JP6882697B2 - 3D measurement system for foundation pile construction site and 3D measurement method for foundation pile construction site - Google Patents

Description

The present disclosure relates to a three-dimensional measurement system for a foundation pile construction site and a three-dimensional measurement method for a foundation pile construction site.

In recent years, three-dimensional measurement methods using drones (unmanned aerial vehicles) have begun to spread. Specifically, a drone is used to acquire data of a plurality of images (aerial photographs) of an article to be measured, and the obtained plurality of image data are used as SfM (Structure).
The three-dimensional shape of an article is obtained by analyzing with a from (Multion) / MVS (Multi-View Stereo) analysis program.

Here, according to Patent Document 1, in the conventional method, the position where the captured image necessary for generating the three-dimensional point cloud that accurately represents the three-dimensional shape in the region including the power transmission line can be captured is not clear. Sometimes it wasn't. As a result, in the conventional method, it may be necessary to repeatedly image the transmission line while changing the flight path by the flying object until a three-dimensional point cloud that accurately represents the three-dimensional shape is generated.

Therefore, Patent Document 1 includes an imaging unit for the purpose of providing a control method capable of suppressing repeated imaging of a plurality of captured images necessary for generating information representing a three-dimensional shape of an object. A method of controlling an air vehicle, which is a combination of movement in a direction along a first direction determined according to an object connecting two facilities and movement in a direction orthogonal to the first direction. The control method to be performed is disclosed.

Japanese Unexamined Patent Publication No. 2018-129713

Patent Document 1 discloses a drone control method suitable for measuring the three-dimensional shape of a transmission line, but its application to other articles, particularly to articles placed at a foundation pile construction site. The application is not disclosed.

In view of the above circumstances, an object of at least one embodiment of the present invention is a foundation pile capable of measuring the three-dimensional shape of the foundation pile, machinery, equipment, packing station, pile material, material and residual soil at the construction site of the foundation pile. The purpose of the present invention is to provide a three-dimensional measurement system for a construction site and a three-dimensional measurement method for a foundation pile construction site.

(1) The three-dimensional measurement system at the construction site of the foundation pile according to at least one embodiment of the present invention is
A drone for acquiring multiple image data of foundation piles, machines, equipment, pile materials, materials or residual soil at the construction site of foundation piles,
A three-dimensional shape measuring device for obtaining a three-dimensional shape of the foundation pile, the machine, the equipment, the pile material, the material, or the residual soil in the construction site of the foundation pile from the plurality of image data is provided.
The amount of the residual soil is determined based on the three-dimensional shape of the residual soil, and it is confirmed whether the pile hole is properly excavated based on the amount of the residual soil.

According to the above configuration (1), the three-dimensional shape of the foundation pile, machine, equipment, pile material, material or residual soil can be measured at the construction site of the foundation pile.
By measuring the three-dimensional shape of the constructed foundation pile, the position of the pile head (horizontal position and height direction position) of each foundation pile and the inclination of the pile can be quickly grasped, and the pile head can be determined. It becomes possible to quickly and accurately design the arrangement of the reinforcing bars of the foundation beams to be connected. Furthermore, whether the horizontal position of the pile head (pile center deviation amount), the position in the height direction of the pile head (pile top height), and the inclination of the pile (verticality of the pile) are within the specified values. You can check.
In addition, if the three-dimensional shape of the machine, etc. is measured at the construction site of the foundation pile, it will be easier and accurate to enter the machine, etc. in the drawing column of the work plan, which is required to be created according to the Industrial Safety and Health Regulations. ..
Further, if the three-dimensional shape of a machine or the like is measured at the foundation pile construction site, it becomes easy to manage the shape and number of excavation rods and excavation heads carried into the site.
Further, if the three-dimensional shape of the machine or the like is measured at the construction site of the foundation pile, the situation of the construction site can be grasped accurately and easily, so that it becomes easy to secure the carry-in route of the material transport vehicle or the like.
Furthermore, at the construction site of foundation piles, it is difficult to grasp the three-dimensional shape because the amount of residual soil discharged by excavating the pile holes changes daily, but according to the above configuration, the three-dimensional shape of the residual soil can be timely determined. Can be grasped. As a result, the amount of residual soil can be accurately grasped, and it can be confirmed whether the excavation of the pile hole is properly performed.
(2) In the above configuration (1), the flight path of the drone when acquiring the plurality of image data passes directly above the foundation pile, and rows X and Y in which the foundation pile is arranged. It is set in a zigzag shape along.
( 3 ) In the above configuration ( 2 ), virtual X and Y columns are set outside the X and Y columns as the X and Y columns, and the virtual X and Y columns are included. The flight path may be set.
( 4 ) In the above configuration ( 2 ) or ( 3 ), when acquiring the plurality of image data, in addition to the flight path, another flight path having the same plane position as the flight path but different altitude is set. May be done .

