JP6901929B2 - Construction volume data acquisition system - Google Patents

Description

The present invention relates to a system for acquiring construction volume data. Specifically, the present invention is a system for acquiring construction volume data by using image data taken by automatically patrolling an imaging means consisting of a 3D camera or the like. It is about.

At the construction site of the construction structure, the site staff confirms the finished shape of the construction structure by visual inspection, surveying, quantity inspection, photography, etc., and artificially (worker's wages, etc. The same shall apply hereinafter), It is common to calculate the volume from the cost of equipment and materials. In this way, the current situation is that the work of acquiring the volume relies on manpower, and measures have been taken to reduce the work of on-site staff. For example, the patent documents shown below disclose techniques for saving labor in construction management of construction structures (see Patent Documents 1 to 3).

The technique described in Patent Document 1 is a photography management for calculating three-dimensional data of an object to be measured by setting a control point device and taking a picture at a construction site, specifying a control point, and the like. It's about the method.

In this photography management method, three-dimensional data of a finished product to be used for construction management is obtained from a series of digital image data taken in stereo. In other words, it is a technology that manages data related to each work process from planning preparation, shooting, measurement, and acquisition of finished products in a database, and shoots shooting conditions and image data based on project information such as the camera used and reference point data. Stereo model information such as point information and control point measurement data, three-dimensional measurement information such as three-dimensional measurement range, and finished form information such as breakline data are generated.

The technique described in Patent Document 2 relates to a construction management support device that recognizes a worker, a work content, and a machine by using image information and displays information on the work. This construction management support device refers to a storage unit that stores worker identification information for recognizing a worker, an acquisition unit that acquires image information of the target construction imaged by an imaging means, and a worker identification information. The image analysis unit that analyzes the acquired image information and recognizes the worker, the measurement unit that measures the work time of the recognized worker, the recognized worker, and the work time associated with the worker. It is equipped with a display unit that displays work information (for example, daily labor report) including.

The technique described in Patent Document 3 grasps the empty shape inside the tunnel for the purpose of managing the tunnel at high speed and with high accuracy when estimating the completed shape of the tunnel based on the measurement data and the design data of the 3D laser scanner. The method. In this method of grasping the shape of the sky inside the tunnel, the inner wall surface of the tunnel is measured using a 3D laser scanner, and the point cloud data obtained by the measurement is used for noise and outliers using RANSAC (Random Samplering Consensus). By excluding and performing a process of approximating the basic plane figure to at least a part of the shape data of the inner sky wall surface shape of the tunnel, the inner sky wall surface of the tunnel including the combination of the basic plane figures is performed. The shape is estimated.

Japanese Unexamined Patent Publication No. 10-246628 Japanese Unexamined Patent Publication No. 2016-201074 Japanese Unexamined Patent Publication No. 2016-205837

As mentioned above, the current situation is that the series of operations from confirming the finished product to obtaining the volume is not automated, and it is necessary to reduce the workload of the on-site staff. Further, when these series of operations are performed manually, there is a problem that a large amount of time is required. Furthermore, since it is necessary to grasp the relationship between the progress of construction work and labor costs and material costs, it takes a long time for staff who are not accustomed to the work to calculate the volume.

The technique described in Patent Document 1 is a technique for obtaining three-dimensional data of a finished product using image data. Further, the technique described in Patent Document 2 is a technique for recognizing a worker using image data and creating a daily labor report or the like based on the movement of the recognized worker. In this regard, the construction volume data acquisition system according to the present invention automatically patrols the device for acquiring image data at the construction site of the construction structure so that the image data acquisition range is not damaged. By acquiring, the construction status data that is continuously integrated is generated, and on the premise that the finished product data is analyzed by deep learning, the volume data is calculated based on the analyzed finished product data. System, not just a combination of conventional technologies.

The present invention has been proposed in view of the above circumstances, and an object of the present invention is to provide a construction volume data acquisition system capable of quickly and accurately acquiring volume data and volume data.

The construction volume data acquisition system according to the present invention has the following features in order to achieve the above-mentioned object. That is, the construction volume data acquisition system according to the present invention is characterized by including an image data acquisition means, a patrol means, a construction status data generation means, a finished form data analysis means, and a volume data calculation means. .. In the present invention, the image data refers to data for expressing an image three-dimensionally, and specifically refers to three-dimensional pixel data.

