JP7572579B2 - Construction support system and construction support method - Google Patents

Description

The present invention relates to a construction support system and a construction support method.

Conventionally, in construction management systems for large facilities, buildings, etc., a method has been used to reduce the labor and time required for construction management by determining in advance the design position coordinates of a virtual architectural structure in the virtual space within the 3D CAD data, and then bringing the real position data of the real architectural structure in the real space closer to the design position coordinate data (for example, Patent Document 1).
Also, a method has been adopted in which a three-dimensional CAD of the equipment to be installed is produced, point cloud data of the installation base is obtained, and the height direction is adjusted (for example, Patent Document 2).

JP 2020-8423 A JP 2016-224786 A

However, the method described in Patent Document 1 in which both the installation environment and the installation target are made into three-dimensional CAD models has the problem that it is difficult to respond to the installation environment, which changes daily, because it takes time and cost to create the model.
In addition, the method of calculating the installation adjustment height between the equipment to be installed and the surface of the base body on which the equipment is to be installed in Patent Document 2 adjusts only the height direction of the installation object, making it difficult to respond to three-dimensional behavior.

The present invention was developed to address the above-mentioned issues, and aims to provide a construction support system and construction support method that can easily respond to changes in the installation environment and three-dimensional behavior.

According to one aspect of the present invention, there is provided a construction support system that supports remote guidance when installing an object to be installed, the construction support system comprising: three or more real tracking targets attached to the object to be installed; a real surveying instrument that is placed in real space and tracks the three or more real tracking targets to acquire real position coordinate data of the three or more real tracking targets; and a processing device that converts the real position coordinate data into virtual point cloud position coordinate data in a virtual space of three-dimensional point cloud data, incorporates a three-dimensional CAD model of the object to be installed in the virtual space, and reproduces the behavior of the object to be installed in the virtual space.

According to one aspect of the present invention, there is provided a construction support method for supporting remote guidance when installing an object to be installed, the construction support method comprising the steps of: tracking three or more real tracking targets attached to the object to be installed with a real surveying instrument arranged in real space, and acquiring real position coordinate data of the three or more real tracking targets; converting the real position coordinate data into virtual point cloud position coordinate data in a virtual space of three-dimensional point cloud data, incorporating a three-dimensional CAD model of the object to be installed in the virtual space, and reproducing the behavior of the object to be installed in the virtual space.

According to one aspect of the present invention, a construction support system and construction support method are provided that can easily respond to changes in the installation environment and three-dimensional behavior.

1 is a configuration diagram showing a construction support system according to an embodiment of the present invention; 2 is a flowchart showing a construction support method according to an embodiment of the present invention. 1 is an image showing an example of a reality checker flag. 1 is a photograph showing an installation target object and an installation environment in an embodiment. 1 is an image showing the result of converting the installation environment into point cloud data in an embodiment. 1 is an image showing a three-dimensional CAD model of an object to be installed, created in an embodiment. 1 is a photograph showing a real tracking target used in the embodiment. 11 is a photograph showing an installation state in real space in an embodiment. 11 is an image showing an installation state in a virtual space in the embodiment.

In the following detailed description, an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings, identical or similar parts are given the same or similar reference numerals, and duplicate explanations will be omitted. The drawings are schematic and may differ from the actual product. In addition, the embodiments shown below are examples of devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention does not specify the materials, structure, arrangement, etc. of the components as described below. The technical concept of the present invention may be modified in various ways within the technical scope defined by the claims.

<Construction support system>
1, a construction support system 1 according to an embodiment of the present invention is a construction support system that supports remote guidance when installing an installation target object 6, and includes three or more reality tracking targets 2, a reality surveying instrument 3, a processing device 4, and a display device 5. The installation target object 6 is not particularly limited, and may be a large object to be installed in the construction of a large facility or building, such as a large machine.

The three or more real tracking targets 2 are facing devices attached to the installation target object 6. A prism (reflecting prism) is attached to the real tracking targets 2. By setting the number of real tracking targets 2 to three or more, it is possible to measure three-dimensional changes in the attitude of the installation target object 6. In this embodiment, as an example, three real tracking targets 2 are attached to the installation target object 6.

The real surveying instrument 3 is placed in real space and acquires the position coordinates of three or more real tracking targets 2. The real surveying instrument 3 transmits the real position coordinate data of the three or more real tracking targets, which is the measurement result of the position coordinates of the three or more real tracking targets 2, to the processing device 4. In addition, the acquisition of the real position coordinate data by the real surveying instrument 3 is performed continuously. That is, in this embodiment, the three or more real tracking targets 2 and the real surveying instrument 3 continuously acquire real position coordinate data, thereby continuously measuring the position coordinates and attitude of the installation target object 6.

