JP2014199586A - Unevenness extraction device for multi-plane structure, unevenness extraction method for multi-plane structure, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unevenness extraction device for a multi-plane structure and an unevenness extraction program for the multi-plane structure, capable of extracting unevenness of a plurality of planes forming the multi-plane structure from single-timing point group data.SOLUTION: An unevenness extraction device divides a plurality of planes of a structure formed of the plurality of planes at the time of completion, for each predetermined distance in an interconnect line direction to set small segments, and repeats processing of extracting as a small plane a determination plane having the maximum number of points in a three-dimensional point group data in which normal line distances from determination planes set in the respective small segments are within a threshold value, and when the number of the small planes in the small segments is not more than the number of reference planes, sets virtual planes equal in number to the planes at the time of completion, and sets as common virtual planes the virtual planes in which the number of points in the point group in which normal line distances from the virtual planes are within a threshold value exceeds a reference inclusion rate, and when the number of points in the point group in which normal line distances from the common virtual planes are within a predetermined threshold value exceeds the reference inclusion rate in the adjacent small segment, combines these small segments.

Description

  The present invention relates to a multiplanar structure unevenness extraction apparatus, a multiplanar structure unevenness extraction method, and a program.

  Structures that consist of multiple planes at the time of completion, such as roads and banks formed on the sides of the road, tunnels, and dam walls, have unevenness over time on the plane that was formed flat at the time of construction. May occur. Measurement of this unevenness should be done by extracting the difference in height of each point on the plane between the time of completion (design time) and the current two periods if the state of the plane at the time of completion is known based on the design drawing etc. Can do.

  However, there are cases where it is difficult to obtain a design drawing at the time of completion, or the design drawing and the construction shape are different, and it is often difficult to know the plane state at the time of completion.

  For this reason, there is a demand for a technique that can perform unevenness analysis from single-time (current) data. Such data includes, for example, point cloud data, and the following Patent Document 1 and Patent Document 2 disclose techniques for generating data related to the contour of an object from the point cloud data.

JP 2012-8867 A JP 2012-13660 A

  However, in the above conventional technique, the unevenness of a plurality of planes constituting the multiplanar structure is not extracted.

  An object of the present invention is to provide a multiplanar structure unevenness extraction apparatus and a multiplanar structure unevenness extraction program capable of extracting unevenness of a plurality of planes constituting a multiplanar structure from single time point cloud data. There is.

  In order to achieve the above object, one embodiment of the present invention is an unevenness extraction device for a multi-planar structure, and a plurality of points on the plurality of planes of the structure that are configured by a plurality of planes at the time of completion. In the point cloud data acquisition means for acquiring the 3D point cloud data measured by the unevenness measuring means from the unevenness measuring means and storing it in the storage means, and the number of planes at the time of completion and information on the connection relation of the planes, The plurality of planes are divided at predetermined distances in the connecting line direction of the plurality of planes to set subsections, and the subsections are numbered so that the adjacent subsections are serial numbers. A small section setting means to be set, and the three-dimensional point group data are read from the storage means, and in each of the small sections, an arbitrary three points are selected from the three-dimensional point group data to set a determination plane, and the determination plane Normal distance from The normal distance from the previously extracted small plane is within the predetermined threshold for the process of extracting the determination plane having the largest number of points in the point group within the predetermined threshold as a small plane. A small plane extracting means that repeats the points in the point group in a condition not to be used in other small plane extraction processing, and a small that determines whether or not the number of the small planes in each small section is within a reference plane number. A plane determining means, and setting the same number of virtual planes as the number of planes at the time of completion for the first small section determined by the small plane determining means that the number of the extracted small planes is within the reference plane number, Virtual plane setting means for determining the position, inclination angle, and inclination direction of the virtual plane so that the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold exceeds a reference coverage rate And the number is one more than the first subsection. When the same virtual plane as that of the first subsection is set for the second subsection less by 1, the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold is It is determined whether or not the reference coverage rate is exceeded, and if so, the first and second subsections are combined and stored in the storage means as a subsection having a common virtual plane, and the subsections are combined. Image information that generates image information based on the normal distance of each point in the point group from the virtual plane for the entire subsection having the common virtual plane and the combining means that repeats the processing to be performed in the order of the numbers Generating means.

  The small plane determining means divides the small section determined that the number of extracted small planes exceeds the number of reference planes into a predetermined number by the small section setting means, and sets the divided small sections. A small number used for processing of the combining means is set in a small section, and the small plane determining means determines whether or not the number of small planes in the divided small section is within the reference plane number, It is preferable that a divided small section whose number of small planes is within the reference number of planes is a target of processing of the combining means instead of the original small section.

