JP2023007149A - Information processing device - Google Patents

Abstract

To provide an information processing device capable of easily creating a development of a building using point cloud data.SOLUTION: An information processing device 10 includes: an acquisition unit 11A that acquires point cloud data that is obtained by 3D imaging of an area including a wall in the interior of a building that has internal walls; and a configuring unit 11B that configures the wall on a drawing using a point cloud that is constituted of the furthest points in an outward direction from a predetermined position within the point cloud represented by the point cloud data in the point cloud data acquired by the acquisition unit 11A.SELECTED DRAWING: Figure 3

Description

The present invention relates to an information processing device.

Conventionally, three-dimensional photography by a three-dimensional scanner (hereinafter also referred to as a "3D scanner") in the construction industry has been carried out from the outside, targeting building skeletons and exteriors, and equipment, as in the field of civil engineering. . In addition, the three-dimensional photography is carried out semi-outdoors (rooftops hidden by blindfold walls, dry areas, pilotis, etc.) and indoors as well, targeting building frames, interiors, and facilities.

The point cloud data acquired by three-dimensional imaging by this 3D scanner is utilized for checking the site and the current situation using a personal computer or the like.

Techniques using point cloud data obtained by such a 3D scanner include the following techniques.

Patent Literature 1 discloses a CAD data creation device that creates CAD data for drawing a CAD drawing from a set of points.

This CAD data creation device is provided with a point cloud data acquisition unit that acquires the position and shape of an object as point cloud data and displays the point cloud on a display unit based on the point cloud data. Further, the CAD data creation device includes a point group designating unit for designating a point group representing a member constituting the object from among the obtained point group representing the object, and a point group designating unit for designating the designated member. A point cloud dividing unit for dividing the point cloud data, which is the source of the point cloud, and other point cloud data.

Further, Patent Literature 2 discloses a floor plan creation method for the purpose of making it possible to easily create a floor plan.

This floor plan creation method includes the steps of acquiring measurement data including three-dimensional point cloud data in a room using a measuring device, acquiring a three-dimensional model of the room based on the three-dimensional point cloud data, creating a floor plan of the room based on the three-dimensional model.

JP-A-2003-323461 JP 2017-151744 A

By the way, there is a demand to create a development view of a building having walls inside, using point cloud data obtained by three-dimensionally photographing an area including the walls with a 3D scanner.

However, when the technique described in Patent Document 1 is applied to create the development view, it is necessary to specify a point group indicating a wall surface or the like as the object, which is troublesome. .

In addition, although the technology described in Patent Document 2 describes obtaining a three-dimensional model of the interior, it does not describe configuring the walls of the building. There is a problem that it is not always possible to easily create a development view of

The present disclosure has been made in view of the circumstances described above, and an object thereof is to provide an information processing apparatus capable of easily creating a developed view of a building using point cloud data.

The information processing apparatus according to the present invention according to claim 1 is an acquisition unit that acquires point cloud data obtained by three-dimensionally photographing an area including the wall inside a building having a wall inside, In the point cloud data acquired by the acquisition unit, the wall surface on the drawing is configured using a point group composed of points farthest outward from a predetermined position inside the point cloud indicated by the point cloud data. and

According to the information processing apparatus according to the present invention described in claim 1, point cloud data obtained by three-dimensionally photographing an area including the wall inside a building having a wall inside is acquired and acquired In the point cloud data, by constructing the wall surface on the drawing using the point cloud composed of the points farthest outward from the predetermined position inside the point cloud data indicated by the point cloud data, the wall surface on the drawing of the building can be configured without human intervention, and as a result, it is possible to easily create a development plan of a building from point cloud data.

The information processing apparatus according to the present invention described in claim 2 is the information processing apparatus according to claim 1, wherein when the point cloud indicated by the point cloud data is viewed from above, the point cloud is circumscribed. and a rotating unit that rotates the point cloud data so that the perimeter of the rectangular frame, one side of which is horizontal in a plan view, is minimized.

