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WO2024047782A1 - Système de dessin de données de groupe de points, serveur, dispositif de dessin de données de groupe de points et procédé de dessin de données de groupe de points - Google Patents

Système de dessin de données de groupe de points, serveur, dispositif de dessin de données de groupe de points et procédé de dessin de données de groupe de points Download PDF

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Publication number
WO2024047782A1
WO2024047782A1 PCT/JP2022/032731 JP2022032731W WO2024047782A1 WO 2024047782 A1 WO2024047782 A1 WO 2024047782A1 JP 2022032731 W JP2022032731 W JP 2022032731W WO 2024047782 A1 WO2024047782 A1 WO 2024047782A1
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WIPO (PCT)
Prior art keywords
point cloud
cloud data
server
unit
terminal device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/032731
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English (en)
Japanese (ja)
Inventor
克之 亀井
昌志 渡辺
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2022/032731 priority Critical patent/WO2024047782A1/fr
Priority to JP2024543680A priority patent/JPWO2024047782A1/ja
Publication of WO2024047782A1 publication Critical patent/WO2024047782A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics

Definitions

  • the present disclosure relates to a point cloud data drawing system, a server, a point cloud data drawing device, and a point cloud data drawing method related to drawing point cloud data of an object.
  • Patent Document 1 describes a technology that reduces the amount of data transferred from the robot to the terminal device of point cloud data measured by a three-dimensional sensor mounted on the robot while ensuring visibility in a terminal device that remotely controls the robot. is disclosed.
  • a predetermined area is set around a three-dimensional sensor by a terminal device, and an upper limit of the amount of data to be transferred in the set area is determined.
  • the present disclosure has been made in order to solve such problems, and provides a point cloud data drawing system that can transfer and draw point cloud data in a region corresponding to the confirmation part with simple operations. , a server, a point cloud data drawing device, and a point cloud data drawing method.
  • a point cloud data drawing system includes a server and a terminal device communicably connected to the server, and the server draws a plurality of elements constituting a target object in three dimensions.
  • a server storage unit that stores model data including element shape information expressed as a set of figures, element identification information that identifies each element, and three-dimensional point cloud data of the measured object;
  • a model processing unit that acquires element shape information corresponding to element identification information received from a terminal device from stored model data, and an element acquired by the model processing unit from point cloud data stored in a server storage unit.
  • a point cloud extraction unit that extracts multiple points based on shape information, and specific point cloud data that is point cloud data that receives element identification information from a terminal device and is composed of multiple points extracted by the point cloud extraction unit.
  • a server communication unit that transmits data to the terminal device; , an input unit that accepts the designation of an element and acquires element identification information corresponding to the designated element from the terminal storage unit, and transmits the element identification information acquired by the input unit to the server and receives specific point cloud data from the server.
  • a drawing section that draws an image based on the specific point group data received by the terminal communication section.
  • FIG. 1 is a block diagram showing an example of the configuration of a point cloud data drawing system according to a first embodiment
  • FIG. FIG. 3 is a diagram showing an example of point cloud data according to the first embodiment.
  • 5 is a flowchart illustrating an example of the operation of the terminal device according to the first embodiment.
  • 3 is a diagram illustrating how elements of an object are selected according to the first embodiment;
  • FIG. FIG. 3 is a diagram showing an example of displaying point cloud data according to the first embodiment.
  • 3 is a flowchart illustrating an example of the operation of the server according to the first embodiment.
  • FIG. 2 is a block diagram illustrating an example of the configuration of a point cloud data drawing system according to a second embodiment.
  • FIG. 7 is a flowchart illustrating an example of the operation of the server according to the second embodiment.
  • 7 is a diagram showing an example of point cloud data according to Embodiment 2.
  • FIG. 12 is a block diagram showing an example of the configuration of a point cloud data drawing device according to a third embodiment.
  • FIG. 7 is a flowchart illustrating an example of the operation of the point cloud data drawing device according to the third embodiment.
  • 12 is a flowchart illustrating an example of the operation of the terminal device according to Embodiment 4.
  • FIG. 12 is a flowchart illustrating an example of the operation of the terminal device according to the fifth embodiment.