The image data acquisition means is a means for acquiring image data in the construction process of the construction structure to be constructed, including coordinate data of at least two points. The patrol means is a means for patrol the image data acquisition means so that the image data acquisition range is not damaged at the construction site of the construction target to be constructed.

The construction status data generation means is a means for continuously integrating and generating three-dimensional construction status data including absolute coordinate data based on the acquired image data. The finished product data analysis means is a means for performing deep learning on the generated construction status data and analyzing the finished product data. The volume data calculation means is a means for calculating volume data based on the analyzed volume data.

The image data acquisition means sequentially acquires image data according to the progress of construction, generates construction status data by the construction status data generation means, analyzes the finished form data by the finished form data analysis means, and the volume data by the volume data calculation means. It is preferable to carry out the calculation of.

Further, in addition to the above-described configuration, a patrol route determining means for determining the shortest patrol route of the patrol means is provided so that there is no construction range in which image data cannot be obtained when the patrol means patrols the construction site. Is possible.

Further, in addition to the above-described configuration, it is possible to provide an image superimposition display control means for superimposing and displaying the acquired image data on the construction structure.

The construction volume data acquisition system having such a configuration includes an optical device such as a 3D camera, a patrol device equipped with the optical device and capable of patrol the construction site, a computer and its accessory devices, and a program installed in the computer. It is composed of. In the construction volume data acquisition system, image data in the construction process of a construction structure is acquired by an image data acquisition means consisting of an optical device such as a 3D camera. At this time, an optical device such as a 3D camera is mounted on a patrol means such as a traveling device that patrols the construction site. Further, it is preferable to determine the shortest patrol route of the patrol device so that there is no construction range in which image data cannot be obtained when the patrol device patrols the construction site.

The construction status data generation means continuously generates integrated three-dimensional construction status data based on the acquired image data. Since the image data includes the coordinate data of at least two points, the construction status data also includes the coordinate data. This construction status data is a three-dimensional image of the construction site, and the construction status can be grasped.

Then, by the function of the finished product data analysis means, deep learning is performed on the construction status data to analyze the finished product data. The analyzed finished product data can be displayed on the display screen of the liquid crystal display device or printed by a printer. Further, the finished product data may be stored in a storage device such as an HDD.

In addition, the volume data is calculated based on the analyzed volume data by the function of the volume data calculation means. For example, by analyzing the finished shape data and grasping the construction status such as the construction of reinforcing bars, the construction of formwork, and the placement of wall concrete, it is possible to calculate the volume data according to the progress of the construction status. .. Further, it is possible to generate construction progress data based on the calculated volume data.

The calculated volume data can be displayed on the display screen of the liquid crystal display device or printed by a printer. Further, the volume data may be stored in a storage device such as an HDD. Further, the acquired image data may be superimposed on the construction structure and displayed. Further, by sequentially storing the finished product data and the finished product data according to the progress of the construction, it is possible to confirm the bar arrangement position and the like after the construction is completed.

In the construction volume data acquisition system according to the present invention, an image data acquisition means composed of an optical device such as a 3D camera is mounted on the patrol means to patrol and acquire image data in the construction process of the construction structure, so that it is easy and reliable. It is possible to acquire three-dimensional data.

In addition, since deep learning is performed on the construction status data and the finished product data is analyzed, accurate finished product data can be quickly acquired. Further, since the accurate finished product data is acquired, the calculation of the volume data becomes easy and accurate.

As described above, according to the construction volume data acquisition system according to the present invention, it is possible to quickly and accurately acquire the volume data and the volume data without relying on the skill level of the worker. In addition, since the finished product data and the volume data can be acquired in a timely manner during the construction process, not only can the progress of the construction be accurately grasped, but also the arrangement position of the members can be confirmed after the construction is completed. ..

The block diagram which shows the structure of the construction volume data acquisition system which concerns on embodiment of this invention. Explanatory drawing which shows acquisition of image data. Explanatory drawing which shows the relationship between a three-dimensional image and a volume. Schematic diagram of the construction process (1). Schematic diagram of the construction process (2). Explanatory drawing which shows an example of a patrol route.

Hereinafter, the construction volume data acquisition system according to the embodiment of the present invention will be described with reference to the drawings. 1 to 6 show a construction volume data acquisition system according to an embodiment of the present invention, FIG. 1 is a block diagram showing a system configuration, FIG. 2 is an explanatory diagram showing image data acquisition, and FIG. 3 is a three-dimensional diagram. An explanatory diagram showing the relationship between the image and the volume, FIGS. 4 and 5 are schematic views of the construction process, and FIG. 6 is an explanatory diagram showing an example of the patrol route.