  Further, the unevenness extraction apparatus for a multi-planar structure according to the embodiment sets a common virtual plane in all the small sections instead of the above-mentioned coupling means, and the normal distance from the virtual plane is within a predetermined threshold. Whether or not the number of points in the point group exceeds the reference coverage, the virtual plane is maintained if it exceeds, and if not, the small plane is determined according to a predetermined grouping method. A process of dividing the section into a plurality of groups and determining whether the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold for each group exceeds the reference coverage rate. You may provide the virtual plane division means to repeat.

  In addition, it is preferable that the small plane determination unit includes a notification unit that outputs notification information when there is a small section in which it is determined that the number of extracted small planes exceeds the reference plane number.

  The image information generation means may generate an irregular triangle network as image information.

  Further, another embodiment of the present invention is a method for extracting unevenness of a multiplanar structure, wherein unevenness measuring means is provided at a plurality of points on the plurality of planes of the structure configured by a plurality of planes at the time of completion. Is obtained from the unevenness measuring means, and based on the information regarding the number of planes at the time of completion and the connection relation of the planes, the plurality of planes are determined in advance in the connecting line direction of the plurality of planes. In addition, a small section is set for each distance and a number is set in the small section so that the adjacent small sections become consecutive numbers. In each of the small sections, any number is selected from the three-dimensional point cloud data. 3 are selected to set a determination plane, and the determination plane having the largest number of points in the point group whose normal distance from the determination plane is within a predetermined threshold is extracted as a small plane. Processing from the small plane extracted earlier Whether or not the points in the point group whose line distance is within a predetermined threshold is not used in the extraction processing of other small planes, and the number of the small planes in each small section is within the reference plane number And setting the same number of virtual planes as the number of planes at the time of completion for the first subsection determined that the number of extracted small planes is within the reference plane number, and calculating from the virtual plane The position, inclination angle, and inclination direction of the virtual plane are determined so that the number of points in the point group whose line distance is within a predetermined threshold exceeds a reference coverage ratio, and the first subsection In the point group in which the normal distance from the virtual plane is within a predetermined threshold when the same virtual plane as the first subsection is set for the second subsection with the number 1 greater or less than 1 Judge whether or not the number of points exceeds the standard coverage rate. The first and second subsections are combined to form a subsection having a common virtual plane, and the process of combining the subsections is repeated in the order of the numbers so that the subsection has the common virtual plane. The image information is generated based on the normal distance from the virtual plane of each point in the point group as a whole.

  Still another embodiment of the present invention is a program for extracting unevenness of a multi-planar structure, wherein the computer is configured at a plurality of points on the plurality of planes of the structure configured by a plurality of planes when completed. Based on the point cloud data acquisition means for acquiring the three-dimensional point cloud data measured by the unevenness measuring means from the unevenness measuring means and storing it in the storage means, the number of planes at the time of completion and the connection relation of the planes, the plural Are divided at predetermined distances in the connecting line direction of the plurality of planes to set small sections, and numbers are set so that the adjacent small sections are consecutive numbers in the small sections. Small section setting means, reading the three-dimensional point group data from the storage means, and in each of the small sections, selecting any three points from the three-dimensional point group data to set a determination plane, and from the determination plane A process of extracting, as a small plane, the determination plane having the largest number of points in the point group whose line distance is within a predetermined threshold, a normal distance from the previously extracted small plane is a predetermined threshold A small plane extracting unit that repeats the points in the point group in a condition not to be used in other small plane extraction processing, and determines whether or not the number of the small planes in each small section is within a reference plane number A small plane determining means configured to set the same number of virtual planes as the number of planes at the time of completion for the first small section determined by the small plane determining means that the number of the extracted small planes is within a reference plane number. Virtual plane setting for determining the position, inclination angle, and inclination direction of the virtual plane so that the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold exceeds a reference coverage rate Means, the number is one more than the first subsection Or the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold when the same virtual plane as the first subsection is set for the second subsection less by one And the first and second subsections are combined and stored in the storage means as a subsection having a common virtual plane, and the subsection is Image information for generating image information based on a normal distance of each point in the point group from the virtual plane with respect to the entire small section having the common virtual plane, combining means for repeating the combining process in the order of the numbers It is made to function as a production | generation means.

  According to the present invention, it is possible to extract unevenness of a plurality of planes constituting a multiplanar structure from single time point cloud data.

It is a block diagram of the example of composition of the unevenness extraction device of the multi-planar structure concerning an embodiment. It is a figure which shows the structural example of an unevenness | corrugation measurement means. It is a figure which shows the example of the structure comprised by the several plane. It is explanatory drawing of the process which the small plane extraction part which concerns on embodiment performs. It is a flowchart of the operation example of the uneven | corrugated extraction apparatus of the multiplanar structure concerning embodiment. It is a flowchart of the other operation example of the uneven | corrugated extraction apparatus of the multiplanar structure concerning embodiment.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration example of a multiplanar structure unevenness extraction apparatus according to an embodiment. In FIG. 1, the unevenness extraction device for a multi-planar structure includes a point cloud data acquisition unit 10, a small section setting unit 12, a small plane extraction unit 14, a small plane determination unit 16, a virtual plane setting unit 18, a combining unit 20, a virtual unit. The plane dividing unit 22, the image information generating unit 24, the storage unit 26, and the communication unit 28 are included.

