JP7294935B2 - DISTANCE INFORMATION DETECTION SYSTEM, LAYOUT CREATION SYSTEM AND LAYOUT CREATION METHOD - Google Patents

Description

The present invention relates to a distance information detection system, a layout map creation system, and a layout map creation method.

Conventionally, in the ceiling space of a building, repair work (for example, see Patent Document 1) such as changing the route of facilities such as facilities / electrical equipment and attached piping and electrical cables, and to respond to large-scale earthquakes For example, a reinforcement work is known in which a suspended ceiling and a suspension bolt are connected by a wire member (see, for example, Patent Document 2). In the case of such repair work or reinforcement work, first of all, the state of the existing facilities in the ceiling space, the state of the structure, the piping, and the wiring are investigated.

JP 2016-108752 A JP 2013-217152 A

However, in the case of old buildings, etc., there are cases where there are no structural blueprints or layout drawings of pipes in the ceiling space. In the case of the ceiling space, in order to grasp the equipment condition, measure the position of the equipment and structures in the dark and narrow space behind the ceiling using a measuring tool such as a tape measure, and grasp the current equipment layout. Therefore, the above-mentioned fall prevention equipment will be examined based on the layout of equipment and the layout of structural members confirmed by measurement. Therefore, there has been a demand for a method for easily grasping the arrangement of equipment and structural members even in such a dark and narrow space.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and provides a distance information detection system, a layout drawing creation system, and a system that can easily and quickly grasp the arrangement of equipment members in a dark, narrow space. An object of the present invention is to provide a layout drawing creation method.

In order to achieve the above objects, the present invention provides the following means.
A distance information detection system using three-dimensional measurement according to the present invention is a distance information detection system using three-dimensional measurement for detecting distance information of a member to be information-detected comprising the facility member in a space where the facility member is arranged. A detection system comprising: a distance measurement unit that measures distance data to a large number of measurement points on the information detection member within a measurement range of a predetermined swing angle by three-dimensional laser measurement; A three-dimensional map creation unit that detects optical point cloud data specific to a system and draws the point cloud data to create a three-dimensional map; An image generation unit that generates a tomographic image, and a distance calculation unit that calculates a distance between arbitrary two points in the tomographic image, wherein distance information of the member to be information-detected is obtained from the distance calculated by the distance calculation unit. It is characterized by being detected.

According to the present invention, the distance measurement unit can acquire distance data to a large number of measurement points on information detection members made up of space equipment members by a simple method using three-dimensional laser measurement, and create a three-dimensional map. In part, the acquired distance data can be used to detect point cloud data and create a three-dimensional map drawn based on the point cloud data. Furthermore, in the image generation unit, a tomographic image obtained by cutting an arbitrary cross section of the created three-dimensional map can be obtained, and in the distance calculation unit, the distance between arbitrary two points of the tomographic image can be easily calculated. . As a result, the distance information of the information-detected member is detected, and the arrangement of the facility members in the space can be confirmed by a simple method.
In this way, the work performed by a person in the space is only the task of measuring the distance data by the distance measurement unit, and the three-dimensional map creation unit, the image generation unit, and the distance calculation unit that perform the process until the distance is calculated by the distance calculation unit. The calculation unit becomes a processing step in the processing device. Therefore, even if the space is a narrow space in a building such as an attic or an underfloor, the equipment members in the space can be easily grasped.
Further, in the present invention, since three-dimensional laser measurement is used in the distance measurement unit, there is an advantage that measurement can be performed even in a dark state with little light in the space.

Further, the distance information detection system according to the present invention is preferably provided with a material detection unit that identifies the material of the information detection member from the point group data of the three-dimensional map.

In this case, since the material detection unit can identify the material of the point cloud data, the three-dimensional map creation unit can create a three-dimensional map in which only specific materials are extracted from the measured equipment.

Further, in the distance information detection system according to the present invention, the three-dimensional map is created by combining a plurality of three-dimensional maps obtained based on distance data measured by distance measuring units arranged at a plurality of different positions. It may be characterized by

In this case, it is possible to create one three-dimensional map from a plurality of point cloud data using distance data measured at a plurality of locations by the distance measurement unit. Therefore, a three-dimensional map can be created regardless of the size and shape of the space.