  • FIG. 9 is a diagram showing how elements of an object are selected according to the fifth embodiment.
  • 9 is a diagram illustrating an example of displaying point cloud data according to Embodiment 5.
  • FIG. 12 is a flowchart illustrating an example of the operation of the terminal device according to the sixth embodiment.
  • FIG. 12 is a diagram showing how elements of an object are selected according to the sixth embodiment.
  • 12 is a diagram showing an example of displaying point cloud data according to Embodiment 6.
  • FIG. 12 is a flowchart illustrating an example of the operation of the terminal device according to Embodiment 7.
  • 12 is a flowchart illustrating an example of the operation of a server according to Embodiment 7.
  • FIG. 9 is a diagram showing how elements of an object are selected according to Embodiment 7; 12 is a diagram showing an example of displaying point cloud data according to Embodiment 7.
  • FIG. 2 is a diagram showing an example of the hardware configuration of a point cloud data drawing system according to Embodiments 1 to 7.
  • FIG. 2 is a diagram showing an example of the hardware configuration of a point cloud data drawing system according to Embodiments 1 to 7.
  • FIG. 1 is a block diagram showing an example of the configuration of a point cloud data drawing system according to the first embodiment.
  • the point cloud data drawing system includes a server 1 and a terminal device 8.
  • the server 1 and the terminal device 8 are communicably connected via a network 16.
  • the server 1 includes a server storage section 2, a model processing section 5, a point cloud extraction section 6, and a server communication section 7.
  • the server storage unit 2 stores model data 3 and point cloud data 4.
  • the model data 3 is three-dimensional data representing the object in CAD (Computer Aided Design) format or a collection of figures such as polygons.
  • the model data 3 includes ID information that specifies each element (element identification information) and shape information that expresses the shape of each element in coordinate values (each element (element shape information expressed as a set of three-dimensional figures).
  • the ID information may be, for example, a number or a character string including a number and a symbol.
  • the coordinate values are, for example, a sequence of coordinate values of the vertices of a polygon.
  • the model data (three-dimensional model data) may be data at the time of designing the object, or may be obtained by modeling the point cloud data 4.
  • the point cloud data 4 is a set of points having three-dimensional coordinate values of the measured object.
  • FIG. 2 shows an example of point group data 4 in which three-dimensional coordinates are x, y, and z.
  • other information may be added, such as information representing the color of each point or, if acquired by laser measurement, a laser reflection intensity value at the time of measurement.
  • the coordinate system may be, for example, a coordinate system consisting of latitude, longitude, and height, a planar rectangular coordinate system announced by the Ministry of Land, Infrastructure, Transport and Tourism, or an arbitrarily set coordinate system.
  • the unit of the coordinate value is, for example, "m”. Note that the coordinate system described here is also applicable to a coordinate system of coordinate values representing the shape of each element included in the model data 3.
  • the model processing unit 5 acquires the shape information of the element corresponding to the ID information received from the terminal device 8 from the model data 3 stored in the server storage unit 2.
  • the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2.
  • the value indicating the neighborhood range may be fixed, such as 10 cm, for example, or may be changed from the terminal device 8.
  • the server communication unit 7 communicates with the terminal device 8 via the network 16. Specifically, the server communication unit 7 receives ID information from the terminal device 8 and transmits point cloud data (specific point cloud data) made up of a plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8. Send.
  • point cloud data specific point cloud data
  • the terminal device 8 includes a terminal storage section 9, an input section 11, a drawing section 12, and a terminal communication section 13.
  • the input section 11 is connected to an input device 14, and the drawing section 12 is connected to a monitor 15.
  • Examples of the terminal device 8 include a personal computer and a mobile terminal.
  • the terminal storage unit 9 stores object data 10 including member data or shape information (shape information of each element forming the object) constituting the object, and ID information (element identification information) specifying each element.
  • member refers to a component of an object, such as a bridge pier that constitutes a bridge.
  • the object data 10 is the same data as the model data 3 stored in the server storage unit 2 of the server 1. That is, the object data 10 includes a three-dimensional model in which a plurality of elements constituting the object are expressed as a set of three-dimensional figures.