( 5 ) The three-dimensional measurement method of the foundation pile construction site according to at least one embodiment of the present invention is
An image data acquisition process for acquiring multiple image data of foundation piles, machines, equipment, pile materials, materials or residual soil at the construction site of foundation piles using a drone.
A three-dimensional shape measuring step for obtaining a three-dimensional shape of the foundation pile, the machine, the equipment, the pile material, the material, or the residual soil in the construction site of the foundation pile from the plurality of image data is provided .
The amount of the residual soil is determined based on the three-dimensional shape of the residual soil, and it is confirmed whether the pile hole is properly excavated based on the amount of the residual soil.

According to the above configuration ( 5 ), the three-dimensional shape of the foundation pile, machine, equipment, pile material, material or residual soil can be measured at the construction site of the foundation pile.
By measuring the three-dimensional shape of the constructed foundation pile, the position of the pile head (horizontal position and height direction position) of each foundation pile can be quickly grasped, and the foundation beam connecting the pile heads can be grasped. It becomes possible to quickly and accurately design the arrangement of the reinforcing bars of the above.
Further, if the three-dimensional shape of the machine or the like is measured at the construction site of the foundation pile, it becomes easy and accurate to enter the machine or the like in the drawing column of the work plan required by the Industrial Safety and Health Regulations or the like.
Furthermore, at the construction site of foundation piles, it is difficult to grasp the three-dimensional shape because the amount of residual soil discharged by excavating the pile holes changes daily, but according to the above configuration, the three-dimensional shape of the residual soil can be timely determined. Can be grasped. As a result, the amount of residual soil can be accurately grasped, and it can be confirmed whether the excavation of the pile hole is properly performed.
(6) In the above configuration (5), the flight path of the drone when acquiring the plurality of image data passes directly above the foundation pile, and rows X and Y in which the foundation pile is arranged. It is set in a zigzag shape along.
(7) In the above configuration (6), as the X column and the Y column, virtual X columns and Y columns are set outside the X column and the Y column, and the virtual X column and the Y column are included. The flight path may be set.
(8) In the above configuration (6) or (7), when acquiring the plurality of image data, in addition to the flight path, another flight path having the same plane position as the flight path but different altitude is set. May be done .

According to at least one embodiment of the present invention, a three-dimensional measurement system for a foundation pile construction site capable of measuring the three-dimensional shape of foundation piles, machines, equipment, packing stations, pile materials, materials and residual soil at the foundation pile construction site. And a three-dimensional measurement method of the construction site of the foundation pile is provided.

It is a figure which shows the schematic structure of the 3D measurement system of the construction site of the foundation pile which concerns on at least one Embodiment of this invention. It is a figure which illustrates the plan view of the construction site of the foundation pile together with the pile plan. It is a top view which shows an example of the relationship between the arrangement of foundation piles and the flight path of a drone. It is a flowchart which shows the schematic procedure of the 3D measurement method of the construction site of the foundation pile which concerns on at least one Embodiment of this invention.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention to this, and are merely explanatory examples. Absent.