Further, the layout drawing creation system using three-dimensional measurement according to the present invention uses the distance information detected by the distance information detection system described above to create a spatial layout drawing of the information-detected members in the space. A layout map creation system for creating a space layout map by combining the position information of the space, the tomographic image generated by the image generation unit, and the distance calculated by the distance calculation unit It is characterized in that it is equipped with a layout drawing creation unit.

In addition, a layout drawing creation method according to the present invention is a layout drawing creation method using three-dimensional measurement for creating a spatial layout drawing of an information detection member composed of an equipment member in a space in which the equipment member is arranged. a distance measurement step of measuring distance data to a large number of measurement points on the information detection member within a measurement range of a predetermined swing angle by three-dimensional laser measurement; and converting the distance data into a three-dimensional coordinate system. A three-dimensional map creation step of detecting the specified optical point cloud data and drawing the point cloud data to create a three-dimensional map; a distance calculation step of calculating a distance between arbitrary two points in the tomographic image; position information of the space; the tomographic image generated in the image generating step; and a layout drawing creation step of creating a space layout drawing by combining the distance calculated in the above.

In the present invention, the distance information detection system described above is used, and the spatial layout map can be easily created by combining the spatial position information, the tomographic image generated by the image generation unit, and the distance calculated by the distance calculation unit. can be created in As a result, the distance information of the information-detected member is detected, and the arrangement of the facility members in the space can be confirmed by a simple method.
In this way, the work performed by a person in the space is only the work of measuring the distance data with the distance measurement unit, and the three-dimensional map creation unit, image generation unit, and distance calculation unit that carry out the processes up to creating the layout map in the space. , and the layout drawing creation unit are processing steps in the processing device. Therefore, even if the space is a narrow space in a building such as an attic or an underfloor, the equipment members in the space can be easily grasped.
Further, in the present invention, since three-dimensional laser measurement is used in the distance measurement unit, there is an advantage that measurement can be performed even in a dark state with little lighting in the building space.

According to the distance information detection system, the layout drawing creation system, and the layout drawing creation method of the present invention, it is possible to easily grasp the arrangement state of equipment members in a dark and narrow space in a short time by a simple method by three-dimensional measurement. can do.

1 is a block diagram showing an overview of a layout drawing creation system according to an embodiment of the present invention; FIG. It is a top view which shows the state of the building space which has arranged the distance measurement part. FIG. 3 is a perspective view of a building space seen from the lower side of the paper surface shown in FIG. 2; FIG. 4 is a diagram showing a three-dimensional map created by a three-dimensional map creation unit; FIG. 3 is a diagram showing a flow of creating a building layout plan using the layout drawing creation system;

A distance information detection system, a layout drawing creation system, and a layout drawing creation method according to one embodiment of the present invention will be described below.

As shown in FIG. 1, a layout drawing creation system 1 using three-dimensional measurement according to the present embodiment is a building of facilities 3 (information detection members) arranged in a building space 2 (space) shown in FIG. This is a system using three-dimensional measurement for creating an internal layout drawing 81 (internal layout drawing).

As shown in FIGS. 1 and 2, the layout drawing creation system 1 uses three-dimensional laser measurement to measure a large number of measurement points P (symbol P in FIG. 2 is The distance measurement unit 4 measures the distance data 41 to the distance data 41 (only two of the many measured points are displayed), and the optical point cloud data 51 ( 4), draws this point cloud data 51 to create a 3D map 52 (see FIG. 4), and a plane ( An image generation unit 6 that generates a displayed tomographic image 61 (XY plane); a layout drawing creation unit 8 that creates a building layout drawing 81 by combining the position information 21, the tomographic image 61 generated by the image generation unit 6, and the distance L calculated by the distance calculation unit 7; there is
Then, the distance information of the facility 3 is detected from the distance calculated by the distance calculation unit 7. FIG.

Here, as shown in FIGS. 2 and 3, the building space 2 of the present embodiment is intended for the ceiling space of a predetermined floor in an existing building. In the building space 2, there are pipes 31 for air conditioning, support members 32 extending vertically and horizontally to support the ceiling plate 22, and suspensions connecting the support members 32 to the beam members 23 (not shown) which are the framework of the building. An existing facility 3 consisting of a bolt 33 is arranged. The hanging bolts 33 are arranged at the intersections of the supporting members 32 extending in the vertical direction and the horizontal direction.

