KR20200034869A - Real-Time Modeling System and Method for Geo-Spatial Information Using 3D Scanner of Excavator - Google Patents

Abstract

The present invention relates to an earthwork geographic information real-time modeling system using a three-dimensional scanner for an excavator and a method thereof. According to the present invention, the earthwork geographic information real-time modeling system using a three-dimensional scanner for an excavator includes: a real-time three-dimensional geographic information sensing device installed in the body of an excavator to create and update three-dimensional geographic information about a working section on an earthwork site in real time; and a control server remotely controlling the excavator to enable the excavator to automatically perform earthwork by receiving and analyzing the geographic information created by the real-time three-dimensional geographic information sensing device. Therefore, since work data about geographic information targets of an earthwork site is obtained through a three-dimensional scanner attached to an excavator to apply a three-dimensional analysis algorithm to geographic information of a working section, the earthwork geographic information real-time modeling system is capable of calculating an accurate workload in the working section in real time, thus increasing productivity while enabling automation for earthwork.

Description

Real-Time Modeling System and Method for Geo-Spatial Information Using 3D Scanner of Excavator}

The present invention relates to a system and method for real-time modeling of earthwork information using a dedicated 3D scanner for excavators, and more specifically, to obtain work data for terrain information objects at a earthwork site using a plurality of dedicated 3D scanners attached to an excavator. By applying the 3D analysis algorithm to the terrain information of the work section, it is possible to perform accurate calculation of the amount of work in the work section in real time, thereby enabling automation for the earthwork work and at the same time increasing the productivity. Real-time terrain information modeling system and method using.

In general, earthwork at the construction site is surveyed for a long time to grasp the terrain of the target area in advance, and the size, type of equipment, and construction period of the construction equipment to be put into the site afterwards are planned. Has been doing this.

However, due to the nature of the earthwork work at the construction site, it was difficult to maintain and share the data on the terrain information of the earthwork work area by modifying the topography in the area.

In other words, due to the nature of the earthwork work, it is difficult to calculate work plans and work volumes in real time, so it is necessary to update data for periodic topographic information for each process step. However, at most construction sites, periodic update work is not easy in reality. Not even that, it takes a long time to update the data.

On the other hand, in recent years, much attention has been devoted to the automation of earthwork, and in order to automate such earthwork, it is necessary to understand the topographical structure of the target area in real time and to build the necessary data.

However, to date, most of the earthwork work has a problem in that it is difficult to grasp the progress of the work or whether there is a malfunction, even if the work is conducted before and after the measurement, since it is common to perform measurement whenever necessary.

In addition, most of the surveys performed in the middle of the work are conducted by manpower work, and there is a problem that it takes a long time even if it is far from or secures data necessary for automating the earthwork.

In order to solve these problems, recently, attempts have been made to measure the topographical information of the earthwork area using data facilities using drones, but it is possible to obtain accurate information by excluding construction equipment and the like that have been put into the field. It was difficult and it took a very long time to generate topographic information.

In addition, when the surveying work starts, the work on construction equipment in the area is stopped, so the productivity of the earthwork is naturally reduced, and the data generated by the surveying work is detailed on the site. It was difficult to produce it as a unit of terrain information, and it was difficult to use it as data for automated work because it was limited to rough analysis.

Therefore, it is urgent to demand a technology for practical and applicable earthwork that can accurately calculate the amount of work in the work section and enable automation for earthwork, while simultaneously increasing productivity.

Published Patent Publication KR 10-1993-0021894 (published on Nov. 23, 1993)

The present invention has been devised to solve the above problems, and the present invention obtains work data for topographic information targets in an earthmoving site using a plurality of dedicated 3D scanners attached to an excavator, thereby 3D for topographic information in a work section. Real-time modeling system for earthwork topographic information using a dedicated 3D scanner for excavators that can increase productivity while enabling automation for earthwork by realizing accurate work load calculation in the work section by applying an analysis algorithm. To provide a method.

A real-time modeling system for earth and terrain information using a dedicated 3D scanner for excavators according to an embodiment of the present invention is provided in the body of an excavator, and can generate and update 3D terrain information in real time for a work section in an earthwork site around an excavator in real time. 3D terrain information sensing device; And a control server that receives and analyzes the terrain information generated by the real-time 3D terrain information sensing device and reflects the local terrain information at the earthwork site around the excavator to the global terrain information of the entire construction section.

