TWI826215B - Building smart visual history recording method and system - Google Patents

Abstract

A building smart visual history recording method, providing a building smart visual history The recording system constructs a corresponding multi-story building at a predetermined location according to a predetermined blueprint data, including a base layer at the bottom and a plurality of high-rise buildings higher than the base layer. The predetermined location further includes a fixed reference point, and a plurality of high-rise buildings. The high-rise buildings each have multiple floor reference points and multiple feature structures including the following steps: the storage unit stores a blueprint data and calibrates a fixed reference point, and uses a support erection unit to set an image capture unit at one of the original positioning points of the corresponding fixed reference point. Output to the processing unit or storage unit to compare and confirm whether the construction process of each of the above-mentioned characteristic structures conforms to the blueprint data.

Description

Building smart visual history recording method and system

The present invention relates to a construction-related field, and in particular, to a building intelligent visual history recording method and system.

With the gradual revision and improvement of building safety regulations and the supervision of urban planning and zoning, on the one hand, the government is paying more attention to whether the original design and construction process comply with the original design and construction. On the other hand, consumers are also more demanding on the construction quality of houses purchased or used. high.

Theoretically, an architect with an architect's license should be responsible for the design and supervision of the construction of the project. Related professional engineering parts such as building structure and equipment should be handled by the architect and handed over to professional technicians registered in accordance with the law. The architect also Bear joint liability. However, the legal regulations do not consider the practical problems of limited architects and professional technicians once there are too many construction projects, nor do they consider whether architects and professional technicians can climb the scaffolding and accompany the construction workers to monitor floor by floor all day long when the floors are gradually raised. Look; in particular, even well-educated architects and professional technicians may not be able to visually observe, for example, whether the position of the piping is a few centimeters away or whether the position of the reinforcement is correct.

As shown in Figure 1, whether the hot and cold water pipes 92 and circuit piping 94 of a house 9 are accurately positioned according to the blueprint during the construction process, and whether the watertightness is perfect during the erection process, if there is no detailed record and confirmation during the construction process, as shown in Figure As shown in 2, after the wall 90 structure is completed, it is completely Cannot reconfirm again. Once a water pipe leak is discovered after a house has been used for a period of time, how to identify whether it is a negligence in the construction process or a sequelae of the earthquake? This will become a major issue in future disputes.

Therefore, U.S. Invention Patent No. 11348322 proposed that a large number of fiducial markers should be set up during the construction process, and robots should be used to patrol regularly to monitor the positions of each fiducial marker and all other structural beams, floors, walls, pipes, etc. Electrical Wires, Fire Sprinklers, Door Frames and Doors, Exterior Windows, Interior Windows, Bathrooms, Computer Centers, Surgery Centers, Lighting, Landscaping, Air Conditioning, Plumbing, Water Heaters, Water Filtration Systems, Gyms, Cafeterias, Cabinets, Closets, Security The corresponding positions, materials and construction quality of systems, partitions, watertight doors, engines, propellers, etc. are compared with the original design data to confirm the quality of the building.

However, if a building is to be monitored in every detail, especially if a robot is used to patrol the construction site, it is not only necessary to consider whether the large amount of image information can be fully digested, absorbed, analyzed and monitored, but also if you want to really make effective use of this massive amount of image information, Information, whether the resources spent are economical and can meet the real needs of the construction industry. Especially from the practical side of the construction process, not only is the construction site not flat, but the movement of the robot cannot be completely smooth. The bumps in the middle will cause a lot of computational compensation requirements during image analysis, increasing unnecessary waste of resources; even the situation at the construction site The robot may not be allowed to patrol smoothly at all.

Furthermore, since all the images in this plan are superimposed with two-dimensional images to construct a three-dimensional actual building, and then compared with the design drawings stored in the computer, however, between floors, the plan It does not propose how to ensure that each other's coordinates are coherent. Therefore, no matter within the robot's patrol cycle, the bumps at the previous moment and the next moment will cause a large demand for computational compensation, so that the captured image data can be analyzed before use. The amount of computation in the processing phase is huge On the other hand, the lack of coherence in the spatial structure of different floors will also bring into question the structural reliability between floors.

Therefore, how to ensure that the construction of the building is carried out in full accordance with the original design blueprint, and that it can be clearly confirmed and recorded for inspection. It is best to accurately supervise all construction processes at a more economical and reasonable cost. This is the question. The problem to be solved by the invention.