  • the input unit 11 receives designation of an element of the object (designation of a confirmation part of the object) from an input device 14 such as a pointing device, for example.
  • the input unit 11 also acquires ID information corresponding to the designated element from the object data 10 stored in the terminal storage unit 9.
  • the drawing unit 12 draws an image based on the point cloud data received by the terminal communication unit 13 and displays the image on the monitor 15.
  • the terminal communication unit 13 communicates with the server 1 via the network 16. Specifically, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1, and receives point cloud data (specific point cloud data) of the element corresponding to the ID information from the server 1.
  • point cloud data specific point cloud data
  • FIG. 3 is a flowchart showing an example of the operation of the terminal device 8.
  • step S11 the drawing unit 12 draws an image of the object based on the shape information included in the object data 10 stored in the terminal storage unit 9 so as to have a predetermined viewpoint position and line of sight direction. Then, the image is displayed on the monitor 15. For example, a wire frame model that depicts the sides of a figure or a polygon model that depicts polygons by filling them in is used to draw the object. Note that the information regarding the predetermined viewpoint position and line-of-sight direction is set by the user of the terminal device 8 using the input device 14.
  • step S12 the input unit 11 determines whether an element of the object has been specified. The process of step S12 is repeated until the element of the object is specified, and once the element of the object is specified, the process moves to step S13.
  • the user uses the input device 14 to move the elements (shapes) constituting the bridge with the cursor ( (arrow). Thereby, the input unit 11 determines that the element of the object has been designated.
  • step S13 the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the object data 10.
  • the specified element may be, for example, a graphic drawn closest to the position specified by the cursor on the screen of the monitor 15. Note that there may be multiple elements specified by the user.
  • step S14 the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1. If there are multiple elements specified by the user, the terminal communication unit 13 transmits ID information corresponding to each element to the server 1.
  • step S15 the terminal communication unit 13 receives point cloud data (specific point cloud data) of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S14.
  • step S16 the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point group data received by the terminal communication unit 13, and displays the image on the monitor 15.
  • FIG. 5 shows how point cloud data is displayed superimposed on the element selected in FIG. 4.
  • the shape indicated by the thick frame on which the cursor is placed represents the selected element (shape).
  • the filled circles drawn on it are points of point group data (specific point group data).
  • step S17 the terminal device 8 determines whether to end each process shown in FIG. 3. If the process is to be terminated, the operation shown in FIG. 3 is terminated. On the other hand, if the process does not end, the process returns to step S12.
  • FIG. 6 is a flowchart showing an example of the operation of the server 1.
  • step S21 the server communication unit 7 receives ID information from the terminal device 8.
  • step S22 the model processing unit 5 acquires shape information of the element corresponding to the ID information received by the server communication unit 7 from the model data 3 stored in the server storage unit 2.
  • step S23 the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2. do.
  • the point group extraction unit 6 extracts a plurality of points whose distance from the surface of a figure expressing the shape of the element is less than or equal to a predetermined value.
  • step S24 the server communication unit 7 transmits point cloud data composed of a plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8.
  • the server 1 and the terminal device 8 share ID information, and the point cloud data of the elements of the object are displayed on the monitor 15 using the ID information.
  • the terminal device 8 sends only the ID information to the server 1 with a simple operation by the user, and the server 1 corresponds to the confirmation part (the element specified by the user) from the entire point cloud data based on the ID information. It narrows down to the point cloud data and transmits it to the terminal device 8. Therefore, the communication load between the server 1 and the terminal device 8 and the processing load of drawing on the terminal device 8 can be reduced.
  • FIG. 7 is a block diagram showing an example of the configuration of a point cloud data drawing system according to the second embodiment.
  • the point cloud data drawing system As shown in FIG. 7, the point cloud data drawing system according to the second embodiment is characterized in that the server 17 includes a server storage section 18, a model processing section 20, and a point cloud extraction section 21.
  • the rest of the configuration is the same as the point cloud data drawing system shown in FIG. 1 described in Embodiment 1, so a detailed description will be omitted here.
  • the model processing unit 20 (element identification information assignment unit) assigns ID information to each point included in the point cloud data 19 in advance.