In addition, the 3D topography information sensing device includes: a position estimation module capable of acquiring position information and posture angle information of an excavator using a pair of GPS antennas respectively installed at a center portion and a rear end of the excavator body; A 3D scanner module that is disposed on the excavator body to scan and generate earthwork work areas around the excavator with 3D terrain information; A data integration module that calculates each 3D terrain information generated by a plurality of 3D scanner modules disposed in the excavator body into one point cloud data for calculating the amount of earthwork; A volume calculation module for calculating the amount of earthwork using the point cloud data received from the data integration module; A local terrain information generation module that generates local terrain information at a work site around an excavator by reflecting the amount of earthwork calculated by the volume calculation module in point cloud data; And a data transmission module that collects the local terrain information generated by the local terrain information generation module and transmits it to a control server.

The 3D scanner module may scan the entire earthwork work area with 3D topographic information without a missing work area, which is arranged in pairs on both sides of the left and right sides of the boom of the excavator body.

The 3D scanner module includes a mount; A lower body for fixing a cylindrical scanner coupled to an upper side of the mount; An upper body rotatably coupled to the top of the lower body for fixing the scanner and having a fan-shaped support panel; A servo motor disposed vertically in the inner central portion of the lower body to generate driving force for rotational movement of the upper body; A timing pulley transmitting the rotational force of the servomotor; An encoder that senses a horizontal rotation angle of the upper body in connection with the timing pulley; And a laser scanner unit mounted on the support panel and performing a scanner sensing operation in a 180 degree range in the vertical direction in the vertical direction of the working section of the excavator.

The 3D scanner module may further include an outer case that is coupled while covering the laser scanner unit at an upper side of the upper body.

The outer case may include a straight scanning hole for scanning a laser signal of the laser scanner unit on one side vertically.

The data integration module obtains a determinant that minimizes the error of overlap by using two point cloud data generated by scanning a plurality of 3D scanner modules disposed at the excavator body at different angles in the terrain in front, and presenting the current map of the existing map. By transforming and superimposing coordinates on the surface, it is possible to generate terrain information for a new work area.

The volume calculation module, Set the region of interest (ROI) in the state that pre-construction pre-topography information is prepared to obtain the volume difference, a point elevation method using point cloud grid data obtained by the 3D scanner module, and a TIN using TIN mesh data. It is possible to calculate the amount of work using the split quadrature method.

A method for real-time modeling of earth and terrain information using a dedicated 3D scanner for excavators according to an embodiment of the present invention is provided in the body of an excavator and can generate and update 3D terrain information in real time for a work section in an earthwork site around an excavator in real time Equipped with a 3D terrain information sensing device and a control server that receives and analyzes the terrain information generated by the real-time 3D terrain information sensing device and reflects the local terrain information at the earthwork site around the excavator to the global terrain information of the entire construction section; A modeling method using a real-time earth terrain information modeling system comprising: a first step in which the excavator is moved to a work section; A second step of acquiring position information and posture angle information of an excavator by a position estimation module constituting the 3D terrain information sensing device and updating reference information necessary for terrain information before earthwork; A third step in which the excavator performs earthwork in the work section; When the earthwork of the excavator is completed, one point cloud data (3D Point Cloud Data) for calculating the amount of earthwork by calculating each 3D terrain information generated by a plurality of 3D scanner modules disposed on the excavator body by a data integration module ) To the fourth step; A fifth step of calculating a volume of earthwork using point cloud data received by the data integration module by a volume calculation module; A sixth step of repeatedly performing the third to fifth steps until the amount of earthwork work reaches a target unit work amount; A seventh step of generating local terrain information at a work site around the excavator by reflecting the earthwork amount calculated by the volume calculation module by the local terrain information generation module to the point cloud data of local terrain information when the earthwork amount reaches the target work amount; And an eighth step of collecting local terrain information generated by the local terrain information generation module by the data transmission module and transmitting it to the control server; It may include.

When the earthwork of the excavator is completed, one point cloud data (3D Point Cloud Data) for calculating the amount of earthwork by calculating each 3D terrain information generated by a plurality of 3D scanner modules disposed on the excavator body by a data integration module The fourth step of incorporation into) is to obtain a determinant in which the error of overlap is minimized by using two point cloud data generated by scanning a plurality of 3D scanner modules disposed at the excavator body at different angles from the front terrain. It is possible to generate topographic information for a new work area by converting and superimposing coordinates on the current indicator of the map.

