JPH1139490A - Method for generating data for outline drawing generation of existent structure using photographic image and computer-readable recording medium where generation processing program for outline drawing generation is recorded - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generating plotting data while minimizing a measurement error by determining as final coordinate values a correction or reformation coordinate value matching a reference point coordinate values according to the coordinates of intersection of constituent members of the existent structure. SOLUTION: The intersections of the respective constituent members are found from the photographic image (S0, S1, and S2) and the elevation angles and tilt angles of the respective intersections are calculated (S3). Then the orthogonal three-dimensional coordinate values X, Y, and Z of the respective intersections are calculated (S4) and three-axial rotational corrections are made (S5). Then the correction angles of the respective intersections are found on the basis of the constituent member having the smallest measurement error and corrected coordinate values are calculated through three-axial rotation (S6). Direction reformation of the respective intersections is performed on the basis of the intersection having the minimum measurement error in the Z-axial direction to obtain reformed coordinate values (S7). The reference coordinate values are corrected (S8) so that they are on a recurrence straight line found by statistical analysis from the corrected and reformed coordinate values. The reformed coordinate values when the reference coordinate values matches the reference coordinate values before the correction are determined as final coordinate values and outputted as plotting data (S9, S10, and S11).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for generating data for creating an outline drawing of an existing structure from a photographic image taken by a camera, and a computer readable recording program for generating the outline drawing creation data. Recording media.

[0002]

2. Description of the Related Art A CAD (Computer Aided Design) system is widely known as a drawing creation method using a computer. This CAD system automatically creates a drawing of a target object by inputting drawing information such as component data and dimension data of the drawing object, and is a very useful system for drawing work. .

[0003]

However, in order to draw a drawing of a target object using a conventional CAD system, it is necessary to input necessary drawing information such as component data and dimensional data in advance. For this reason, when attempting to draw a drawing of an existing structure that has already been built, it is necessary to directly collect the part data and dimensional data of the existing structure to be drawn by directly hitting the actual thing, which is a huge Requires time and effort. In particular, if the existing structure to be plotted is a large structure such as an oil plant or a structure installed in a place where people cannot easily access it, measure the data necessary for plotting with the real thing. That is practically impossible. Further, in the case of the conventional drawing method, it is necessary to dispatch a skilled worker to the site to perform the work, and there is a problem that a great burden is imposed on humans.

[0004] The present invention has been made under such circumstances, and when generating drawing data of an existing structure from a photographic image, it is possible to generate drawing data while minimizing measurement errors. An object of the present invention is to provide a method of generating outline drawing creation data of an existing structure using a photographic image, and a computer-readable recording medium that records a generation processing program of the outline drawing creation data.

[0005]

In order to achieve the above object, a method of the present invention comprises the steps of: determining an intersection of a contour line or a center line of each component of an existing structure for each of a plurality of photographic images; Calculating an elevation angle α and an inclination angle β of each of the intersections for each of a plurality of photographic images;
The orthogonal three-dimensional coordinate value X (horizontal distance from the origin of the reference coordinates) of each intersection on the reference coordinates using the elevation angle α and the inclination angle β of each intersection obtained from each of the plurality of photographic images, Y Calculating the (height from the origin of the reference coordinates) and Z (distance in the depth direction from the origin of the reference coordinates); and calculating the orthogonal three-dimensional coordinate values of the respective intersections around the X, Y, and Z axes. Are orthogonal three-dimensional coordinate values (X ″ ′,
Y ″ ′, Z ′ ″), a three-axis rotation correction step, and X,
A component member that is estimated to have the smallest measurement error for each of the Y and Z axes is selected as a reference member, and the orthogonal three-dimensional coordinate value of each intersection obtained by the three-axis rotation correction with respect to the reference member is represented by X , Θ, Δ around the Y, Z axes
a corrected coordinate value calculating step of calculating a corrected coordinate value rotated and corrected by δ and Δλ; and a reference point, from all the intersection points obtained by the three-axis rotation correction, which is estimated to have the smallest measurement error in the Z-axis direction as a reference point. And the three-dimensional orthogonal coordinate values of the respective intersections starting from the coordinate values of the reference point as X, Y,
A correction coordinate value calculating step of calculating a correction coordinate value for accuracy evaluation of straight line correction in the Z-axis direction; and a correction coordinate value of each intersection obtained in the correction coordinate value calculation step and a correction coordinate value calculation step. A reference point coordinate value correcting step of obtaining a regression line by statistical analysis using the corrected coordinate values of the respective intersections, and correcting the coordinate value of the selected reference point based on the regression line; Comparing the coordinate value of the point with the coordinate value of the reference point before the correction, and when the two do not match, the coordinate value of the reference point after the correction is used as a new starting point; A coordinate value calculating step and a reference point coordinate value correcting step are repeatedly performed, and a coordinate value determining step of determining the corrected coordinate value or the corrected coordinate value at the time when both coincide with each other as a final coordinate value; and a final coordinate of each of the determined intersection points. Values for creating outline drawings And it is characterized in that comprising a data output step of outputting as data.