  • the point cloud extraction unit 21 extracts a plurality of points corresponding to the ID information received by the server communication unit 7 from the terminal device 8 from the point cloud data 19 stored in the server storage unit 18.
  • the operation of the terminal device 8 is similar to the operation shown in FIG. 3 described in Embodiment 1, so a description thereof will be omitted here. Below, the operation of the server 17 will be explained.
  • FIG. 8 is a flowchart showing an example of the operation of the server 17.
  • step S31 the model processing unit 20 assigns ID information to each point included in the point cloud data. Specifically, the model processing unit 20 assigns ID information corresponding to the element closest to each point. Note that points that do not fall within the neighborhood range of any element may be treated as noise points and not given ID information.
  • FIG. 9 is a diagram showing an example of point cloud data to which ID information is added. Note that if ID information has already been assigned to each point, the operation in step S31 may be omitted.
  • step S32 the server communication unit 7 receives ID information from the terminal device 8.
  • step S33 the point cloud extraction unit 21 extracts a plurality of points assigned the same ID information as the ID information received by the server communication unit 7 from the point cloud data 19 stored in the server storage unit 18.
  • step S34 the server communication unit 7 transmits point cloud data composed of a plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8.
  • FIG. 10 is a block diagram showing an example of the configuration of the point cloud data drawing device 22 according to the third embodiment.
  • the point cloud data drawing device 22 includes a storage section 23, an input section 11, a model processing section 5, a point cloud extraction section 6, and a drawing section 12.
  • the input section 11 is connected to an input device 14, and the drawing section 12 is connected to a monitor 15.
  • the model data 3 and point cloud data 4 stored in the storage unit 23 are similar to the model data 3 and point cloud data 4 stored in the server storage unit 2 shown in FIG. 1 described in the first embodiment. It is.
  • the input unit 11 receives designation of an element of the object (designation of a confirmation part of the object) from an input device 14 such as a pointing device, for example.
  • the input unit 11 also acquires ID information corresponding to the designated element from the model data 3 stored in the storage unit 23.
  • the model processing unit 5 acquires shape information of the element corresponding to the ID information acquired by the input unit 11 from the model data 3 stored in the storage unit 23.
  • the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the storage unit 23.
  • the drawing unit 12 draws an image based on point cloud data composed of a plurality of points extracted by the point cloud extraction unit 6, and displays the image on the monitor 15.
  • FIG. 11 is a flowchart showing an example of the operation of the point cloud data drawing device 22.
  • step S41 the drawing unit 12 draws an image of the object based on the shape information included in the model data 3 stored in the storage unit 23 so as to have a predetermined viewpoint position and direction of sight, The image is displayed on the monitor 15.
  • step S42 the input unit 11 determines whether an element of the object has been specified. The process of step S42 is repeated until the element of the object is specified, and once the element of the object is specified, the process moves to step S43.
  • step S43 the input unit 11 acquires ID information corresponding to the specified element from the model data 3 stored in the storage unit 23. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the model data 3.
  • step S44 the model processing unit 5 acquires shape information of the element corresponding to the ID information acquired by the input unit 11 from the model data 3 stored in the storage unit 23.
  • step S45 the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the storage unit 23. .
  • step S46 the drawing unit 12 draws an image based on the point cloud data made up of the plurality of points extracted by the point cloud extraction unit 6, and displays the image on the monitor 15.
  • step S47 the point cloud data drawing device 22 determines whether to end each process shown in FIG. 11. If the process is to be terminated, the operation shown in FIG. 11 is terminated. On the other hand, if the process does not end, the process returns to step S42.
  • the point cloud data drawing device 22 draws only the point cloud data corresponding to the confirmation portion (the element designated by the user) from the entire point cloud data based on the ID information. Therefore, the processing load of drawing on the point cloud data drawing device 22 can be reduced.
  • Embodiment 4 ⁇ Configuration>
  • a case where the target object is a tunnel will be described.
  • the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 will be described as an example, but it is also applicable to Embodiments 2 and 3.
  • the object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes a tunnel development diagram model that represents a tunnel as a tunnel development diagram.
  • the tunnel development diagram model includes coordinate values (tunnel shape information) when drawing a tunnel development diagram.