In the fifth step of calculating the amount of earthwork using the point cloud data received from the data integration module by the volume calculation module, a volume is set by setting a region of interest (ROI) in a state in which pre-topography information is prepared before construction. To find the difference, The workload can be calculated by a point elevation method using point group grid data obtained by the 3D scanner module, and a TIN division quadrature method using TIN mesh data.

As described above, the present invention, by using a plurality of dedicated 3D scanner attached to the excavator to obtain work data for the geospatial information objects in the earthwork site by applying a 3D analysis algorithm for the terrain information of the work section work section It is possible to perform accurate calculation of the amount of work in the real-time, thereby enabling the automation of earthwork, while at the same time providing a real-time modeling system and method for earthwork topographic information using a dedicated 3D scanner that can increase productivity. .

In addition, the present invention reduces the inefficient work factor due to the suspension of construction by the surveying work according to the prior art and the time required to process the surveying information by acquiring in real time the terrain information of the work site, which can be an essential element for the automation of earthwork work. It has the effect.

In addition, according to the present invention, it is possible to acquire and analyze the terrain information of the earthwork site in real time, thereby improving the productivity of the work by checking in real time whether the work is exceeded or underachieved for the amount of work at the current earthwork site. There is.

In addition, the present invention has an effect that can be utilized in the related work performed at the construction site because it can be updated in real time by reflecting the topographic information changed by the earthwork in the existing topographic information.

In addition, the present invention can be utilized as data for a variety of purposes because all the terrain information for the earthwork work is generated as data, and as a result, there is an effect that enables automated simulation of the earthwork.

In addition, the present invention has the effect of reducing the product cost and consequently increasing productivity by enabling the application of a laser scanner used in the past to a 3D scanner module dedicated to excavators.

1 is a view schematically showing the overall configuration of a real-time modeling system for earth and earth information using a 3D scanner dedicated to an excavator according to an embodiment of the present invention.
FIG. 2 is a block diagram for schematically illustrating the 3D topographic information sensing device illustrated in FIG. 1.
3 to 4 are perspective and exploded views for explaining a 3D scanner module according to an embodiment of the present invention.
5 is a flowchart for explaining a method for real-time modeling of earthwork topographic information using a 3D scanner dedicated to an excavator according to an embodiment of the present invention.
6 is a view for explaining a method for calculating attitude angle information of an excavator.
7 to 9 are diagrams for explaining a basic algorithm for acquiring data on terrain information applied to an embodiment of the present invention.
10 to 11 are views for explaining a method of integrating point cloud data for estimating the amount of earthwork according to an embodiment of the present invention.
12 to 14 are views showing a process of extracting topographic information through data acquisition and algorithm application in the earthwork.
15 is a diagram for explaining a method of calculating a workload using a prior terrain map and a working terrain map according to an embodiment of the present invention.

Since the description of the present invention is only an example for structural or functional description, the scope of the present invention should not be interpreted as being limited by the examples described in the text. That is, since the embodiments can be variously changed and have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing technical ideas.

Meanwhile, the meaning of terms described in the present invention should be understood as follows.

Terms such as "first" and "second" are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

When a component is said to be "connected" to another component, it may be understood that other components may exist directly in the middle, although other components may be directly connected. On the other hand, when a component is said to be "directly connected" to another component, it should be understood that no other component exists in the middle. On the other hand, other expressions describing the relationship between the components, that is, "between" and "immediately between" or "adjacent to" and "directly neighboring to" should be interpreted similarly.

Singular expressions are to be understood as including plural expressions unless the context clearly indicates otherwise, and terms such as “comprises” or “have” are used features, numbers, steps, actions, components, parts or the like. It is to be understood that a combination is intended to be present, and should not be understood as pre-excluding the presence or addition possibility of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

In each step, the identification code (for example, a, b, c, etc.) is used for convenience of explanation. The identification code does not describe the order of each step, and each step clearly identifies a specific order in context. Unless stated, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains, unless otherwise defined. The terms defined in the commonly used dictionary should be interpreted to be consistent with the meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a view schematically showing the overall configuration of a real-time modeling system for earth and earth information using a 3D scanner dedicated to an excavator according to an embodiment of the present invention.