Further, the recording medium of the present invention includes a procedure for taking in a plurality of photographic images of an existing structure to be drawn, and a contour of each constituent member of the existing structure for each of the plurality of photographic images. A procedure for obtaining an intersection of a line or a center line, a procedure for calculating the elevation angle α and the inclination angle β of each of the plurality of photographic images, and each of the intersections obtained from each of the plurality of photographic images , The orthogonal three-dimensional coordinate value X (horizontal distance from the origin of the reference coordinates) of each intersection on the reference coordinates using the elevation angle α and the inclination angle β
(A height from the origin of the reference coordinates) and Z (distance in the depth direction from the origin of the reference coordinates), and the calculated three-dimensional coordinate values of the respective intersections around the X, Y, and Z axes. A three-axis rotation correction procedure of calculating orthogonal three-dimensional coordinate values in which the image is corrected by rotating by predetermined angles θ, δ, and λ, respectively, and that a measurement error is smallest for each of the X, Y, and Z axes. The component to be estimated is selected as a reference member, and the orthogonal three-dimensional coordinate values of the respective intersections obtained by the three-axis rotation correction with reference to the reference member are minute angles Δθ, Δδ around the X, Y, and Z axes. A corrected coordinate value calculation procedure of calculating a corrected coordinate value rotated and corrected by Δλ, and an intersection point at which the measurement error is estimated to be the smallest in the Z-axis direction among all the intersection points obtained by the three-axis rotation correction, as a reference point. Select and start from the coordinate value of the reference point Orthogonal 3 of the respective intersections by
A correction coordinate value calculation procedure for calculating correction coordinate values for accuracy evaluation of linearly correcting the dimensional coordinate values in the X, Y, and Z axis directions;
A regression line is obtained by statistical analysis using the corrected coordinate value of each intersection obtained in the corrected coordinate value calculation procedure and the corrected coordinate value of each intersection obtained in the corrected coordinate value calculation procedure, and based on the regression line. A reference point coordinate value correction procedure for correcting the coordinate value of the selected reference point, and comparing the coordinate value of the corrected reference point with the coordinate value of the reference point before correction, and the two do not match. In this case, the corrected coordinate calculation procedure, the corrected coordinate calculation procedure, and the reference point coordinate value correction procedure are repeatedly performed using the coordinate value of the corrected reference point as a new starting point. A program for generating outline drawing data, comprising: a coordinate value fixing procedure for determining coordinates as final coordinate values; and a data output procedure for outputting the final coordinate values of the determined intersections as data for forming outline drawings. Is characterized in that the recorded.

[0007] The plurality of photographic images include two photographic images which are installed at a desired distance from an existing structure and which are photographed from two points at a predetermined distance to the left and right at the position. Alternatively, three photographic images taken from each vertex position of a triangle facing the existing structure at the position may be used.