  The point cloud data acquisition unit 10 has three-dimensional point cloud data (measured by the unevenness measuring unit) at a plurality of points on the plurality of planes of a structure (multi-planar structure) constituted by a plurality of planes at the time of completion. Hereinafter, this may be referred to as a point cloud) and stored in the storage unit 26.

  Here, as shown in FIG. 2, the unevenness measuring means is configured by mounting a laser measuring device 100, a coordinate measuring device 102, and the like on a vehicle 104. The laser measuring device 100 irradiates the plane with laser light, receives reflected light, and measures three-dimensional point group data on the plane. Here, the three-dimensional point group data is a set of three-dimensional coordinate data of each point on the plane. The laser measuring device 100 measures the distance between the laser measuring device 100 and each point on the plane based on the reflected light of the laser light, and the measured value of this distance, the irradiation direction of the laser light, and the coordinate measuring device 102 Based on the measured three-dimensional coordinates of the position of the laser measuring device 100, the three-dimensional coordinates of each point on the plane are determined. The vehicle 104 is preferably equipped with a computer for calculating the three-dimensional coordinates of each point. However, the laser measurement result and the coordinate measurement result are provided to a computer outside the vehicle 104 to provide a computer for each point. Three-dimensional coordinates may be calculated.

  The three-dimensional point cloud data of each point on the plane obtained by the unevenness measuring means as described above is the point cloud data of the unevenness extracting device for multiplanar structures via appropriate communication means or appropriate storage media. The point group data acquisition unit 10 stores the information in the storage unit 26.

  Based on the information regarding the number of planes at the time of completion of the structure and the connection relationship between the planes (such as connection lines between the planes), the small section setting unit 12 sets a plurality of planes of the multi-planar structure in the direction of the connection lines A small section is set by dividing each predetermined distance. In addition, the small section setting unit 12 sets a number such that adjacent small sections become consecutive numbers in the small section. The number of planes at the time of completion of the structure and the connection relationship between the planes are set by a person based on the design drawing at the time of completion and the current state of the structure, and are stored in the storage unit 26 in advance. The small section setting unit 12 reads the number of planes at the time of completion of the structure stored in the storage unit 26 and the connection relation of the planes from the storage unit 26 and acquires them. Further, the small section set by the small section setting unit 12 and its number are stored in the storage unit 26 as information regarding the small section.

  FIG. 3 shows an example of a structure composed of a plurality of planes. A road R1, a bank D1 provided on one side of the road R1, and a sidewalk provided on the opposite side of the bank D1 from the road R1. A structure as a road and its surrounding facilities is formed by the bank D2 provided on the opposite side of the bank D1 of R2 and the sidewalk R2.

  In the structure shown in FIG. 3, there is a connection line L1 between the road R1 and the bank D1, there is a connection line L2 between the bank D1 and the sidewalk R2, and between the sidewalk R2 and the bank D2. There is a connection line L3. In the example of FIG. 3, the small section setting unit 12 divides the plane, that is, the plane of the road R1, the bank D1, the sidewalk R2, and the bank D2 for each predetermined distance along the connection lines L1, L2, and L3. Small sections Z1 to Z10 are set. In this case, the division direction (the direction in which numbers are set in the small sections) may be any direction along the connection lines L1, L2, and L3 shown in FIG. In the example of FIG. 3, as described above, numbers such as Z1, Z2, Z3, Z4... Are set in the small sections. In FIG. 3, 10 small sections (Z1 to Z10) are shown, but the number of small sections is appropriately determined according to the length of the target plane. Further, the “predetermined distance” when dividing the plane into small sections can be arbitrarily set. For example, in the case of a road and its surrounding facilities, a distance of about 10 m is preferable.

  The small plane extraction unit 14 reads out information on the respective small sections and the three-dimensional point group data from the storage unit 26, selects arbitrary three points from the three-dimensional point group data in each small section, and determines a determination plane. The determination plane having the largest number of points in the point group (three-dimensional point group data) whose normal distance from the determination plane is within a predetermined threshold is extracted as a small plane. The small plane extraction unit 14 repeats the above process under the condition that the points in the point group whose normal distance from the previously extracted small plane is within a predetermined threshold are not used in the extraction process of other small planes. . Data relating to the extracted small plane (such as plane equations) is stored in the storage unit 26.

  In the example shown in FIG. 3, the three-dimensional point cloud data in the small section includes three-dimensional point groups on the planes constituting the road R1, the bank D1, the sidewalk R2, and the bank D2 in each of the small sections Z1, Z2,. Contains data.