Based on the above reasons, one purpose of the present invention is to provide a smart visual history recording method for buildings, so that all important construction processes of multi-story buildings can be recorded in detail one by one, and can be checked and verified at any time.

Another object of the present invention is to provide a building intelligent visual history recording method, so that the characteristic structure of each floor in a multi-story building and the mutual correspondence between the upper and lower floors can be checked across floors to ensure the cross-floor correspondence of the entire building. Bit.

Another object of the present invention is to provide a building intelligent visual history recording method, so that the construction process of the characteristic structure of each floor in a multi-story building can be accurately checked relative to the floor reference point in the floor, ensuring that the position of the characteristic structure is correct. .

Another object of the present invention is to provide an intelligent visual history recording system for buildings, which can locate and record layer by layer during the construction process of multi-story buildings, and achieve cross-layer alignment, so that all characteristic structures of each floor of the building can be accurately recorded. The location can be checked by location.

Yet another object of the present invention is to provide a building intelligent visual history recording system so that the construction process of each floor of a multi-story building can be completely positioned and recorded.

In order to achieve the above objectives, the present invention provides a method for recording intelligent visual history of buildings. The method provides a building intelligent visual history recording system to construct a corresponding multi-story building at a predetermined location according to a predetermined blueprint data. The multi-story building includes a base layer at the bottom and a plurality of layers higher than the aforementioned base layer. A high-rise building, in which the aforementioned predetermined position further includes at least one fixed reference point, and at least a plurality of the aforementioned high-rise buildings respectively have a plurality of floor reference points and a plurality of characteristic structures. The building smart visual history recording method includes the following steps: Step a) using a storage unit Store a blueprint data, and calibrate the above-mentioned fixed reference point based on the blueprint data; step b) use at least one support erection unit to set at least one image capture unit at at least one original positioning point corresponding to the above-mentioned fixed reference point, and measure The position of the aforementioned original positioning point relative to the aforementioned fixed reference point is output as an original positioning point data to a processing unit or the above-mentioned storage unit; Step c) The aforementioned image capture unit uses the aforementioned fixed reference point as a standard to obtain the aforementioned base layer The construction process of the aforementioned characteristic structure performs an image capture and positioning operation, and outputs an image data of the aforementioned base layer building to the above-mentioned processing unit or the above-mentioned storage unit; and the above-mentioned processing unit based on the above-mentioned original positioning point data and the above-mentioned image data, Compare and confirm whether the construction process of each of the above-mentioned characteristic structures conforms to the above-mentioned blueprint data; step d) before the above-mentioned foundation layer is completed, define the above-mentioned floor reference point of a high-rise building; step e) move the above-mentioned support erection unit and set the above-mentioned image capture unit At least one new anchor point on the above-mentioned high-rise building, and measure the position of the aforementioned new anchor point relative to the aforementioned floor reference point, and output it as a newly added anchor point data to the above-mentioned processing unit or the above-mentioned storage unit; step f) from the above-mentioned image The acquisition unit uses the above-mentioned floor reference point as a standard to perform an image capture and positioning operation on the construction process of the above-mentioned characteristic structure of the above-mentioned high-rise building, and outputs an image data corresponding to the above-mentioned high-rise building to the above-mentioned processing unit or the above-mentioned storage unit; and The above-mentioned processing unit compares and confirms whether the construction process of each of the above-mentioned characteristic structures conforms to the above-mentioned blueprint information based on the above-mentioned newly added positioning point data and the above-mentioned image data. materials; and step g) repeatedly before each of the above-mentioned high-rise floors is completed, establish the above-mentioned floor reference point of a higher floor, and repeat the above steps e) and f) until the highest floor in the above-mentioned blueprint data is completed.