According to the information processing apparatus according to the present invention described in claim 2, when the point cloud indicated by the point cloud data is viewed from above, the rectangular frame circumscribes the point cloud and has one side horizontal in plan view. By rotating the point cloud data so that the perimeter of the point cloud is minimized, it is possible to adjust the horizontal direction in the plane view of the point cloud without manual intervention. can be created more easily.

The information processing apparatus according to the present invention according to claim 3 is the information processing apparatus according to claim 1 or claim 2, wherein the direction of the wall surface formed by the component from the predetermined position in the interior is and a creation unit that creates a developed view by developing the elevation that is orthographically projected toward.

According to the information processing apparatus according to the present invention described in claim 3, an elevation is orthographically projected from a predetermined position in the interior toward the direction of the wall surface formed by the constituent parts, and the developed view is , it is possible to more easily create a development plan of a building using point cloud data.

As described above, according to the present invention, it is possible to easily create a developed view of a building from point cloud data.

It is a block diagram showing an example of hardware constitutions of an information processing system concerning an embodiment. 1 is a perspective view showing an example of the configuration of a 3D scanner according to an embodiment; FIG. It is a block diagram showing an example of functional composition of an information processor concerning an embodiment. 4 is a schematic diagram showing an example of the configuration of a scan information database according to the embodiment; FIG. 4 is a flowchart showing an example of information processing according to the embodiment; It is a figure where it uses for description of the information processing which concerns on embodiment, and is a perspective view which shows an example of a point group. It is a figure with which it uses for description of the information processing which concerns on embodiment, and is a top view which shows an example of the state of rotation processing of point cloud data. It is a figure with which it uses for description of the information processing which concerns on embodiment, and is a top view which shows an example of the state of rotation processing of point cloud data. It is a figure where it uses for description of the information processing which concerns on embodiment, and is a top view which shows an example of the state of a wall surface structure process. It is a figure where it uses for description of the information processing which concerns on embodiment, and is a top view which shows an example of the state of a wall surface smoothing process. FIG. 4 is a diagram for explaining information processing according to the embodiment, and is a plan view showing an example of the state of development drawing creation processing. FIG. 11 is a front view showing an example of a development view presentation screen according to the embodiment;

Embodiments for carrying out the present invention will be described in detail below with reference to the drawings.

First, the configuration of an information processing system 90 according to the present embodiment will be described with reference to FIGS. 1 to 3. FIG. FIG. 1 is a block diagram showing an example of the hardware configuration of an information processing system 90 according to this embodiment. Also, FIG. 2 is a perspective view showing an example of the configuration of the 3D scanner 50 according to this embodiment. Furthermore, FIG. 3 is a block diagram showing an example of the functional configuration of the information processing apparatus 10 according to this embodiment.

As shown in FIG. 1, an information processing system 90 according to this embodiment includes an information processing device 10 and a 3D scanner 50 . Examples of the information processing apparatus 10 include general-purpose or dedicated information processing apparatuses such as personal computers and server computers.

The information processing apparatus 10 according to the present embodiment includes a CPU (Central Processing Unit) 11, a memory 12 as a temporary storage area, a nonvolatile storage unit 13, an input unit 14 such as a keyboard and a mouse, and a display unit 15 such as a liquid crystal display. , a medium read/write device (R/W) 16 and a communication interface (I/F) section 18 . CPU 11 , memory 12 , storage unit 13 , input unit 14 , display unit 15 , medium read/write device 16 and communication I/F unit 18 are connected to each other via bus B. The medium read/write device 16 reads information written in the recording medium 17 and writes information to the recording medium 17 .

The storage unit 13 is implemented by a HDD (Hard Disk Drive), SSD (Solid State Drive), flash memory, or the like. An information processing program 13A is stored in the storage unit 13 as a storage medium. The information processing program 13A is stored in the storage unit 13 by setting the recording medium 17 in which the information processing program 13A is written in the medium reading/writing device 16 and reading the information processing program 13A from the recording medium 17 by the medium reading/writing device 16. stored to The CPU 11 reads out the information processing program 13A from the storage unit 13, develops it in the memory 12, and sequentially executes the processes of the information processing program 13A.