  FIG. 4 is an explanatory diagram of processing executed by the small plane extraction unit 14. FIG. 4 is a side view of the determination planes JP1 and JP2, and the three-dimensional coordinate positions of the three-dimensional point cloud data read from the storage unit 26 are shown as black circles (●) and white circles (◯). ing. In FIG. 4, black circles and white circles are used for convenience of explanation, but they are the same in the sense that they represent 3D point group data measured by the unevenness measuring means.

  The small plane extraction unit 14 selects an arbitrary three points p1, p2, and p3 from the points representing the three-dimensional point cloud data and sets the determination plane JP1, and the normal distance from the determination plane is a predetermined threshold Th. Count the number of points in the point cloud within (for example, 5 cm). The threshold value Th is not limited to 5 cm. Thereafter, the judgment plane having the largest number of points is extracted as a small plane. “The number of points is the largest” means that the determination plane is obtained for all the determination planes when all the combinations for selecting three points from the points representing the three-dimensional point cloud data are set. This means that the number of points in the point group whose normal line distance is within a predetermined threshold Th is the largest. In the example of FIG. 4, the determination plane JP1 corresponds to the determination plane having the largest number of points, and is extracted as a small plane. Next, the small plane extraction unit 14 uses a condition in which a point in the point group whose normal distance from the determination plane JP1 is within a predetermined threshold is not used in the extraction processing of other small planes, that is, from the determination plane JP1. The same process is repeated for points other than the points in the point group in which the normal distance is within a predetermined threshold. Specifically, the determination plane JP2 is set by selecting the three points p4, p5, and p6 in FIG. 4, and the points in the point group whose normal distance from the determination plane JP2 is within a predetermined threshold Th. When the number is the largest, the determination plane JP2 is extracted as a small plane. In this case, a point in the point group (a point pc in FIG. 4) whose normal distance is within a predetermined threshold Th from both the determination plane JP1 and the determination plane JP2 is smaller than the previously determined determination plane JP1. It is used for the process of extracting as a plane, and is not used for the process of extracting the judgment plane JP2 as a small plane. The small plane extracting unit 14 thereafter repeats the same processing until a predetermined number (for example, 20) is extracted or the number of unprocessed points becomes 10% or less of the whole.

  The small plane determination unit 16 determines whether or not the number of small planes in each of the small sections (the number of small plane equations read from the storage unit 26) is within the reference plane number. The number of reference planes can be, for example, twelve, but is not limited to this, and is appropriately determined according to the properties of the multi-planar structure (such as the type of building and the surface smoothness of each plane). Can do. When the small plane determination unit 16 determines that the number of small planes is not within (exceeds) the number of reference planes, it is preferable to output notification information indicating that fact. This notification information is output from an appropriate output device (display, audio output device, etc.). Alternatively, it may be output as a log.

  In addition, when the small plane determination unit 16 determines that the number of small planes in the small section is not within (exceeds) the number of reference planes, the small section setting unit 12 sets the small section to a predetermined number. It is preferable to divide into divided sub-sections, set a child number to be used for processing of the combining unit 20 in the divided sub-sections, and set the divided sub-sections as processing targets of the combining unit 20 instead of the original small sections. is there. Here, it is preferable that the divided subsection is determined according to how many divided subsections the subsection is divided into, and a coefficient (for example, divided into two divided subsections) predetermined for the distance to be divided into the subsections. In some cases, the coefficient can be determined by multiplying by 0.5).

  In the example of FIG. 3, the small section Z7 is an example in which it is determined that the number of small planes in the small section is not within the reference plane number. Two divided small sections are generated, and child numbers Z7-1 and Z7 are respectively generated. -2 is set.

  If the small plane determination unit 16 determines that the number of small planes in the small section is not within the reference plane number, the process of generating the divided small plane is not performed, and the small plane is processed by the combining unit 20. May be excluded from the target.

  The virtual plane setting unit 18 extracts the first small section (for example, the small section Z1 in FIG. 3) that the small plane determination unit 16 determines that the number of extracted small planes is within the reference plane number. Of the small sections determined by the small plane determination unit 16 that the number of small planes is within the reference plane number, the number set by the small section setting unit 12 is the same as the number of planes at the time of completion. And the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold value (may be the same as the threshold value Th used by the small plane extraction unit 14) is included in the reference The position, inclination angle, and inclination direction of the virtual plane are determined so as to exceed the rate. The reference coverage ratio may be 60% of the number of points in the point group included in the first subsection, for example, but is not limited thereto, and is appropriately determined according to the properties of the multiplanar structure. Can be determined. The number of virtual planes is set by a person based on the number of planes (design drawing) at the time of completion or the current state of the structure, and the number of virtual planes is input from an appropriate input device. Can be configured to accept. In the example of FIG. 3, four surfaces of a road R1, a bank D1, a sidewalk R2, and a bank D2 are set. The position, inclination angle, and inclination direction of the virtual plane are changed by changing the coefficient of the equation of the virtual plane. The determined virtual plane (the equation thereof) is stored in the storage unit 26.

