JP2020204806A - Measurement support device and measurement support method - Google Patents

Abstract

To enable check on a situation of a site necessary before performing repair etc. of a plant to be performed while reducing a measurement data amount and an analysis calculation amount.SOLUTION: A measurement support device comprises: a measurement data acquisition unit 131 which acquires three-dimensional measurement data on a specific space; a region division unit 132 which divides a space determined from the acquired three-dimensional measurement data or a space obtained from a design model for the specific space into a plurality of regions; a region member attribute determination unit 133 which uses attribute information about the three-dimensional measurement data present in the divided region to estimate a member of a structure present in the region; a region superposition unit 134 which performs comparison between an estimated region member attribute of the three-dimensional measurement data and a region member attribute of the design model to perform alignment between the three-dimensional measurement data and the design model; and an output unit 140 which outputs a result of the alignment.SELECTED DRAWING: Figure 1

Description

The present invention relates to a measurement support device and a measurement support method.

In the maintenance and demolition of large-scale structures such as power plants and chemical plants, it is important to grasp the status of the target structures in advance in order to carry out the construction without extra cost and without waste. Therefore, a method of comparing the site situation and the design drawing by utilizing three-dimensional measurement may be used.
However, the point cloud data acquired by 3D measurement is large in size, it takes time to compare with the design drawing, and the measurement result cannot be confirmed at the site, so the points that are different from the design drawing are mainly measured. Efficient measurement work was difficult. Therefore, it has been desired to develop a technique for speeding up the comparison process between the three-dimensional measurement data and the design drawing.

Patent Document 1 describes a technique for efficiently generating a three-dimensional model such as a through hole from three-dimensional measurement data.

JP-A-2018-10455

In the technique described in Patent Document 1 and the like, it is necessary to integrate (register) three-dimensional measurement data from a plurality of locations. Since this registration takes time and the amount of data to be handled is large, it is difficult to use it at the measurement site, and there is a problem that the measurement result cannot be obtained immediately at the measurement site.

An object of the present invention is to provide a measurement support device and a measurement support method capable of speeding up the comparison process between three-dimensional measurement data and a design drawing by reducing the amount of measurement data and the amount of analysis calculation. ..

In order to solve the above problems, for example, the configuration described in the claims is adopted.
The present application includes a plurality of means for solving the above problems. For example, a measurement data acquisition unit that acquires three-dimensional measurement data for a specific space and a three-dimensional acquisition unit that acquires the three-dimensional measurement data. The area division part that divides the space judged from the measurement data or the space obtained from the design model for a specific space into multiple areas, and the attributes of the three-dimensional measurement data existing in the area divided by the area division part. Using the information, the area member attribute determination unit that estimates the members of the structure existing in the area, the area member attribute of the 3D measurement data estimated by the area member attribute determination unit, and the area member attribute of the design model In comparison, the measurement support device includes an area superimposing unit that aligns the three-dimensional measurement data and the design model, and an output unit that outputs the alignment result in the area superimposing unit.

According to the present invention, the comparison work between the three-dimensional measurement data and the design data can be performed by a high-speed calculation with a relatively small amount of data. For example, the three-dimensional measurement data can be compared with the design data on the spot while being performed. It becomes possible to do. Therefore, it is possible to improve the efficiency of the work of checking the status of the construction site, and it is possible to contribute to the reduction of the construction cost and the risk of delay in the construction period.
Issues, configurations and effects other than those described above will be clarified by the description of the following embodiments.