  • the coordinate system of the developed tunnel diagram is a coordinate system in which the horizontal axis is the central axis of the tunnel, and the vertical axis is the position along the contour of the cross section of the tunnel. Note that the distance from the cross-sectional curved surface may be added to the coordinate system of the tunnel development view to treat it as three-dimensional coordinates.
  • one element of a tunnel development diagram is a range called a span, which serves as a standard for tunnel construction and management.
  • the point cloud data 4 stored in the server storage unit 2 of the server 1 is data of points measured from inside the tunnel to the tunnel inner wall, or in addition to this, the road surface.
  • FIG. 12 is a flowchart showing an example of the operation of the terminal device 8.
  • step S51 the drawing unit 12 draws a tunnel development diagram based on the tunnel development diagram model included in the object data 10 stored in the terminal storage unit 9, and displays the image on the monitor 15.
  • a tunnel development diagram for example, a wire frame model that depicts the sides of a figure or a polygon model that depicts polygons by filling them in is used.
  • a photographic image of the tunnel inner wall may be texture mapped and drawn.
  • step S52 the input unit 11 determines whether an element of the tunnel development diagram has been specified. The process of step S52 is repeated until the element of the tunnel development diagram is designated, and when the element of the tunnel development diagram is designated, the process moves to step S53.
  • the user uses the input device 14 to specify an element (shape) of the tunnel development diagram with a cursor (arrow in the diagram). do. Thereby, the input unit 11 determines that the element of the tunnel development diagram has been specified.
  • the tunnel development diagram may include information on the installation status of equipment and deformations such as cracks.
  • step S53 the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the object data 10.
  • step S54 the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.
  • step S55 the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S54.
  • step S56 the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point cloud data received by the terminal communication unit 13, and displays the image on the monitor 15.
  • FIG. 14 shows that the element on which the cursor is placed in FIG. 13 is selected, and the point cloud data of the selected element is displayed.
  • the drawing unit 12 may display the point cloud data side by side with the developed tunnel diagram.
  • the point cloud data received by the terminal communication unit 13 may be converted into the coordinate system of the tunnel development diagram and superimposed on the elements of the tunnel development diagram.
  • the point cloud data may be superimposed on an image of the tunnel drawn using a wire frame model or a polygon model drawn by filling in polygons.
  • step S57 the terminal device 8 determines whether to end each process shown in FIG. 12. If the process is to be terminated, the operation shown in FIG. 12 is terminated. On the other hand, if the process does not end, the process returns to step S52.
  • the tunnel development view model is also included in the model data 3 stored in the server storage unit 2 of the server 1, and the point cloud data 4 stored in the server storage unit 2 of the server 1 has development view coordinates.
  • the point group extraction unit 6 may extract a plurality of points existing in the vicinity of the shape of the element in developed view coordinates based on the shape information of the tunnel developed view model.
  • the server communication unit 7 may transmit point group data (specific point group data) whose coordinate values are developed view coordinates to the terminal device 8.
  • the point cloud data drawing system according to Embodiment 4 is configured to specify elements on the screen on which the tunnel development diagram is drawn, so that confirmation parts (elements) can be specified without mistakes on the drawing in the form that is normally managed. be able to. Other effects are similar to those in the first embodiment.
  • Embodiment 5 ⁇ Configuration>
  • the target object is a bridge
  • the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 as an example, but it is also applicable to Embodiments 2 and 3.
  • the object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes a bridge development model that represents a bridge as a bridge development.
  • the bridge development diagram model includes coordinate values (bridge shape information) when drawing the bridge development diagram.
  • the coordinate system of a developed bridge diagram is one in which the bridge is divided into each member, and each member is developed and expressed.
  • FIG. 15 is a flowchart showing an example of the operation of the terminal device 8.
  • step S61 the drawing unit 12 draws a bridge development diagram based on the bridge development diagram model included in the object data 10 stored in the terminal storage unit 9, and displays the image on the monitor 15. Note that a photographic image of a bridge may be superimposed and drawn.
  • step S62 the input unit 11 determines whether an element of the developed bridge diagram has been specified. The process of step S62 is repeated until the element of the bridge development diagram is designated, and when the element of the bridge development diagram is designated, the process moves to step S63.