The storage unit 13 also stores a scan information database 13B. Details of the scan information database 13B will be described later.

On the other hand, as shown in FIG. 1, the 3D scanner 50 according to this embodiment includes a scanner main body 52 and a storage section 58 . Although not shown, the 3D scanner 50 according to the present embodiment includes a motor for changing the imaging direction of the scanner main body 52 when three-dimensional imaging is performed by the scanner main body 52, the motor, and the scanner main body 52. Also included is a control unit that controls the operation of each unit such as.

As shown in FIG. 2, the 3D scanner 50 according to the present embodiment is provided with a scanner body 52 on top of legs 60 having three legs. The imaging direction can be changed by driving the motor. Needless to say, the legs 60 are not limited to three legs.

The 3D scanner 50 according to the present embodiment emits a laser beam from the scanner body 52, calculates the distance from the time it takes for the laser beam to be reflected by the object, and returns the laser beam from the moving direction of the scanner body 52. It is a so-called time-of-flight method in which angles are calculated and three-dimensional positions are identified using these calculated values. However, the method of specifying the three-dimensional position by the 3D scanner 50 is not limited to this. For example, multiple modulated laser beams are emitted from the scanner body 52, and the distance to the object is obtained from the phase difference between the diffuse reflection components that hit and return to the object. may be applied as the 3D scanner 50 using a so-called phase shift method.

In addition, in the 3D scanner 50 according to the present embodiment, as point cloud data, in addition to coordinate information indicating the coordinates of the three-dimensional position of each point, reflection intensity information indicating the reflection intensity of the laser light at the corresponding point, and corresponding Color information is obtained that indicates the color of the point. Then, in the 3D scanner 50 according to the present embodiment, the acquired coordinate information, reflection intensity information, and color information are associated with each point in the point cloud data and stored in the storage unit 58 . However, the present invention is not limited to this form, and for example, a form of storing only coordinate information, a combination of coordinate information and reflection intensity information, and a combination of coordinate information and color information as point group data may be used.

In the information processing system 90 according to the present embodiment, various types of information stored in the storage unit 58 of the 3D scanner 50 are transmitted to the information processing apparatus 10 via wired communication, but the present invention is not limited to this. . For example, the various information stored in the storage unit 58 of the 3D scanner 50 may be transmitted to the information processing apparatus 10 by wireless communication. In addition, the storage unit 58 is a portable storage medium detachable from the 3D scanner 50, and various information stored in the storage unit 58 of the 3D scanner 50 is transferred to the information processing apparatus 10 via the storage medium. may be Furthermore, the various information stored in the storage unit 58 of the 3D scanner 50 is not limited to being directly transmitted to the information processing apparatus 10, and may be transmitted to the information processing apparatus 10 via a cloud server, for example.

Next, a functional configuration of the information processing apparatus 10 according to this embodiment will be described with reference to FIG. As shown in FIG. 3, the information processing apparatus 10 according to this embodiment includes an acquisition unit 11A, a configuration unit 11B, a rotation unit 11C, and a creation unit 11D. By executing the information processing program 13A, the CPU 11 of the information processing device 10 functions as an acquisition unit 11A, a configuration unit 11B, a rotation unit 11C, and a creation unit 11D.

The acquisition unit 11A according to the present embodiment acquires point cloud data obtained by three-dimensionally photographing an area including the wall surface with the 3D scanner 50 in the interior of the building having the wall surface.

In addition, in the point cloud data acquired by the acquisition unit 11A, the configuration unit 11B according to the present embodiment configures a point group composed of points farthest outward from a predetermined position inside the point cloud indicated by the point cloud data. is used to configure the wall surface on the drawing. In this embodiment, the center position of the point group indicated by the point group data in the three-dimensional coordinate system is used as the predetermined internal position, but the present invention is not limited to this. For example, each position on the central axis of the point group in the vertical direction may be applied as the predetermined position in the interior. Further, the predetermined position inside the building is not limited to the central position or the position on the central axis, and any position inside the building can be applied.