It is a block diagram which shows the whole example of the plant measurement support apparatus which concerns on one Embodiment of this invention. It is a block diagram which shows the hardware configuration example of the plant measurement support apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows the flow of processing by the example of one Embodiment of this invention. It is a figure which shows the example of the measurement target space of one Embodiment of this invention. It is a figure which shows the example (state which acquired the point cloud) of the measurement target space of the example of one Embodiment of this invention. It is a figure which shows the example of the point cloud acquired by the example of one Embodiment of this invention. It is a figure which shows the division example of the measurement space by one Embodiment of this invention. It is a characteristic figure which shows the frequency example (body) of the shape statistical data by one Embodiment of this invention. It is a characteristic diagram which shows the frequency example (pipe) of the shape statistical data by one Embodiment of this invention. It is a characteristic figure which shows the frequency example (body) of the color statistical data by the example of one Embodiment of this invention. It is a characteristic diagram which shows the frequency example (piping) of the color statistical data by the example of one Embodiment of this invention. It is a figure which shows the member attribute determination example of the measurement data division area by one Embodiment of this invention. It is a figure which shows the member attribute data example for every measurement data division area by one Embodiment of this invention. It is a figure which shows the example of the design model space by the example of one Embodiment of this invention. It is a figure which shows the example of the design model area division by the example of one Embodiment of this invention. It is a figure which shows the example of the member attribute determination result of the design model division area by the example of one Embodiment of this invention. It is a figure which shows the example of the member attribute determination data of the design model division area by the example of one Embodiment of this invention. It is a figure which shows the division area matching example of the design model and the measurement data by one Embodiment of this invention. It is a figure which shows the example of the area attribute which gave the hierarchical structure by the example of one Embodiment of this invention. It is a figure which shows the matching example in the upper layer by the example of one Embodiment of this invention. It is a figure which shows the matching example in the lower hierarchy by the example of one Embodiment of this invention. It is a figure explaining the calculation example of the division area matching of the design model and the measurement data by one Embodiment of this invention. It is a figure which shows the example of the display screen by the example of one Embodiment of this invention. It is a figure which shows the example of the detailed display screen of the matching result by the example of one Embodiment of this invention. It is a figure which shows the preservation example of the alignment result by one Embodiment of this invention.

Hereinafter, an example of an embodiment of the present invention (hereinafter, referred to as “this example”) will be described with reference to the accompanying drawings.
[overall structure]
FIG. 1 is a functional block diagram showing an overall configuration example of the plant measurement support device 100 according to this example. As shown in FIG. 1, the plant measurement support device 100 includes a three-dimensional measurement device 110, a storage device 120, a calculation device 130, and an output device 140.

The three-dimensional measuring device 110 measures the distance of the space around the device such as a laser scanner, a depth camera, and a stereo camera.
The storage device 120 is a main storage device or an auxiliary storage device such as a memory or a hard disk drive. The storage device 120 includes a shape statistical data storage unit 121, a color statistical data storage unit 122, and a design model area member attribute information storage unit 123.

The calculation device 130 is composed of a computer device or the like that executes data processing by a program. The calculation device 130 includes a measurement data acquisition unit 131, a region division unit 132, a region member attribute determination unit 133, an area superimposition unit 134, and a display processing unit 135 as processing units in terms of function. Details of the processing performed by each processing unit 131 to 135 of the computing device 130 will be described later.
The image data created by the display processing unit 135 of the calculation device 130 is supplied to and displayed on the output device 140 configured by a monitor or the like that performs display.

It should be noted that the output device 140 has a display function as an example, and may be a device such as a printer that performs other output processing. Alternatively, the output device 140 may be a device provided with an output unit that outputs data to an external network or other device.
Further, in the configuration shown in FIG. 1, an example in which the storage device 120, the calculation device 130, and the output device 140 are configured as separate devices is shown, but the storage device 120, the calculation device 130, and the output device 140 are used as one device. It may be configured.

[Hardware configuration example]
FIG. 2 shows an example of hardware configuration when the computing device 130 and the like shown in FIG. 1 are configured by a computer device.
The computer device 10 shown in FIG. 2 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, and a RAM (Random Access Memory) 13 connected to the bus, respectively. Further, the computer device 10 includes a non-volatile storage 14, a network interface 15, an input device 16, and a display device 17.

The CPU 11 is an arithmetic processing unit that reads a program code of software for realizing each processing unit 131 to 135 included in the computing device 130 from the ROM 12 and executes it.
Variables, parameters and the like generated during the arithmetic processing are temporarily written in the RAM 13.

