JP6788915B2 - 3D laser scanner, 3D laser scanner system, construction work machine and construction method - Google Patents

Description

The present invention relates to a 3D laser scanner, a 3D laser scanner system, a construction work machine and a construction method.

In recent years, there is a problem that the construction site is aging and there is a shortage of engineers. In order to solve these problems, a measure called i-Construction is being promoted. Construction work by i-Construction basically consists of four processes: 1st process (initial surveying process), 2nd process (construction planning process), 3rd process (construction process) and 4th process (inspection process). It is carried out through a process. Construction work using i-Construction can save labor by utilizing 3D design data and 3D survey data in each process (see, for example, Non-Patent Document 1).

The 3D survey data is generated by processing the data acquired by surveying the construction target at the construction site using a drone, a 3D laser scanner, or the like for each file unit (each survey unit). In particular, according to a survey using a 3D laser scanner, highly accurate 3D survey data can be obtained. The 3D survey data is colorized by superimposing (mapping) the point group data generated by a 3D laser scanner or the like in order to make it easier to understand the construction target in the display image or the printed image (for example, Patent Document). See 1.). At construction sites, 3D laser scanners capable of generating point cloud data and color data are used (see, for example, Patent Document 2).

As shown in FIG. 15, the conventional 3D laser scanner 900 includes a support 900A and a main body 900B supported by the support 900A. The support 900A supports the main body 900B. The support 900A includes a motor 901 that rotates the main body 900B 360 ° around a vertical axis. The main body 900B has a laser measuring unit 910, an imaging unit 920, and a scanner processing unit 930. The scanner processing unit 930 includes a scan data generation unit 931. The laser measurement unit 910 irradiates the construction target with the laser beam and detects the return light reflected by the construction target. The imaging unit 920 has a camera 921. The camera 921 is arranged on the side surface of the main body 900B with its optical axis directed horizontally or diagonally upward, and captures the entire surrounding landscape as the motor 901 rotates to acquire a color image. The scan data generation unit 931 generates point cloud data D910 composed of a plurality of point data, which is coordinate position information of the construction target based on the return light detected by the laser measurement unit 910. The scan data generation unit 931 also generates color data D920, which is color information of the construction target, based on the color image acquired by the imaging unit 920. The scan data generation unit 931 generates a scan data file D930 including the point cloud data D910 and the color data D920. The 3D laser scanner 900 outputs the scan data file D930 generated by the scan data generation unit 931.

In the 3D laser scanner system 1000 including the 3D laser scanner 900 and the imaging unit 920, the scan data file D930 including the point cloud data D910 and the color data D920 is delivered to the information processing device 980 in file units using a storage medium or the like. .. The information processing apparatus 980 that has received the scan data file D930 combines the point cloud data D910 and the color data D920 and synthesizes them into the color point cloud data, and generates a 3D survey data file D940 including the synthesized color point cloud data. .. The 3D survey data file D940 is converted into a predetermined format that can be displayed on the display and displayed as a 3D image on the display device 990.

JP-A-2018-025553 JP-A-2017-003284

Ministry of Land, Infrastructure, Transport and Tourism i-Construction-Productivity Revolution at Construction Site-Reference Material March 2016 (12th page) (URL: www.mlit.go.jp/common/0011274740.pdf)

The 3D survey data generated by using the 3D laser scanner in the construction work, especially in the third process (construction process), has extremely high utility value due to its high accuracy. Therefore, if the 3D survey data can be appropriately used as the construction progresses, the construction state and progress status can be grasped with high accuracy.

However, in a conventional 3D laser scanner, in order to acquire a color image, it is necessary to rotate a motor to take an image a plurality of times, which requires a lot of imaging time. Since it is necessary to combine a plurality of captured images, a large amount of processing time is required.

Further, the 3D survey data using the conventional 3D laser scanner system is processed in file units. In addition, the process may take several days from the start of the survey to the acquisition of the final data, as the process has to rely on a data processing specialist. Therefore, there is a problem that the work of the third process (construction process) is stopped for a long time.

Therefore, the present invention has been made to solve these problems, and a 3D scanner that can obtain the final 3D survey data in a short time without stopping the work of the third step (construction process) for a long time. It is an object of the present invention to provide a scanner, a 3D laser scanner system, and a construction work machine and a construction method using them.

[1] The 3D laser scanner of the present invention is
A 3D laser scanner used to generate 3D survey data for construction at a construction site.
A laser measuring unit that irradiates the construction target with a laser beam and detects the return light due to the reflection of the laser beam on the construction target.
An imaging unit that is composed of an omnidirectional camera and acquires a color image by imaging the construction target,
Point cloud data is generated from the return light detected by the laser measuring unit, color data is generated from the color image acquired by the imaging unit, and scan data for each transmission unit is generated using the point cloud data and the color data. The scan data generator that generates
A scan data transmission unit that is connected to the scan data generation unit and transmits scan data for each transmission unit.
It is characterized by having.

According to the 3D laser scanner of the present invention, since it is composed of an omnidirectional camera and includes an imaging unit that acquires a color image by imaging a construction target, the imaging unit is particularly rotated and moved by the omnidirectional camera. Since it is possible to acquire a color image of the construction target without any problems, the imaging time can be shortened. Further, since the color image to be constructed can be acquired as one image by the omnidirectional camera, it is possible to reduce the time required for synthesizing a plurality of color images, which was conventionally required.

Further, according to the 3D laser scanner of the present invention, point group data based on the return light detected by the laser measuring unit and color data based on the color image acquired by the imaging unit are generated, and these point group data and color data are used. Since it is equipped with a scan data generator that generates scan data for each transmission unit, it is possible to handle point group data for generating scan data with a small amount of data for each transmission unit. The scan data generation time can be shortened.

Further, since the 3D laser scanner of the present invention includes a scan data transmission unit that transmits scan data for each transmission unit, the scan data for each transmission unit generated by the scan data generation unit is sequentially transmitted. The survey results can be immediately used for the generation of 3D survey data.

As a result, the 3D laser scanner of the present invention becomes a 3D laser scanner that can be used for surveying to generate 3D survey data in a short time without stopping the work for a long time in the third step (construction process).

[2] In the 3D laser scanner of the present invention, it is preferable that the scan data generation unit has a synthesis unit that synthesizes the point cloud data and the color data to generate the scan data.

With this configuration, the data receiving side (for example, an information processing device) does not need to synthesize the point cloud data and the color data, and the scan data can be used, so that the burden of color processing of the external device is reduced. It will be a possible 3D laser scanner.

[3] In the 3D laser scanner of the present invention, the imaging unit acquires one color image per survey, and the scan data generation unit uses the one color image per survey for each transmission unit. May be configured to generate scan data for.

For example, if the situation at the construction site does not change during the survey, it is sufficient to use one color image when colorizing the point cloud data per survey. With this configuration, the number of imagings per survey is only one, and the surveying time can be shortened.

[4] In the 3D laser scanner of the present invention, the imaging unit acquires a plurality of color images per survey, and the scan data generation unit uses the most recently acquired color image for each transmission unit. Scan data may be generated.

For example, even when the situation at the construction site changes during the survey, the scan data generation unit can use the color data based on the color image after the situation change when generating the scan data. With this configuration, a 3D laser scanner capable of generating scan data in a short time without stopping the work in the third step (construction step) is obtained.

[5] In the 3D laser scanner of the present invention, when the scan data generation unit generates the point cloud data, the difference between the one point data and the other point data located immediately before the one point data. It is preferable to generate point cloud data including difference point cloud data using values.