<Overview of construction volume data acquisition system>
The construction volume data acquisition system according to the embodiment of the present invention is a system for acquiring construction volume data using, for example, image data captured by a 3D camera or the like that patrols the construction site of a construction structure. As shown in FIG. 1, it is provided with an image data acquisition means 10, a patrol means 20, a construction status data generation means 30, a finished product data analysis means 40, and a volume data calculation means 50, and further, a patrol route. The determination means 60, the display control means 70, and the image superimposition display control means 80 may be provided. The finished product data and the volume data are displayed on the display means 90 under the control of the display control means 70. Further, the acquired image data can be superimposed and displayed on the construction site by using the image superimposition display control means 80.

Hereinafter, each means will be described. In addition, each means shall realize the equipment and accessory devices for exerting each function, the software that exerts the function in cooperation with the hardware resources by being read into the computer, and the equivalent function. It refers to a logic circuit that can be used.

<Image data acquisition means>
The image data acquisition means 10 is a means for acquiring image data in the construction process of the construction structure to be constructed including at least two coordinate data, and can be configured by, for example, a 3D camera. The 3D camera may be a two-lens imaging system or a monocular imaging system using a polarizer. The image data acquired by the image data acquisition means 10 is stored in a temporary storage area such as a RAM and used for generating construction status data. The image data will be acquired sequentially as the construction progresses. Along with this, the construction status data is generated by the construction status data generating means 30, the finished product data is analyzed by the finished product data analyzing means 40, and the finished product data is calculated by the finished product data calculating means 50 in sequence as the construction progresses.

In order to include the coordinate data of at least two points in the image data to be acquired, markers indicating the coordinate data may be installed at any two or more points in the patrol route by the patrol means 20. The means for acquiring the coordinate data is not limited to the marker, and any means may be used as long as the coordinate data can be acquired. For example, coordinate data can be acquired by using an RFID tag that transmits position data, a position coordinate acquisition device that uses a GPS system, or the like.

Since the image data to be acquired includes coordinate data of at least two points, absolute coordinates can be given based on the coordinate data when creating the construction status data. The coordinate data included in the image data can be the coordinate data of an arbitrary point, but by including the coordinate data of the starting point of the patrol means 20, the absolute coordinates are given accurately.

<Means of patrol>
The patrol means 20 includes an apparatus for patrol the image data acquisition means 10 and a control device thereof so that the image data acquisition range is not damaged at the construction site of the construction target to be constructed. For example, the patrol means 20 can be configured by using a traveling device including a trolley, drive wheels, a traveling control device, a traveling device that travels along a laid cable or a rail, a drone, or the like.

<Construction status data generation means>
The construction status data generation means 30 is a means for continuously and integrally generating three-dimensional construction status data based on the acquired image data, and is, for example, a program for generating a composite image and the same. Consists of the computer on which you have installed. A continuous and integrated three-dimensional image is an image as if you were visually observing the actual construction site, and reproduces the state of looking around and patrolling the construction site. It is a thing. That is, by generating the construction status data, it is possible to create a virtual construction site space (a virtual space in which all directions can be visually recognized).

<Finished data analysis method>
The finished product data analysis means 40 is a means for performing deep learning on the generated construction status data and analyzing the finished product data. For example, from a program for performing image analysis and a computer on which the finished product data analysis means 40 is installed. Become. By performing deep learning and analyzing the construction status data, it is possible to obtain the finished product data at the current stage. It is preferable that deep learning for the construction status data is widely carried out not only for the construction structure for which the volume data is to be acquired but also for other construction structures.

<Volume data calculation means>
The volume data calculation means 50 is a means for calculating volume data based on the analyzed volume data, and includes, for example, an arithmetic program for calculating volume data and a computer on which the volume data is calculated. In order to calculate the volume data, for example, as shown in FIG. 3, the completed form data is analyzed to grasp the construction status such as the construction of reinforcing bars, the construction of formwork, and the placement of wall concrete, and the construction status. Calculate the volume data according to the progress of. The calculation of volume data will be described in detail later. The three-dimensional image shown in FIG. 3 is an image of the shaded portion shown in FIG. 2, and is expressed in two dimensions for convenience, but is actually expressed in three dimensions.