[0008]

The principle of the present invention will be described with reference to FIGS. 1 is a flowchart for explaining the principle, FIG.
FIG. First, an existing structure to be drawn is photographed to obtain two or three photographic images of the piping structure as a drawing target, for example, as shown in FIG. 2A (step S0 in FIG. 1). ). When two photographic images are used, the two cameras are separated from each other at a desired distance from the existing structure by a predetermined distance in the left-right direction, and their optical axes are placed parallel to each other. What is necessary is just to use two photographs of the existing structure taken (this is called “2C method”).
). On the other hand, when three photographic images are used, three cameras having optical axes parallel to each other are arranged at the vertices of a triangle facing the existing structure.
What is necessary is just to use a photograph of the existing structure taken from the point position (this is called “3C method”). According to the 3C method, a conversion error at the time of coordinate conversion can be reduced.
In particular, when an image is taken from each vertex position of an equilateral triangle, the error can be minimized.

When the two or three photographic images are obtained, the outline or the center line of each component of the existing structure shown in the photograph is obtained for each photographic image (step S1 in FIG. 1). ). Then, for each of the two or three photographic images, after determining the intersection points m _i of the contour line or the center line of the component adjacent as shown in FIG. 2 (B) (step S2 in FIG. 1), FIG. for each photographic image, as shown in 2 (C) to calculate the elevation angle alpha _i and inclination angle beta _i viewed from the photographing position of the intersections m _i (step of FIG. 1 S
3).

[0010] The about two or three individual photographic images When elevation angle alpha _i and inclination angle beta _i of each intersection m _i is obtained, combining these elevation alpha _i and inclination angle beta _i of each intersection m _i Accordingly, as shown in FIG. 2 (D), (horizontal distance from the origin of the reference coordinate) orthogonal three-dimensional coordinate values X of the respective intersections m _i, (height from the origin of the reference coordinate) Y, Z (the reference The distance from the origin of the coordinates to the photographing position is calculated (FIG. 1).
Step S4). Thus, an image in which the existing structure is represented by the center line (or the outline) as shown in FIG. 2E is obtained.

[0011] coordinate values indicating the respective intersections m _i of existing structures obtained in this manner (X, Y, Z) is in the rotational displacement vertically in the horizontal direction of the inclination and the left-right direction of the photographed camera The position coordinates are not accurate because of tilting and tilting of a photograph when an image is captured by a scanner or the like. Therefore, as shown in FIG. 2 (F), each of the Z, Y, and X axes is rotated by a predetermined angle θ, δ, λ about a rotation axis, and
Triaxial rotation correction for correcting the error is performed (step S
5).

Namely, as shown in FIG. 2 (F), first of all the calculated orthogonal three-dimensional coordinate values of the intersections _{m i (X, Y, Z} ) and around the Z-axis by a predetermined angle θ By rotating, a three-dimensional orthogonal coordinate value in which the inclination in the horizontal direction is corrected is calculated. The correction of the horizontality error is performed by the θ rotation correction.

Next, each intersection m _i corrected for θ rotation is
The orthogonal three-dimensional coordinate values by rotating by a predetermined angle δ around the Y-axis, calculates the orthogonal three-dimensional coordinate values biasing the respective intersections m _i in X-Z plane. By this δ rotation correction, error correction in the front-back depth direction is performed.

Next, each intersection m _i corrected for δ rotation is
The orthogonal three-dimensional coordinate values by rotating around the X axis by a predetermined angle lambda, and calculates the elevation angle corrected orthogonal three-dimensional coordinate values of the intersections m _i. By this λ rotation correction, error correction by vertical tilt is performed. The order of the θ rotation correction, the δ rotation correction, and the λ rotation correction may be performed in any order.