With this configuration, the size of the point cloud data becomes smaller, and then the data transfer becomes smoother in the process of generating scan data and 3D survey data, and the survey results are immediately used for generating 3D survey data. It becomes a 3D laser scanner that can be used.

[6] The 3D laser scanner system of the present invention is a 3D laser scanner system used for generating 3D survey data of a construction target at a construction site, and generates point group data and color data, and these point group data and A 3D laser scanner that generates scan data for each transmission unit using color data, and an information processing device that is connected to the 3D laser scanner and generates the 3D survey data using the scan data generated by the 3D laser scanner. The 3D laser scanner is the 3D laser scanner according to the present invention, which is connected to the information processing device and includes a presentation device that outputs output data based on the 3D survey data.

According to the 3D laser scanner system of the present invention, a 3D laser scanner that generates scan data for each transmission unit using point cloud data and color data, and a 3D survey data that generates scan data using the scan data generated by the 3D laser scanner. It is possible to generate 3D survey data at the construction site because the information processing device is provided. Further, according to the 3D laser scanner system of the present invention, since the presenting device for outputting the output data based on the 3D survey data is provided, the survey result can be confirmed at the construction site. At this time, since the 3D laser scanner system of the present invention includes the 3D laser scanner of the present invention, it is possible to sequentially generate 3D survey data using scan data for each transmission unit transmitted from the 3D laser scanner. It is possible.

As a result, the 3D laser scanner system of the present invention becomes a 3D laser scanner system that enables the use of 3D survey data in a short time without stopping the work for a long time in the third step (construction process).

[7] In the 3D laser scanner system of the present invention, the information processing device has an information processing unit including an information storage unit that stores target shape data to be constructed, and the information processing unit has the scan data. It is preferable to generate the current shape data as the 3D survey data based on the above, and to generate the presentation data based on the comparison result between the current shape data and the target shape data.

With this configuration, the 3D laser scanner system makes it easy to grasp the situation with respect to the target.

[8] At that time, the information storage unit can store a plurality of intermediate target shape data as the target shape data, and the information processing unit uses the comparison result between the current shape data and the intermediate target shape data. Interim presentation data as the presentation data based on the presentation data may be generated.

With this configuration, it becomes a 3D laser scanner system that makes it easy to grasp the situation not only for the final goal but also for the intermediate goal (for example, daily progress goal).

[9] In the 3D laser scanner system of the present invention, the presentation device may be a display.

With this configuration, it becomes a 3D laser scanner system that can visually grasp the situation in an easy-to-understand manner.

[10] At that time, a color-coded heat map may be displayed on the display based on the comparison result.

With this configuration, the 3D laser scanner system makes it easy to grasp the situation at a glance.

[11] The construction work machine of the present invention includes a construction work machine main body and a 3D laser scanner mounted on the construction work machine main body, and the 3D laser scanner is the 3D laser scanner of the present invention. To do.

According to the construction work machine of the present invention, since the construction work machine main body and the 3D laser scanner mounted on the construction work machine main body are provided, it is possible to perform a survey by the 3D laser scanner from the viewpoint of the construction work machine. At that time, according to the construction work machine of the present invention, since the 3D laser scanner of the present invention is used as the 3D laser scanner, 3D survey data can be obtained in a short time without stopping the work for a long time in the third step (construction process). It can be used.

As a result, the construction work machine of the present invention becomes a construction work machine that can use 3D survey data in a short time without stopping the work for a long time in the third process (construction process).

[12] The construction method of the present invention includes a first step of performing a survey and acquiring initial shape data which is shape data of a construction target before construction, the initial shape data, and a target shape data as a construction target. Including the second step of formulating a construction plan based on the above construction plan and the third step of performing construction using a construction work machine according to the construction plan, the 3D laser scanner system of the present invention is used in the third step. Then, the work is performed using the 3D survey data generated by the 3D laser scanner system and the target shape data.

According to the construction method of the present invention, in the third step (construction step), the work is performed using the 3D laser scanner system according to the present invention using the 3D survey data and the target shape data. 3D survey data can be used in a short time without stopping the work for a long time in the three processes (construction process).

As a result, the construction work method of the present invention is a construction work method in which 3D survey data can be used in a short time without stopping the work for a long time in the third process (construction process).

[13] In the construction work method of the present invention, after the third step, an inspection is performed to check whether or not the inspection target shape data, which is the shape data of the construction target after the construction, conforms to the target shape data. A fourth step may be further included.

[14] At that time, in the fourth step, it is preferable to perform the inspection using the 3D survey data finally generated by the 3D laser scanner system in the third step as the inspection target shape data.

As a result, since it is not necessary to perform a separate survey in order to acquire the shape data to be inspected in the fourth step, the construction work method can shorten the inspection time.

[15] In the construction method of the present invention, in the first step, it is preferable to perform a survey using a 3D laser scanner of the same standard as the 3D laser scanner used in the third step.

By doing so, it is possible to make the measurement standards and accuracy uniform as compared with the case where different surveying instruments and 3D laser scanners of different standards are used for each process, and as a result, construction work that can suppress the occurrence of process return. It becomes a method.

According to the 3D laser scanner, 3D laser scanner system, construction work machine and construction method of the present invention, it is possible to use 3D survey data in a short time without stopping the work for a long time in the third process (construction process). it can.

It is a block diagram of the construction work machine 1 which concerns on Embodiment 1. It is a block diagram of the 3D laser scanner system 10 which concerns on Embodiment 1. It is a figure which shows for demonstrating the 3D laser scanner 100 which concerns on Embodiment 1. It is an image diagram by the presentation device 300 which concerns on Embodiment 1, and is an image diagram which is displayed as a heat map. FIG. 5 is an image diagram of the presentation device 300 according to the first embodiment, and is an image diagram of a work situation. It is a flowchart which shows the construction construction method which concerns on Embodiment 1. It is a figure which shows the state of the survey in the 3rd step S3 of Embodiment 1. It is a flowchart which shows the surveying method using the 3D laser scanner system 10 which concerns on Embodiment 1. It is a figure which shows the state of the generation of the conventional 3D survey data. It is a figure which shows the state of the generation (sequential generation) of 3D survey data D4 in Embodiment 1. FIG. It is a figure which shows the generation of the 3D survey data D4 in Embodiment 1 to explain how the 3D laser scanner system 10 generates the 3D survey data D4 in the range smaller than the whole measurable range. It is a figure which shows the surveying method in Embodiment 2. It is a flowchart which shows the surveying method in Embodiment 2. It is a figure which shows for demonstrating the 3D laser scanner 500 which concerns on modification 1. It is a figure explaining the conventional 3D laser scanner system 1000 including the conventional 3D laser scanner 900.

Hereinafter, the 3D laser scanner and the 3D laser scanner system according to the embodiment of the present invention, and the construction work machine and the construction work method using them will be described with reference to the drawings. It should be noted that each drawing does not strictly represent the actual dimensions and details.

First, the construction work by i-Construction using the 3D laser scanner system including the 3D laser scanner according to the embodiment will be described. Construction work by i-Construction consists of four processes, the first process (initial survey process), the second process (construction plan formulation process), the third process (construction process), and the fourth process (inspection process). It is managed by using the 3D survey data obtained by surveying the construction target in the above and the 3D design data created by using CAD or the like. The 3D survey data used in the embodiments described below is obtained by surveying the construction target with a 3D laser scanner.