  The combining unit 20 has a second sub-segment (in the example of FIG. 3, the number is 1 or less) that has a number (including the child number if there is a child number) relative to the first sub-segment. When the same virtual plane (common virtual plane) as the first small section (Z1) is set for one more small section Z2), the normal distance from the common virtual plane is a predetermined threshold (small plane extraction unit) 14 may be the same as the threshold value Th used), it is determined whether or not the number of points in the point group exceeds the reference coverage, and if so, the first and second subsections (Z1, Z2) ). Here, combining means that the storage unit 26 stores the common virtual plane equation and the number of the combined small sections as small sections having a common virtual plane. Note that the subsections to be subjected to the combination processing are subsections or divided subsections that are determined by the subplane determination unit 16 that the number of extracted subplanes is within the reference plane number, and the extracted subsections are the same. When there is a small section or a divided small section whose number of planes is not within the reference plane number, the small section is excluded from the processing. In this case, the joining process is temporarily stopped until the subsection with the previous number (one more or one less), and the next number (one more or one less) for the excluded subsection or divided subsection. The join process is resumed from the small section or the divided small section. In the example of FIG. 3, when the number of the small planes from which the small section Z2 is extracted is a small section that is not within the reference plane number, the small section Z1 (extracted small section) is not coupled to the small section Z1. When the number of planes is within the above-mentioned number of reference planes), the virtual plane setting unit 18 newly performs a virtual plane setting process, and the combining unit 20 determines whether or not the combination with the small section Z4 is possible.

  Next, the combining unit 20 repeats the process of combining the small sections in the order of the numbers of the small sections. In the example of FIG. 3, after joining the small sections Z1 and Z2, the same common virtual plane is also set to the small section Z3, and the point group whose normal distance from the virtual plane is within a predetermined threshold value It is determined whether or not the number of points exceeds the reference coverage, and if so, the subsection Z3 is also combined. Thereafter, similarly, the same processing is executed for the small section Z4 and thereafter. In addition, when the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold is equal to or less than the reference coverage rate, the notification information indicating that is not performed, and the small sections are not combined. Is preferably output. Information on the combined small sections (all the numbers of the combined small sections and equations of the virtual plane, etc.) is stored in the storage unit 26.

  In the above embodiment, the process of combining the preset subsections or the divided subsections is performed, but conversely, the virtual planes of all the subsections may be set in advance and the process of dividing them may be performed. In this case, the virtual plane dividing unit 22 sets a common virtual plane for all the small sections instead of the combining unit 20, and the normal plane distance from the common virtual plane is within a predetermined threshold. It is determined whether or not the number of points exceeds the reference coverage rate, and if so, the virtual plane is maintained, and if not, the small section is divided into a plurality of groups according to a predetermined grouping method. The process of determining whether or not the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold for each group exceeds the reference inclusion rate is repeated.

  In the example of FIG. 3, a common virtual plane is set for all of the small sections Z1 to Z10, and the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold value represents the reference coverage rate. Judge whether or not it exceeds. When the number of points exceeds the reference coverage rate, the common virtual plane is set as a virtual plane for the small sections Z1 to Z10. On the other hand, when the number of the points does not exceed the reference inclusion rate, the small sections Z1 to Z10 are divided into a plurality of groups. For example, the small sections Z1 to Z5 are set as the first group, and the sections Z6 to Z10 are set as the second group, a common virtual plane is set for each group, and the normal distance from the common virtual plane is within a predetermined threshold. Whether or not the number of points in the point group exceeds the reference inclusion rate. Thereafter, division into groups is performed until the number of points exceeds the reference coverage rate, and a common virtual plane is set for each group. Information on the set common virtual plane (such as the number of the small section included in the group and the common virtual plane equation) is stored in the storage unit 26.

  Note that the method of dividing into groups is determined in advance. As described above, the number of small sections may be halved or may be one third. Or you may divide | segment into the group containing a different number of subsections so that ten subsections may be divided | segmented into 4 pieces and 6 pieces.

  The image information generation unit 24 calculates the normal distance from the common virtual plane of each point in the three-dimensional point cloud data for the entire small section having the common virtual plane, and based on the calculated normal distance To generate image information. Examples of the image information include an irregular triangle network (TIN). The generated TIN may be further processed to obtain contour information and image information expressing the normal distance in color.

  The storage unit 26 is stored in a non-volatile memory such as a hard disk device or a solid state drive (SSD), and the three-dimensional point cloud data, the number of planes at the time of completion of the structure and the connection relation of the planes, the subsections and their numbers, and the small planes. Information necessary for each of the above-described processes, such as data relating to, virtual plane (equation), information relating to a small section having a common virtual plane, the threshold value, the number of reference planes, a reference inclusion rate, and a CPU operation program. The storage unit 26 includes a digital versatile disk (DVD), a compact disk (CD), a magneto-optical disk (MO), a flexible disk (FD), a magnetic tape, and an electrically erasable and rewritable read-only memory ( EEPROM), flash memory or the like may be used.