[0015] The three-axis rotation orthogonal three-dimensional coordinate values of the intersections m _i obtained by the correction is theoretically should have been correctly converted to the reference coordinate. However, actually, due to measurement errors such as the elevation angle α and the inclination angle β, for example, a straight pipe may not be parallel to the reference coordinate axis and may be converted as an uneven pipe. Therefore, in the present invention,
By performing processing as described below, as small as possible these errors were to obtain a defined final coordinate values for the intersections m _i (step S6~S1
1).

That is, first, the constituent members that are estimated to have the smallest measurement error are selected for each of the X and Y-axis directions to be used as reference members, and the selected members are used as reference members for the respective rotation directions. Correction angles Δθ, Δδ,
Seeking [Delta] [lambda], the correction angle [Delta] [theta], .DELTA..delta, using [Delta] [lambda], to correct the orthogonal three-dimensional coordinate values of the intersections m _i X, Y, and rotated as shown in FIG. 2 (G) around the Z axis it allows to calculate the corrected coordinate values for the intersections m _i (step S
6). The reference member that is estimated to have the smallest measurement error is, for example, a member that is as long as possible in the horizontal or vertical direction, a member that is closest to the Z-axis direction, or a member that hardly picks up an error on the monitor screen (the center of the screen). Member)
The one that seems to be the best is selected from among these.

On the other hand, from among all the intersections corrected for the three-axis rotation, an intersection at which the measurement error is estimated to be the smallest in the Z-axis direction is selected as a reference point m, and as shown in FIG. starting from the coordinate values of m, an orthogonal three-dimensional coordinate values of the intersections m _i X, Y, and direction corrected along the Z-axis direction, since the coordinate values of the intersection point m _i that the direction correcting the accuracy evaluation (Step S7). It should be noted that the intersection at which the measurement error is estimated to be the smallest in the Z-axis direction corresponds to, for example, the intersection closest to the Z-axis direction (closest to the camera).

[0018] For each intersection m _i as described above, small angle [Delta] [theta], .DELTA..delta, corrected coordinate values corrected using the Δλ and X, Y, correction coordinates for accuracy evaluation was direction corrected along the Z axis Is obtained, a regression line as shown in FIG. 2 (I) is obtained by statistical analysis using the corrected coordinate value and the corrected coordinate value, and the selected reference point m is determined based on the regression line. The reference coordinate value is corrected so as to be on the regression line, and the corrected reference coordinate value is obtained (step S).
8).

Next, the coordinate value of the corrected reference point is compared with the coordinate value of the reference point before correction (step S9). If the two do not match, the coordinate value of the corrected reference point is determined. Is used as a new starting point, the processing of calculating the corrected coordinate values, the processing of calculating the corrected coordinate values, and the processing of correcting the coordinate values of the reference point using the regression line in steps S6 to S8 are repeated (NO in step S9). There placing correction coordinate values of the intersection point m _i in the matched time (YES side in step S9) as the final corrected coordinate values of the intersection point m _i (step S10). Then, it outputs the data for outline drawing produces a modified coordinates of each intersection point m _i obtained finally by the process as final definite modifications coordinate value (step S11).

Regarding intersections that do not reach the predetermined accuracy even in the final fixed coordinate values obtained as described above, the created drawing is checked on site and the evaluation table is used to satisfy the predetermined accuracy. If it can be confirmed that there is a corrective action, the corrected coordinate value may be used as the final coordinate value instead of the corrected coordinate value.

By inputting the outline drawing creation data obtained as described above into a CAD system or the like and drawing the drawing, the outline of the existing structure is determined based on the photographic image as shown in FIG. You can draw drawings. For this reason, outline drawings of existing structures whose dimensions are difficult to measure, such as those installed in petroleum plants or places where humans cannot easily access, can be easily and accurately drawn in an extremely short time. Will be able to do it. In addition, since the on-site work can be replaced with a photographing work that does not require skill, an inefficient surveying work on site due to dispatch of a skilled worker can be unnecessary. Moreover, by transferring the photographed photos using a communication line,
Drawings can be easily made at a distant place by an unskilled worker.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 3 shows an embodiment of an outline drawing data generating apparatus configured by applying the present invention. This embodiment shows an example in which an outline drawing of a pipe in an oil plant or the like is created.