The processing device 4 converts the real position coordinate data into virtual point cloud position coordinate data in a virtual space of pre-created three-dimensional point cloud data, incorporates a three-dimensional CAD model of the installation target object 6 into the virtual space, and reproduces the behavior of the installation target object 6 in the virtual space.
The display device 5 is a monitor or the like that displays the behavior of the installation target object 6 in the virtual space reproduced by the processing device 4.

<Construction support method>
The construction support method according to this embodiment will be described with reference to Fig. 2. In this embodiment, first, a step of acquiring point cloud data of the actual installation environment is performed (S100). In step S100, the installation environment is converted into point cloud data by a laser scanner. For example, in the case of Fig. 1, the surrounding environment including the platform 7 on which the installation target object 6 is to be installed is converted into point cloud data as the installation environment. The virtual space based on the point cloud data created in step S100 is also called a virtual space.

Next, the processing device 4 performs a process of creating a three-dimensional CAD model of the installation target object 6 (S102).
Furthermore, the processing device 4 performs a process of importing the three-dimensional CAD model of the installation target object 6 created in step S102 into the virtual space created in step S100 (S104).
The processes of steps S100 to S104 may be performed in advance before installing the installation target object 6. In this case, it is preferable to acquire the point cloud data of step S100 when the surrounding environment is in the same state as when the installation target object 6 is actually installed.

After step S104, the real surveying instrument 3 is installed in the real space, and a process of synchronizing the real space with the virtual space of the point cloud data is performed (S106). In step S106, if the coordinates of the installation position of the real surveying instrument 3 and the measurement range are known in advance, the real space and the virtual space may be synchronized according to the coordinates of the installation position of the real surveying instrument 3 and the measurement range. In addition, a reality checker flag for synchronizing the real space and the virtual space may be provided on the real surveying instrument 3. The reality checker flag is, for example, a black and white checkered image as shown in FIG. 3. In this case, such a reality checker flag is attached in advance to at least three or more places in the measurement range, and the point cloud data of the real space is measured in the range including the reality checker flag. The processing device 4 then aims the real checker flag at the real surveying instrument 3 and converts the acquired real position coordinate data into virtual point cloud position coordinate data, i.e., synchronizes the acquired real checker flag with the virtual checker flag in the virtual space, thereby synchronizing the real space with the virtual space.

After step S106, the real surveying instrument 3 performs a process of tracking three or more real tracking targets 2 attached to the installation target object 6 (S108). In step S108, the real surveying instrument 3 measures the coordinates of the prisms of the three or more real tracking targets 2, thereby measuring the position coordinates of each real tracking target 2. The measured real position coordinate data is transmitted to the processing device 4.

After step S108, the processing device 4 converts the real position coordinate data acquired in step S108 into virtual point cloud position coordinate data, and performs a process of reproducing the behavior of the 3D CAD model of the installation target object 6 in the virtual space from the converted virtual point cloud position coordinate data (S110). In step S110, the position coordinates and attitude of the 3D CAD model of the installation target object 6 in the virtual space are determined and reproduced from the virtual point cloud position coordinate data of three or more real tracking targets 2. The virtual space in which the behavior of the installation target object 6 is reproduced is displayed on the display device 5.

After step S110, the processing device 4 judges whether or not to end the reproduction of the behavior of the installation target object 6 in the virtual space (S112). The judgment in step S112 is determined according to a preset criterion, such as whether or not the installation of the installation target object 6 has been completed. If it is judged in step S112 that the reproduction of the behavior of the installation target object 6 in the virtual space is not to be ended, the processing from step S110 onwards is repeated. In other words, the reproduction of the behavior of the installation target object 6 in the virtual space is repeated until the installation of the installation target object 6 is completed. On the other hand, if it is judged in step S112 that the reproduction of the behavior of the installation target object 6 in the virtual space is to be ended, the series of processing shown in FIG. 2 ends.

According to the construction support system and construction support method of the above embodiment, it is only necessary to create a 3D CAD model of the object 6 to be installed, and there is no need to create a 3D CAD model of the surrounding environment. Therefore, compared to Patent Document 1, the time required for model creation can be shortened and costs can be reduced. In addition, because the surrounding environment is acquired as point cloud data, the time required for creating the virtual space can also be shortened. Therefore, it is possible to respond to installation environments that are prone to change.

Moreover, according to the construction support system and construction support method of the above embodiment, the position and orientation of the installation target object 6 are determined from the virtual point cloud position coordinate data of three or more real tracking targets 2. Therefore, unlike Patent Document 2, it is also possible to deal with three-dimensional behavior of the installation target object 6.
Furthermore, according to the construction support system and construction support method of the above-mentioned embodiment, the installation target object 6 and the surrounding environment can be grasped in a three-dimensional virtual space, i.e., on the display device 5, so that the worker does not need to approach the installation target object 6 to perform tasks such as inspection, thereby improving the safety of the installation work.