  • the user uses the input device 14 to specify an element (shape) of the bridge development diagram with a cursor (arrow in the diagram). do. Thereby, the input unit 11 determines that the element of the developed bridge diagram has been specified.
  • step S63 the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the object data 10.
  • step S64 the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.
  • step S65 the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S64.
  • step S66 the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point group data received by the terminal communication unit 13, and displays the image on the monitor 15.
  • FIG. 17 shows that the side wall element on which the cursor is placed in FIG. 16 is selected, and the point cloud data of the selected element is displayed.
  • the drawing unit 12 may draw the point cloud data side by side with the developed bridge diagram.
  • the point cloud data received by the terminal communication unit 13 may be converted into the coordinate system of the bridge development diagram and superimposed on the elements of the bridge development diagram.
  • the point cloud data may be superimposed on an image of a bridge drawn using a wire frame model or a polygon model drawn by filling in polygons.
  • step S67 the terminal device 8 determines whether to end each process shown in FIG. 15. If the process is to be terminated, the operation shown in FIG. 15 is terminated. On the other hand, if the process does not end, the process returns to step S62.
  • the point cloud data drawing system according to Embodiment 5 is configured to specify elements on the screen on which the developed bridge diagram is drawn, so that confirmation parts (elements) can be specified without mistakes on the drawing in the form that is normally managed. be able to. Other effects are similar to those in the first embodiment.
  • the sixth embodiment has a feature in the object data 10 stored in the terminal storage section 9 of the terminal device 8.
  • the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 will be described as an example, but it is also applicable to Embodiments 2 and 3.
  • the object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes members or elements constituting the object, ID information of the members or elements, dimensions, materials, standards, serial numbers of the members or elements, It has attribute information such as manufacturer, installer, date and time.
  • FIG. 18 is a flowchart showing an example of the operation of the terminal device 8.
  • step S71 the drawing unit 12 displays the members or elements included in the object data 10 stored in the terminal storage unit 9 on the monitor 15 in the form of a table together with necessary attribute information.
  • each row corresponds to information regarding members or elements constituting the object.
  • step S72 the input unit 11 determines whether a row of the table has been specified. The process of step S72 is repeated until a row of the table is designated, and once the row of the table is designated, the process moves to step S73.
  • the input unit 11 determines that the row of the table has been designated.
  • step S73 the input unit 11 acquires ID information corresponding to the designated row (element) from the object data 10 stored in the terminal storage unit 9.
  • the table may include a column for displaying ID information.
  • a link to a member or element included in the object data 10 may be pasted in each row of the table, and the link may be designated with a cursor.
  • step S74 the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.
  • step S75 the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S74.
  • step S76 the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point group data received by the terminal communication unit 13, and displays the image on the monitor 15.
  • FIG. 20 shows that when the row on which the cursor is placed in FIG. 19 is selected, the point cloud data of the element corresponding to the selected row is displayed. As shown in FIG. 20, the drawing unit 12 may draw the table and the point cloud data side by side.
  • step S77 the terminal device 8 determines whether to end each process shown in FIG. 18. If the process is to be terminated, the operation shown in FIG. 18 is terminated. On the other hand, if the process does not end, the process returns to step S72.
  • Embodiment 7 is characterized in that the degree of points in the point cloud data transmitted from the server 1 to the terminal device 8 can be specified on the terminal device 8.
  • the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 as an example, but it is also applicable to Embodiments 2 to 6.
  • the input unit 11 receives the score level input by the user using the input device 14.
  • the terminal communication unit 13 transmits the transfer level to the server 1 along with the ID information.
  • the point cloud extraction unit 6 extracts point cloud data thinned out according to the score level from the point cloud data of the element.
  • the score level is information (transfer point information) indicating the degree of transfer points of the point cloud data that the server 1 transmits to the terminal device 8.
  • the score level is, for example, a thinning rate, and is the ratio of the point cloud to be transmitted to the terminal device 8 and drawn with respect to the point cloud data of the element specified by the user. For example, a score level ranging from "0" indicating no transmission to a score level "1" indicating transmitting everything is defined, and the initial value is "1".