As shown in the figure, a real-time modeling system for earth and terrain information using a 3D scanner dedicated to an excavator may include a real-time 3D terrain information sensing device 100 and a control server 200.

In more detail, the real-time 3D terrain information sensing device 100 is provided in the body of the excavator and can generate and update 3D terrain information in real time about the work section in the earthwork site around the excavator.

In addition, the control server 200 receives and analyzes the terrain information generated by the real-time 3D terrain information sensing device 100 and reflects the local terrain information at the earthwork site around the excavator to the global terrain information of the entire construction section. can do.

Here, the core idea of the present invention is to acquire in real time the topographic information of the work site, which can be an essential element for the automation of earthwork using the real-time 3D topographic information sensing device 100. It is possible to reduce the inefficient work elements due to the suspension of construction work by surveying work and the time required for processing surveying information, and increase the productivity of work by checking in real time whether excess or underachieving work is done for the amount of work at the earthwork site. You can.

The real-time 3D topographic information sensing device 100, which is a technical feature of the present invention, will be described in more detail with reference to FIGS. 2 to 4 as follows.

FIG. 2 is a block diagram for schematically illustrating the 3D topographic information sensing device illustrated in FIG. 1.

As shown in the figure, the 3D topographic information sensing device 100 according to an embodiment of the present invention includes a location estimation module 110, a 3D scanner module 120, a data integration module 130, and a volume calculation module 140 ), A local terrain information generation module 150, and a data transmission module 160.

In more detail, the position estimation module 110 may acquire position information and posture angle information of the excavator using a pair of GPS antennas 101 respectively installed at the center and rear ends in the longitudinal direction of the excavator body. have.

Here, a detailed description of the method for obtaining the position information attitude angle information will be described in detail with reference to FIG. 6 to be described later.

In addition, a plurality of the 3D scanner module 120 may be disposed on the excavator body to scan and create a 3D terrain information by scanning the earthwork area around the excavator.

Here, the 3D scanner module 120 improves this, since most 2D laser scanners according to the prior art have a large 180-degree rotation radius in the horizontal direction in the left and right, but no turning range exists in the vertical direction. By changing the scanning direction of the laser scanner at an angle of 90 degrees with respect to the front direction of the excavator, the housing of the entire module is configured to be rotatable 360 degrees in the horizontal direction, while having a turning radius of 180 degrees in the vertical direction and 360 degrees. Since it can be rotated horizontally, a 3D scanner that can be used exclusively for excavators can be provided. That is, the 2D scanner can be used as a 3D scanner in this way.

Therefore, the present invention has the effect of reducing the product cost and consequently increasing productivity by enabling the laser scanner used in the related art to be applied to a 3D scanner module dedicated to excavators.

In addition, the data integration module 130 calculates each 3D terrain information generated by the plurality of 3D scanner modules 120 disposed in the excavator body to calculate the amount of earthwork, 3D Point Cloud Data).

Here, the 3D scanner module 120 may scan the entire earthwork work area with 3D terrain information without a missing work area, which is arranged in pairs on both sides of the left and right sides of the boom of the excavator body.

Also, the volume calculation module 140 may calculate the amount of earthwork using the point cloud data received from the data integration module, and the local terrain information generation module 150 may perform the volume calculation module 140. Local terrain information at the work site around the excavator may be generated by reflecting the calculated earthwork work amount on the point cloud data, and detailed description thereof will be described with reference to FIGS. 12 to 15.

In addition, the data transmission module 160 may collect the local terrain information generated by the local terrain information generation module 150 and transmit it to the control server 200.

3 to 4 are perspective and exploded views for explaining a 3D scanner module according to an embodiment of the present invention.

As shown in the figure, the 3D scanner module according to an embodiment of the present invention, the mount 121 for fixing to the excavator body, the lower body 122 for fixing the cylindrical scanner coupled to the upper side of the mount 121 , The upper body 123 having a support panel 123a having a detachable fan shape rotatably coupled to the top of the lower body 122 for fixing the scanner, and in the inner center of the lower body 122 Servo motor 124 which is vertically arranged to generate driving force for rotational movement of the upper body 123, timing pulley 125 transmitting the rotational force of the servo motor 124, and interlocking with the timing pulley 125 Encoder 126 to sense the horizontal rotation angle of the upper body 123, and a laser mounted on the support panel 123a to perform a scanner sensing operation in the 180 degree range in the vertical direction in the vertical direction of the working section of the excavator Lovely A canner portion 127 may be provided.