[Embodiment 1]
(1. Configuration of construction work machine 1)
FIG. 1 shows a construction work machine 1 according to the first embodiment. The construction work machine 1 of the first embodiment is, for example, a hydraulic excavator, and a 3D laser scanner system 10 described later is attached to the roof of the operator's room. As a result, the operator of the construction work machine 1 can perform the excavation work while checking the survey result of the 3D laser scanner system 10 while staying in the operator's room.

(Configuration of 2.3D Laser Scanner System 10)
FIG. 2 is a block diagram of the 3D laser scanner system 10 according to the first embodiment. In FIG. 2, the two-dot chain arrow indicates the optical path, the thin dotted or thin dotted arrow indicates the mechanical or electrical connection of a plurality of parts, and the ellipse indicates the data generated in each part.

The 3D laser scanner system 10 includes a 3D laser scanner 100, an information processing device 200, and a presentation device 300 in order to generate 3D survey data to be constructed at a construction site. The 3D laser scanner 100 generates point cloud data D1 and color data D2 to be constructed, and uses these point cloud data D1 and color data D2 to generate scan data D3 for each transmission unit.

The information processing device 200 is connected to the 3D laser scanner 100 by wire or wirelessly (for example, Wifi), and 3D survey data D4 is generated using the scan data D3 generated by the 3D laser scanner 100 for each transmission unit. The presentation device 300 is connected to the information processing device 200 by wire or wirelessly (for example, Wifi), and outputs output data D8 based on 3D survey data D4.

The "transmission unit" is data for each transmission frame transmitted to the external device when the 3D laser scanner 100 is connected to the external device by wire or wirelessly. For example, the scan data for each transmission unit is the data of a part of the construction target range within the entire construction target range, specifically, the data of the small sections, each line, and each point included in the entire construction target range. is there. Therefore, the surveying of the entire construction target range is completed by sequentially transmitting the scan data for each transmission unit a plurality of times. That is, the scan data for each transmission unit is sequentially transmitted a plurality of times in one survey.

(Configuration of 21-1.3D Laser Scanner 100)
FIG. 3 (FIGS. 3A and 3B) shows the 3D laser scanner 100 according to the first embodiment, in which the components housed inside the 3D laser scanner 100 are shown by broken lines and light. The traveling path of is indicated by a two-dot chain line arrow, and the electrical connection of each part is indicated by a thin dotted line.

The 3D laser scanner 100 generates 3D survey data to be constructed at a construction site, and includes a support 100A and a scanner body 100B.

The support 100A supports the scanner body 100B so as to be rotatable 360 ° around the vertical axis. Therefore, the support 100A includes a motor 101, a speed reducer 102, and a rotation shaft 103, and transmits the rotation of the motor 101 from the speed reducer 102 to the rotation shaft 103 to rotate the scanner body 100B. The support 100A includes a mounting portion (not shown) for detachably fixing the support 100A to the construction work machine 1 (see FIG. 1). The support 100A includes a spirit level indicating the inclination of the 3D laser scanner 100 with respect to a horizontal plane or an element (not shown) for detecting the inclination thereof.

The scanner body 100B has a substantially rectangular parallelepiped shape, and as shown in FIG. 3A, a groove-shaped entrance / exit space 104 extending downward from the upper end at the central portion and penetrating the scanner body 100B in the horizontal direction is provided. It is formed. Preferably, the outer surface of the scanner body 100B is provided with a display (not shown) such as an operation method.

The scanner body 100B includes a laser measurement unit 110, an imaging unit 120, a scanner processing unit 130 including a scan data generation unit 131, and a communication unit 140 including a scan data transmission unit 141.

The 3D laser scanner 100 generates point cloud data D1 and color data D2 for generating 3D survey data D4, and further synthesizes point cloud data D1 and color data D2 to generate scan data D3. The point cloud data D1 includes 3D coordinate position information of the construction target, and the color data D2 is data including the color information of the construction target. The scan data D3 is data that includes at least one of the information of the point cloud data D1 and the color data D2 and is converted into the transmission format of the 3D laser scanner 100. The scan data D3 of the first embodiment is color point cloud data obtained by synthesizing the point cloud data D1 and the color data D2. The process of generating the 3D survey data D4 will be described later.

The laser measurement unit 110 irradiates the construction target with the laser beam and detects the return light due to the reflection of the laser beam on the construction target. Therefore, the laser measuring unit 110 includes a laser diode 111, a perforated mirror 112, a rotating mirror 113, a motor 114, a condenser lens 115, and a photodiode 116 for detecting return light.

The laser diode 111 is a light emitting element that oscillates laser light, is electrically connected to the scanner processing unit 130, is controlled by the scanner processing unit 130 at the time of measurement, and extends in the extending direction of the groove-shaped inlet / output space 104 (in the figure). A laser beam is oscillated in the entrance / exit space 104 in the horizontal direction (left-right direction in the figure) orthogonal to the front-back direction. The perforated mirror 112 is arranged between the laser diode 111 and the entrance / exit space 104 at an angle of 45 ° with respect to the laser optical axis. The perforated mirror 112 has a small hole formed on the laser optical axis so that only a part of the laser light incident on the perforated mirror 112 passes through the hole and the other laser light is reflected. The rotary mirror 113 is a cylindrical rod mirror, and has an inclined reflecting surface at one end that intersects the central axis at an angle of 45 °. The rotating mirror 113 is arranged in a state where the inclined reflecting surface is located in the input / output space 104 and the central axis is aligned with the optical axis of the laser light oscillated from the laser diode 111 and transmitted through the hole of the perforated mirror 112. There is. The motor 114 is connected to the other end of the rotary mirror 113. Further, the motor 114 is electrically connected to the scanner processing unit 130. As a result, the motor 114 rotates the rotary mirror 113 around the laser optical axis based on the signal from the scanner processing unit 130, and scans the laser beam reflected by the inclined reflection surface of the rotary mirror 113 in the vertical plane. .. The condenser lens 115 is a lens that collects the reflected laser light from the construction target, the inclined reflecting surface of the rotating mirror 113, and the laser light reflected by the perforated mirror 113. The back light detection photodiode 116 is a light receiving element that detects the return laser light focused by the condenser lens 115. The back light detection photodiode 116 is electrically connected to the scan data generation unit 131 (see FIG. 2) in the scanner processing unit 130, and converts the detected return light into an electric signal to scan data generation unit 131. Send to.

The laser measuring unit 110 having such a configuration irradiates the construction target with the laser light oscillated by the laser diode 111 via the holes of the perforated mirror 112 and the rotating mirror 113, while reflecting the laser light on the construction target. The return light is detected by the return light detection photodiode 116 via the rotating mirror 113, the perforated mirror 112 (reflecting surface around the central hole), and the condenser lens 115. Further, the laser measuring unit 110 drives the motor 101 to rotate the scanning body 100B around the vertical axis, and drives the motor 114 to scan the laser beam in the vertical plane, thereby centering on the vertical axis. The return light from almost the entire sky is detected for the entire circumference of 360 °, and the surrounding position information is acquired.

The imaging unit 120 is composed of an omnidirectional (omnidirectional) camera 121, images a construction target, and acquires a color image.

The omnidirectional camera 121 has a fisheye lens 121a having an angle of view of 180 ° facing one side and a fisheye lens 121b having an angle of view of 180 ° facing the other side, and can perform color imaging of an omnidirectional landscape. The omnidirectional camera 121 is attached to the upper part of the scanner body 100B so that the fisheye lenses 121a and 121b face each other in the horizontal direction. The omnidirectional camera 121 passes through the two fisheye lenses 121a and 121b, and synthesizes the respective signals detected by the image sensor (not shown) corresponding to each fisheye lens to create one omnidirectional color image. Therefore, each pixel of the omnidirectional color image includes color information (for example, RGB color information).