For the input device 16, for example, a keyboard, a mouse, or the like is used.
The display device 17 is, for example, a liquid crystal display monitor, and the result of the calculation process executed by the computer is displayed by the display device 17.

For the non-volatile storage 14, for example, a large-capacity information storage medium such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) is used. A program that executes a processing function of the computing device 130 is recorded in the non-volatile storage 14. When the computer device 10 also serves as the storage device 120, the shape statistical information data unit 121, the color statistical data storage unit 122, and the design model area member attribute data storage unit 123 of the storage device 120 are placed on the non-volatile storage 14. It is composed of.

For the network interface 15, for example, a NIC (Network Interface Card) or the like is used. The network interface 15 transmits and receives various information to and from the outside via a LAN (Local Area Network), a dedicated line, and the like.

It should be noted that the calculation device 130 and the like are configured by the computer device shown in FIG. 2 as an example, and may be configured by other arithmetic processing devices other than the computer. For example, a part or all of the functions performed by the computing device 130 may be realized by hardware such as FPGA (Field Programmable Gate Array) or ASIC (Application Specific Integrated Circuit).

[Flow of processing functions executed by the computing device]
FIG. 3 is a flowchart showing the flow of calculation processing executed by the calculation device 130.
First, the measurement data acquisition unit 131 reads the measurement data at the location to be aligned from the three-dimensional measurement device 110 (measurement data acquisition process: step S1). At this time, the user selects the target data by operating on the operation screen. A specific example of the operation screen (FIG. 23) will be described later.
Next, the user inputs the measurement location of the target measurement data (step S2). Here, the user selects at least one of the building name, the floor name, and the area name on the operation screen. When the measurement location of the measurement data is input, the calculation device 130 reads the design model of the corresponding location from the storage device 120.

Then, the calculation device 130 aligns the design model with the measurement data by the processing in the area division unit 132, the area member attribute determination unit 133, and the area superimposition unit 134 (step S3). This is started, for example, by pressing the execute button on the operation screen by the user.
When this alignment processing is completed, the image data of the screen showing the result of the alignment processing is created by the display processing unit 135, and the screen showing the alignment processing result is displayed on the output device 140 (step S4). At this time, if there are a plurality of alignment candidates as the alignment processing result, the plurality of alignment candidates may be displayed in descending order of similarity in position.

Further, the user who confirms the alignment result by displaying the alignment processing result presses the save button on the operation screen and instructs to save the alignment processing result. Then, the data of the alignment process is stored in the storage device 120 (step S5). When there are a plurality of alignment candidates, the result selected by the user's operation is stored in the storage device 120.

Next, the details of the processing performed by each processing unit 131 to 135 of the computing device 130 will be described.

[Processing in the measurement data acquisition section]
The measurement data acquisition unit 101 acquires data from the three-dimensional measurement device 110.
Here, FIG. 4 shows an example of the space to be measured (top view). The skeleton 1, the pipe 2, and the device (pump) 3 are arranged in the space to be measured. Further, the point S in the space of FIG. 4 indicates a measurement point for measurement by the three-dimensional measuring device 110. In FIG. 4, only the X-axis (horizontal direction in the figure) and the Y-axis (vertical direction in the figure) are shown, but since the space here is a three-dimensional space, the Z-axis direction orthogonal to the X-axis and the Y-axis Is also defined.

The data acquired from the three-dimensional measuring device 110 is colored point cloud data, and is composed of, for example, a measurement ID and measurement time for distinguishing the measurement data, spatial coordinate values of each point, and colors expressed in RGB. To. The measurement ID is an ID that is unique for each measurement. The color of the object surface is colored at each point of the point cloud data. This is created by mapping the photographed data of the camera mounted on the three-dimensional measuring device 110, which is a laser scanner, with the point cloud data.