Although the present invention has been described above with reference to specific embodiments, it is not intended that the invention be limited by these descriptions. By referring to the description of the present invention, other embodiments of the present invention including various modifications in addition to the disclosed embodiment will be apparent to those skilled in the art. Therefore, it should be understood that the embodiments of the invention described in the claims also include embodiments including these modifications described in this specification, either alone or in combination.

The following describes an example carried out by the present inventors. In the example, an installation target object 6 was installed in the installation environment shown in FIG. 4 using a construction support system 1 similar to that of the above embodiment. In this example, a rectangular parallelepiped frame as shown in FIG. 4 was used as the installation target object 6, and the installation target object 6 was installed in a rectangular parallelepiped frame larger than the installation target object 6, which constitutes the installation environment.

In this embodiment, the installation environment is converted into point cloud data in step S100, as shown in Fig. 5. Also, a three-dimensional CAD model 6A of the installation target object 6 created in step S102 is shown in Fig. 6. Furthermore, a real tracking target 2 having a prism 21 used in this embodiment is shown in Fig. 7. Furthermore, Figs. 8 and 9 respectively show a photograph showing the installation state in real space and an image showing the installation state in virtual space after installation is completed.
In this embodiment, it was confirmed that by using a construction support system and construction support method similar to those in the above embodiment, it is possible to reproduce a virtual space that is free from any deviation from the real space, as shown in Figures 8 and 9.

1 Construction support system 2 Real tracking target 3 Real surveying equipment 4 Processing device 5 Display device 6 Installation target object 7 Unit

Claims (4)

A construction support system that supports remote guidance of an installation target object when installing the installation target object in a real space , comprising:
a virtual space specifying means for acquiring three-dimensional point cloud data of a real installation environment in the same state as immediately before the start of installation of the installation target object before the start of installation , and specifying a virtual space by the acquired three-dimensional point cloud data;
creating a three-dimensional CAD model of the object to be installed;
When starting remote guidance for installing the installation target object, a real surveying instrument arranged in a real space tracks three or more real tracking targets attached to the installation target object, acquires real position coordinate data of the three or more real tracking targets, converts the acquired real position coordinate data into virtual point cloud position coordinate data of the virtual space specified by the virtual space specifying means, and imports a three-dimensional CAD model of the installation target object into the virtual space;
Synchronizing the real space with the virtual space in accordance with the coordinates of the installation position of the real surveying instrument disposed in the real space;
a processing device for tracking the three or more real tracking targets attached to the installation object with the real surveying instrument when remotely guiding the installation object, continuously acquiring real position coordinate data of the three or more real tracking targets , and continuously reproducing in the synchronized virtual space a position and attitude of the installation object until installation of the installation object is completed while synchronizing with the real space ;
a display device that continuously displays a position and a posture of the installation target object in the virtual space to support remote guidance until installation of the installation target object is completed;
A construction support system equipped with: the reality surveying instrument further comprising a reality checker flag for synchronizing the real space with the virtual space;
2. The construction support system according to claim 1, wherein the real space and the virtual space are synchronized by sighting the reality checker flag set in the real space using the real surveying instrument and converting the acquired real position coordinate data of the reality checker flag into virtual point cloud position coordinate data in the virtual space. 1. A construction support method for supporting remote guidance of an installation target object when installing the installation target object in a real space , comprising:
a virtual space specifying step of acquiring three-dimensional point cloud data of a real installation environment in the same state as immediately before the start of installation of the installation target object before the start of installation , and specifying a virtual space by the acquired three-dimensional point cloud data;
creating a three-dimensional CAD model of the object to be installed;
a step of tracking three or more real tracking targets attached to the object to be installed with a real surveying instrument arranged in a real space when remote guidance for installing the object to be installed is started, acquiring real position coordinate data of the three or more real tracking targets, converting the acquired real position coordinate data into virtual point cloud position coordinate data of the virtual space specified in the virtual space specifying step, and importing a three-dimensional CAD model of the object to be installed into the virtual space;
a step of synchronizing the real space with the virtual space in accordance with coordinates of an installation position of the real surveying instrument disposed in the real space;
a step of tracking the three or more real tracking targets attached to the installation object with the real surveying instrument when remotely guiding the installation object, continuously acquiring real position coordinate data of the three or more real tracking targets , and continuously reproducing in the synchronized virtual space the position and attitude of the installation object until the installation of the installation object is completed while synchronizing with the real space ;
a step of continuously displaying a position and an attitude of the installation target object in the virtual space to assist remote guidance until installation of the installation target object is completed;
A construction support method comprising: In the step of synchronizing the real space with the virtual space,
4. The construction support method according to claim 3, wherein the real space and the virtual space are synchronized by sighting a reality checker flag set in the real space using the real surveying instrument and converting the acquired real position coordinate data of the reality checker flag into virtual point cloud position coordinate data in the virtual space.

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