Corresponding to the above method, the building smart visual history recording system of the present invention is used to construct a corresponding multi-story building at a predetermined location according to a predetermined blueprint data. The multi-story building includes a base layer at the bottom and multiple heights. In the upper floors of the aforementioned base layer, the aforementioned predetermined position further includes at least one fixed reference point, and at least a plurality of the aforementioned upper floors respectively have a plurality of floor reference points and a plurality of characteristic structures, including: a storage unit for storing the above blueprint data; at least An image capturing unit is connected with the storage unit via a signal, and the aforementioned image capturing unit is set at an original positioning point relative to the aforementioned fixed reference point; wherein the aforementioned image capturing unit refers to the aforementioned fixed reference point or the aforementioned floor The reference point performs an image capture and positioning operation on the construction process of at least the above-mentioned characteristic structure of the aforementioned base layer or high-rise building, and outputs an image data; at least one support erection unit is used to install the above-mentioned image capture unit in the above-mentioned multi-story building. The aforementioned base layer or one of the aforementioned high-level layers, and when the current image capture unit is moved from the aforementioned original anchor point to a new anchor point, the aforementioned newly added anchor point will be relative to the aforementioned original anchor point, the aforementioned fixed The reference point, or the position change of the aforementioned floor reference point is output as a new anchor point data; and a processing unit is connected to the storage unit and the aforementioned image capture unit signally for obtaining the aforementioned original anchor point data and receiving the aforementioned The image data and the aforementioned newly added anchor point data are used to calculate the specific positions of all the aforementioned feature structures of the aforementioned base layer or high-level layer through the aforementioned original anchor point data and the aforementioned newly added anchor point data, and compare them with the aforementioned blueprint data.

Through the above-mentioned method and system of the present invention, during the construction process of a multi-story building, absolute coordinates are determined from the base floor and external fixed reference points, and an absolute origin is selected. Then, based on the pre-stored blueprint as the inspection standard, the image capture unit performs artificial visual processing to identify and record the building position and construction process of the preset characteristic structure floor by floor. Therefore, the position of the characteristic structure on each floor is and the construction process can be checked at any time; and before each floor is completed, the floor reference point of the higher floor will be clearly defined according to the coordinates of this floor, so that the coordinate conversion between the upper and lower floors can be accurate and without obstacles. Since the current artificial vision can already reach centimeter level, especially when the precision is to be improved, more cameras or image capture positions can be used to coordinate with each other, so that any errors can be immediately caught and corrected. Through this, during the construction process of multi-story buildings, all the characteristic structures worthy of attention can be completely and cross-layered and recorded, whether it is the three-dimensional position in space or the architectural record on the timeline, so that the entire The building has a complete construction history.

Other technical features and advantages that are the subject of the patent application scope of the present invention will be described below. It should be understood by those of ordinary skill in the art that the concepts and specific embodiments disclosed below can be easily used to modify or design other structures or processes to achieve the same purposes as those disclosed herein. Those with ordinary knowledge in the technical field to which the present disclosure belongs should also understand that such equivalent constructions cannot depart from the spirit and scope of the present disclosure as defined in the appended patent application scope.

1: Base layer

10: Fixed reference point

11, 12, 11’, 12’: original positioning point

13:Shock absorber

14: tie the tendons

15:Basement water tank

2:High level

20: Floor reference point

21, 22: New anchor point

31~39, 31’~39’: steps

40, 40’: processing unit

42, 42’: storage unit

44:Image capture unit

441, 442, 441’: Camera

45:Wireless communication device

46’: Support erection unit

461, 462: tripod

48: Alert unit

9:House

90:Wall

92: Hot and cold water pipes

94:Circuit piping

O: Absolute coordinate origin, coordinate origin

Figure 1 is a three-dimensional schematic diagram of the wall frame and wall piping of a house.

Figure 2 is a schematic three-dimensional view of the wall structure of the house in Figure 1 after completion, indicating that the pipes in the wall have been blocked.

Figure 3 is a flow chart of the first preferred embodiment of the building smart visual history recording method of the present invention.

Figure 4 is a block diagram of the first preferred embodiment of the building smart visual history recording system of the present invention.

5 to 7 are schematic diagrams of the operation process of the embodiment in FIG. 3 , illustrating the operation mode of each step.

Figure 8 is a flow chart of the second preferred embodiment of the building smart visual history recording method of the present invention.

Figure 9 is a block diagram of the second preferred embodiment of the building smart visual history recording system of the present invention.

The relevant technical content, features and functions of this case will be clearly presented in the following detailed description of the preferred embodiment with reference to the drawings. The same components in each embodiment will be labeled with similar numbers.