FIG. 5 shows a part of the point cloud data when the laser scanner is used as the three-dimensional measuring device 110. The circles shown in FIG. 5 are the point cloud data x. This point cloud data x is a three-dimensional measurement of a location where some object such as a skeleton 1, a pipe 2, or a device 3 exists.
The point cloud data x is color-divided point cloud data according to the color state of the object.
As shown in FIG. 6, the point cloud data includes point cloud data x1 corresponding to the state (color) of the skeleton 1 and point cloud data x2 corresponding to the state (color) of the pipe 2. It is shown separately from the point cloud data x3 corresponding to the state (color) of the location of the device 3.

[Processing in the area division]
The area division unit 132 divides the entire space represented by the three-dimensional measurement data acquired by the measurement data acquisition unit 101 into a plurality of areas (area division processing).
FIG. 7 shows an example in which the entire space represented by the three-dimensional measurement data is divided into a plurality of regions a. Here, a rectangular parallelepiped-shaped space is spread in the point cloud space. If the point cloud space is defined as "a rectangular parallelepiped whose vertices are the maximum and minimum points of each of the X-axis, Y-axis, and Z-axis", the size of the point cloud space should be minimized. It is possible to reduce the calculation load. The size of the divided area is determined by the user. Further, rectangular parallelepiped regions having different sizes such as an ocree may be generated hierarchically.
Further, although the rectangular parallelepiped is spread in FIG. 7, other shapes such as a sphere and a cylinder may be spread and divided into a plurality of regions.

[Processing in the area member attribute determination unit]
The area member attribute determination unit 133 estimates the members existing in each area divided by the area division unit 132 (region member determination process).
The area member attribute determination unit 133 uses the shape statistical data obtained from the point cloud data in order to estimate the member. In this shape statistical data, a part of three-dimensional measurement data (point cloud data) is classified in advance for each member, and the shape and color features of each member are stored as statistical data. The shape statistical data is stored in the shape statistical data storage unit 121 of the storage device 120. The process of converting the shape and color characteristics of each member into statistical data from the point cloud data may be performed by calculation by the calculation device 130, or may be classified by the user in advance by visual inspection or the like.

When obtaining shape statistical data, the magnitude of the curvature of each point in the classified point cloud and the distribution of the orientation of the surface normal vector from the XY plane are totaled. This aggregation result can be expressed by a model such as a normal distribution, or can be aggregated by determining a grade like a histogram.

8 and 9 show examples of shape statistical data.
FIG. 8 is shape statistical data of each point of the skeleton 1. FIG. 8A shows the relationship between the curvature and the frequency of the surface of the skeleton 1 obtained from the point cloud data. The horizontal axis is the curvature and the vertical axis is the frequency. FIG. 8B shows the relationship between the orientation and frequency of the surface of the skeleton 1 obtained from the point cloud data. The horizontal axis is the direction of the pipe surface, and the vertical axis is the frequency.
As shown in FIGS. 8A and 8B, in the case of the skeleton 1, it can be seen that both the curvature and the direction are concentrated in a specific place.

FIG. 9 is shape statistical data of each point of the pipe 2. FIG. 9A shows the relationship between the curvature of the surface of the pipe 2 and the frequency obtained from the point cloud data. The horizontal axis is the curvature and the vertical axis is the frequency. FIG. 9B shows the relationship between the orientation of the surface of the pipe 2 and the frequency obtained from the point cloud data. The horizontal axis is the direction of the pipe surface, and the vertical axis is the frequency.
As shown in FIGS. 9A and 9B, it can be seen that in the case of the pipe 2, the curvature is not concentrated at a specific location, and the orientation also has a peculiar characteristic that the frequency increases at a plurality of locations.

In the area member attribute determination unit 133, from the shape statistical data of the skeleton 1 shown in FIG. 8 and the shape statistical data of the pipe 2 shown in FIG. Determine whether it is piping 2 or piping 2. Here, an example of the skeleton 1 and the pipe 2 is shown, but shape statistical data different from these can be obtained for the device 3, and the area member attribute determination unit 133 can also determine the device 3.

