JPH0644277B2 - Synthesizing point cloud data between point cloud data - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combined point cloud data creation processing device capable of combining a plurality of point cloud data representing the surface shape of a three-dimensional model. .

(Prior Art) When the shape change of the model is large, for example, the inclination in the direction (pick direction) orthogonal to the measuring direction (scan direction) of a three-dimensional position measuring machine or a three-dimensional NC (numerical control) automatic programming device is large. In this case, the shape accuracy of the point cloud data representing the model surface shape obtained by the above measuring machine may decrease. Therefore, conventionally, a plurality of point cloud data having different scan directions, for example, point cloud data M and N having different scan directions according to the model shape as shown in FIG. Data, for example, the pick width w adapted to the portion where the shape change is large as shown in FIG.
The point cloud data of the entire model is created with to improve the shape accuracy of the point cloud data.

(Problems to be Solved by the Invention) When the point cloud data is created as described above, it takes a long time to create the work efficiency and the work efficiency decreases, and the point cloud data amount becomes enormous and a large-capacity storage means is required. There was a flaw. Furthermore, for point cloud data with different pick widths,
When the shape of a part of the model was changed, all the point cloud data including the changed part had to be recreated.

The present invention has been made under the circumstances as described above, and an object of the present invention is to create composite point cloud data between point cloud data capable of creating highly accurate point cloud data with a small amount of point cloud data. It is to provide a processing device.

(Means for Solving the Problem) The present invention relates to a combined point cloud data creation processing device capable of combining a plurality of point cloud data representing the surface shape of a three-dimensional model. The above object of the present invention is to provide a first processing unit for obtaining a point cloud having the same two-dimensional coordinate value from each of the point group data, and a predetermined processing for the point group obtained by the first processing unit to synthesize the point cloud. This is achieved by including a second processing unit that uses point cloud data.
More specifically, for the point cloud having the same two-dimensional coordinate value, a two-dimensional trajectory on the two-dimensional coordinates on which the synthesized point cloud data obtained by synthesizing the point cloud data is obtained, and the obtained two-dimensional trajectory is described above. It is determined by a point cloud on a projection line when projected on the surface of the three-dimensional model shape defined by each point cloud data, or two-dimensional when each point cloud data is projected on the two-dimensional coordinate plane. The point group having the same locus is obtained, and the predetermined process is to mutually calculate the coordinate values of the axes orthogonal to the two-dimensional coordinates of the point group obtained by the first processing unit. To do.

(Operation) The composite point cloud data creation processing device between point cloud data of the present invention creates composite point cloud data by combining a plurality of point cloud data. Create point cloud data that can process the entire model at once, or modify the point cloud data before the change with the point cloud data of the changed part when a part of the model is changed Is.

(Embodiment) FIG. 1 is a block diagram showing an example of a combined point cloud data creating / processing device of point cloud data according to the present invention. For example, two point cloud data A and B to be processed are point cloud data. Point cloud data storage units 2A and 2B that are respectively stored via the input processing unit 1
And a combination condition data storage unit 4 for storing, via the combination condition data input processing unit 3, combination mode CM of each point cloud data A, B, and combination condition data CD such as data defining a two-dimensional trajectory after combination. , Point cloud data from the point cloud data storage units 2A, 2B
Composition condition data from A, B and composition condition data storage unit 4
It has a two-dimensional locus data creation processing unit 5 which creates a two-dimensional locus LD on which the combined point cloud data is placed by the CD and stores it in the two-dimensional locus data storage unit 6. Then, the two-dimensional locus LD from the two-dimensional locus data storage unit 6 is projected onto the model shape surface defined by the point cloud data A and B from the point cloud data storage units 2A and 2B, and the point cloud on the projection line is projected. Data A ₁ and B ₁ are created, and the created point cloud data A ₁ and B ₁ are stored in the point cloud data storage unit 8
Two-dimensional trajectory point cloud data creation processing unit 7 to be stored in A and 8B, and each point cloud data A ₁ (point cloud a ₀ , a ₁ , ... a _i , ...) from the point cloud data storage units 8A and 8B. , A _n ) and B ₁ (point group b ₀ ,
b ₁ ,…, b _i ,… b _n ) of one of the point groups a _i (b _i ) such as X-
The point group data b _ai (a _bi ) on the line connecting the other point groups b _i (a _i ) having the same coordinate value as the Y coordinate value is obtained, and the point group data A ₂ , B has a one-to-one correspondence. correspondence point group data storage unit 10A as _2, 10
B has the same position point cloud data correspondence processing unit 9 stored therein. Furthermore, the associated point cloud data storage unit 10
Of the point cloud data A ₂ and B ₂ from A and 10B, the points that intersect vertically are found and added to the original point cloud data A ₂ and B ₂ , and new point cloud data A ₃ and B ₃ as the corresponding point group data storage unit 12A,
Intersection intersection addition processing unit to be stored in 12B respectively
11, the point cloud data A ₃ and B ₃ from the associated point cloud data storage units 12A and 12B, and the synthesis mode from the synthesis condition data storage unit 4
With the corresponding point selection processing unit 13 that selects a point on the point cloud data A ₃ side or the point cloud data B ₃ side by the CM and stores the selected point cloud in the composite point cloud data storage unit 14 as the composite point cloud data AB. It is configured.