Further, the configuration unit 11B according to the present embodiment smoothes the wall surface on the drawing obtained by the above processing using the method of least squares.

Further, in the rotation unit 11C according to the present embodiment, when the point cloud indicated by the point cloud data is viewed from above, the rectangular frame that circumscribes the point cloud and whose one side is horizontal in plan view has a perimeter of Rotate the point cloud data so that it is minimized. Then, the creation unit 11D according to the present embodiment creates a developed view by developing an elevation that is orthographically projected from a predetermined position in the interior toward the direction of the wall surface configured by the configuration unit 11B.

In order to avoid complication, in the following description, the case where the interior of the building to be processed (hereinafter referred to as "target building") has a rectangular parallelepiped shape will be described, but it is not limited to this. For example, buildings with uneven walls, triangular prisms, polygonal prisms with pentagons or more, circular cylinders when viewed from the top, elliptical cylinders with an elliptical shape when viewed from the top are applicable as target buildings. may be

Next, the scan information database 13B according to this embodiment will be described with reference to FIG. FIG. 4 is a schematic diagram showing an example of the configuration of the scan information database 13B according to this embodiment.

As shown in FIG. 4, the scan information database 13B according to the present embodiment stores coordinate, reflection intensity, and color information in association with each other.

The coordinates are the above-described coordinate information indicating the coordinates of the position of each point obtained by three-dimensional imaging by the 3D scanner 50, and the reflection intensity is the above-described reflection intensity information at the corresponding point. Color is the above color information at the corresponding point. That is, in the scan information database 13B according to the present embodiment, point cloud data of coordinate information, reflection intensity information, and color information obtained by three-dimensional imaging by the 3D scanner 50 are registered.

Next, operation of the information processing system 90 according to the present embodiment will be described with reference to FIGS. 5 to 11. FIG. FIG. 5 is a flowchart showing an example of information processing according to this embodiment. FIG. 6 is a diagram for explaining information processing according to the present embodiment, and is a perspective view showing an example of a point cloud. 7A and 7B are diagrams for explaining information processing according to the present embodiment, and are plan views showing an example of a state of rotation processing of point cloud data. FIG. 8 is a diagram for explaining the information processing according to the present embodiment, and is a plan view showing an example of the state of the wall construction processing. FIG. 9 is a diagram for explaining the information processing according to the present embodiment, and is a plan view showing an example of the state of the wall surface smoothing process. FIG. 10 is a diagram for explaining the information processing according to the present embodiment, and is a plan view showing an example of the state of development drawing creation processing. Furthermore, FIG. 11 is a front view showing an example of the developed view presentation screen according to the present embodiment.

A photographer who performs three-dimensional photography three-dimensionally photographs an area including a wall surface inside a target building with a 3D scanner 50 . In order to avoid complication, the case where the 3D scanner 50 can perform three-dimensional imaging only once will cover the imaging target area, but the present invention is not limited to this. If the 3D scanner 50 cannot cover the area to be imaged with only one 3D image, the 3D image may be divided into multiple times and the point cloud data obtained from each 3D image may be synthesized. good.

Through this three-dimensional imaging, the above-described coordinate information, reflection intensity information, and color information in the imaging target area are obtained and temporarily stored in the storage unit 58 .

After that, the photographer performs an operation to transmit the coordinate information, the reflection intensity information, and the color information stored in the 3D scanner 50 to the information processing apparatus 10 .

When the above information is received from the 3D scanner 50, the information processing apparatus 10 registers the received information in the scan information database 13B. By registering this information, the scan information database 13B shown in FIG. 4 as an example is constructed.