The scanner processing unit 130 including the scan data generation unit 131 performs various data processing and controls the operation of the 3D laser scanner 100. Therefore, the scanner processing unit 130 has a storage unit 132, and stores data in the storage unit 132 temporarily or permanently.

The scan data generation unit 131 is connected to the laser measurement unit 110 and the image pickup unit 120, and generates point group data D1 in all directions based on the return light detected by the laser measurement unit 110 and is acquired by the image pickup unit 120. An omnidirectional color image is created based on the generated color image, and omnidirectional color data D2 is generated. Further, the scan data generation unit 131 uses the point cloud data D1 and the color data D2 to generate scan data D3 for each transmission unit. When the scan data generation unit 131 generates the point cloud data D1, the point cloud includes the difference point cloud data using the difference value between one point data and another point data acquired immediately before the one point data. Generate data. Further, the scan data generation unit 131 has a synthesis unit 131a, and the synthesis unit 131a combines the point cloud data D1 and the color data D2 to generate the scan data D3. The scan data D3 may be compressed into an appropriate format (for example, zip format).

The composition of the point cloud data D1 and the color data D2 will be described. As shown in FIGS. 3A and 3B, the laser measuring unit 110 and the imaging unit 120 are installed at different locations. Therefore, the coordinate origin of the omnidirectional point cloud data generated by the scan data generation unit 131 is different from the viewpoint center of the omnidirectional color image created by the omnidirectional camera 121. (Origin difference)
Even if the coordinate origin of the omnidirectional point group data and the viewpoint center of the omnidirectional color image are the same, the horizontal angle information and the vertical with respect to the surrounding objects are affected by various aberrations of the optical system. The angle information may differ between the omnidirectional point group data and the omnidirectional color image, and they do not always match. (Coordinate error)
Therefore, in each 3D laser scanner 100, a process (calibration) for eliminating the origin difference and the coordinate error is performed at the time of manufacturing or before shipping. Specifically, in the calibration, after arranging feature points called markers around the 3D laser scanner 100, the surroundings are scanned, and the obtained omnidirectional point group data and the omnidirectional color image are obtained. Processing such as obtaining a conversion parameter that matches the horizontal angle information and the vertical angle information for this marker by calculation is performed. This conversion parameter is, for example, a sequence of numbers used in the matrix calculation when converting the stereoscopic coordinate value in the omnidirectional color image into the stereoscopic coordinate value of the point cloud data in the omnidirectional direction. By using such conversion parameters, the coordinate system of the color data is calibrated, and the color data pixels corresponding to the points are assigned to each point of the point cloud data.
At least three markers are required, but the larger the number, the better the accuracy of the conversion parameters. The marker is an object having a strong contrast in shape and color, for example, a plate-like object painted in a checkered pattern, or a spherical object having a high reflectance such as white. Therefore, appropriate color data D2 is assigned to each point of the point cloud data D1. As a result, the scan data generation unit 131 can generate the scan data D3 by adding the color information possessed by the pixels of the color data D2 corresponding to each data of the point cloud data D1.

The communication unit 140 including the scan data transmission unit 141 exchanges data with and from an external device. The scan data transmission unit 141 is connected to the scan data generation unit 131, and receives scan data D3 for each transmission unit from the scan data generation unit 131. The scan data transmission unit 141 sequentially transmits scan data D3 for each transmission unit to an external device by wire or wirelessly (for example, WiFi).

(2-2. Configuration of information processing device 200)
Returning to FIG. 2, the information processing device 200 is a computer, and has an information communication unit 210 that performs data communication and an information processing unit 220 that performs data processing. The information processing device 200 generates 3D survey data D4 using the scan data D3 transmitted from the 3D laser scanner 100.

The information communication unit 210 includes an information reception unit 211 and an information transmission unit 212, and transfers data by wire or wirelessly (for example, WiFi). The information receiving unit 211 is connected to the scan data transmitting unit 141 of the 3D laser scanner 100, and receives the scan data D3 from the 3D laser scanner 100. The information transmission unit 212 transmits the data processed by the information processing unit 220.

The information processing unit 220 includes an information calculation unit 221 and an information storage unit 222, and controls each unit of the information processing device 200, performs data processing, and the like. The information calculation unit 221 is a CPU, and controls each unit of the information processing device 200 and controls data processing. The information storage unit 222 is a memory, and stores data received by the information receiving unit 211 and data processed by the information calculation unit 221. When the 3D laser scanner system 10 is used for surveying, the information storage unit 222 stores the target shape data D50, which is a construction target such as 3D design data, in advance. The information processing unit 220 generates 3D survey data D4 based on the scan data D3 during surveying using the 3D laser scanner system 10. Of the 3D survey data D4, the data indicating the current state of the construction site is referred to as the current state shape data D40.

The information processing unit 220 generates presentation data D60 showing a comparison result between the current shape data D40 and the target shape data D50. The information storage unit 222 can store a plurality of intermediate target shape data as the target shape data D50. The information processing unit 220 can also generate the intermediate presentation data as the presentation data D60 based on the comparison result between the current shape data and the intermediate target shape data. The information processing unit 220 generates output data D8 to be output to the presentation device 300 based on the current shape data D40, the target shape data D50, and the presentation data D60 as the 3D survey data D4.

(2-3. Configuration of presentation device 300)
The presenting device is a human interface device such as a display or a speaker that uses images, videos, sounds, vibrations, and the like. In the first embodiment, the presentation device 300 is a display. The presenting device 300 includes a device communication unit 310, a device processing unit 320, and a device output unit 330 that outputs (presents) data. The presentation device 300 receives the output data D8 generated by the information processing device 200 and outputs (displays) the survey result on the display screen.

The device communication unit 310 has a device reception unit 311 and performs data communication by wire or wirelessly (for example, WiFi). The device receiving unit 311 is connected to the information processing device 200 and receives the output data D8 from the information processing device 200.

The device processing unit 320 processes the data received by the device communication unit 310, controls each unit of the presentation device 300, and the like.

The device output unit 330 is a monitor screen, and displays current shape data and presentation data which are 3D survey data D4 received by the device communication unit 310 under the control of the device processing unit 320.

FIG. 4 is a heat map displayed on the presentation device 300 according to the first embodiment.
FIG. 5 is a work situation displayed on the presentation device 300 according to the first embodiment. FIG. 5 (a) shows the overall progress status, and FIG. 5 (b) shows the excavation status of a specific cross section.

As shown in FIG. 4, the presentation device 300 uses the output data D8 generated based on the presentation data D60 obtained by comparing the current shape data D40 and the target shape data D50 by the information processing device 200. A color-coded heat map (shown as a difference in hatching in FIG. 4) may be displayed. In the heat map, for example, for the target shape data D50, the section A1 higher than the target height range is blue (insufficient cutting), the section A2 in the target height range is green (appropriate construction), or the target. This is shape data in which the section A3 lower than the height range is displayed in red (over-cut).
Further, the presentation device 300 generates output data D8 by superimposing the current shape data D40, the target shape data D50, and the construction work machine shape data D70 indicating the construction machine performing the work by the information processing device 200. The output data D8 may be used to display shape data showing the overall progress shown in FIG. 5 (a).
Further, the presenting device 300 may use the output data D8 to display the shape data showing the excavation status of an arbitrary cross section shown in FIG. 5 (b).
Further, the presentation device 300 may output the output data D8 to a device other than the visual device and present it. For example, when the height indicated by the current shape data becomes lower than the height indicated by the target shape data by the information processing device 200, a warning sound may be emitted from a sounding device such as a speaker using the output data.