In such a configuration, the operation example will be described with reference to the flowchart of FIG. 2, and the two-dimensional trajectory data creation processing unit 5 will be described.
Then, from the point cloud data storage units 2A, 2B, for example, in FIG.
A two-dimensional locus on which the point cloud data after synthesis rides according to the point cloud data A and B as shown by the black circles in (B) and the synthesis condition data CD from the synthesis condition data storage unit 4 (Figs. (A) and (B)). The two-dimensional locus shown in is the same) LD is created (step S1). And 2
On the dimensional locus point cloud data creation processing unit 7, the two-dimensional locus from the two-dimensional locus data storage unit 6 is added to the model shape surface defined by the point cloud data A and B from the point cloud data storage units 2A and 2B.
Each LD is projected and the point cloud data A ₁ (point cloud
_{a 0, a 1, a 2} , a 3) and B ₁ (point group _{b 0, b 1, b 2} , b 3) to create a (step S2). Then, at the same location point cloud data associating unit 9, point cloud data storage unit 8A as shown in FIG. 4, of the point group data A ₁ and B ₁ from 8B, one of the points a _1, a ₂ , a ₃ ,
Between the other point groups b ₀ , b ₁ , b ₂ , b ₃ (a ₀ , a ₁ , a ₂ , a ₃ ) having the same coordinate value as the XY coordinate value of (b ₀ , b ₁ , b ₂ ). Point cloud on the line connecting
The point group data A ₂ (point group a ₀ , a _b0 , a ₁ , a _b1 , a ₂ , a ₂ , a ₁ , b _a2 , b _a3 (a _b0 , a _b1 , a _b2 ) is obtained. a _b2 , a ₃ ) and B
₂ (point group b ₀ , b _a1,, b ₁ , b _a2 , b ₂ , b _a3 , b ₃ ) (step S
3). Then, in the intersection addition processing unit 11 between corresponding points, each point group data A ₂ , B ₂ from the corresponding point group data storage units 10A, 10B
Of these points, points a _c (b _c ) that intersect vertically are added and added to the original point cloud data A ₂ and B ₂ , and new point cloud data A ₃ (point cloud a ₀ , a
_b0 , a ₁ , a _c , a _b1 , a ₂ , a _b2 , a ₃ ) and B ₃ (point group b ₀ , b _a1 , b _c , b ₁ , b
_{a2, b 2, b a3,} b 3) to create a (step S4). In the corresponding point selection processing unit 13, the point group data A ₃ side or the point is set by the combination mode CM from the point group data A ₃ and B ₃ from the corresponding point group data storage units 12A and 12B and the combination condition data storage unit 4. A point on the group data B ₃ side is selected to be combined point cloud data (step S5). Then, it is confirmed whether or not the two-dimensional locus data has ended (step S6). If the two-dimensional locus data has not ended, the process returns to step S2 and the above operation is repeated to end the two-dimensional locus data. If yes, all processing is terminated.

In addition, the composition mode CM when creating composite point cloud data is
Set each Z coordinate value of point cloud data A ₃ , B ₃ and composite point cloud data AB
When A _iz , B _iz and AB _iz are defined by the following equations (1) to (7).

AB _iz = (A _iz , B _iz , whichever is larger) …… (1) AB _iz ＝ (A _iz , B _iz , whichever is smaller) …… (2) AB _iz ＝ A _iz …… (3) AB _iz ＝ B _iz …… (4) AB _iz ＝ A _iz ＋ B _iz (5) AB _iz ＝ A _iz 〜 B _iz (6) AB _iz ＝ -A _iz −B _iz (7) Therefore, for example, the synthesis mode CM above Assuming (1), the composite point cloud data AB of the point cloud data A ₃ , B ₃ shown in FIG. 4 is (point cloud a ₀ , a _b0 , b ₀ , b _c (a _c ), a ₂ , a ₃ )

Further, in the above-described embodiment, the two-dimensional locus is projected on the point cloud data side, but the same effect can be obtained by projecting the point cloud data on the two-dimensional locus side. Further, the number of point cloud data that can be combined is not limited to two, and it is possible to perform similar processing on arbitrary plural point cloud data.