In the figure, 1 is a CPU, ROM, RAM
2 is an image information database, 2 is a basic information database, 4 is a curved point information database, 5 is a member information database, 6 is a piping material database, and 7 is a scanner for capturing an optical photographic image. , 8 is a keyboard, 9 is a pen, 10 is a mouse, 11 is a monitor such as a CRT display, 12 is a printer, 1
Reference numeral 3 denotes a drawing device such as a known CAD system that draws an outline drawing of an existing structure using drawing data obtained by the device of the present invention.

The image information database 2 is a storage means for storing image data reading and storage, image registration number of a photographed image, subject, photographing place, lens used for photographing, focusing distance, distance between cameras, and the like. is there.

The basic information database 3 is storage means for storing data such as the performance of a camera and a scanner to be used, the characteristics of a lens to be used, and a moving focus function.

The curved point information database 4 is storage means for storing local coordinate values, polar coordinate conversion values and their correction values, orthogonal three-dimensional coordinate conversion values and their correction values, and the like.

The member information database 5 includes a member displacement length,
This is storage means for storing information related to pipe length, pipe diameter, pipe attitude information, pipe space, fitting, and the like.

The piping material database 6 is a storage means for storing data such as the industrial standard of the pipe outer dimensions with respect to the nominal diameter and the offset of the reducer.

The data processing unit 1 has a CP
U, ROM, RAM, and a processing program, the image adjustment system 101, the curve position measurement system 102,
Pipe diameter measurement system 103, measurement error basic adjustment system 1
04, the piping dimension determination system 105 is constructed by software.

The image adjustment system 101 is a processing means for correcting an input photographed image, retrieving and calling an input image and its related information, and performing a transfer process.

The curved point position measuring system 102 captures an image, obtains curved point coordinate values (x, y) based on local coordinates, and polar coordinate values (α, β) of curved points using local coordinate values.
Conversion from polar coordinates (α, β) to orthogonal 3 on reference coordinates
Processing means for performing conversion into dimensional coordinate values (X, Y, Z). Here, the “curve point” indicates an intersection position between center lines of adjacent pipes. Usually, in the case of piping, the intersection point = curve point.

The pipe diameter measuring system 103 is processing means for determining the nominal diameter of the pipe material used for the member.

The measurement error basic adjustment system 104 is processing means for correcting original data for determining dimensions.

The pipe dimension determination system 105 is a unit for performing three-axis correction (θ, δ, and λ rotation correction) of an image converted into orthogonal three-dimensional coordinates, correcting the three-axis corrected coordinates, and correcting coordinate values for accuracy evaluation. Acquisition, acquisition of final correct fixed coordinate value by statistical analysis using regression line, reliability evaluation of corrected coordinate value and output of the judgment result, creation of piping chart, piping data for CAD system and attached Processing means for transferring information.

Next, the operation of the above embodiment will be described. 1. The present invention obtains various data for creating a drawing of an existing structure from two or three photographic images according to the present invention. Therefore, two or three optical devices are used as a preparation stage of processing. It is necessary to photograph an existing structure to be drawn using a camera (or a digital camera) and prepare two or three photographic images. In addition, in order to obtain data for creating a drawing of an existing structure, it is basically sufficient to have two photographic images taken by two cameras, but in the case of using three cameras, The measurement error can be reduced as compared with the case where two cameras are used.

FIG. 4 shows a method (2C method) of photographing an existing structure using two cameras. As shown in the figure, if a certain point "A" floating in a three-dimensional space defined by orthogonal X, Y, and Z axes is to be photographed by two cameras I and II, first the first camera I point distant from the point "a" arbitrary distance installed in P ₁ position. And the second camera II
The along the X-axis direction and placed apart points P ₂ position a predetermined distance L from the point P _1, it was placed in the P ₁ and P ₂ 2
The point "A" is photographed by the cameras I and II, and two photographic images are obtained from different positions of the same existing structure.