The area member attribute determination unit 133 can also determine the members existing in each area by using the color statistical data.
That is, if the color of each point in the classified point group is an RGB model, it can be divided into Red (red), Green (green), and Blue (blue) components for aggregation, or converted to an HSV model and Hue (hue). ), Saturation (saturation), Value (brightness) can be divided and aggregated.

10 and 11 show examples of color statistical data.
FIG. 10 is color statistical data of each point of the skeleton 1. FIG. 10 (A) shows the frequency with respect to Hue (hue), and FIG. 10 (B) shows the frequency with respect to Saturation (saturation). FIG. 10C shows the frequency with respect to Value (brightness).
FIG. 11 is color statistical data of each point of the pipe 2. FIG. 10 (A) shows the frequency with respect to Hue (hue), and FIG. 11 (B) shows the frequency with respect to Saturation (saturation). FIG. 10C shows the frequency with respect to Value (brightness).

As can be seen by comparing FIGS. 10 and 11, there is a clear difference in the color statistical data between the location of the skeleton 1 and the location of the pipe 2. Therefore, the area member attribute determination unit 133 can determine whether the area of each point is the skeleton 1 or the pipe 2 by using the color statistical data.

The region member attribute determination unit 133 can estimate the members existing in each region with higher accuracy by making a determination using both the shape statistical data and the color statistical data.
That is, the area member attribute determination unit 133 aggregates the shape distribution and the color distribution of the measurement point group existing in each divided area, and has the highest degree of agreement as compared with the shape statistics and the color statistics. The member is estimated as a member existing in the region.
The degree of agreement can be calculated by comparing the modes in each distribution such as Hue (hue) and weighting the difference between them. When the difference in the degree of coincidence between the member having the highest degree of coincidence and the degree of coincidence of the other members is smaller than the predetermined threshold value, the region member attribute determination unit 133 presumes that the member also exists in the region.

FIG. 12 is a diagram showing in space an image of the result of determining the member of each region by the region member attribute determination unit 133. Here, the region where the skeleton 1 is estimated to exist is represented by C, the region where the pipe 2 is estimated to exist is represented by P, and the region where the device 3 is estimated to exist is represented by the member attribute E.
FIG. 13 shows an example of an actual data structure.
As shown in FIG. 13, the measurement ID for distinguishing the data for each measurement point, the measurement time, the ID of each area, the area coordinates indicating the position of the area, the area size indicating the size of the area, and the member attributes are the determination results. Is retained as.

The area coordinates and area size shall be in a format that can reproduce each area. For example, if the region shape is a rectangular parallelepiped, the coordinate values of the vertices that minimize the X-axis, Y-axis, and Z-axis coordinates from the eight vertices of the rectangular parallelepiped are set as the region coordinates, and the X-axis and Y are used. The length of the side of the axis / Z axis may be the area size.
When the region shape is a sphere, the center coordinate value of the sphere may be the region coordinate and the radius of the sphere may be the region size.
The member attribute holds at least one member name, and holds a plurality of member names when it is estimated that a plurality of members exist at the time of calculating the degree of agreement. That is, as shown in FIG. 13, in the storage area of the determination result, an area for holding a plurality of member names such as member attribute 1, member attribute 2, ... Is prepared, and the estimated plurality of member names are stored. To do. The above processing is the area member attribute determination processing.

[Design model area member attributes]
After the region member attribute determination unit 133 estimates the members of each region, the region superimposing unit 134 superimposes and compares the region member attribute of the design model with the estimated member. Here, the design model area member attributes will be described.
FIG. 14 shows an example of design model area member attributes.
As shown in FIG. 14, the design model area member attribute prepares the design model space of the structure created by three-dimensional CAD or the like. In this design model space, the skeleton 1, the pipe 2, and the device 3 shown in the design model are arranged.

This design model space is divided into regions in the same manner as the region division of the point cloud data in the region division unit 132.
FIG. 15 shows an example in which the design model space is divided into regions a11, a12, a13, .... The shape and size of each region when the region is divided are set to be the same as the region division of the point cloud data in the region division unit 132.
Further, data representing the members existing inside each region divided into regions as member attributes is obtained. That is, as shown in FIG. 16, data showing the members (frame C, pipe P, device E) existing inside each region is obtained.