FIG. 1 is a diagram showing a schematic configuration of a three-dimensional measurement system (hereinafter, also referred to as a measurement system) 1 at a construction site of a foundation pile according to at least one embodiment of the present invention.
The measurement system 1 includes a drone (unmanned aerial vehicle) 3 and a three-dimensional shape measuring device 5.
The drone 3 includes, for example, a flight computer 7, a GPS (Global Positioning System) 8, a flight device 9, and a photographing device 11.

The flight computer 7 controls the overall operation of the drone 3, and includes, for example, a CPU (central processing unit) 13, a memory 15, a storage device 17, a communication unit 19, and an input / output unit 21. The flight control program 23 and the imaging control program 25 are stored in the storage device 17.

The flight control program 23 sets the flight conditions (flight path, speed, etc.) of the drone 3, and the CPU 13 refers to the position information of the drone 3 obtained by GPS 8, and the contents of the flight control program 23. The flight device 9 is operated according to the above. The flight device 9 is composed of, for example, a motor and a propeller.

The shooting control program 25 is for operating the shooting device 11 according to preset shooting conditions (shooting start time, shooting interval, shooting end time, focal length, etc.).
Since the flight conditions and the shooting conditions are closely related, the flight control program 23 and the shooting control program 25 may be composed of one program.

The photographing device 11 may be built in the drone 3 (built-in type) or may be retrofitted. The data of the image (aerial photograph) taken by the photographing device 11 may be transmitted to the three-dimensional shape measuring device 5 by communication, or may be transferred to the three-dimensional shape measuring device 5 via the recording medium.

The three-dimensional shape measuring device 5 is composed of a computer, and includes, for example, a CPU (central processing unit) 27, a memory 29, a storage device 31, a communication unit 33, and an input / output unit 35. The storage device 31 stores a flight management program 37, a photographing management program 38, and a three-dimensional shape measurement program 39.

The flight management program 37 has a function of editing the flight control program 23, and the user of the measurement system 1 desires to execute the flight management program 37 by operating the three-dimensional shape measuring device 5. The flight control program 23 can be created. Then, the created flight control program 23 can be stored in the storage device 17 of the drone 3 by communication, for example.

The shooting management program 38 has a function of editing the shooting control program 25, and the user of the measurement system 1 desires to execute the shooting management program 38 by operating the three-dimensional shape measuring device 5. The shooting control program 25 of the above can be created. Then, the created shooting control program 25 can be stored in the storage device 17 of the drone 3 by communication, for example.
The shooting management program 38 automatically sets the shooting conditions of the shooting control program 25 based on the contents (flight path, flight speed, etc.) of the flight control program 23 created by the flight management program 37. It is preferably configured so that it can be done. In this case, the shooting management program 38 and the flight management program 37 may be composed of one program.

The three-dimensional shape measurement program 39 is, for example, an SfM (Structure from Motion) / MVS (Multi-View Stereo) analysis program, and is based on a plurality of images (aerial photographs) taken by the imaging device 11 of the drone 3. It is possible to create three-dimensional shape information of an article placed at a pile construction site. The image data captured by the photographing device 11 may be transmitted to the three-dimensional shape measuring device 5 by communication, or may be passed to the three-dimensional shape measuring device 5 via a recording medium.

Here, FIG. 2 illustrates a plan view of a foundation pile construction site together with a pile plan.
In the present embodiment, the measurement target of the measurement system 1 is foundation piles, machines, equipment, pile materials, materials or residual soil constructed or placed at the construction site of foundation piles.
The foundation pile is a pile that has already been constructed, and may be a ready-made pile or a cast-in-place pile. In this specification, the foundation pile also includes the structural pillars that support the gantry by the reverse driving method.