(3. Construction method according to the first embodiment)
FIG. 6 is a flowchart showing the construction work method according to the first embodiment. As shown in the figure, the construction method according to the first embodiment includes a first process S1 for conducting a survey before construction, a second process S2 for formulating a construction plan, a third process S3 for performing construction, and a post-construction method. The fourth step S4 for inspecting is carried out in this order. In the construction method of the first embodiment, the construction management is performed by utilizing the 3D data in all the processes.

In the first step S1, a drone, a total station, a 3D laser scanner system, or the like is used to perform a 3D survey of the construction site before construction, and acquire initial shape data which is shape data of the construction target before construction.

In the second step S2, a construction plan is formulated based on the initial shape data and the target shape data as the construction target. For example, in the second step S2, the initial shape data and the design data which is the target shape data are used to calculate the cutting amount and the filling amount from the difference between the initial shape data and the target shape data, and the man-hours, the construction period, and the filling amount are calculated. Calculate the cost and formulate a concrete construction plan.

In the third step S3, construction is performed using the construction work machine 1 according to the construction plan. At this time, the work proceeds using the current shape data and the target shape data, which are 3D survey data created by the 3D laser scanner system 10 mounted on the construction work machine 1.

FIG. 7 is a diagram showing a state of surveying in the third step S3 of the first embodiment. In the third step S3, as shown in FIG. 7, the operator of the construction work machine 1 surveys the construction target using the 3D laser scanner system 10 including the 3D laser scanner 100. In the 3D survey by the 3D laser scanner system 10, 3D survey data is generated using the point cloud data. The survey result by the 3D laser scanner system 10 is immediately displayed on the presentation device 300 in the vehicle. The operator of the construction work machine 1 can proceed with the work while referring to the survey result. Details of the surveying method using the 3D laser scanner system 10 will be described later.

In the fourth step S4, the shape data of the inspection target is acquired by using a 3D laser scanner or the like for the construction target after the construction. In the fourth step S4, it is inspected whether or not the shape data to be inspected conforms to the target shape data. If the inspection is passed, the construction work will be completed. Since the accuracy of the 3D survey data using the 3D laser scanner (3D laser scanner system) is high, the 3D laser scanner system 10 is finally generated in the third step S3 as the shape data to be inspected in the fourth step S4. It is preferable to use the 3D survey data D4.

(4. Surveying method using the 3D laser scanner system 10 according to the first embodiment)
FIG. 8 shows a surveying method using the 3D laser scanner system 10 according to the first embodiment. The surveying work shown in the figure is performed between the work in the third step S3, and the positional relationship between the 3D laser scanner 100 and the construction target and the condition of the construction target change as the construction work machine 1 moves and works. It is done in.
In order to obtain the absolute position (machine coordinates) of the 3D laser scanner 100, one or more markers are fixed in the construction environment, and the relative positional relationship between the 3D laser scanner 100 and the markers is calculated.
The absolute position of the 3D laser scanner 100 may be determined using the Global Positioning System (GPS).
In addition, the absolute position of the 3D laser scanner 100 may be grasped from the image obtained by the imaging of the imaging unit 20.

As shown in FIG. 8, the surveying method using the 3D laser scanner system 10 according to the first embodiment includes a 3D laser scanner processing step 10, an information processing device processing step 20, and a presentation device processing step 30. In the surveying method using the 3D laser scanner system 10 according to the first embodiment, the 3D laser scanner processing step 10, the information processing device processing step 20, and the presentation device processing step 30 are the 3D laser scanner 100, the information processing device 200, and the information processing device 200, respectively. It is executed by the presentation device 300.

In the 3D laser scanner processing step 10, the imaging step S11, the laser measurement step S12, the scan data generation step S13, the scan data transmission step S14, and the survey completion determination step S15 are executed by the 3D laser scanner 100. The imaging step S11 and the laser measurement step S12 may be executed first, or may be executed at the same time.

In the imaging step S11, the omnidirectional camera 121 in the imaging unit 120 images the construction target without rotating the imaging unit 120, and a color image of the entire range of the construction target is obtained by one imaging. The obtained color image is sent to the scan data generation unit 131 and stored in the storage unit 132 of the scanner processing unit 130. The imaging step S11 is repeated at an appropriate timing.

In the laser measurement step S12, the laser measurement unit 110 irradiates the construction target with a laser and detects the laser beam reflected by the construction target. The detected return light is converted into an electrical signal. The converted signals are sequentially sent to the scan data generation unit 131 and stored in the storage unit 132 of the scanner processing unit 130.

In the scan data generation step S13, the return light signal obtained in the laser measurement step S12 is divided into units corresponding to transmission units, position information within a predetermined range of the construction target included therein is calculated, and points for each transmission unit are calculated. Group data D1 is generated. The point cloud data as a transmission unit may be only one point data. Next, in the scan data generation step S13, the color information of the position corresponding to the point cloud data D1 for each transmission unit is acquired from the color image recently obtained in the imaging step S11, and the color data D2 is generated. Next, in the scan data generation step S13, the point cloud data D1 and the color data D2 for each transmission unit are combined to generate the scan data D3 (color point cloud data) for each transmission unit. Since the scan data generation step S13 can be started even while the imaging step S11 and the laser measurement step S12 are being executed, if the signals based on the color image and the return light sent during the execution of both steps S11 and S12 are aligned. , These steps S11 and S12 are executed in parallel.

In the scan data transmission step S14, the scan data D3 for each transmission unit obtained in the scan data generation step S13 is sequentially transmitted to the information processing apparatus 200.

In the survey end determination step S15, it is determined whether the survey is completed. This determination is performed, for example, by confirming whether all the return light signals stored in the storage unit 132 have been processed by the scan data D3. If the survey is not completed, the process returns to the scan data generation step S13, and when the survey is completed, the 3D laser scanner processing step 10 is completed.

In the information processing apparatus processing step 20, scan data reception step S21, 3D survey data generation step S22, presentation data generation step S23, output data generation step S24, output data transmission step S25, and survey end determination step S26 provide information in this order. It is executed by the processing device 200.

In the scan data reception step S21, the information reception unit 211 of the information communication unit 210 receives the scan data D3 for each transmission unit sequentially transmitted in the scan data transmission step S14. The received scan data D3 for each transmission unit is sent to the information processing unit 220.

In the 3D survey data generation step S22, the information processing unit 220 sequentially generates 3D survey data D4 including the current shape data D40 for each transmission unit using the scan data D3 for each transmission unit.

Here, "sequential generation" means to generate 3D survey data D4 by sequentially processing the input data (for example, the most recently acquired data) without waiting for all the data in the survey area to be prepared. ..

The sequential generation of the 3D survey data D4 will be further described with reference to FIGS. 9 to 11.
FIG. 9 shows a conventional 3D survey data generation process.
FIG. 10 shows the generation (sequential generation) processing of the 3D survey data D4. In particular, FIG. 10A shows a process of generating 3D survey data D4 for each predetermined number of points (for example, points for one column), and FIG. 10B shows 3D survey data D4 for each point. The process to be generated is shown.
FIG. 11 shows another 3D survey data D4 generation process for generating 3D survey data D4 for a range smaller than the entire measurable range of the 3D laser scanner system 10.
In these FIGS. 9 to 11, the white squares represent the 3D survey data that has not been generated, and the black squares represent the 3D survey data that has been generated.