The distance measurement unit 4 can use a well-known scanning-type three-dimensional laser measurement device that is easy to carry, and for example, "Forest three-dimensional measurement system OWL" (manufactured by Add-in Laboratory Co., Ltd.) can be adopted. can. As shown in FIG. 3, the distance measurement unit 4 has a swing angle of 360° with the rotation axis in the vertical direction when installed horizontally, and has a measurement range of 360°. In other words, while irradiating a laser from the distance measurement unit 4, by changing the swing angle of the laser irradiation unit and scanning the equipment 3 in the building space 2, the distance data 41 (see FIG. 1) to the equipment 3 is obtained. be able to.
In addition, in one building space 2, as shown in FIG. 2, the distance data 41 can be obtained by installing the distance measuring units 4 at a plurality of points (four sides of the building space 2).

As shown in FIG. 1 , the three-dimensional map generator 5 , the image generator 6 , the distance calculator 7 , and the layout map generator 8 are incorporated in the processing device 11 . Input data such as the position information 21 of the building space 2 and the coordinate data 42 indicating the measurement position (reference point) of the distance measurement unit 4 are input to the processing device 11 .
The position information 21 is a blueprint or a photograph of the building space 2, and is information corresponding to a plan view or a side view showing the size of the building space 2, the positions of pillars, and the like.
Also, the coordinate data 42 are coordinates indicating the absolute position of the distance measuring unit 4 in the building space 2 .

In the three-dimensional map creation unit 5, the distance data 41 is measured from the four points set in the building space 2 by the distance measurement unit 4, so based on the point cloud data 51 obtained from four directions, a large number of dots are drawn. A three-dimensional map 52 as shown in FIG. 4 is created.

A material detection unit (not shown) that identifies the material of the equipment 3 from the point cloud data 51 of the three-dimensional map 52 may be provided. By providing such a material detection unit, a material such as metal, resin, or wood can be identified from the point cloud data 51. In the three-dimensional map creation unit 5, for example, the point cloud data It is also possible to create a three-dimensional map 52 by extracting only 51, it is possible to hide electrical cables made of materials such as rubber materials other than metal, etc. on the three-dimensional map 52, and only necessary data is displayed. can do.

Further, the image generator 6 generates a tomographic image 61 obtained by cutting the created three-dimensional map 52 at an arbitrarily selected cross section. The method of selecting the cross section of the tomographic image 61 to be generated may be set in advance, or the three-dimensional map 52 may be displayed on a screen or the like, and an arbitrary cross section may be specified on the displayed screen. It may be a method by chance.

The distance calculator 7 extracts any two points on the tomographic image 61 and performs processing for calculating the distance between the two points. Specifically, as a method of extracting two points, for example, the tomographic image 61 may be displayed on a screen or the like, and any two points may be specified on the displayed screen.

The layout drawing creation unit 8 performs a processing step of synthesizing the position information 21 of the building space 2, the facility 3 displayed in the design drawing of the building space 2 as a tomographic image 61, and the distance calculated by the distance calculation unit 7. Then, a building layout drawing 81 is created. The position (coordinates) of the equipment 3, that is, each point P to be measured is obtained from the coordinate data 42 of the distance measuring section 4 of the input section 12. FIG. The building layout 81 created by the layout drawing creating unit 8 can be output as a paper or an electronic file, for example.

Next, a method for creating the above-described building layout drawing 81 will be described in detail based on the drawings.

[Distance measurement process]
First, as shown in FIGS. 1, 2, and 5, the distance measurement unit 4 measures the distance to a large number of measurement points P in the facility 3 within the building space 2 within the measurement range of a predetermined swing angle by three-dimensional laser measurement. Data 41 is measured (step S1).
A three-dimensional laser measuring device is installed as the distance measuring unit 4 at the preset four coordinates (coordinate data 42) in the building space 2, and the equipment 3 in the building space 2 is measured at each measurement point within the above-described measurement range. measure.

[Three-dimensional map creation process]
Next, in the three-dimensional map creation process, optical point group data 51 is detected by specifying the distance data 41 obtained from each of the four measurement points in a three-dimensional coordinate system (step S2). After that, in step S3, as shown in FIG. 4, the point group data 51 is drawn to create a three-dimensional map 52. FIG.