Here, the 3D scanner module 120 may further include an outer case 129 that is coupled to cover the laser scanner unit 127 at an upper side of the upper body 123, and the outer case 129 , A vertical scanning hole 129a for scanning the laser signal of the laser scanner unit 127 vertically may be provided.

5 is a flowchart for explaining a method for real-time modeling of earthwork topographic information using a 3D scanner dedicated to an excavator according to an embodiment of the present invention.

A method for real-time modeling of earth and terrain information using a dedicated 3D scanner for excavators according to an embodiment of the present invention is a real-time modeling of earth and terrain information previously described with reference to FIGS. 1 to 4, and is provided in the body of an excavator to provide an earthwork site around the excavator Real-time 3D topographic information sensing device 100 capable of generating and updating 3D topographic information in real time in the work section, and receiving and analyzing topography information generated by the real-time 3D topographic information sensing device to analyze the earth surrounding the excavator On the premise of having a control server 200 that reflects the local topographic information at the site to the global topographic information of the entire construction section, the description of the same configuration will be omitted.

As shown in the figure, a method for real-time modeling of earthwork terrain information using a 3D scanner dedicated to an excavator according to an embodiment of the present invention includes: a work position moving step (S10), a posture information updating step (S20), and a earthwork working step (S30). , 3D scan data integration step (S40), workload calculation step (S50), iterative work step (S60), local terrain information generation and update step (S70), and may include a local terrain information server transmission step (S80). .

First, the working position moving step (S10) may be a first step in which the excavator is moved to a working section.

Next, in the posture information update step (S20), the position information and posture angle information of the excavator are obtained by the position estimation module 110 constituting the 3D topographic information sensing device 100, and the posture information is added to the terrain information before earthwork. It may be a second step of updating necessary reference information.

Next, the earthwork operation step (S30) may be a third step in which the excavator performs earthwork work in the work section.

Next, in the 3D scan data integration step (S40), each 3D generated by the plurality of 3D scanner modules 120 disposed in the excavator body by the data integration module 130 when the earthwork of the excavator is completed. It may be the fourth step of integrating the terrain information into one point cloud data (3D Point Cloud Data) for calculating the amount of earthwork.

Next, the operation amount calculation step (S50) may be a fifth step of calculating the amount of earthwork using the point cloud data received from the data integration module 130 by the volume calculation module 140.

Next, the repetitive work step (S60) may be a sixth step of repeatedly performing the third to fifth steps until the amount of earthwork work reaches a target unit work amount.

Next, in the step of generating and updating the local terrain information (S70), when the earthwork work amount reaches a target work amount, the earthwork work amount calculated by the volume calculation module 140 by the local terrain information generation module 150 is local terrain. It may be a seventh step of generating local topographic information at the work site around the excavator by reflecting the information on the point cloud data.

Finally, in the step S80 of transmitting the local terrain information server, the local terrain information generated by the local terrain information generation module 150 is collected by the data transmission module 160 and transmitted to the control server 200. It may be the eighth step.

In order to describe in more detail a method for real-time modeling of earth and terrain information using a 3D scanner dedicated to an excavator according to an embodiment of the present invention, it will be described with reference to FIGS. 6 to 15 as follows.

First, FIG. 6 is a view for explaining a method of calculating posture angle information of an excavator.

As shown in the figure, in the second step illustrated in FIG. 5, a position estimation module 110 may be used to update position information and position information of an excavator. At this time, the position estimation module 110 may , By using a pair of GPS antenna 101 respectively installed in the longitudinal center and rear end of the excavator body shown in Figure 6b it is possible to obtain the position information and posture angle information of the excavator.

More specifically, as shown in FIG. 6A, the pair of GPS antennas, that is, two antennas are fixed to the excavator body, and the position of the antenna used as the center position of the excavator is A, and assistance for calculating the posture angle Using the position of the antenna as B, the angle on the coordinates formed by the two position points at the coordinate positions measured by the two antennas can be used as the attitude angle information of the excavator.

The equation for the attitude angle of the excavator is as shown in [Equation 1] and [Equation 2] below.