Machines include, for example, crawler cranes, pile drivers, earth drills, all-around rotary machines, backhoes and trucks. The equipment includes a mixing plant, a water tank, a silo, and a station (building of a field office). The pile material is a ready-made pile before it is buried in the pile hole. The materials are articles (excavation head, yatko, drill pipe, rope, pylon, cone bar for exclusion zone, etc.) necessary for the construction site of foundation piles. The residual soil is the soil discharged by excavating a pile hole or the like.

According to the above configuration, the three-dimensional shape of the foundation pile, machine, equipment, pile material, material or residual soil can be measured at the construction site of the foundation pile.
By measuring the three-dimensional shape of the constructed foundation pile, the position of the pile head (horizontal position and height direction position) of each foundation pile can be quickly grasped, and the foundation beam connecting the pile heads can be grasped. It becomes possible to quickly and accurately design the arrangement of the reinforcing bars of the above.
In addition, if the three-dimensional shape of the machine, etc. is measured at the construction site of the foundation pile, it will be easier and accurate to enter the machine, etc. in the drawing column of the work plan, which is required to be created according to the Industrial Safety and Health Regulations. ..
Further, if the three-dimensional shape of a machine or the like is measured at the foundation pile construction site, it becomes easy to manage the shape and number of excavation rods and excavation heads carried into the site.
Further, if the three-dimensional shape of the machine or the like is measured at the construction site of the foundation pile, the situation of the construction site can be grasped accurately and easily, so that it becomes easy to secure the carry-in route of the material transport vehicle or the like.
Furthermore, at the construction site of foundation piles, it is difficult to grasp the three-dimensional shape because the amount of residual soil discharged by excavating the pile holes changes daily, but according to the above configuration, the three-dimensional shape of the residual soil can be timely determined. Can be grasped. As a result, the amount of residual soil can be accurately grasped, and it can be confirmed whether the excavation of the pile hole is properly performed. In addition, if the three-dimensional shape of a machine or the like is measured at the construction site of a foundation pile, the situation at the construction site can be grasped accurately and easily. It is possible to easily secure the construction space at the construction site.

FIG. 3 is a plan view showing an example of the relationship between the arrangement of the foundation pile 41 and the flight path R1 of the drone 3. As shown in FIG. 3, the foundation piles 41 are usually arranged at the intersections of rows X1 to X4 and rows Y1 to Y3 that are orthogonal to each other. As shown by the solid line in FIG. 3, the flight path R1 of the drone 3 is set along each of the Y1 to Y3 rows (one of the X row and the Y row) when viewed in a plane. Then, the flight path R1 is arranged in the X4 row (one end row of the X row and the Y row) so as to connect the end of the Y1 row and the end of the Y2 row so that the flight path R1 is continuously set. It is set along the X1 column (the column at one end of the X column and the Y column) so as to connect the end of the Y2 column and the end of the Y3 column. As a result, the flight path R1 is set in a zigzag shape so as to pass directly above each foundation pile 41. The drone 3 takes images at predetermined intervals while flying on the flight path R1.

According to the above configuration, the flight path R1 is set in a zigzag shape so as to pass directly above each foundation pile 41, so that the drone 3 can fly directly above each foundation pile 41 at the shortest distance. It is possible to obtain image data efficiently.

In some embodiments, as shown in FIG. 3, a flight path R2 is set separately from the flight path R1. The plane positions (latitude and longitude) of the flight path R1 and the flight path R2 are the same, but the altitudes are different from each other. Then, the drone 3 takes images at predetermined intervals while continuously flying on the two flight paths R1 and R2.
According to the above configuration, by acquiring images from two heights with the drone 3, it is possible to measure a highly accurate three-dimensional shape.
For example, the altitude of the flight path R1 is set to 30 m, and the altitude of the flight path R2 is set to 50 m.