[Image generation process]
Next, in step S4, the image generation unit 6 generates a planarly displayed tomographic image 61 obtained by cutting the three-dimensional map 52 at an arbitrary cross section. For example, it is possible to generate a plurality of tomographic images 61 cut in the horizontal direction at intervals of 5 cm in the height direction.

[Distance calculation process]
Next, in step S<b>5 , the distance between any two points on the tomographic image 61 is calculated by the distance calculator 7 . For example, when calculating the distance between two hanging bolts 33, the distance calculation unit 7 selects a tomographic image 61 from among a plurality of tomographic images 61 in which the hanging bolts 33 are easily recognizable, and on the tomographic image 61, By specifying the positions of the two suspension bolts 33, 33 that are the distance calculation targets, the distance is automatically calculated. The distance calculation target may be selected by a person who views the tomographic image 61, or may be automatically detected by a program.

[Layout drawing process]
Furthermore, in the layout drawing creation unit 8, the input data 12 including the position information 21 of the building space 2 and the coordinate data 42 in the building space 2 at the time of measurement by the distance measurement unit 4, the distance calculated by the distance calculation unit 7, and the is input to the layout drawing creation unit 8 (steps S6 and S7), and the building layout drawing is created by performing a process of incorporating the position information 21 and the coordinate data 42 into the tomographic image 61 generated by the image generation unit 6. 81 is created (step S8).

Next, the operation of the above-described distance information detection system, layout map creation system, and layout map creation method will be described in detail with reference to the drawings.
In this embodiment, as shown in FIGS. 1 and 2, the distance measurement unit 4 acquires distance data 41 to a large number of measurement points P in the equipment 3 in the building space 2 by a simple method using three-dimensional laser measurement. In the three-dimensional map creation unit 5, the acquired distance data 41 is used to detect the point cloud data 51, and the three-dimensional map 52 shown in FIG. be able to.

Furthermore, in the image generation unit 6, a tomographic image 61 cut by an arbitrary cross section of the created three-dimensional map 52 can be obtained, and in the distance calculation unit 7, arbitrary two measurement points P of the tomographic image 61 are calculated as It can be extracted and the distance between these two points can be easily calculated. As a result, the distance information of the equipment 3 is detected, and the arrangement of the equipment 3 in the building space 2 can be confirmed by a simple method.
In addition, it is possible to easily create the building layout diagram 81 by combining the position information 21 of the building space 2, the tomographic image 61 generated by the image generation unit 6, and the distance calculated by the distance calculation unit 7. As a result, the arrangement of the equipment 3 in the building space 2 can be confirmed by a simple method.

As described above, the work performed by a person in the building space 2 is only the measurement of the distance data 41 by the distance measurement unit 4, and the three-dimensional map that performs the process up to calculating the distance between the two points P to be measured. The creation unit 5 , the image generation unit 6 , the distance calculation unit 7 , and the layout drawing creation unit 8 are processing steps in the processing device 11 . Therefore, even if the building space 2 is a building space 2 consisting of a ceiling space as in the present embodiment, it is possible to easily grasp the equipment 3 inside.
Further, in the present embodiment, since the distance measurement unit 4 uses three-dimensional laser measurement, there is an advantage that measurement can be performed even in a dark state with little lighting in the building space 2 .

Further, in the present embodiment, distance data 41 measured at a plurality of locations by the distance measurement unit 4 can be used to create one three-dimensional map 52 from a plurality of point cloud data 51 . Therefore, the three-dimensional map 52 can be created regardless of the size and shape of the building space 2 .

As described above, in the distance information detection system, the layout drawing creation system, and the layout drawing creation method according to the present embodiment, the layout of the equipment 3 in the dark and narrow building space 2 can be easily determined by three-dimensional measurement. and can be grasped in a short time.

Although the embodiments of the distance information detection system, the layout drawing creation system, and the layout drawing creation method according to the present invention have been described above, the present invention is not limited to the above embodiments and does not deviate from the gist thereof. It can be changed as appropriate within the range.
For example, in the present embodiment, as a space to be applied, the ceiling space is the object of the building space, but it is not limited to the ceiling space. For example, as long as it is a building space, it can be applied to spaces such as underfloor spaces, building facilities, and machine rooms. Furthermore, not only closed spaces such as building spaces, but also green spaces such as parks, and open spaces where civil engineering structures (equipment members) such as dams and retaining walls are constructed may be used.