[Equation 1] Distance between two points d = sqrt ((x2-x1) ^ 2 + (Y2-y1) ^ 2)

[Equation 2] The angle between two points θ = acos ((x2-x1) / d)

Next, FIGS. 7 to 9 are views for explaining a basic algorithm for acquiring data on terrain information applied to an embodiment of the present invention.

Referring to the drawings, a method for analyzing terrain information using the 3D scanner module 120 described above according to an embodiment of the present invention will be described as follows.

According to an embodiment of the present invention, 3D point cloud data acquired by the 3D scanner module 120 outputs 27,000 distance data per second per one, and depending on the panning speed, the distance data of the frontal terrain area is It can be hundreds of thousands.

Therefore, in order to analyze the terrain information in real time, it is necessary to reduce the number of necessary data, and as shown in FIG. 7, it is necessary to remove unnecessary parts of the measured data, for example, the shape and surface of the excavator.

That is, in order to remove data outside the region of interest of the terrain information, the shape of the excavator boom, the arm, the bucket due to the kinematics and unnecessary surface may be removed.

In addition, as shown in FIG. 8, a process of changing the acquired point cloud data into grid data is required. This is because the density of the short-range data is much higher than the density of the far-field data. Because it is necessary to write.

On the other hand, the method of obtaining the grid data includes a method of using point data having the lowest altitude as a mean value, a method of using a median point group data present in the grid, and in the embodiment of the present invention, the minimum value in the topographic map is used. The method used was applied.

In addition, in the embodiment of the present invention, in order to generate topographic information, a process of generating surface data from grid data as shown in FIG. 9 is required, and the grid data is networked using a TIN (Triangulated Irregular Network) method. If configured, surface data can be generated as shown in the figure.

Next, with reference to FIGS. 10 to 11, a method of integrating data scanned by a plurality of 3D scanner modules 120 may be described.

10 to 11 are views for explaining a method of integrating point cloud data for estimating the amount of earthwork according to an embodiment of the present invention.

As shown in the figure, in the embodiment of the present invention, the 3D scanner module 120 is installed at the left front and the right rear, which are optimal positions, to obtain 3D scan data in the smallest quantity, respectively, to the boom. Scanning of uncovered topography can also be possible.

Subsequently, 3D point cloud data obtained by two 3D scanner modules is generated by each 3D terrain generated by the plurality of 3D scanner modules 120 disposed on the excavator body by the data integration module 130 as shown in FIG. 11. Information can be calculated and integrated into one point cloud data (3D Point Cloud Data) to calculate the amount of earthwork.

At this time, the method of integrating into the single point cloud data, the error of overlap using two point cloud data generated by scanning a plurality of 3D scanner modules 120 at different angles from the terrain in front of the excavator body It is possible to generate topographic information for a new work area by obtaining a determinant that minimizes and converting and overlaying coordinates of the current map of the existing map.

12 to 14 are views showing a process of extracting topographic information through data acquisition and algorithm application in the earthwork.

As shown in the figure, the process of acquiring the terrain information at the earthwork site around the excavator according to the embodiment of the present invention, as described in FIGS. 7 to 9, the pre-processing data shown in FIG. It can be seen that the grid data is converted and mesh data of FIG. 14 is generated by the TIN.

15 is a diagram for explaining a method of calculating a workload using a prior terrain map and a working terrain map according to an embodiment of the present invention.

Referring to FIG. 15, a method for calculating the amount of earthwork using the point cloud data received from the data integration module by the volume calculation module 140 will be described as follows.

In the method of calculating the amount of earthwork according to an embodiment of the present invention, a region of interest (ROI) is set in a state in which pre-topography information is prepared before construction to obtain a difference in volume, and as shown in the figure, 3D The amount of work can be calculated by the point elevation method using the point group grid data obtained by the scanner module, and the TIN division quadrature method using the TIN mesh data.

Here, the point elevation method is a method of obtaining a height difference between intersections of grids and multiplying the area of the grids by overlaying the two grid maps obtained after converting the previous topographic map and the current working topographic map into grid data having the same grid spacing. As a result, the point height method in FIG. 15 represents a dead point average method, and is a method of obtaining an average of the heights of corners of a grid intersection point.

In addition, the TIN segmentation quadrature method creates the face data using a pre-topographic map and a working topographic map as a TIN, sets a constant elevation level, multiplies and integrates the horizontal area of the TIN and the average of the heights of the intersection points that make up the TIN to calculate the volume It is a way to obtain.