The information of each point obtained by the 3D laser scanner is from the rotation angle (altitude angle) θ in the vertical plane, the rotation angle (horizontal angle) φ in the horizontal plane, to the mechanical coordinates of the 3D laser scanner to the measurement target (construction target). Includes distance r. However, for ease of understanding, FIGS. 9 to 11 show the 3D survey data expanded on a plane using only the altitude angle θ and the horizontal angle φ.

In the conventional surveying method, as shown in FIG. 9, all the data measured by the 3D laser scanner is processed at once to generate 3D survey data. In this case, a number of point cloud data corresponding to the number of measurement points are collectively processed at one time.

According to this method, since the 3D laser scanner acquires information on a huge number of measurement points, the amount of data processing per survey is considerably large, and the data processing time is considerably long (for example, about several hours to about half a day). ). Therefore, in the conventional surveying method, the result of the survey performed during the third process of the construction work (during the construction process) cannot be utilized for the work of the third process.

On the other hand, in the surveying method of the first embodiment, as shown in FIGS. 10 (a) and 10 (b), all the point cloud data D1 acquired by the 3D laser scanner 100 is not processed at once, and a predetermined amount is used. Each time the point cloud data of No. 1 is acquired, the processing is sequentially performed, and the 3D survey data D4 is generated for the processed portion. By doing so, the amount of data to be processed at one time can be reduced, and as a result, the data processing time can be shortened.

The distance may be measured in the entire range that can be scanned by the 3D laser scanner 100, or only a part of the range (for example, only the range to be constructed. See FIG. 11). ..

In the presentation data generation step S23, the information processing unit 220 compares the current shape data D40 generated in the 3D survey data generation step S22 with the target shape data D50 stored in the information storage unit 222 at the start of the survey, and is desired. The presentation data D60 is generated according to the purpose of. For example, the heat map shown in FIG. 4 is generated.

In the output data generation step S24, the information processing unit 220 generates output data D8 for each transmission unit as data to be presented to the presentation device 300 based on the current shape data D40, the target shape data D50, the presentation data D60, and the like. ..

In the output data transmission step S25, the output data D8 for each transmission unit generated in the output data generation step S24 is sequentially transmitted to the presentation device 300 by the information transmission unit 212.

In the survey end determination step S26, it is determined whether the survey is completed (for example, whether or not the final output data D8 is output), and when completed, the process returns to the scan data receiving step S21, and when completed, the information processing apparatus processing step 20 To finish.

In the presentation device processing step 30, the output data reception step S31, the output data presentation step S32, and the update determination step S33 are sequentially executed by the presentation device 300.

In the output data reception step S31, the device reception unit 311 of the device communication unit 310 receives the output data D8 for each transmission unit sequentially transmitted in the output data transmission step S25. The received output data D8 for each transmission unit is sent to the device processing unit 320.

In the output data presentation step S32, the device output unit 330 displays the 3D image to be constructed by controlling the device processing unit 320 based on the output data D8 for each transmission unit.

In the update determination step S33, when the new output data D8 is received, the device output unit 330 updates the display screen under the control of the device processing unit 320 based on the new output data D8.

(5. Effect of Embodiment 1)
In the 3D laser scanner 100 according to the first embodiment, the imaging unit 120 includes an omnidirectional camera 121, and the omnidirectional camera 121 captures an image of a construction target and acquires a color image thereof. In particular, even when acquiring a color image in all directions, it is not necessary to rotate the imaging unit 120, so that the imaging time can be shortened. Further, the omnidirectional camera 121 can acquire a color image to be constructed as one image. Therefore, it is not necessary to combine a plurality of color images, and the time required for image processing can be shortened.

According to the 3D laser scanner 100 according to the first embodiment, the scan data generation unit 131 that generates scan data D3 for each transmission unit from the point cloud data D1 detected by the laser measurement unit 110 and the color data D2 acquired by the imaging unit 120. It has. Therefore, according to the 3D laser scanner 100, the point cloud data D1 can be handled with a small amount of data for each transmission unit, so that the generation time of the scan data D3 can be shortened.

Further, according to the 3D laser scanner 100 according to the first embodiment, the scan data transmission unit 141 for transmitting the scan data D3 for each transmission unit is provided. Therefore, the scan data D3 generated by the scan data generation unit 131 for each transmission unit is sequentially transmitted, and the survey result can be immediately used for generating the 3D survey data D4.

As a result, the 3D laser scanner 100 according to the first embodiment can generate the 3D survey data D4 in a short time without stopping the work for a long time in the third step S3.

According to the 3D laser scanner 100 according to the first embodiment, the scan data generation unit 131 has a synthesis unit 131a that synthesizes the point cloud data D1 and the color data D2 to generate the scan data D3. Therefore, since the scan data D3 can be obtained without the data receiving side (for example, the information processing device 200) synthesizing the point cloud data D1 and the color data D2, the burden of the colorization process by the external device can be reduced.

According to the 3D laser scanner 100 according to the first embodiment, the imaging unit 120 may acquire a plurality of color images per survey. In this case, even if the situation at the construction site changes during the survey, the color data D2 after the situation change can be used when the scan data generation unit 131 generates the scan data D3. As a result, the 3D laser scanner 100 according to the first embodiment can generate scan data D3 in a short time without stopping the work in the third step S3.

According to the 3D laser scanner 100 according to the first embodiment, when the scan data generation unit 131 generates the point cloud data D1, the difference value between the one point data and the other point data located immediately before the one point data. The point cloud data D1 including the difference point cloud data using the above is generated. Therefore, the size of the point cloud data D1 becomes small, and then the data transfer becomes smooth in the process of generating the scan data D3 and the 3D survey data D4. As a result, the 3D laser scanner 100 according to the first embodiment becomes a 3D laser scanner that can immediately use the survey result for generating the 3D survey data D4.

According to the 3D laser scanner system 10 according to the first embodiment, the 3D laser scanner 100 that generates scan data D3 for each transmission unit using the point cloud data D1 and the color data D2, and the scan data generated by the 3D laser scanner 100. Since the information processing device 200 for generating the 3D survey data D4 using the D3 is provided, it is possible to generate the 3D survey data D4 at the construction site. Further, according to the 3D laser scanner system 10 according to the first embodiment, since the presentation device 300 for outputting the output data D8 based on the 3D survey data D4 is provided, the survey result can be confirmed at the construction site. At this time, since the 3D laser scanner system 10 according to the first embodiment includes the 3D laser scanner 100, the scan data D3 for each transmission unit transmitted from the 3D laser scanner 100 is used to sequentially generate 3D survey data. It is possible to do.

As a result, the 3D laser scanner system 10 according to the first embodiment becomes a 3D laser scanner system that enables the 3D survey data D4 to be used in a short time without stopping the work for a long time in the third step S3.

According to the 3D laser scanner system 10 according to the first embodiment, the information processing device 200 has an information processing unit 220 including an information storage unit 222 that stores target shape data D50 as a construction target, and the information processing unit 220 scans. Since the current shape data D40 as the 3D survey data D4 is generated based on the data D3 and the presentation data D60 based on the comparison result between the current shape data D40 and the target shape data D50 is generated, the 3D laser scanner according to the first embodiment is generated. The system 10 is a 3D laser scanner system that makes it easy to grasp the situation with respect to the target.