Further, although the equipment 3 is targeted as an information detection target member in the present embodiment, it is not limited to this, and may be an equipment member of the building itself. In addition, when the space is a green space such as a park as described above, structures such as benches, street lights, fences, and monuments installed in the park are equipment members.

In the present embodiment, the layout drawing creation system 1 is configured to include the layout drawing creation unit 8 in its system configuration, and is configured for the purpose of outputting the building layout drawing 81 . is not limited to
For example, it is possible to omit the layout drawing creation unit 8 . In this case, in the distance calculation unit 7, the tomographic image 61 generated by the image generation unit 6 is used to calculate the distance between any two points to be measured. detection system.

Furthermore, in the present embodiment, the distance measurement unit 4 is arranged at four points in the building space 2, the distance data 41 is acquired from each point, and finally the four point cloud data 51 are combined. However, the number and positions of measurement points by the distance measurement unit 4 can be appropriately set according to, for example, the shape and size of the building space, the arrangement of facilities, and the like. In other words, since a plurality of point cloud data 51 are not necessarily detected, when there is only one point cloud data 51, the three-dimensional map 52 is created without performing the synthesizing process.

Further, in the present embodiment, when creating the building layout 81 in the layout drawing creation unit 8, the position information 21 of the building space 2 and the coordinate data 42 of the position where the distance measurement unit 4 is installed are used as the input data 12. The input data 12 is not limited to the positional information 21 and the coordinate data 42, although the system configuration is for input.

In addition, it is possible to appropriately replace the components in the above-described embodiments with well-known components without departing from the scope of the present invention.

1 Layout drawing system 2 Building space (space)
3 equipment (equipment components, information detection target components)
4 distance measurement unit 5 three-dimensional map creation unit 6 image generation unit 7 distance calculation unit 8 layout drawing creation unit 11 processing device 12 input data 21 position information 41 distance data 42 coordinate data 51 point group data 52 three-dimensional map 61 tomographic image 81 Building layout (space layout)
P Point to be measured

Claims (5)

A distance information detection system using three-dimensional measurement for detecting distance information of an information detection member made of an equipment member in a space where the equipment member is arranged,
a distance measurement unit that measures distance data to a large number of measurement points on the information detection member within a measurement range of a predetermined swing angle by three-dimensional laser measurement;
a three-dimensional map creation unit that detects optical point cloud data obtained by specifying the distance data in a three-dimensional coordinate system and draws the point cloud data to create a three-dimensional map;
an image generation unit that generates a plane-displayed tomographic image obtained by cutting the three-dimensional map at an arbitrary cross section;
a distance calculation unit that calculates the distance between any two points in the tomographic image;
with
A distance information detection system, wherein the distance information of the member to be information-detected is detected from the distance calculated by the distance calculation unit. 2. The distance information detection system according to claim 1, further comprising a material detection unit for identifying a material of said information detection target member from said point group data of said three-dimensional map. 3. The three-dimensional map is created by combining a plurality of three-dimensional maps obtained based on distance data measured by distance measuring units arranged at a plurality of different positions. The distance information detection system described in . 4. A layout drawing creation system for creating a spatial layout drawing of said information detected members in said space using said distance information detected by said distance information detection system according to any one of claims 1 to 3. and
A layout drawing creation unit that creates a layout map in space by combining the position information of the space, the tomographic image generated by the image generation unit, and the distance calculated by the distance calculation unit. Characterized layout drawing system. A layout drawing creation method using three-dimensional measurement for creating an in-space layout drawing of an information detection member comprising the facility member in a space in which the facility member is arranged, comprising:
a distance measurement step of measuring distance data to a large number of measurement points on the information detection member within a measurement range of a predetermined swing angle by three-dimensional laser measurement;
a three-dimensional map creation step of detecting optical point cloud data in which the distance data is specified in a three-dimensional coordinate system, and drawing the point cloud data to create a three-dimensional map;
an image generating step of generating a planarly displayed tomographic image obtained by cutting the three-dimensional map at an arbitrary cross section;
a distance calculation step of calculating the distance between any two points in the tomographic image;
a layout drawing creating step of creating a spatial layout drawing by combining the position information of the space, the tomographic image generated in the image generating step, and the distance calculated in the distance calculating step ;
A layout drawing creation method, comprising:

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