The flow of the building smart visual history recording method according to the first preferred embodiment of the present invention is shown in Figure 3. Please refer to the block diagram of the building smart visual history system in Figure 4. Before starting construction, pre-set the building smart visual history record in step 31. A predetermined blueprint data is stored in the storage unit 42, and at least one fixed reference point 10 is calibrated corresponding to the blueprint data at the location of the actual building. Since the building in this example is a multi-story steel frame building, the minimum value is used as the example. The position of one of the steel beams on the underground floor implanted in the ground is used as the fixed reference point of the entire building, which is the absolute coordinate origin O(0,0,0) of the entire building; as shown in Figure 5 , in step 32, multiple cameras are set up as image capture units 44 at multiple positions relative to the coordinate origin O. To simplify the drawing, only two cameras 441 and 442 are used as an example, and two sets of legs are used respectively. Frames 461 and 462 are used as support erection units to respectively measure the relative positions of the two cameras 441 and 442 relative to the coordinate origin O as the original positioning points 11 and 12. Since the respective positions of the two cameras are confirmed, the absolute coordinates The origin O and the respective coordinate vectors of the two cameras can completely determine a set of coordinate systems, and since the two cameras can also shoot each other and measure angles, a set of additional geometric conditions in the space can be obtained, thereby confirming the above Whether the positioning of the original positioning point is accurate, and the storage unit 42 records the data of each original positioning point.

After the two cameras are positioned, their respective original positioning points 11 and 12 are referenced to the fixed Set the reference point as the standard. In step 33, record the construction process of all particularly important structures as shown in Figure 6. Here, define these important structures as characteristic structures, such as shock absorbers 13, floor reinforcements 14, The basement water tank 15, etc., and when shooting, the images captured by the cameras 441 and 442 are also converted into electrical signals of image data through, for example, the wireless communication device 45 and transmitted to the processing unit 40 and stored in the storage unit 42. Since the original positioning point Since the positions of 11 and 12 are known, the individual positions of all the above-mentioned characteristic structures can be accurately calculated, with an error of only centimeters at most, and can be gradually compared with the blueprint data in the storage unit 42 by the processing unit 40; especially when As the number of cameras increases, the precision can be further improved.

Even though the preliminary comparison is only a position comparison here, people familiar with the technical field can easily understand that as long as the resolution and artificial visual analysis capabilities are improved, the number of tie bars and the flatness of grouting can also be listed. Enter analysis and comparison. In step 34, when the above comparison result is inconsistent with the blueprint data, a warning will be used within a preset time, such as a wireless communication warning unit 48, to notify the responsible architect or professional technician and allow them to replay it remotely. Record the image to confirm whether the error is within an acceptable range, and immediately sign the comments and record them.

When the construction of the lowest base layer 1 is about to be completed, the cameras 441 and 442 will be moved to a higher level. Before moving, the floor reference point 20 of the high-rise layer 2 will be selected in step 35, for example, the coordinate origin mentioned above. A certain bolt position of the steel beam a few meters above point O; then in step 36 as shown in Figure 7, the cameras 441 and 442 are moved with the tripods 461 and 462 to the new positioning points 21 and 22 on the previous floor. At this time, a new positioning point is added. The anchor point can be positioned by the floor reference point 20. Of course, if the base layer 1 has not yet been capped, it can also be calibrated by, for example, the coordinate origin O below or the position of other feature structures. Even if the camera movement occurs after the base layer 1 is capped, it can also be calibrated by setting Multiple floor reference points are used to achieve precise positioning of each new positioning point 21, 22, and the position of the new positioning point relative to the floor reference point is measured and output to the processing unit 40 or storage unit 42 as the new positioning point data. .

In step 37, the cameras 441 and 442 also use the floor reference point 20 as a standard to perform an image capture and positioning operation on the construction process of the characteristic structure of the high-rise 2, and the captured images are also transmitted into image data through wireless The communication device 45 outputs the image data of the high-level layer 2 to the processing unit 40 or the storage unit 42; and the processing unit 40 also compares and confirms the characteristics of each characteristic structure in the high-level layer 2 according to the newly added anchor point data and the image data of the high-level layer 2. Whether the construction process and location comply with the blueprint data pre-stored in the storage unit 42 .

If it is found that the above comparison result is inconsistent with the blueprint data, in step 38, a warning will also be sent within a preset time, such as wireless communication, to notify the responsible architect or professional technician to handle it. In step 39, the above-mentioned steps of defining the floor reference point in a higher high-rise and moving the camera to record will be repeated until the entire building has reached the completion of the highest floor in the blueprint data.