(Effect of the Invention) As described above, according to the combined point cloud data creation processing device of the point cloud data of the present invention, the necessary point cloud data can be created with high accuracy from the minimum point cloud data amount. The point cloud data creation time can be greatly shortened to improve work efficiency, and the cost can be reduced because a small-capacity storage means can be provided.

[Brief description of drawings]

FIG. 1 is a block diagram showing an example of a combined point cloud data creation processing device of point cloud data according to the present invention, FIG. 2 is a flow chart for explaining an operation example thereof, and FIGS. 3 (A), (B) and FIG. 4 is a diagram showing an example of point cloud data when the present invention is applied, and FIGS. 5 and 6 are diagrams showing an example of conventional point cloud data. 1 ... Point cloud data input processing unit, 2A, 2B, 8A, 8B ... Point cloud data storage unit, 3 ... Synthesis condition data input processing unit, 4 ...
Composite condition data storage unit, 5 ... 2D trajectory data creation processing unit, 6 ... 2D trajectory data storage unit, 7 ... 2D trajectory point cloud data creation processing unit, 9 ... Same position point cloud data correspondence Addition processing unit, 10A, 10B, 12A, 12B ... Corresponding point group data storage unit, 11 ... Corresponding point intersection addition processing unit, 13 ... Corresponding point selection processing unit, 14 ... Composite point group data storage Department.

Claims (3)

[Claims] 1. A surface shape of a three-dimensional model is scanned a plurality of times by a probe, and point cloud data composed of a plurality of measurement points obtained for each scan and data of a line connecting between the continuous measurement points is obtained. In a composite point cloud data creation processing device for creating a composite point cloud data by combining a plurality of pieces, a two-dimensional locus definition defining two-dimensional locus data obtained by projecting the composite point cloud data to be created in parallel from the Z direction onto an XY plane. Synthesis condition data storage for storing, via the synthesis condition data input processing unit, synthesis condition data composed of data and synthesis mode data indicating a condition for selecting one Z coordinate value from the Z coordinate values of the plurality of point group data to be synthesized. A first point cloud data storage unit that stores a plurality of the point cloud data via the point cloud data input processing unit, and a plurality of point cloud data from the first point cloud data storage unit. From the two-dimensional trajectory data storage unit, a two-dimensional trajectory data creation processing unit that creates the two-dimensional trajectory data by the two-dimensional trajectory definition data from the composition condition data storage unit and stores the two-dimensional trajectory data in the two-dimensional trajectory data storage unit. 2D locus data is projected in the Z direction for each point cloud data from the first point cloud data storage unit, and two-dimensional locus on the two-dimensional locus data including the intersections thereof is created to generate the second point cloud. The two-dimensional trajectory point cloud data creation processing unit to be stored in the data storage unit, and the same two-dimensional trajectory data among the plurality of two-dimensional trajectory point cloud data from the second point cloud data storage unit. On the line connecting the constituent points of one of the two-dimensional trajectory point cloud data, the same XY coordinate values as the constituent points of the other two-dimensional trajectory point cloud data are set. Add the configuration points that you have, and add the first correspondence In the Z direction, between the same-position point cloud data correspondence processing unit to be stored in the correspondence point cloud data storage unit as point cloud data, and the plurality of first correspondence point cloud data from the correspondence point cloud data storage unit. Add points between the corresponding points, which are obtained by adding points to the original first corresponding point group data and stored in the corresponding point group data storage unit as the second corresponding point group data. Of the plurality of second associated point group data from the processing point and the associated point group data storage section, constituent points having the same XY coordinate values are extracted, and the combination condition is extracted from the extracted constituent points. And a corresponding point selection processing unit that stores point cloud data composed of constituent points selected by the synthesis mode data from the data storage unit as synthetic point cloud data in the synthetic point cloud data storage unit. Creating point cloud data between point cloud data Apparatus. 2. The combination mode data is the Z of each constituent point of a plurality of point group data having associated constituent points having the same X-Y coordinate value in the second associated point group data. When the coordinate value is Aiz (i = 1 to n (n is an integer of 1 or more)), the Z coordinate value of the composite point cloud data is represented as Ciz: Ciz = (maximum Aiz) Ciz = (minimum Aiz) Ciz = (high priority Aiz) Ciz = (sum of ai × Aiz) (where ai is a weighting coefficient and any real value). Point cloud data processing device between the point cloud data of. 3. The on-two-dimensional locus point cloud data creation processing unit sets the two-dimensional locus data from the two-dimensional locus data storage unit and each point cloud data from the first point cloud data storage unit to Z. From the direction on the XY plane, the X- on the two-dimensional trajectory data on each point cloud data is obtained by the intersection of the projections.
2. The composite point cloud data creation processing device according to claim 1, wherein the Y coordinate value is found, and further the corresponding Z coordinate value of the point cloud data is found to create the point cloud data on the two-dimensional locus. .