In this state, the user of the information processing device 10 inputs an instruction to start execution of the information processing program 13A via the input unit 14 . The information processing shown in FIG. 5 is executed by causing the CPU 11 of the information processing apparatus 10 to execute the information processing program 13A in response to the instruction input.

At step 100 in FIG. 5, the CPU 11 reads out all information (hereinafter referred to as "point cloud data") from the scan information database 13B.

In step 102, the CPU 11 uses the coordinate information in the read point cloud data to determine a predetermined position inside a point cloud 82 indicating the inside of a target building 80 schematically shown in FIG. 6 as an example. identify. In this embodiment, as described above, the center position C (see also FIG. 8) of the point group 82 in the three-dimensional coordinate system is applied as the predetermined internal position. In FIG. 6, each point 82A of the point group 82 is shown larger than it actually is for the sake of convenience. Also, in order to avoid complication, in FIG. Illustration of groups is omitted.

In step 104, as shown in FIG. 7A as an example, the CPU 11 circumscribes the point group 82 and sets the points so that the perimeter (=L1+L2+L3+L4) of the rectangular frame 88, one side of which is horizontal in plan view, is minimized. Rotation processing for rotating the group data is performed. By this rotation processing, as shown in FIG. 7B as an example, the orientation of the target building 80 indicated by the point group 82 can be adjusted in the horizontal direction in plan view.

In step 106, as shown in FIG. 8 as an example, the CPU 11 selects a point 82A farthest outward from a predetermined position inside the point cloud 82 indicated by the point cloud data in the point cloud data that has undergone the rotation process. A wall construction process is performed to identify the points constituting the wall on the drawing of the building 80 . As described above, in the present embodiment, the center position C is applied as the predetermined internal position. For this reason, in the present embodiment, positions indicated by the coordinate information of each point group 82 are searched radially outward from the center position C in an area excluding the ceiling surface and the floor surface of the target building 80, and the center position The point 82A at the farthest position from C is specified as the point forming the wall surface of the target building 80 on the drawing. As shown in FIG. 8 as an example, this wall structure processing can identify a point cloud 82 representing a wall surface excluding objects 89 such as facility pipes, columns, tables, etc., provided inside a target building 80. .

At step 108 , the CPU 11 stores information indicating the specified point group 82 in a predetermined area of the storage unit 13 as points forming the wall surface of the target building 80 on the drawing. At step 110, as shown in FIG. 9 as an example, the CPU 11 performs the least-squares method for each of the points 82A constituting the wall surface on the drawing of the target building 80 obtained by the above processing. A wall surface smoothing process is performed so that a set of straight lines 87 drawn so as to minimize the difference in the height direction indicates the wall surface itself on the drawing. In this wall surface smoothing process, the CPU 11 moves the coordinate information indicating the position of each point 82A forming the wall surface on the drawing in the point group 82 to the position of the closest straight line 87 .

As described above, in the present embodiment, the wall surface smoothing process is performed by applying the least squares method, but the method is not limited to this. When it is desired to make the wall surface of the target building 80 on the drawing smoother, for example, a spline function may be used for smoothing.

In step 112, as shown in FIG. 10 as an example, the CPU 11 uses the point cloud data that has undergone the above processing, from the center position C in the direction of the wall surface 86A to wall surface 86D on the drawing indicated by the point cloud data. A development view is created by developing an elevation that is orthographically projected.

At step 114, the CPU 11 controls the display unit 15 so as to display a development view presentation screen having a predetermined configuration using the created development view, and at step 116, the CPU 11 inputs predetermined information. wait until

FIG. 11 shows an example of a developed view presentation screen according to this embodiment. As shown in FIG. 11, on the developed view presentation screen according to the present embodiment, the developed view of the target building 80 created by the process of step 112 is displayed such that the floor surface 84 is positioned at the center. As an example, when the development view presentation screen shown in FIG. When the end button 15A is specified by the user, a positive determination is made in step 116 and this information processing ends.