  • the score level may be an upper limit number of points to be transmitted, or the initial value may have no upper limit.
  • FIG. 21 is a flowchart showing an example of the operation of the terminal device 8.
  • step S81 the drawing unit 12 draws an image of the object based on the shape information included in the object data 10 stored in the terminal storage unit 9 so as to have a predetermined viewpoint position and line of sight direction. Then, the image is displayed on the monitor 15.
  • step S82 the input unit 11 determines whether the input score level has been changed. If the score level has been changed, the process moves to step S83. On the other hand, if the score level has not been changed, the process moves to step S84.
  • step S83 the input unit 11 sets the input new score level.
  • step S84 the input unit 11 determines whether an element of the object has been specified. If the element of the object is specified, the process moves to step S85. On the other hand, if the element of the object is not specified, the process returns to step S82.
  • step S85 the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9.
  • step S86 the terminal communication unit 13 transmits the ID information and score level acquired by the input unit 11 to the server 1.
  • step S87 the terminal communication unit 13 receives point cloud data (specific point cloud data) of the element based on the ID information and score data transmitted by the terminal communication unit 13 in step S86.
  • step S88 the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point cloud data received by the terminal communication unit 13, and displays the image on the monitor 15.
  • step S89 the terminal device 8 determines whether to end each process shown in FIG. 21. If the process is to be terminated, the operation shown in FIG. 21 is terminated. On the other hand, if the process does not end, the process returns to step S82.
  • FIG. 22 is a flowchart showing an example of the operation of the server 1.
  • step S91 the server communication unit 7 receives the ID information and score level from the terminal device 8.
  • step S92 the model processing unit 5 acquires shape information of the element corresponding to the ID information received by the server communication unit 7 from the model data 3 stored in the server storage unit 2.
  • step S93 the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2. do.
  • the point group extraction unit 6 extracts a plurality of points whose distance from the surface of a figure expressing the shape of the element is less than or equal to a predetermined value.
  • step S94 the point cloud extraction unit 6 reduces the extracted points according to the score level. For example, if the score level is the upper limit of points to be transmitted, the points are randomly reduced until the upper limit is reached. Points may be deleted in other ways. Furthermore, when the score level is a thinning rate, the total number of extracted points multiplied by the thinning rate is set as the upper limit score, and the points are reduced until this upper limit score is reached.
  • step S95 the server communication unit 7 transmits the point cloud data composed of the plurality of points extracted and reduced by the point cloud extraction unit 6 to the terminal device 8.
  • step S81 the terminal device 8 draws an object as shown in FIG. Then, when the user specifies a low score level and specifies all the elements of the object, the points are suppressed and the point cloud data is displayed on the entire object, as shown in FIG. The points of this point cloud data are represented by unfilled circles. After that, when the user specifies the confirmation part (element) and also specifies a score level higher than the previous score level, detailed point cloud data is displayed for the specified element, as shown in Figure 24. . The points of this point cloud data are represented by filled circles.
  • Each function of the model processing unit 5, point cloud extraction unit 6, and server communication unit 7 in the server 1 shown in FIG. 1 is realized by a processing circuit. That is, the server 1 acquires the shape information of the element corresponding to the ID information received from the terminal device 8 from the model data 3 stored in the server storage unit 2, and obtains the shape information of the element corresponding to the ID information received from the terminal device 8, and obtains the point cloud data stored in the server storage unit 2. 4, the model processing unit 5 extracts a plurality of points existing in the vicinity of the shape of the element based on the acquired shape information, receives ID information from the terminal device 8, and uses the plurality of points extracted by the point cloud extraction unit 6.
  • a processing circuit for transmitting the configured point cloud data to the terminal device 8 is provided.
  • the processing circuit may be dedicated hardware, and may be a processor (CPU, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in memory. ).
  • the processing circuit 24 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC (Application Specific Integrated Circuit). , FPGA (Field Programmable Gate Array), or a combination of these.
  • Each function of the model processing section 5, point cloud extraction section 6, and server communication section 7 may be realized by the processing circuit 24, respectively, or each function may be realized by a single processing circuit 24.