In some embodiments, the flight path R3 of the drone 3 is set, as shown by the alternate long and short dash line in FIG. The flight path R3 is set so that a wider range than the flight path R1 can be photographed.
Specifically, when setting the flight path R3, next to the actual X and Y columns, the X0, X5, Y0, and Y4 columns are virtually arranged according to the intervals between the X and Y columns, respectively. to add. After that, as in the case of the flight path R1, the flight path R3 is set along each of the Y0 to Y4 rows (one of the X row and the Y row) when viewed in a plane. Then, the flight path R3 is arranged in the X5 row (one end row of the X row and the Y row) so as to connect the end of the Y0 row and the end of the Y1 row so that the flight path R3 is continuously set. It is set along the X5 column (the column at one end of the X column and the Y column) so as to connect the end of the Y0 column and the end of the Y1 column, and the end of the Y1 column and the end of the Y2 column are set. It is set along the X0 column (one of the X and Y columns) to connect, and the X5 column (one of the X and Y columns) connects the end of the Y2 column and the end of the Y3 column. It is set along the end row), and is set along the X0 row (one end row of the X row and the Y row) so as to connect the end of the Y3 row and the end of the Y4 row. As a result, the flight path R3 is set in a zigzag shape so as to pass directly above each foundation pile 41 and also pass over the sky around the foundation pile 41. The drone 3 takes images at predetermined intervals while flying on the flight path R3.

According to the above configuration, the setting range of the flight path R3 is wider than the installation range of the foundation pile 41, so that the position of the foundation pile 41 located at the end (X1 row, X4 row, Y1 row, Y3 row) is measured. The accuracy can be improved.
The flight path R3 is preferably set so as to be within the sky above the construction site of the foundation pile.

In some embodiments, three or more anti-aircraft markers are installed at the construction site of the foundation pile, and the position of each anti-aircraft marker is measured in advance.
According to the above configuration, by installing an anti-aircraft marker whose coordinates are known and including the anti-aircraft marker in the image, the coordinates of the obtained three-dimensional shape information can be matched with the actual coordinates.

In some embodiments, anti-aircraft markers are installed on the foundation piles. The position of the anti-aircraft sign installed on the foundation pile does not need to be measured in advance.
According to the above configuration, by installing the anti-aircraft sign on the foundation pile, the distinctiveness of the foundation pile can be enhanced, and the position of the foundation pile can be accurately measured.

FIG. 4 is a flowchart showing a schematic procedure of a three-dimensional measurement method at a construction site of a foundation pile according to at least one embodiment of the present invention.
The three-dimensional measurement method can be executed by the measurement system 1 (see FIG. 1) described above, and includes an image data acquisition step S1 and a three-dimensional shape measurement step S3 as shown in FIG. ..

In the image data acquisition step S1, a plurality of image data of the foundation pile, the machine, the equipment, the pile material, the material, or the residual soil are acquired at the construction site of the foundation pile using the drone 3.
In the three-dimensional shape measurement step S3, for example, using a three-dimensional shape measurement program (SfM / MVS analysis program), foundation piles, machines, equipment, pile materials, materials in the foundation pile construction site are used from a plurality of image data. Alternatively, the three-dimensional shape of the residual soil is obtained.
When using the SfM / MVS analysis program, shooting is performed so that a plurality of images partially overlap each other.

According to the above configuration, the three-dimensional shape of the foundation pile, machine, equipment, pile material, material or residual soil can be measured at the construction site of the foundation pile.
By measuring the three-dimensional shape of the constructed foundation pile, the position of the pile head (horizontal position and height direction position) of each foundation pile and the inclination of the pile can be quickly grasped, and the pile head can be determined. It becomes possible to quickly and accurately design the arrangement of the reinforcing bars of the foundation beams to be connected. Check whether the horizontal position of the pile head (amount of misalignment of the pile center), the position in the height direction of the pile head (height of the pile top) and the inclination of the pile (verticality of the pile) are within the specified values. it can.
Further, if the three-dimensional shape of the machine or the like is measured at the construction site of the foundation pile, it becomes easy and accurate to enter the machine or the like in the drawing column of the work plan required by the Industrial Safety and Health Regulations or the like.
Furthermore, at the construction site of foundation piles, it is difficult to grasp the three-dimensional shape because the amount of residual soil discharged by excavating the pile holes changes daily, but according to the above configuration, the three-dimensional shape of the residual soil can be timely determined. Can be grasped. As a result, the amount of residual soil can be accurately grasped, and it can be confirmed whether the excavation of the pile hole is properly performed.