FIG. 5 shows a method (3C method) of photographing an existing structure using three cameras. As shown, 3
In the case of photographing with three cameras, a third camera III is arranged at a vertex P _{3 of} an equilateral triangle having the first camera I and the second camera II as bases, and these three points P ₁ , P _2, P ₃
, The point "A" may be photographed by three cameras arranged in the.
In actual shooting work, two or three
It is not necessary to prepare one camera. For example, a camera platform having a link structure as shown in FIG. 6 is prepared, and one camera is attached to the camera mounting hole 22 of the camera mount 21 of this camera platform. One camera is sequentially rotated to each vertex position P ₁ , P ₂ , P ₃ of the equilateral triangle by the link 23, and the desired two or three photographic images are obtained by pressing the shutter at each position. What should I do?

2. Processing for reading photographic images into the image information database 2 Two or three photographic images taken as described above are converted into digital image data by the scanner 7 in the case of a photograph taken with an optical camera, It is stored in the image information database 2. In the case of a photograph taken by a digital camera, the photograph is directly read from the digital camera and stored in the image information database 2. Further, along with the reading of the photograph image, necessary photographing conditions such as an image registration number of the photographed image, a subject, a photographing place, a lens used for photographing, a focusing distance, and a distance L between cameras are input from the keyboard 8 or the like. It is stored in the information database 2. FIG. 7 shows a specific example of the image information data stored in the image database 2. Further, the specification data of the camera, scanner, and the like used for the photographing is input from the keyboard 8 or the like, and stored in the basic information database 3. FIG. 8 shows a specific example of the information content stored in the basic information database 3.

3. Image Adjustment by Image Adjustment System 101 The photographic image read into the image information database 2 as described above is image-adjusted and optimized by the image adjustment system 101 so as to be suitable for subsequent measurement processing. The processing operation will be described with reference to the flowchart of FIG. First, necessary related information regarding the photographed image and the photographing conditions at that time is read from the image information database 2 (steps S21 and S22 in FIG. 9). Next, the read photographic image is displayed on the screen of the monitor 11, and restoration necessary for subsequent measurement such as underexposure of the image and out of focus is performed (step S23 in FIG. 9). This restoration work is executed for each photographic image taken by the cameras I and II (and III). Then, the restored photographic image and its related information are stored and, if necessary, transferred to another system (step S2 in FIG. 9).
4).

4. Acquisition of Orthogonal Three-Dimensional Coordinate Values of Curved Point by Curved Point Position Measurement System 102 The curved point position measuring system 102 uses a photographic image optimized by the image adjustment system 101 to use structural members (for example, , Piping, etc.) are calculated at the orthogonal three-dimensional coordinate values (X, Y, Z).

When two cameras I and II are used (2C
Principle of Calculation of the Orthogonal Three-Dimensional Coordinate Values of Method 2) When two cameras I and II are used, the relationship between the two cameras and the measurement point “A” is as shown in FIG. The orthogonal three-dimensional coordinate value (X, Y, Z) of "" can be obtained from the following equation. X = (Ltan α ₁ cos β ₁ ) / (tan α ₂ cos β ₂ −tan
α ₁ cos β ₁ ) Y = (Ltan α ₁ sin β ₁ ) / (tan α ₂ cos β ₂ −tan
α ₁ cos β ₁ ) Z = L / (tan α ₂ cos β ₂ −tan α ₁ cos β ₁ )

Here, α ₁ is the measurement point “A” from camera I.
, Β ₁ is the inclination angle between the lens optical axis of camera I and the measurement point “A”, and α ₂ is the measurement point “A” from camera II.
, Β ₂ is the inclination angle between the lens optical axis of the camera II and the measurement point “A”.