<Means for determining the patrol route>
The patrol route determining means 60 is a means for determining the shortest patrol route of the patrol means 20 so that there is no construction range in which image data cannot be obtained when the patrol means 20 patrols the construction site. The image data acquisition means 10 comprises an arithmetic program for deriving a route that can be patrolled from the patrol start point to the patrol end point with a single stroke, and a computer on which the patrolling program is installed. Various algorithms for deriving the shortest patrol route have been proposed, but in the present embodiment, if there is no construction range in which image data cannot be obtained, it is not necessary to write a complete stroke, and calculation is performed. An appropriate algorithm may be used according to the processing capacity of the means. That is, in the present embodiment, since it is important not to generate a construction range in which image data cannot be obtained, duplication of patrol routes may be allowed.

The patrol route determining means 60 uses the coordinate data of the patrol start point and the patrol end point of the patrol means 20 and the coordinate data of the patrol range so that there is no construction range in which the image data cannot be obtained by the image data acquisition means 10. In addition, a patrol route capable of patrol the patrol means 20 is determined. At this time, as shown in FIG. 6, when there is an obstacle within the patrol range, the coordinate data of the obstacle is acquired, the patrol means 20 patrols while avoiding the obstacle, and the obstacle exists. Even in this case, the patrol route is determined so that there is no construction area where image data cannot be obtained.

At this time, using the acquired image data, it is confirmed whether or not it is possible to continuously generate integrated three-dimensional construction status data (whether or not the images can be joined without any loss), and it is appropriate. When the construction status data cannot be generated, it is preferable to perform control such as correcting the position of the image data acquisition means 10 or correcting the direction of the camera.

<Video superimposition display control means>
The image superimposition display control means 80 is a means for superimposing and displaying the acquired image data on the construction structure. The image superimposition display control means 80 may be configured by using, for example, a transmissive smart glass or a head-mounted display, or may be configured by using a projection mapping technique.

Specifically, the operator is made to wear a transmissive smart glass or a head-mounted display, and the acquired image data is superimposed and displayed on the construction structure by using an image composition technology such as AR technology. Alternatively, projection mapping technology is used to project the acquired image data onto the construction structure. As a result, the worker can accurately grasp the positions of the reinforcing bars, pipes, etc., which cannot be visually recognized from the appearance of the construction structure.

<Display means>
As shown in FIG. 1, in the construction volume data acquisition system of the present embodiment, a display control means 70 for controlling the display of a video signal and a display means 90 including a liquid crystal display device for displaying various data are provided. I have. The finished product data and the volume data are displayed by the display means 90 under the control of the display control means 70. As a result, the worker, the supervisor, and the like can confirm the finished product data and the volume data.

By displaying the analyzed volume data and the calculated volume data on the display screen of the display means 90, the worker or the supervisor can grasp the volume data and the volume data. Further, the finished product data and the finished product data may be printed by using a printer. As a result, forms related to the construction status can be automatically created. The numerical values of the volume data shown in FIGS. 3 to 5 are numerical values relative to the target volume, not absolute values with respect to the volume data at the completion of construction. In this way, the volume data can be expressed as a numerical value relative to the target.

<Procedure for acquiring volume data>
The procedure for acquiring the volume data using the above-mentioned construction volume data acquisition system will be described. In the following description, the construction is performed in the order of FIG. 4 (a), FIG. 4 (b), FIG. 5 (a), and FIG. 5 (b), image data is acquired as shown in FIG. 2, and FIG. 3 shows. Calculate volume data as shown. FIG. 4A shows a state in which the slab concrete 100 is cast and the anchor 110 is embedded, FIG. 4B shows a state in which the reinforcing bar 120 is built in, and FIG. 5A shows a state in which the formwork 130 is assembled. 5 (b) shows a state in which the casting of the wall concrete 140 is completed.

At this time, as shown in FIG. 6, for example, the patrol route determined by the patrol route determining means 60 avoids obstacles such as pillars and does not generate a construction range in which image data cannot be obtained. In FIG. 6, reference numeral S indicates a start point of the patrol means 20, and reference numeral E indicates a patrol end point of the patrol means 20. In addition, it is assumed that coordinate markers are installed at any two or more points including the starting point.

In order to acquire the construction volume data by the construction volume data acquisition system according to the embodiment of the present invention, construction is performed at the construction site of each construction structure by using the image data acquisition means 10 composed of an optical device such as a 3D camera. Acquire (photograph) image data in the construction process of the structure. At this time, the image data acquisition means 10 is mounted on the patrol means 20, and the patrol means 20 is driven so that there is no construction range in which the image data cannot be obtained, and the image data in the construction site of the construction structure is acquired ( Take a picture).