  The communication unit 28 includes a USB (Universal Serial Bus) port, a network port, and other appropriate interfaces, and communicates with the unevenness measuring unit and exchanges information.

  1 is configured as a computer that includes a CPU, a ROM, a RAM, a nonvolatile memory, an I / O, etc., and controls the entire apparatus and performs various calculations. Yes.

  FIG. 5 shows a flow of an operation example of the unevenness extraction device for a multiplanar structure according to the embodiment. In FIG. 5, the point cloud data acquisition unit 10 acquires 3D point cloud data from the unevenness measuring means and stores it in the storage unit 26 (S1).

  Further, the small section setting unit 12 reads out information on the number of planes and the connection relation between the planes at the time of completion of the structure from the storage unit 26, and based on the information, the plurality of planes are connected in the connection line direction of the plurality of planes. A small section is set by dividing each predetermined distance. Further, numbers are set in the small sections so that adjacent small sections become consecutive numbers (S2). The set small section and its number are stored in the storage unit 26.

  Next, the small plane extraction unit 14 reads out information on each of the small sections and the three-dimensional point group data from the storage unit 26, and selects any three points from the three-dimensional point group data in each of the small sections. A process of setting a determination plane and extracting a determination plane having the largest number of points in the three-dimensional point cloud data whose normal distance from the determination plane is within a predetermined threshold as a small plane is repeated. At this time, as described above, the process is repeated under the condition that the points in the point group whose normal distance from the previously extracted small plane is within the predetermined threshold are not used in the extraction process of other small planes (S3). ). Data relating to the extracted small plane (such as plane equations) is stored in the storage unit 26.

  The small plane determination unit 16 determines whether or not the number of small planes in each of the small sections is within the reference plane number (S4). The number of facets is the number of facet equations read from the storage unit 26.

  In S4, when the small plane determination unit 16 determines that the number of small planes is within the reference plane number, the process proceeds to processing for setting a virtual plane in the small section. On the other hand, when it is determined that the number of small planes in the small section exceeds the reference plane number, notification information indicating that fact is output (S5). Further, the small section setting unit 12 divides the small section into a predetermined number to form divided small sections (S6), and returns to S4.

  However, for example, an end condition is set in advance such that the length of the divided subsection becomes equal to or less than a certain value, and the divided subsection that does not satisfy the end condition is excluded from the processing target of the combining unit 20. In this case, it is preferable that the small plane determination unit 16 outputs notification information to that effect. In the example of FIG. 3, the divided small section Z7-2 represents a divided small section that is excluded from the processing target of the combining unit 20.

  The subsections or divided subsections that satisfy the condition of S4 are to be processed by the combining unit 20, and the combining unit 20 executes the combining process according to the number or subnumber order set for each subsection or divided subsection. The The virtual plane setting unit 18 is a small section setting unit such as the small section Z1 in FIG. 3 among the small sections determined by the small plane determination unit 16 that the number of extracted small planes is within the reference plane number. The smallest number set by 12 is set as the first subsection, and the same number of virtual planes as the number of planes at the time of completion are set for the first subsection, and the normal distance from the virtual plane is predetermined. The position, inclination angle, and inclination direction of the virtual plane are determined so that the number of points in the point group within the threshold exceeds the reference coverage rate (S7).

  Next, the combining unit 20 sets the first or second sub-number with respect to the first sub-section to the first sub-section with respect to the second sub-section that is one more or one less (that is, adjacent to the first sub-section). When the same virtual plane (common virtual plane) as that of the small section is set, the number of points in the point group in which the normal distance from the common virtual plane is within a predetermined threshold in the second small section is It is determined whether or not the reference coverage rate is exceeded (S8).

  In S8, when the number of points exceeds the reference coverage rate, the combining unit 20 combines the first small section and the small sections after the second small section, and has a common virtual plane. As a section, the common virtual plane equation and the number of the combined subsection are stored in the storage unit 26 (S9). Next, it is determined whether or not there is a small section that is a processing target of the combining unit 20 and has a number that continues from the first small section (S10). Repeats the operation from S8. In this case, instead of the second sub-section, the determination in S8 is performed for the third sub-section having the same number as that of the second sub-section, and thereafter the same processing is performed until there are no more sub-sections having the same number. repeat.

  In S8, when the number of points is equal to or less than the reference coverage rate, the combining unit 20 outputs notification information to that effect (S11), and the process proceeds to S12.

  In S10, when there are no more sub-sections with consecutive numbers, the combining unit 20 has a plurality of sub-sections to be processed by the combining unit 20, and the sub-sections with consecutive numbers remain. (S12), and if it remains, the operation from S7 is repeated. For example, when the processing from the small sections Z1 to Z7-1 in the example of FIG. 3 is completed, a new process is executed for the small sections that are newly numbered (from the small section Z8 in the example of FIG. 3). . That is, the virtual plane setting unit 18 sets a virtual plane for the small section Z8, and the combining section 20 performs a combining process with the small section Z9 and subsequent sections using this as a common virtual plane.