In addition, although not shown in the drawings, there is a freeze-modal method as a method for obtaining a volume. Specifically, face data is created with a TIN using a pre-topographic map and a work topographic map, and the edges of the face data are projected as different face data. To create a new line segment, and each face data is generated by generating new TIN data from the original points and new points, and calculating the difference by calculating the volume using the Prismoidal Formula and calculating the work volume. Known, but more complex than other methods.

As described above, the present invention, by using a dedicated 3D scanner attached to the excavator to obtain the work data for the geospatial information objects of the earthwork site and apply the 3D analysis algorithm for the geospatial information of the work section, the exact work amount in the work section It is possible to perform the calculation in real time, and thereby, it is possible to automate the earthwork, and at the same time, to provide a real-time modeling system and method of earthwork topographic information using a dedicated 3D scanner that can increase productivity.

In addition, the present invention reduces the inefficient work factor due to the suspension of construction by the surveying work according to the prior art and the time required to process the surveying information by acquiring in real time the terrain information of the work site, which can be an essential element for the automation of earthwork work. It has the effect.

In addition, according to the present invention, it is possible to acquire and analyze the terrain information of the earthwork site in real time, thereby improving the productivity of the work by checking in real time whether the work is exceeded or underachieved for the amount of work at the current earthwork site. There is.

In addition, the present invention has an effect that can be utilized in the related work performed at the construction site because it can be updated in real time by reflecting the topographic information changed by the earthwork in the existing topographic information.

In addition, the present invention can be utilized as data for a variety of purposes because all the terrain information for the earthwork work is generated as data, and as a result, there is an effect that enables automated simulation of the earthwork.

In addition, the present invention has the effect of reducing the product cost and consequently increasing productivity by enabling the application of a laser scanner used in the past to a 3D scanner module dedicated to excavators.

The present invention has been described in detail so far, but the embodiments mentioned in the process are merely illustrative, and it is clear that it is not limited, and the present invention is the technical spirit or field of the present invention provided by the following claims. Within the scope of not departing, component changes to the extent that they can be dealt with evenly will fall within the scope of the present invention.

100: Real-time 3D terrain information sensing device 101: GPS antenna
110: location estimation module 120: 3D scanner module
121: mount 122: lower body
123: upper body 124: servo motor
125: Timing pulley 126: Encoder
127: laser scanner unit 129: outer case
130: data integration module 140: volume calculation module
150: local terrain information generation module 160: data transmission module
200: control server

Claims (11)