As described above, according to the information processing apparatus 10 according to the present embodiment, in the interior of a building having walls inside, point cloud data obtained by three-dimensionally photographing an area including the walls is acquired. In the point cloud data acquired by the unit 11A and the acquisition unit 11A, the wall surface on the drawing is calculated using a point group composed of points farthest outward from a predetermined position inside the point cloud indicated by the point cloud data. and a configuration unit 11B that configures. Therefore, as a result of being able to configure the wall surface on the drawing of the building without human intervention, it is possible to easily create a developed view of the building from the point cloud data.

Further, according to the information processing apparatus 10 according to the present embodiment, when the point cloud indicated by the point cloud data is viewed from above, the periphery of the rectangular frame that circumscribes the point cloud and whose one side is horizontal in plan view Rotate the point cloud data so that the length is minimized. Therefore, it is possible to adjust the horizontal direction of the point cloud in plan view without human intervention, and as a result, it is possible to more easily create a developed view of the building from the point cloud data.

Further, according to the information processing apparatus 10 according to the present embodiment, a developed view is created by developing an elevation that is orthographically projected from a predetermined position in the interior toward the direction of the wall surface configured by the component 11B. do. Therefore, it is possible to more easily create a development plan of a building based on point cloud data.

In addition, in the above-described embodiment, the case where the wall structure processing is performed after performing the rotation processing has been described, but the present invention is not limited to this. For example, the rotation process may be performed after performing the wall structure process.

Further, in the above embodiment, for example, the hardware structure of the processing unit (processing unit) that executes each process of the acquisition unit 11A, the configuration unit 11B, the rotation unit 11C, and the creation unit 11D includes the following various processor can be used. As described above, the various processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as a processing unit, as well as FPGAs (Field-Programmable Gate Arrays), etc., which have circuit configurations after manufacturing. Programmable Logic Device (PLD), ASIC (Application Specific Integrated Circuit), etc. etc. are included.

The processing unit may be configured with one of these various processors, or a combination of two or more processors of the same type or different types (for example, a combination of multiple FPGAs or a combination of a CPU and an FPGA). may consist of Also, the processing unit may be configured with a single processor.

As an example of configuring the processing unit with one processor, first, one processor is configured by combining one or more CPUs and software, as typified by computers such as clients and servers. There is a form that functions as a processing unit. Secondly, there is a form of using a processor that implements the functions of the entire system including the processing section with a single IC (Integrated Circuit) chip, as typified by a System On Chip (SoC). In this way, the processing unit is configured using one or more of the above various processors as a hardware structure.

Furthermore, as the hardware structure of these various processors, more specifically, an electric circuit (circuitry) in which circuit elements such as semiconductor elements are combined can be used.

10 information processing device 11 CPU
11A acquisition unit 11B configuration unit 11C rotation unit 11D creation unit 12 memory 13 storage unit 13A information processing program 13B scan information database 14 input unit 15 display unit 15A end button 16 medium read/write device 17 recording medium 18 communication I/F unit 50 3D scanner 52 Scanner main body 58 Memory unit 60 Leg unit 80 Target building 82 Point cloud 82A Point 84 Floor surface 86A to 86D Wall surface 87 Straight line 88 Square frame 89 Object 90 Information processing system

Claims (3)

an acquisition unit that acquires point cloud data obtained by three-dimensionally photographing an area including the wall surface in a building having a wall surface inside;
In the point cloud data acquired by the acquisition unit, the wall surface on the drawing is configured using a point group composed of points farthest outward from a predetermined position inside the point cloud indicated by the point cloud data. a component;
Information processing device with Rotate the point cloud data so that when the point cloud indicated by the point cloud data is viewed from above, the perimeter of a rectangular frame that circumscribes the point cloud and whose one side is horizontal in plan view is minimized. rotating part,
The information processing apparatus according to claim 1, further comprising: a creation unit that creates a developed view by developing an elevation that is orthographically projected from a predetermined position in the interior toward the direction of the wall surface configured by the configuration unit;
3. The information processing apparatus according to claim 1, further comprising:

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