Actually, as the member attribute data of the members existing in each area, as shown in FIG. 17, the building name, the floor name, the area name representing the place to which each area belongs, and the point group data shown in FIG. 13 It consists of the same area ID, area coordinates, area size, and member attributes as the area member attributes.

Regarding the determination of the members existing in the area, since a general design model has a correspondence relationship between the object shape and the member name, it is used to check the interference between the area and the object (member) in the three-dimensional space. Can be determined by. Interference check can be realized by using the function of general 3D CAD. When a plurality of members exist in one region, at least one member name is retained as a region member attribute in descending order of the volume of the interference portion obtained as a result of the interference calculation.

[Processing in the area superimposition part]
The area superimposition unit 134 compares (matches) the design model area member attribute obtained in this way with the data calculated by the area member attribute determination unit 133, and aligns the design model with the measurement data. (Area superimposition processing).
FIG. 18 shows a comparison (matching) state in the region superimposing portion 134. As shown in FIG. 18, the region superimposition unit 134 collates the measurement data space with the design model space and calculates the similarity. The collation here is to align the measurement data space composed of the divided areas with a specific location in the design model space composed of the divided areas, and compare the overlapping areas with each other.

Alignment can be performed over the entire design model space by starting from any end point of the design model space and sliding one region at a time in sequence. Further, since the orientation of the measurement data space does not always match the orientation of the design model space as in the measurement space shown in FIG. 4 and the design model space shown in FIG. 14, the coordinate system is set around the Z axis. The alignment process is sequentially performed by turning 90 ° four times. Therefore, the alignment is performed in a total of 4 patterns of 90 °, 180 °, 270 ° and 360 °.

In order to reduce the calculation load of the alignment process, it is also possible to use a method of performing alignment calculation on a plurality of randomly extracted positions in the design model space and searching around the positions having a high degree of similarity. Good.

Further, during the alignment process, as shown in FIG. 19, it is possible to reduce the calculation load by holding the hierarchical area division and the area attribute having the upper layer and the lower layer such as the ocree. Is. Specifically, as shown in FIG. 20, first, brute force alignment is performed in the upper layer, and a position having a high degree of similarity (matching candidate position) is calculated. Next, as shown in FIG. 21, the matching candidate positions are aligned in the lower hierarchy, and the accurate similarity is calculated. When there are a plurality of matching candidate positions in the upper layer, the similarity is calculated in the same manner, and the position having the highest similarity is used as the final alignment result.

FIG. 22 shows an example of calculating the similarity.
That is, as shown in FIG. 22, "1" is applied to the region of the skeleton 1 (C) of the design model space (CAD space), and "0" is applied to the other regions. Similarly, for the measurement space, “1” is applied to the region of the skeleton 1 (C), and “0” is applied to the other regions. In FIG. 22, the area of “0” is shown as a blank.

Then, the product of the design model space and the measurement space is calculated, the evaluation value of each region is calculated, and the sum is taken to calculate the alignment.
Similarly, numerical values such as 1 and 0 are given to the areas of the pipe 2 and the device 3. By setting these numerical values to different values predetermined for each member, it is possible to give a weight for each member in matching. For example, by setting the skeleton area to "3", the equipment area to "2", and the piping area to "1", the matching of the positions of the skeleton areas can be prioritized as compared with the equipment and piping.

[Alignment result display screen]
23 and 24 show examples of display screens 200 and 300 created by the display processing unit 135 based on the alignment result in the area superimposing unit 134. The display screens 200 and 300 are displayed on the output device 140.
As shown in FIG. 23, the display screen 200 includes a measurement data selection location 201, a measurement location selection location 202, an execution button 203, and an alignment result display location 210.
For the measurement data selection point 201 and the measurement location selection point 202, a plurality of candidates are displayed in a pull-down format, etc., and after selecting one of the candidates by user operation, the design model is pressed by pressing the execute button 203. And the alignment process of the measurement data is started.