A real-time 3D terrain information sensing device provided in the body of the excavator and capable of generating and updating 3D terrain information in real time for a work section at an earthwork site around the excavator; And
Exclusively for excavators characterized in that it comprises; a control server that receives and analyzes the terrain information generated by the real-time 3D terrain information sensing device and reflects the local terrain information at the earthwork site around the excavator to the global terrain information of the entire construction section. Real-time modeling system of earthwork information using 3D scanner The method according to claim 1, The 3D terrain information sensing device,
A position estimation module capable of acquiring position information and posture angle information of the excavator by using a pair of GPS antennas respectively installed at the center and rear ends in the longitudinal direction of the main body of the excavator;
A 3D scanner module that is disposed on the excavator body to scan and generate earthwork work areas around the excavator with 3D terrain information;
A data integration module that calculates each 3D terrain information generated by a plurality of 3D scanner modules disposed in the excavator body and integrates it into one point cloud data (3D Point Cloud Data) for calculating the amount of earthwork;
A volume calculation module for calculating the amount of earthwork using the point cloud data received from the data integration module;
A local terrain information generation module that generates local terrain information at a work site around an excavator by reflecting the amount of earthwork calculated by the volume calculation module in point cloud data; And
Real-time modeling system for earth and earth information using a dedicated 3D scanner for excavators, comprising: a data transmission module that collects the local terrain information generated by the local terrain information generation module and transmits it to a control server. The method according to claim 2, The 3D scanner module,
A real-time modeling system for earth and terrain information using a dedicated 3D scanner for excavators, characterized in that the entire earthwork area can be scanned as 3D terrain information without missing work areas, which are arranged on both sides of the left and right sides based on the boom of the excavator body. The method according to claim 3, The 3D scanner module,
Mount;
A lower body for fixing a cylindrical scanner coupled to an upper side of the mount;
An upper body rotatably coupled to the top of the lower body for fixing the scanner and having a fan-shaped support panel;
A servo motor disposed vertically in the inner central portion of the lower body to generate driving force for rotational movement of the upper body;
A timing pulley transmitting the rotational force of the servomotor;
An encoder that senses a horizontal rotation angle of the upper body in connection with the timing pulley; And
A real-time modeling system for earth and terrain information using a dedicated 3D scanner for excavators, which is mounted on the support panel and includes a laser scanner unit that performs a scanner sensing operation in a 180-degree range in the vertical direction in the vertical direction of the excavator. The method according to claim 4, The 3D scanner module,
A real-time modeling system for earth and terrain information using a dedicated 3D scanner, characterized in that it further comprises an outer case that is coupled to the upper side of the upper body and covers the laser scanner unit. The method according to claim 5, The outer case,
Real-time modeling system for earth and terrain information using a dedicated 3D scanner for excavators, characterized in that it has a; The method according to claim 2, The data integration module,
A plurality of 3D scanner modules arranged in the excavator body are used to obtain a determinant that minimizes the error of overlap using two point cloud data generated by scanning from different angles on the terrain in front, and convert the coordinates of the current index of the existing map. Real-time modeling system for earth and earth information using a 3D scanner dedicated to excavators, characterized by generating terrain information for a new work area by overlapping The method according to claim 2, The volume calculation module,
Set the Region of Interest (ROI) in the state that the pre-topography information is prepared before construction to obtain the difference in volume,
A real-time modeling system for earthwork topographic information using a dedicated 3D scanner for excavators, characterized in that the amount of work is calculated by a point elevation method using point cloud grid data obtained by the 3D scanner module, and a TIN division quadrature method using TIN mesh data. A real-time 3D topographic information sensing device provided in the body of an excavator and capable of generating and updating 3D topographic information in real time on a work area in the vicinity of an excavator, and receiving topographic information generated by the real-time 3D topographic information sensing device In the modeling method by the real-time geospatial information modeling system comprising; a control server that reflects and analyzes the local terrain information at the earthwork site around the excavator in the global terrain information of the entire construction section,
A first step in which the excavator is moved to a working section;
A second step of acquiring position information and posture angle information of an excavator by a position estimation module constituting the 3D terrain information sensing device and updating reference information necessary for terrain information before earthwork;
A third step in which the excavator performs earthwork in the work section;
When the earthwork of the excavator is completed, one point cloud data (3D Point Cloud Data) for calculating the amount of earthwork by calculating each 3D terrain information generated by a plurality of 3D scanner modules disposed on the excavator body by a data integration module ) To the fourth step;
A fifth step of calculating a volume of earthwork using point cloud data received by the data integration module by a volume calculation module;
A sixth step of repeatedly performing the third to fifth steps until the amount of earthwork work reaches a target unit work amount;
A seventh step of generating local terrain information at the work site around the excavator by reflecting the earthwork amount calculated by the volume calculation module by the local terrain information generation module to the point cloud data of local terrain information when the earthwork amount reaches the target work amount; And
An eighth step of collecting local terrain information generated by the local terrain information generation module by a data transmission module and transmitting it to a control server; Real-time modeling method of earth and terrain information using a dedicated 3D scanner, characterized in that it comprises a The method according to claim 9, When the earthwork of the excavator is completed, one point cloud data for estimating the amount of earthwork work by calculating each 3D terrain information generated by a plurality of 3D scanner modules disposed on the excavator body by a data integration module The 4th step to integrate with (3D Point Cloud Data) is,
A plurality of 3D scanner modules arranged in the excavator body are used to obtain a determinant that minimizes the error of overlap using two point cloud data generated by scanning from different angles on the terrain in front, and convert the coordinates of the current index of the existing map. Real-time modeling of earthwork topographic information using a 3D scanner dedicated to excavators, characterized by generating topographic information for a new work area by overlapping The method according to claim 9, The fifth step of calculating the amount of earthwork using the point cloud data received from the data integration module by the volume calculation module,
Set the Region of Interest (ROI) in the state that the pre-topography information is prepared before construction to obtain the difference in volume,
A method for real-time modeling of earth and terrain information using a dedicated 3D scanner for excavators, characterized in that the amount of work is calculated by a point elevation method using point cloud grid data obtained by the 3D scanner module, and a TIN division quadrature method using TIN mesh data.

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