Principle of Calculation of Orthogonal Three-Dimensional Coordinate Values When Three Cameras I, II, and III are Used (3C Method) When three cameras I, II, and III are used, FIG. As shown, camera I-II, camera I-III, camera
In any combination of II-III, the orthogonal three-dimensional coordinate values (X,
Y, Z) can be obtained. Thus, when three cameras are used, the three-dimensional orthogonal coordinate values (X,
The coordinate value may be calculated by selecting a combination of cameras that has the smallest error spread to (Y, Z). More specifically, as shown in FIG. 5B, if a camera combination that maximizes the line-of-sight intersection angles θ _1,2 , θ _1,3 , θ _2,3 with respect to the measurement point “A” is selected, this is selected. To be satisfied.

The measurement point "A" in FIG. 4 or FIG.
Is a curved point which is an intersection of center lines of adjacent pipes as shown in FIGS. 10 (A) and 10 (B). Therefore, a specific method of calculating the orthogonal three-dimensional coordinate values (X, Y, Z) of the curved point will be described with reference to the flowchart of FIG.

Acquisition of Photo Image (Step S in FIG. 11)
25) First, the photographic images of the cameras I and II (and III) whose images have been adjusted and necessary related information are received from the image adjustment system 101. Then, first, the photographic image of the camera I is displayed on the screen of the monitor 11.

Acquisition of Curved Point Coordinate Values (Step S 26 in FIG. 11) Using the photographic image of the camera I displayed on the screen of the monitor 11 as a sketch, tracing the outer contour of the main part of the straight pipe of the pipe with the pen 9 or the like, The outline of the main part of the straight pipe is extracted and drawn. At this time, if necessary, the photograph image is enlarged and traced, and if it is enlarged, the enlargement magnification is recorded.

Next, the center line of the contour of the drawn pipe is calculated and drawn by the method described below, and the curved point (intersection) and the branch point (T) with the adjacent pipe are calculated.
The positions of the valve (V), the flange (F), the reducer (R), etc. are determined, and a unique curve number is assigned to each of them. It should be noted that the type of the tune point is clearly indicated by attaching the alphabet to the head of the tune point number.

Next, as illustrated in FIG. 12, a straight line L crossing the straight pipe is drawn at an arbitrary position at the end of the straight pipe drawn on the screen, and coordinate values (x
_11, y _11), reading (x _12, y _12). Then, the center coordinate value (x _c1, y _c1 ) of the pipe is calculated and obtained by the following equation. x _c1 = (x ₁₁ −x ₁₂ ) / 2 y _c1 = (y ₁₁ −y ₁₂ ) / 2 In the same manner, the center coordinate value (x _c2,
y _c2 ) is calculated, and a straight line expression indicating the center line of the pipe is obtained by the following expression. y−y _c2 = {(y _c2 −y _c1 ) / (x _c2 −x _c1 )} (x−
_xc2 )

Next, in the same manner as described above, the center coordinate values (x _C3 , y _C3 ), (x _C4 , y
_C4 ) and a straight line equation showing the center line thereof are obtained. And
The obtained center lines of the adjacent straight pipes are automatically drawn on the screen as red straight lines, and the straight line formulas indicating the center lines of the straight pipes are simultaneously solved to obtain the coordinate values of the curved point (x, y). To get. Hereinafter, in order to avoid confusion with other coordinate displays, this coordinate value of the curved point (x, y) is referred to as a local coordinate value of the curved point.

The polar coordinate values (α,
Conversion to β) (Step S27 in FIG. 11) The local coordinate values (x, y) of the curved point are converted to polar coordinate values (α ₁ , β ₁ ) by the following equation (see FIG. 4). tan β ₁ = (y / x) tan α ₁ = qx / (f ₀ + f (t)) cos β ₁ (where β ₁ ≠ 90, 270 °) = qy / (f ₀ + f (t)) sin β ₁ ( Where β _{1 ０ 0} , 180 °) where q: resolution of display system (input as initial value) f ₀ : infinity focal length of lens used (obtained from image information database) f (t): Focus shift function of the lens used according to the focus distance (obtained from the basic information database) t: Focus distance at the time of shooting (acquired from the image information database)

It should be noted that the above processes (1) to (4) are performed on each of the photographic images of the cameras I and II in the case of the 2C method, and are performed on each of the photographic images of the cameras I, II and III in the case of the 3C method. Polar coordinates (α ₁ , β ₁ ) (α ₂ , β ₂ ) for each photographic image,
(Α ₃ , β ₃ ).