Since the positioning and construction of all characteristic structures, whether it is skeletons, water pipes, wires, mudwork, etc., are captured by cameras during the construction process, and are verified by artificial vision and processing units to instantly check the blueprint data, even after the building is completed Finally, video data is also available for review at any time. In addition, architects or professional technicians can be notified immediately of any errors that exceed the range during the construction process. Therefore, the attribution of responsibilities is quite clear, and the construction accuracy of the building can also be completely verified. Especially considering that when the construction time spans several months or even years, the constructor can easily take the above-mentioned camera away after each working day and set it back up before construction on the next day. Only a spatial coordinate calibration is needed when starting the next day. The coordinates between the recorded data of the previous day and the construction process of the next day can be easily and accurately compensated. The overall data processing and calculation workload can be reduced. Significantly reduced, fully in line with the economic benefits of actual operation.

Of course, the above embodiments are only used to illustrate the implementation of the present invention, such as the number of cameras, whether the erection support unit is a tripod, etc., and are not intended to limit the scope of the present invention. As shown in Figure 8 and Figure 9, the second preferred embodiment of the present invention shows that when the structure of the building is relatively simple, multiple cameras are not necessarily needed, but a single camera 441' can be used, or even a drone can be used As the support erection unit 46', that is, when the building is in the construction process, the remaining steps 31', 32', 34' to 36', 38' and 39' are equivalent to the previous embodiment, only steps 33' and 37 'The drone continuously moves between, for example, a predetermined first image capture position and a predetermined second image capture position that is different from the first image capture position 11' to record the construction process and combine the images. The data is transmitted to the processing unit 40' or the storage unit 42', and is analyzed and compared by the processing unit 40'. This invention can also achieve accurate identification of the position of all characteristic structures, real-time warning, easy verification afterwards, and cross-floor alignment, etc. effect.

Even if drones or tracks are used for movement, since the present invention uses several specific image capture positions as reference positions for shooting, and does not record or compensate during the movement, unnecessary calculations can be greatly saved. , as long as a calibration compensation is performed from the current shooting recording position and the overall coordinates after each movement is completed, the image data recorded at this position can be added to the system data that can be compared and linked.

Of course, going further, if you want to build a giant building like a dome baseball stadium, even if the actual floors may not be distinguished, due to height and partition requirements, it can be divided into different floors. During the construction process of the compartments, the cross-compartments are positioned, compared and recorded with each other. During the construction process of the central egg structure, etc., even if there is no gradual capping, the present invention can still be used to gradually elevate and compare the records in sequence. , should still be considered to be within the patentable scope of the present invention.

Although the present invention is explained with the above preferred embodiments, this does not constitute a limitation on the present invention. It should be noted that the actual coverage scope of the present invention is defined by the following patent application scope. Those skilled in the art can construct many other similar embodiments based on the ideas of the present invention, and these are all within the protection scope of the present invention. .

31~39:Flowchart

Claims (7)