  • the functions of the model processing section 5, point cloud extraction section 6, and server communication section 7 are realized by software, firmware, or a combination of software and firmware.
  • Software or firmware is written as a program and stored in memory 26.
  • the processor 25 implements each function by reading and executing programs recorded in the memory 26. That is, the server 1 acquires the shape information of the element corresponding to the ID information received from the terminal device 8 from the model data 3 stored in the server storage unit 2, and the point cloud stored in the server storage unit 2.
  • a memory 26 is provided for storing a program that results in the step of transmitting point cloud data consisting of points to the terminal device 8. It can also be said that these programs cause the computer to execute the procedures or methods of the model processing section 5, point cloud extraction section 6, and server communication section 7.
  • memory refers to nonvolatile or volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory).
  • RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory EPROM (Erasable Programmable Read Only Memory)
  • EEPROM Electrical Erasable Programmable Read Only Memory
  • the storage medium may be a flexible semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.
  • model processing unit 5 point cloud extraction unit 6, and server communication unit 7 may be realized by dedicated hardware, and other functions may be realized by software or firmware. good.
  • the processing circuit can realize each of the above functions using hardware, software, firmware, or a combination thereof.

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  • Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Processing Or Creating Images (AREA)

Abstract

Le but de la présente divulgation est de fournir un système de dessin de données de groupe de points qui peut, avec une opération simple, réduire des données de groupe de points en une zone correspondant à une partie à vérifier, transférer les données de groupe de points et réaliser un dessin. Un système de dessin de données de groupe de points selon la présente divulgation est pourvu d'un serveur et d'un équipement terminal. Le serveur comprend : une unité de stockage de serveur pour stocker des données de modèle, qui comprennent des informations de forme d'élément et des informations d'identification d'élément, et des données de groupe de points concernant des sujets mesurés ; une unité de traitement de modèle pour acquérir des informations de forme d'élément correspondant à des informations d'identification d'élément reçues ; une unité d'extraction de groupe de points pour extraire des points sur la base des informations de forme d'élément ; et une unité de communication de serveur qui reçoit les informations d'identification d'élément provenant de l'équipement terminal et transmet des données de groupe de points identifiées à l'équipement terminal. L'équipement terminal comprend : une unité de stockage de terminal pour stocker des données de sujet comprenant des informations d'identification d'élément et des informations de forme concernant chaque élément ; une unité d'entrée pour acquérir des informations d'identification d'élément correspondant à un élément spécifié ; une unité de communication de terminal qui transmet les informations d'identification d'élément au serveur et reçoit les données de groupe de points identifiées du serveur ; et une unité de dessin pour dessiner une image sur la base des données de groupe de points identifiées.
PCT/JP2022/032731 2022-08-31 2022-08-31 Système de dessin de données de groupe de points, serveur, dispositif de dessin de données de groupe de points et procédé de dessin de données de groupe de points Ceased WO2024047782A1 (fr)

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JP2024543680A JPWO2024047782A1 (fr) 2022-08-31 2022-08-31

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017130146A (ja) * 2016-01-22 2017-07-27 キヤノン株式会社 画像管理装置、画像管理方法及びプログラム
WO2020194470A1 (fr) * 2019-03-25 2020-10-01 三菱電機株式会社 Dispositif de génération d'image, procédé de génération d'image et programme de génération d'image
WO2021166381A1 (fr) * 2020-02-18 2021-08-26 富士フイルム株式会社 Dispositif de traitement de données de nuage de points, procédé de traitement de données de nuage de points, et programme

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2120009B1 (fr) * 2007-02-16 2016-09-07 Mitsubishi Electric Corporation Dispositif de mesure et procédé de mesure

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017130146A (ja) * 2016-01-22 2017-07-27 キヤノン株式会社 画像管理装置、画像管理方法及びプログラム
WO2020194470A1 (fr) * 2019-03-25 2020-10-01 三菱電機株式会社 Dispositif de génération d'image, procédé de génération d'image et programme de génération d'image
WO2021166381A1 (fr) * 2020-02-18 2021-08-26 富士フイルム株式会社 Dispositif de traitement de données de nuage de points, procédé de traitement de données de nuage de points, et programme

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