The acquired image data is stored in an appropriate storage means (for example, RAM or HDD) as three-dimensional construction status data that is continuously integrated by the function of the construction status data generation means 30. Then, by the function of the finished product data analysis means 40, deep learning is performed on the construction status data to analyze the finished product data. Deep learning is machine learning for deriving the relationship between construction status data and finished product, and by performing deep learning on a large number of construction status data acquired from multiple construction sites, the finished product is even more accurate. You can analyze the data.

After the volume data is analyzed, the volume data is calculated based on the analyzed volume data by the function of the volume data calculation means 50. In addition, as the construction progresses, the finished product data and the volume data are sequentially stored in a storage device such as an HDD, so that the data can be read out and the progress status of the construction can be confirmed easily and surely. it can.

The acquisition of volume data in one room of an apartment will be described as an example. In one room of the condominium, for example, the construction is carried out by the procedure of building reinforcing bars, constructing formwork, placing wall concrete, interior construction, and installing equipment. Then, by performing deep learning on the construction status data and analyzing the finished form data, it is possible to construct any of the following stages: rebar construction, formwork construction, wall concrete placement, interior construction, and equipment installation. Can be grasped whether is progressing. The above-mentioned construction procedure is an example, and other construction procedures may be included or a part of the construction procedure may be omitted.

That is, if the total number of work types is the denominator and the number of work types currently completed is the numerator, the approximate data of the volume can be calculated. Specifically, in condominium construction, the total number of works includes the construction of reinforcing bars, the construction of formwork, the placement of wall concrete, the interior construction, and the installation of equipment. In this case, the total number of work types is "5".

Then, by performing deep learning on the construction status data and analyzing the finished product data, it is possible to grasp which construction stage (construction type) is currently being performed. For example, if the analysis result shows that the interior material is in the foreground, it is determined that the interior work has started and the work up to the placement of the wall concrete has been completed. That is, in this state, it is judged that the three types of work, that is, the construction of the reinforcing bar, the construction of the formwork, and the placement of the wall concrete have been completed. Therefore, the volume is a value obtained by dividing the number of work types (3) for which construction has been completed by the total number of work types (5), and the volume data is 60%.

In the above-described embodiment, a construction example in which a reinforcing bar is built on slab concrete, a formwork is constructed, and wall concrete is placed has been described, but the application target of the construction volume data acquisition system according to the present invention is this. It is not limited to such construction, but can be applied to the acquisition of volume data of various construction structures including civil engineering work such as tunnel excavation work and filling work.

10 Image data acquisition means 20 Patrol means 30 Construction status data generation means 40 Formwork data analysis means 50 Volume data calculation means 60 Patrol route determination means 70 Display control means 80 Image superimposition display control means 90 Display means 100 Slab concrete 110 Anchor 120 Reinforcement 130 formwork 140 wall concrete

Claims (4)

An image data acquisition means for acquiring image data in the construction process of a construction structure to be constructed, including coordinate data of at least two points, and an image data acquisition means.
At the construction site of the construction structure to be constructed, the patrol means for patrol the image data acquisition means and the patrol means so as not to cause a defect in the image data acquisition range.
Based on the acquired image data, a construction status data generation means that continuously integrates and generates three-dimensional construction status data including absolute coordinate data, and
A means of analyzing the finished product data, which analyzes the finished product data by performing deep learning on the generated construction status data.
Volume data calculation means that calculates volume data based on the analyzed volume data,
A construction volume data acquisition system characterized by being equipped with. In the image data acquisition means, image data is sequentially acquired according to the progress of construction.
The construction status data is generated by the construction status data generating means, the finished product data is analyzed by the finished product data analyzing means, and the volume data is calculated by the volume data calculating means.
The construction volume data acquisition system according to claim 1, wherein the construction volume data acquisition system is characterized in that. Claim 1 is characterized in that the patrol route determining means for determining the shortest patrol route of the patrol means is provided so that there is no construction range in which image data cannot be obtained when the patrol means patrols the construction site. Or the construction volume data acquisition system described in 2. The construction volume data acquisition system according to any one of claims 1 to 3, further comprising an image superimposition display control means for superimposing and displaying the acquired image data on a construction structure.

Images