At the alignment result display location 210, a plurality of candidates with a high possibility of matching in the alignment result are displayed. In the example of FIG. 23, the display portion 211 of the candidate 1 and the display portion 212 of the candidate 2 are prepared. At the two display locations 211 and 212, two candidates are displayed in order of increasing similarity.
Further, the alignment result display location 210 includes a detailed display button 213 and a save button 214. When the detail display button 213 is pressed by the user, the screen shifts to the detail display screen for the selected candidate. When the save button 214 is pressed by the user, the alignment result of the selected candidate is saved.

FIG. 24 shows an example of the display screen 300 showing the alignment result in detail.
The display screen 300 shows the measurement data display area 301 and the design model display area 302 side by side. In the respective display areas 301 and 302, the member attributes for each area calculated by the area member attribute determination unit 133 are graphically displayed for each of the measurement data and the design model. By displaying the measurement data and the design model graphically in this way, the user can judge the validity of the analysis. Specifically, it becomes clear which areas are different, and it becomes possible to confirm the members added by repairs and the members removed.

When the display area 301 of the measurement data and the display area 302 of the design model are displayed side by side, the differences between the two may be clearly displayed. That is, by setting the matching area and the different area to different display forms (change of display color, etc.), the user can be clearly notified of the difference.
For example, although it is not in the design model, when a pipe exists in the measurement data, the place where the pipe exists is set to a display form (different display color, etc.) different from other places, and the user is warned of the difference. May be good.
In addition, even if an area that cannot be measured exists in the measurement data, the area that cannot be measured is set to a display form different from other areas (for example, display with low brightness) and cannot be measured by the user. You may be able to understand.

Further, in the plant measurement support device 100 of this example, as a result of the alignment, the correspondence relationship of each region can be calculated by matching the coordinates. Therefore, when a part of the measurement data area is input by mouse click or the like, the area corresponding to the specified area can be highlighted in the design model area, and the corresponding positions of both can be clearly indicated. .. Conversely, you can click on a part of the design model area to highlight the corresponding area of the measurement data.

When displaying the measurement data display area 301 and the design model display area 302 on the display screen 300, the display form such as the display color is changed for each member determined in each division area, and the display color is coded. The user may be able to easily determine which member is present. In the example of FIG. 24, since the characters (C, E, P) of the symbols indicating the determination members are added to each divided region, the attributes of the members existing in each region can be more reliably understood. In FIG. 24, the characters of the symbols indicating the attributes of the determination members are displayed, but characters such as "framework", "piping", and "pump" may be arranged directly on the screen. Alternatively, instead of the symbol indicating the determination member attribute, some figure indicating the determination member attribute may be arranged in each area.

FIG. 25 shows an example of the alignment result saved when the save button 214 of FIG. 23 is pressed.
After confirming the candidates on the display screen 300 or the like, the user presses the save button 214 on the display screen 200, and one of the candidates is saved as the final result.
Here, for example, as shown in FIG. 25 (A), the data 401 obtained by performing the transformation matrix from the measurement data to the design model is stored. The data 401 stores the building name, floor name, area name, and transformation matrix of the design model corresponding to the unique measurement ID for specifying the measurement data as a result of the alignment. Further, as shown in FIG. 25B, the data 402 of the correspondence between the measurement data area and the design model area is stored.
The CAD data in which the measurement data and the design model overlap may be output and saved.

As described above, according to the plant measurement support device 100 of this example, the comparison work between the 3D measurement data of a large-scale structure and the design model can be easily and quickly performed with a small amount of calculation processing. Therefore, for example, while performing 3D measurement with the three-dimensional measuring device 110 at the site, the comparison result can be immediately confirmed by the output device 140, which leads to labor saving in the plant measurement work and improves daily work efficiency.

