensional model based on the three-dimensional information;
And a calculation step of calculating the position of the three-dimensional surveying device with respect to the construction object by the backward public method based on the correspondence relationship. A program to be read and executed by a computer,
A three-dimensional information acquisition step of acquiring three-dimensional information of the construction object from the three-dimensional surveying device on a computer;
A correspondence relationship specifying step of specifying a correspondence relationship between the first three-dimensional model based on the design data of the construction object and the second three-dimensional model based on the three-dimensional information;
And a calculation step of calculating the position of the three-dimensional surveying device with respect to the construction object by the backward public method based on the correspondence relationship.

Images