Finally, the present invention is not limited to the above-described embodiment, and includes a modified form of the above-described embodiment and a combination of these embodiments as appropriate.
For example, in the above-described embodiment, the flight management program 37, the photographing management program 38, and the three-dimensional shape measurement program 39 are stored in the storage device 31 of the three-dimensional measurement device 5, but the flight management program 37, The photographing management program 38 and the three-dimensional shape measurement program 39 may be stored in a storage device of a server computer capable of communicating with the three-dimensional measurement device 5.

1 3D measurement system at the construction site of foundation piles 3 Drone 5 3D shape measurement device 7 Flight computer 9 Flight device 11 Imaging device 13 CPU
15 Memory 17 Storage device 19 Communication unit 21 Input / output unit 23 Flight control program 25 Shooting control program 27 CPU
29 Memory 31 Storage device 33 Communication unit 35 Input / output unit 37 Flight management program 38 Shooting management program 39 Three-dimensional shape measurement program 41 Foundation piles R1, R2, R3 Flight path S1 Image data acquisition process S3 Three-dimensional shape measurement process

Claims (8)

A drone for acquiring multiple image data of foundation piles, machines, equipment, pile materials, materials or residual soil at the construction site of foundation piles,
A three-dimensional shape measuring device for obtaining a three-dimensional shape of the foundation pile, the machine, the equipment, the pile material, the material, or the residual soil in the construction site of the foundation pile from the plurality of image data.
With
Three-dimensional measurement of the foundation pile construction site, which is characterized in that the amount of the residual soil is obtained based on the three-dimensional shape of the residual soil and it is confirmed whether the excavation of the pile hole is properly performed based on the amount of the residual soil. system. Flight path of the drone in acquiring previous SL plurality of image data, as described above directly over the foundation pile, and, along the X columns and Y rows the foundation pile is arranged, is set to zigzag The three-dimensional measurement system for a foundation pile construction site according to claim 1, wherein the foundation pile is constructed. As the X column and the Y column, virtual X column and Y column are set outside the X column and the Y column.
The three-dimensional measurement system for a foundation pile construction site according to claim 2 , wherein the flight path is set including the virtual X-row and Y-row. The second or third aspect of claim 2 or 3, wherein when acquiring the plurality of image data, in addition to the flight path, another flight path having the same plane position as the flight path but different in altitude is set. 3D measurement system for foundation pile construction site. An image data acquisition process for acquiring multiple image data of foundation piles, machines, equipment, pile materials, materials or residual soil at the construction site of foundation piles using a drone.
A three-dimensional shape measuring step for obtaining a three-dimensional shape of the foundation pile, the machine, the equipment, the pile material, the material, or the residual soil in the construction site of the foundation pile from the plurality of image data.
With
Three-dimensional measurement of the construction site of the foundation pile, which is characterized in that the amount of the residual soil is obtained based on the three-dimensional shape of the residual soil and it is confirmed whether the excavation of the pile hole is properly performed based on the amount of the residual soil. Method. Flight path of the drone in acquiring previous SL plurality of image data, as described above directly over the foundation pile, and, along the X columns and Y rows the foundation pile is arranged, is set to zigzag The three-dimensional measurement method for a foundation pile construction site according to claim 5, wherein the method is characterized by the above. As the X and Y columns, virtual X and Y columns are set outside the X and Y columns.
The three-dimensional measurement method for a foundation pile construction site according to claim 6, wherein the flight path is set including the virtual X-row and Y-row. The sixth or seventh aspect of the present invention, wherein when acquiring the plurality of image data, in addition to the flight path, another flight path having the same plane position as the flight path but different in altitude is set. Three-dimensional measurement method of the construction site of the foundation pile.

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