A building smart visual history recording method provides a building smart visual history recording system to construct a corresponding multi-story building at a predetermined location according to a predetermined blueprint data. The multi-story building includes a base layer at the bottom. and a plurality of high-rise buildings higher than the aforementioned base layer, wherein the aforementioned predetermined position further includes at least one fixed reference point, and at least a plurality of the aforementioned high-rise buildings respectively have a plurality of floor reference points and a plurality of characteristic structures, wherein at least one of the above-mentioned characteristic structures is Set up in the wall or floor, the building smart visual history recording method includes the following steps: Step a) Store a blueprint data in a storage unit, and calibrate the above-mentioned fixed reference point based on the blueprint data; Step b) Erect with at least one support The unit sets at least one image capturing unit at at least one original positioning point corresponding to the fixed reference point, and measures the position of the original positioning point relative to the fixed reference point, and outputs it to a processing unit as an original positioning point data. Or the above-mentioned storage unit; step c) using the above-mentioned fixed reference point as a standard, the above-mentioned image capture unit performs an image capture and positioning operation on the construction process of the aforementioned characteristic structure of the aforementioned base layer, and outputs an image of the aforementioned base layer building data to the above-mentioned processing unit or the above-mentioned storage unit; and the above-mentioned processing unit compares and confirms whether the construction process of each of the above-mentioned characteristic structures conforms to the above-mentioned blueprint data according to the above-mentioned original positioning point data and the above-mentioned image data; step d) is completed at the above-mentioned base layer Before, define the above-mentioned floor reference point of a high-rise building; step e) move the above-mentioned support erection unit, set the above-mentioned image capture unit at at least one new positioning point of the above-mentioned high-rise building, and measure the aforementioned new positioning point relative to the aforementioned floor reference point. of The position is output to the above-mentioned processing unit or the above-mentioned storage unit as a newly added anchor point data; step f) uses the above-mentioned image capture unit to use the above-mentioned floor reference point as a standard to capture the construction process of the above-mentioned characteristic structure of the above-mentioned high-rise building. Perform a positioning operation and output a pair of image data corresponding to the aforementioned high-rise building to the above-mentioned processing unit or the above-mentioned storage unit; and the above-mentioned processing unit compares and confirms the construction process of each of the above-mentioned characteristic structures according to the above-mentioned newly added positioning point data and the above-mentioned image data. Whether it complies with the above blueprint information; and step g) repeatedly establishes the above-mentioned floor reference point of a higher level before the completion of each of the above-mentioned high-rise floors, and repeats the above steps e) and f) until the highest floor in the above-mentioned blueprint information is completed. . The building smart visual history recording method as described in claim 1, wherein in the above step c) or step f), if the comparison result is inconsistent with the above blueprint data, a preset time is further included Step h) of alert notification to a user. The method for recording smart visual history of buildings as described in claim 2, wherein the above-mentioned image capturing unit is a single camera, and in the aforementioned steps c) and f), the camera is mounted by the above-mentioned support erection unit to a first The image capturing position is moved between the image capturing position and at least one second image capturing position that is different from the first image capturing position, thereby capturing the above image data from a plurality of different perspectives of the construction process of the above characteristic structure. A building intelligent visual history recording system for constructing a corresponding multi-story building at a predetermined location according to a predetermined blueprint data. The multi-story building includes a base layer at the bottom and a plurality of upper floors higher than the aforementioned base layer, wherein The aforementioned predetermined position further includes at least one fixed reference point, and at least a plurality of the aforementioned high-rise buildings respectively have a plurality of floor reference points and a plurality of characteristic structures, including: A storage unit for storing the above-mentioned blueprint data; at least one image capture unit, signal-connected to the storage unit, and the above-mentioned image capture unit is set at an original positioning point relative to the above-mentioned fixed reference point; wherein, the above-mentioned The image capture unit performs an image capture and positioning operation on the construction process of at least the aforementioned characteristic structure of the aforementioned base layer or high-rise with reference to the aforementioned fixed reference point or the aforementioned floor datum point, and outputs an image data; at least one support erection unit is provided for The above-mentioned image capture unit is installed on the aforementioned base layer or one of the above-mentioned upper floors of the above-mentioned multi-story building, and when the previous image capture unit is moved away from the above-mentioned original positioning point to a new positioning point, the above-mentioned new positioning point will be moved. The position transformation of the added position relative to the aforementioned original positioning point, the aforementioned fixed reference point, or the aforementioned floor reference point is output as a newly added positioning point data; and a processing unit is connected with the signal to the storage unit and the aforementioned image capture unit, To obtain the aforementioned original anchor point data, receive the aforementioned image data and the aforementioned newly added anchor point data, and calculate all the aforementioned characteristic structures of the aforementioned base layer or high layer through the aforementioned original anchor point data and the aforementioned newly added anchor point data. The specific location is compared with the aforementioned blueprint information, wherein at least one of the above-mentioned characteristic structures is arranged in the wall or the floor. The building intelligent visual history recording system as described in claim 4, wherein the aforementioned image capture unit is a single camera, and during the construction process of the aforementioned base layer or any single floor of the aforementioned high-rise building, the unit is erected by the aforementioned support The camera is moved between a first image capturing position and at least a second image capturing position different from the first image capturing position. The building smart visual history recording system as described in claim 4, wherein the aforementioned image capture order The element is a plurality of cameras arranged at different image capture positions. The building smart visual history recording system as described in claim 4 further includes a warning unit connected by a signal to the above-mentioned processing unit, so that when the above-mentioned processing unit compares the specific position of the above-mentioned characteristic structure with the above-mentioned blueprint data and finds an error, An alert is issued upon instruction from the above processing unit.

Images