  For the small sections combined as described above, the image information generation unit 24 calculates the normal distance from the common virtual plane of each point in the three-dimensional point cloud data, and based on the calculated normal distance Then, image information is generated (S13).

  FIG. 6 shows a flow of processing executed by the virtual plane dividing unit 22 instead of the processing (S9) for combining the small sections. In FIG. 6, after the virtual plane setting unit 18 sets a virtual plane for the first small section in S7 of FIG. 5, the virtual plane dividing unit 22 sets this virtual plane as a common virtual plane for all the small sections. (S21).

  Next, the virtual plane dividing unit 22 determines whether or not the number of points in the point group whose normal distance from the common virtual plane is within a predetermined threshold exceeds the reference inclusion rate (S22). .

  If it is determined in S22 that the number of points exceeds the reference coverage rate, the common virtual plane set in S21 is maintained as a virtual plane applied to all small sections, and the process proceeds to S13 in FIG. (S25).

  On the other hand, if it is determined in S22 that the number of points is equal to or less than the reference coverage rate, the virtual plane dividing unit 22 divides the small sections into a plurality of groups according to a predetermined grouping method (S23).

  For each group, the virtual plane dividing unit 22 determines whether the total length of the small sections belonging to each group (the length of the entire small section) is equal to or less than a predetermined end length (S24). . In S24, when the total length of the small sections is longer than the predetermined end length, the process proceeds to S21, and the point group whose normal distance from the common virtual plane is within the predetermined threshold for the group. The process of determining whether or not the number of points exceeds the reference coverage rate is repeated. When shifting to S21, the virtual plane setting unit 18 sets a common virtual plane for each group, with one of the small planes belonging to each group, for example, the small section with the smallest number as the first small section. It is good also as composition to correct.

  On the other hand, in S24, when the total length of the small sections is equal to or less than the predetermined end length, the process of the virtual plane dividing unit 22 is ended, and the process proceeds to S13 in FIG.

  The above-described program for executing the steps in FIGS. 5 and 6 can be stored in a recording medium, and the program may be provided by communication means. In this case, for example, the above-described program may be regarded as an invention of a “computer-readable recording medium on which a program is recorded” or an invention of a “data signal”.

  10 point group data acquisition unit, 12 small section setting unit, 14 small plane extraction unit, 16 small plane determination unit, 18 virtual plane setting unit, 20 combining unit, 22 virtual plane dividing unit, 24 image information generating unit, 26 storage unit , 28 communication unit, 100 laser measuring device, 102 coordinate measuring device, 104 vehicle.

Claims (7)