[Modification example]
The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. For example, in the above-described embodiment, the skeleton, the piping, and the device are distinguished from each other, but details such as the type of the device may be distinguished.
Further, as an analysis result as shown in FIG. 25, it is an example that the display area 301 of the measurement data and the display area 302 of the design model are displayed side by side, and both are overlapped and displayed on one screen to display the difference. May be identified by color coding or the like.

Further, in the configuration diagram such as FIG. 1, only the control lines and information lines considered to be necessary for explanation are shown, and not all the control lines and information lines are necessarily shown in the product. In practice, it can be considered that almost all configurations are interconnected.

Further, the configuration described in the embodiment may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as a program that realizes each function can be stored in a memory, a hard disk, a recording device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or an optical disk.

1 ... skeleton, 2 ... piping, 3 ... equipment, 11 ... CPU (central control unit), 12 ... ROM, 13 ... RAM, 14 ... non-volatile storage, 15 ... network interface, 16 ... input device, 17 ... display device, 100 ... Plant measurement support device, 110 ... Three-dimensional measurement device, 120 ... Storage device, 121 ... Shape statistics data storage unit, 122 ... Color statistics data storage unit, 123 ... Design model area member attribute storage unit, 130 ... Calculation device, 131 ... Measurement data acquisition unit, 132 ... Area division unit, 133 ... Area member attribute determination unit, 134 ... Area superimposition unit, 135 ... Display processing unit, 140 ... Output device, 200, 300 ... Display screen

Claims (11)

A measurement data acquisition unit that acquires 3D measurement data for a specific space,
A region division unit that divides the space determined from the three-dimensional measurement data acquired by the measurement data acquisition unit or the space obtained from the design model for the specific space into a plurality of regions.
A region member attribute determination unit that estimates a member of a structure existing in the region by using the attribute information of the three-dimensional measurement data existing in the region divided by the region division unit.
A region superimposing unit that compares the region member attribute of the three-dimensional measurement data estimated by the region member attribute determination unit with the region member attribute of the design model and aligns the three-dimensional measurement data with the design model.
A measurement support device including an output unit that outputs an alignment result in the area superimposition unit. The measurement support device according to claim 1, wherein the attribute information of the three-dimensional measurement data is shape statistical information showing a statistical distribution of at least one of the curvature of the measured portion and the direction of the surface normal vector. The measurement support device according to claim 1, wherein the attribute information of the three-dimensional measurement data is color statistical information indicating a statistical distribution of colors at a measured location. The measurement support device according to claim 1, wherein the attribute information of the design model uses at least one of the member name given to the design model and the volume of the interference portion with the divided region or the number of models. The output unit outputs image data showing the alignment result in the area superimposition unit.
The measurement support device according to claim 1, wherein the image data has a display form of each area different depending on the attribute determined by the area member attribute determination unit. The measurement support device according to claim 5, wherein the display form of each area is different depending on the image data by changing the display color for each of the determined attributes. The measurement support device according to claim 5, wherein the display form of each area is different depending on the image data by changing the characters or figures to be superimposed and displayed for each of the determined attributes. The measurement support device according to claim 5, wherein in the image data, the display form of the matching area and the different area is different as a result of the alignment of the measurement data and the design model. The measurement support device according to claim 1, wherein the region divided by the region dividing portion is any of a rectangular parallelepiped, a cylinder, and a sphere. The measurement support device according to claim 9, wherein a region composed of a rectangular parallelepiped, a cylinder, or a sphere is densely spread in a space. Measurement data acquisition processing to acquire 3D measurement data for a specific space,
Area division processing that divides the space determined from the three-dimensional measurement data acquired by the measurement data acquisition process or the space obtained from the design model for the specific space into a plurality of areas.
The area member attribute determination process for estimating the member of the structure existing in the area by using the attribute information of the three-dimensional measurement data existing in the area divided by the area division process.
Area superimposition processing for aligning the 3D measurement data and the design model by comparing the area member attributes of the 3D measurement data estimated by the area member attribute determination process with the area member attributes of the design model.
A measurement support method including an output process for outputting an alignment result by the area superimposition process.