According to the 3D laser scanner system 10 according to the first embodiment, the information storage unit 222 can store a plurality of intermediate target shape data as the target shape data D50, and the information processing unit 220 can store the current shape data D40 and the intermediate target shape data. Since the intermediate presentation data as the presentation data D60 based on the comparison result with the above may be generated, the 3D laser scanner system 10 according to the first embodiment has not only the final goal but also the intermediate goal (for example, the daily progress goal). ) Will be a 3D laser scanner system that makes it easy to grasp the situation.

Since the presentation device 300 is a display, the 3D laser scanner system 10 according to the first embodiment is a 3D laser scanner system capable of visually and easily grasping the situation.

Since the 3D laser scanner system 10 according to the first embodiment can display a color-coded heat map on the display based on the comparison result, it is a 3D laser scanner system that makes it easy to grasp the situation at a glance.

According to the construction work machine 1 according to the first embodiment, the construction work machine main body 1M and the 3D laser scanner mounted on the construction work machine main body 1M are provided, and the 3D laser scanner is the 3D laser scanner 100. Surveying with a 3D laser scanner can be performed from the perspective of the machine. At that time, since the construction work machine 1 uses the 3D laser scanner 100, the 3D survey data D4 can be used in a short time without stopping the work for a long time in the third step S3.

As a result, the construction work machine 1 according to the first embodiment becomes a surveying instrument that can use the 3D survey data D4 in a short time without stopping the work for a long time in the third step S3.

According to the construction work method according to the first embodiment, in the third step S3, the 3D laser scanner system 10 is used to perform the work using the current shape data D40 and the target shape data D50 as the 3D survey data D4. Therefore, the 3D survey data can be used in a short time without stopping the work for a long time in the third step S3.

As a result, the construction work method according to the first embodiment is a construction work method in which the 3D survey data D4 can be used in a short time without stopping the work for a long time in the third step S3.

In the construction method according to the first embodiment, after the third step S3, the fourth step is to inspect whether or not the inspection target shape data, which is the shape data of the construction target after construction, conforms to the target shape data D50. Step S4 is further included. In the fourth step S4, when the inspection is performed using the 3D survey data D4 finally generated by the 3D laser scanner system 10 in the third step S3 as the inspection target shape data, the inspection target shape in the fourth step S4. Since it is not necessary to perform a separate survey to acquire the data, it is a construction work method that can shorten the inspection time.

[Embodiment 2]
FIG. 12 is a diagram showing a surveying method according to the second embodiment. FIG. 13 is a flowchart showing the surveying method according to the second embodiment. Note that FIG. 13 shows only the steps (3D laser scanner processing step 100) different from the surveying method of the first embodiment, and the surveying method of the second embodiment also shows the surveying method of the first embodiment (see FIG. 8). ), The information processing device processing step 20 and the presentation device processing step 30 are performed.

Similar to the case of the first embodiment, in the second embodiment, as shown in FIG. 12, the 3D laser scanner system 10 having the same configuration as the 3D laser scanner 100 according to the first embodiment is used as the 3D laser scanner. However, in the second embodiment, the survey is performed by using the 3D laser scanner 100 in a state of being fixed to the tripod 2M. In the second embodiment, the 3D laser scanner 100 fixed to the tripod 2M is referred to as the surveying instrument 2.

In the second embodiment, it is assumed that the tripod 2M is firmly fixed to the ground for the survey, and the survey is performed while the positional relationship between the 3D laser scanner 100 and the construction target and the condition of the construction target do not change significantly during the survey. doing. In this type of survey, survey accuracy is often required, and as a preparation for surveying, a marker is fixedly placed in the construction environment in order to grasp the absolute position of the 3D laser scanner 100, and the marker is used with the marker. It is preferable to be able to calculate from the relative relationship. Further, when the tripod 2M is installed on the ground, it is preferable to adjust the tripod 2M while firmly grasping the position and orientation of the 3D laser scanner 100.

The surveying method in the second embodiment may be the same as that of the first embodiment (see FIG. 8), but in order to shorten the surveying time, the 3D laser scanner processing step is performed with the 3D laser scanner processing step 100 as shown in FIG. I'm supposed to do it. This is because if the situation at the construction site does not change during the survey, it is sufficient to use one color image when colorizing the point cloud data per survey.

In the 3D laser scanner processing step 100, as shown in FIG. 13, the imaging step S110 is performed only once. In the imaging step S110, the omnidirectional camera 121 in the imaging unit 120 images the construction target without rotating the imaging unit 120, and a color image of the entire range of the construction target is obtained by one imaging. The obtained color image is sent to the scan data generation unit 131 and stored in the storage unit 132 of the scanner processing unit 130. The other steps are the same as those described in the first embodiment, and the scan data generation unit 131 generates the scan data D3 for each transmission unit.

According to the construction method including the survey method in the second embodiment, the imaging unit 120 acquires one color image per survey, and the scan data generation unit 131 uses one color image per survey for each transmission unit. Since the scan data D3 is generated, the number of times of imaging per survey is only one, so that the survey time can be shortened.

Further, according to the construction method including the surveying method in the second embodiment, the 3D laser scanner 100 can be surveyed in a state of being stabilized on the ground by the tripod 2M, so that more accurate 3D surveying data D4 can be obtained. it can.

Further, according to the construction work method including the surveying method in the second embodiment, since the surveying instrument 2 in the state where the 3D laser scanner 100 is installed on the tripod 2M has a size that can be carried, the first step in the construction work ( Initial surveying process) This is a construction method that is easy to use in S1. Furthermore, in the first step (initial surveying step), if surveying is performed using a 3D laser scanner of the same standard as the 3D laser scanner used in the third step (construction step), different surveying instruments and different standards are used for each step. Compared with the case of using the 3D laser scanner of No. 1, the measurement standard and the accuracy can be made uniform, and as a result, the construction work method can suppress the occurrence of process return.

[Modification 1]
FIG. 14 is a diagram shown for explaining the 3D laser scanner 500 according to the first modification. FIG. 14A is a front view. FIG. 14B is a side view.

The 3D laser scanner 500 according to the first modification basically has the same configuration as the 3D laser scanner 100 according to the embodiment, but the configuration of the imaging unit is different from the case of the 3D laser scanner 100 according to the embodiment. That is, as shown in FIG. 14, in the 3D laser scanner 500 according to the first modification, the imaging unit includes an omnidirectional camera 521 having fisheye lenses 521a and 521b arranged on both side surfaces of the scanner body 500B. Part 520 is used.

As described above, in the 3D laser scanner 500 according to the first modification, the imaging unit is different from the case of the 3D laser scanner 100 according to the embodiment, but the embodiment includes an imaging unit composed of an omnidirectional camera. Similar to the case of the 3D laser scanner 100 according to No. 1, the 3D laser scanner can be used for surveying to generate 3D survey data D4 in a short time without stopping the work for a long time in the third step S3.

Although the present invention has been described above based on the above embodiment, the present invention is not limited to the above embodiment. It can be carried out in various aspects within a range that does not deviate from the purpose, and for example, the following modifications are also possible.

(1) The number, shape, position, size, angle, optical characteristics, etc. of the components described in each of the above-described embodiments are examples, and can be changed within a range that does not impair the effects of the present invention.