A point group for acquiring three-dimensional point cloud data measured by the unevenness measuring means from the unevenness measuring means and storing it in the storage means at a plurality of points on the multiple planes of the structure constituted by a plurality of planes at the time of completion. Data acquisition means;
Based on the information regarding the number of planes at the time of completion and the connection relationship between the planes, the plurality of planes are divided into predetermined intervals in the connecting line direction of the plurality of planes, and small sections are set. Subsection setting means for setting a number so that the subsection adjacent to the section is a serial number;
The three-dimensional point group data is read from the storage means, and in each of the small sections, an arbitrary three points are selected from the three-dimensional point group data to set a determination plane, and a normal distance from the determination plane is determined in advance. The point where the normal distance from the previously extracted small plane is within the predetermined threshold value is the processing for extracting the determination plane having the largest number of points in the point group within the threshold as a small plane. A small plane extracting means for repeating the points in the group under conditions that are not used in the extraction processing of other small planes;
Small plane determination means for determining whether or not the number of the small planes in each of the small sections is within a reference plane number;
A virtual plane having the same number as the number of planes at the time of completion is set for the first small section determined by the small plane determination means that the number of the extracted small planes is within a reference plane number, Virtual plane setting means for determining the position, inclination angle, and inclination direction of the virtual plane so that the number of points in the point group whose normal distance is within a predetermined threshold exceeds a reference coverage rate;
The normal distance from the virtual plane is determined in advance when the same virtual plane as the first small section is set for the second small section having the number one greater or one less than the first small section. It is determined whether or not the number of points in the point group within the threshold exceeds the reference coverage rate, and if so, the first and second subsections are combined to have a common virtual plane. Combining means for storing the section as a section in the storage means and repeating the process of combining the small sections in the order of the numbers;
Image information generating means for generating image information based on a normal distance from the virtual plane of each point in the point group for the entire small section having the common virtual plane;
An apparatus for extracting irregularities of a multi-planar structure.   The small plane determining means divides the small section determined that the number of extracted small planes exceeds the number of reference planes into a predetermined number by the small section setting means, and the divided small section A small number used for processing of the combining means is set in a small section, and the small plane determining means determines whether or not the number of small planes in the divided small section is within the reference plane number, The unevenness extraction apparatus for a multiplanar structure according to claim 1, wherein a divided small section whose number of small planes is within the reference number of planes is a target of processing of the coupling means instead of the original small section.   Instead of the combining means, a common virtual plane is set for all the small sections, and the number of points in the point group whose normal distance from the virtual plane is within a predetermined threshold is the reference coverage rate. If it exceeds, the virtual plane is maintained, and if not, the small section is divided into a plurality of groups according to a predetermined grouping method, and each group is separated from the virtual plane. 3. The virtual plane dividing unit that repeats the process of determining whether or not the number of points in the point group whose normal distance is within a predetermined threshold exceeds the reference coverage ratio is provided. The uneven | corrugated extraction apparatus of the multiplanar structure of description.   The said small plane determination means is provided with the alerting | reporting means which outputs alerting | reporting information, when there exists a small area which the number of the extracted small planes judged to exceed the reference | standard plane number. The uneven | corrugated extraction apparatus of the multi-planar structure as described in any one item.     The unevenness extraction device for a multiplanar structure according to any one of claims 1 to 4, wherein the image information generation unit generates an irregular triangle network as image information. At a plurality of points on the plurality of planes of the structure constituted by a plurality of planes at the time of completion, three-dimensional point cloud data measured by the concavo-convex measurement unit is acquired from the concavo-convex measurement unit,
Based on the information regarding the number of planes at the time of completion and the connection relationship between the planes, the plurality of planes are divided into predetermined intervals in the connecting line direction of the plurality of planes, and small sections are set. Set the number so that the adjacent subsections are consecutive numbers in the section,
In each of the small sections, an arbitrary three points are selected from the three-dimensional point cloud data to set a judgment plane, and a normal distance from the judgment plane is within a predetermined threshold value. The process of extracting the determination plane having the largest number as a small plane is a process of extracting a point in the point group whose normal distance from the previously extracted small plane is within a predetermined threshold as another small plane Repeated under conditions not used in
Determining whether the number of facets in each of the subsections is within a reference number of planes;
The same number of virtual planes as the number of planes at the time of completion are set for the first subsection determined that the number of extracted small planes is within the reference plane number, and the normal distance from the virtual plane is determined in advance. Determining the position, inclination angle, and inclination direction of the virtual plane so that the number of points in the point group within the threshold exceeds the reference coverage rate,
The normal distance from the virtual plane is determined in advance when the same virtual plane as the first small section is set for the second small section having the number one greater or one less than the first small section. It is determined whether or not the number of points in the point group within the threshold exceeds the reference coverage rate, and if so, the first and second subsections are combined to have a common virtual plane. And repeat the process of combining the sub-intervals in the order of the numbers,
An unevenness extraction method for a multi-planar structure, wherein image information is generated based on a normal distance of each point in a point group from the virtual plane for the entire small section having the common virtual plane. Computer
A point group for acquiring three-dimensional point cloud data measured by the unevenness measuring means from the unevenness measuring means and storing it in the storage means at a plurality of points on the multiple planes of the structure constituted by a plurality of planes at the time of completion. Data acquisition means,
Based on the information regarding the number of planes at the time of completion and the connection relationship between the planes, the plurality of planes are divided into predetermined intervals in the connecting line direction of the plurality of planes, and small sections are set. Subsection setting means for setting a number so that the subsection adjacent to the section is a serial number;
The three-dimensional point group data is read from the storage means, and in each of the small sections, an arbitrary three points are selected from the three-dimensional point group data to set a determination plane, and a normal distance from the determination plane is determined in advance. The point where the normal distance from the previously extracted small plane is within the predetermined threshold value is the processing for extracting the determination plane having the largest number of points in the point group within the threshold as a small plane. A small plane extraction means for repeating the points in the group under conditions that are not used in the extraction processing of other small planes;
A small plane determining means for determining whether or not the number of the small planes in each of the small sections is within a reference plane number;
A virtual plane having the same number as the number of planes at the time of completion is set for the first small section determined by the small plane determination means that the number of the extracted small planes is within a reference plane number, A virtual plane setting means for determining a position, an inclination angle, and an inclination direction of the virtual plane so that the number of points in the point group whose normal distance is within a predetermined threshold exceeds a reference coverage rate;
The normal distance from the virtual plane is determined in advance when the same virtual plane as the first small section is set for the second small section having the number one greater or one less than the first small section. It is determined whether or not the number of points in the point group within the threshold exceeds the reference coverage rate, and if so, the first and second subsections are combined to have a common virtual plane. Combining means for storing the section as a section in the storage means and repeating the process of combining the small sections in the order of the numbers;
Image information generating means for generating image information based on a normal distance from the virtual plane of each point in the point group for the entire small section having the common virtual plane;
Asperity extraction program for multi-planar structures to function as

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