(2) In each of the above-described embodiments, the synthesis unit 131a configured in the 3D laser scanner 100 is used as the synthesis unit for synthesizing the point cloud data D1 and the color data D2, but the present invention is limited thereto. It is not something that is done. A synthesis unit configured in the information processing unit 220 of the information processing device 200 may be used. That is, in the 3D laser scanner 100, different scan data is generated based on each of the point cloud data D1 and the color data D2 without being combined, and the points included in each scan data in the synthesis unit configured in the information processing apparatus 200. The group data component (position information) and the color data component (color information) may be extracted and combined as 3D survey data.

(3) In each of the above-described embodiments, the mounting direction of the imaging unit is such that the fisheye lenses 121a and 121b of the omnidirectional camera 121 face the horizontal direction, but the present invention is not limited thereto. For example, the mounting direction of the imaging unit may be the direction in which the fisheye lens of the omnidirectional camera faces the vertical direction.

(4) In each of the above-described embodiments, the presentation device 300 at the construction site is used as the output destination of the output data D8 obtained by the survey, but the present invention is not limited thereto. For example, the output destination of the D8 may be a display in a remote area via an Internet line. By doing so, it is possible to grasp the construction status in almost real time without being at the construction work site.

(5) In the above-described first embodiment, the construction work machine used in the third step S3 is a construction work machine operated by an operator, but the present invention is not limited to this. For example, the construction work machine used in the third step S3 may be a construction work machine that generates the presented data D60 as data for instructing the construction work machine 1 to work, and proceeds with the work by autopilot based on the output data based on the data. ..

1 ... Construction work machine 2 ... Surveying equipment 2M ... Tripod 10 ... 3D laser scanner system 100,500 ... 3D laser scanner 100A, 500A ... Support 100B, 500B ... Scanner body 101 ... Horizontal rotation motor 102 ... Reducer 103 ... Horizontal axis 104 ... Input / output space 110 ... Laser measuring unit 111 ... Laser diode 112 ... Perforated mirror 113 ... Rotating mirror 114 ... Vertical rotating motor 115 ... Condensing lens 116 ... Return light detection photodiode 120, 520 ... Imaging unit 121, 521 ... Omnidirectional camera 121a, 121b, 521a, 521b ... Fish-eye lens 130 ... Scanner processing unit 131 ... Scan data generation unit 131a ... Synthesis unit 132 ... Storage unit 140 ... Communication unit 141 ... Scan data transmission unit 200 ... Information processing device 210 ... Information Communication unit 211 ... Information reception unit 212 ... Information transmission unit 220 ... Information processing unit 221 ... Information calculation unit 222 ... Information storage unit 300 ... Presentation device 310 ... Device communication unit 311 ... Device reception unit 320 ... Device processing unit 330 ... Device output Part D1 ... Point group data D2 ... Color data D3 ... Scan data D4 ... 3D survey data D8 ... Output data D40 ... Current shape data D50 ... Target shape data D60 ... Presentation data D70 ... Construction work machine shape data S1 ... First step S2 ... Second step S3 ... Third step S4 ... Fourth step S10, S100 ... 3D laser scanner processing step S11, S110 ... Imaging step S12 ... Laser measurement step S13 ... Scan data generation step S14 ... Scan data transmission step S15 ... Survey end Judgment step S20 ... Information processing device processing step S21 ... Scan data reception step S22 ... 3D survey data generation step S23 ... Presentation data generation step S24 ... Output data generation step S25 ... Output data transmission step S26 ... Survey end judgment step S30 ... Presentation device Processing step S31 ... Output data reception step S32 ... Output data presentation step S33 ... Update determination step

Claims (16)

A 3D laser scanner used to generate 3D survey data for construction at a construction site.
A laser measuring unit that irradiates the construction target with a laser beam and detects the return light due to the reflection of the laser beam on the construction target.
An imaging unit that is composed of an omnidirectional camera and acquires a color image by imaging the construction target,
Point cloud data is generated from the return light detected by the laser measuring unit, color data is generated from the color image acquired by the imaging unit, and scan data for each transmission unit is generated using the point cloud data and the color data. The scan data generator that generates
A scan data transmission unit that is connected to the scan data generation unit and transmits scan data for each transmission unit.
A 3D laser scanner characterized by the above. The 3D laser scanner according to claim 1, wherein the scan data generation unit includes a synthesis unit that synthesizes the point cloud data and the color data to generate the scan data. The imaging unit acquires one color image per survey and obtains one color image.
The 3D laser scanner according to claim 1 or 2, wherein the scan data generation unit generates scan data for each transmission unit using the one color image per survey. The imaging unit acquires a plurality of color images per survey and obtains a plurality of color images.
The 3D laser scanner according to claim 1 or 2, wherein the scan data generation unit generates scan data for each transmission unit using the most recently acquired color image. When generating the point cloud data, the scan data generation unit includes a point cloud including the difference point cloud data using the difference value between the one point data and the other point data located immediately before the one point data. The 3D laser scanner according to any one of claims 1 to 4, wherein the data is generated. A 3D laser scanner system used to generate 3D survey data for construction sites at construction sites.
A 3D laser scanner that generates point cloud data and color data, and uses these point cloud data and color data to generate scan data for each transmission unit.
An information processing device connected to the 3D laser scanner and generating the 3D survey data using the scan data generated by the 3D laser scanner.
It is provided with a presentation device that is connected to the information processing device and outputs output data based on the 3D survey data.
The 3D laser scanner system according to any one of claims 1 to 5, wherein the 3D laser scanner is the 3D laser scanner. The information processing device has an information processing unit including an information storage unit that stores target shape data as a construction target.
The information processing unit is characterized in that it generates current shape data as the 3D survey data based on the scan data and also generates presentation data based on a comparison result between the current shape data and the target shape data. The 3D laser scanner system according to claim 6. The information storage unit can store a plurality of intermediate target shape data as the target shape data.
The 3D laser scanner system according to claim 7, wherein the information processing unit generates intermediate presentation data as the presentation data based on a comparison result between the current shape data and the intermediate target shape data. The 3D laser scanner system according to any one of claims 6 to 8, wherein the presentation device is a display. The 3D laser scanner system according to claim 9, wherein a color-coded heat map is displayed on the display based on the comparison result. Construction work machine body and
It is equipped with a 3D laser scanner mounted on the main body of the construction work machine.
The construction work machine, wherein the 3D laser scanner is the 3D laser scanner according to any one of claims 1 to 5. The first process of conducting a survey and acquiring the initial shape data, which is the shape data of the construction target before construction,
The second process of formulating a construction plan based on the initial shape data and the target shape data as the construction target,
Including the third step of performing construction using a construction work machine according to the construction plan.
In the third step, the 3D laser scanner system according to any one of claims 6 to 10 is used, and the work is performed using the 3D survey data generated by the 3D laser scanner system and the target shape data. A construction method characterized by. A claim comprising, after the third step, a fourth step of inspecting whether or not the inspection target shape data, which is the shape data of the construction target after construction, conforms to the target shape data. Item 12. The construction method according to item 12. The construction according to claim 13, wherein in the fourth step, inspection is performed using the 3D survey data finally generated by the 3D laser scanner system in the third step as the inspection target shape data. Construction method. The construction method according to any one of claims 12 to 14, wherein in the first step, a survey is performed using a 3D laser scanner of the same standard as the 3D laser scanner used in the third step. The coordinate system of the point cloud data or the coordinate system of the color data so that at least three feature points included in the point cloud data and the corresponding feature points corresponding to the feature points correspond to each other on the same coordinates in the color data. The 3D laser scanner according to any one of claims 1 to 5, wherein the point cloud data is calibrated and color data pixels corresponding to the points are assigned to each point.

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