Conversion from Polar Coordinate Values to Rectangular Coordinate Values (Step S 28 in FIG. 11) The polar coordinate values (α ₁ , β ₁ ), (α ₂ , β ₂ ) obtained from the photographic images of the cameras I and II (and III) ) And (α ₃ , β ₃ ) using the following formulas (1) to (3):
The curved points are converted into orthogonal three-dimensional coordinate values on the reference coordinates defined as the installation space of the pipe, and the primitive coordinate values (X _G , Y _G , Z _G ) of each curved point are obtained. However, the following equation (1)
In (3), only the equation (1) is used in the case of the 2C method, and the equation (1) is used in the case of the 3C method according to the inclination angle β of the curved point.
Use (3) properly. As a result, errors can be reduced.

[0053]

(Equation 1)

Also, according to the following conditions, from the curved point coordinate position indicating the incision point of the pipe branch, valve, flange, etc., leaving only the curved point coordinates along the axial direction of the mother pipe, the others are deleted, and the original curved point is deleted. Create coordinate data (X, Y, Z). Note that V piping is piping along the vertical direction (Y axis),
Left and right of the horizontal pipe and the _X piping (X-axis) along the direction the pipe, and H _Z pipe is intended to refer to a pipe along the depth (Z-axis) direction in the horizontal pipe. For V piping → Delete X and Z, leaving Y H For _X piping → Delete Y and Z, leaving X H For _Z piping → Delete X, Y leaving Z

The original music point coordinate data obtained as described above is stored in the music point information database 4.
FIG. 13 shows an example of the music point information database 4.

5. Determination of Nominal Diameter of Piping Material by Pipe Diameter Measurement Stem 103 The pipe diameter measurement system 103 calculates the nominal diameter of the pipe material used as a structural member based on the data obtained by the curve position measurement system 102 and the like. decide. The processing operation will be described with reference to the flowchart of FIG.

Securing the environment (Step S3 in FIG. 14)
1) The pipe diameter measuring system 103 reads the data obtained by the curved point position measuring system 102 from the curved point information database 4 and makes preparations for measuring the pipe diameter.

Selection of Pipe Diameter Measurement Method (Step S32 in FIG. 14) The pipe diameter measurement method is selected from the following two methods. a. Pipe diameter measurement method b. When the comparative gauge method is used, perform the processing in the following section.
When the comparative gauge method is selected, the following process is performed to determine the pipe diameter.

Measurement of Pipe Diameter by Pipe Diameter Measurement Method (Step S33 in FIG. 14) A line segment perpendicular to the center line is drawn near the curved point of the target member whose pipe diameter is to be measured, and the intersection with the pipe contour is drawn. Coordinates (x, y)
Is obtained as a figure vertex. The acquired figure vertex coordinate values (x, y) are converted into polar coordinate values α (elevation angle) and β (tilt angle) by the same method as the conversion processing to the polar coordinate value in the curved point position measurement system 102. Then, the coordinate values (X _u ,
Y _U), (X _L, from Y _L), calculates the pipe diameter d by the following equation. _{d = √ {(X u -X} L) 2 + (Y u -Y L) 2}

[0060] Such a tube diameter d obtained in comparison with various tube diameters d _std in the pipe material database 6, select the closest d _std to d, member information database that nominal diameter as the tube diameter d _nom Record in 5. An example of the piping material database 6 is shown in FIG. 15, and an example of the member information database 5 is shown in FIG.
6 respectively.

[0061] providing a tube diameter compared gauge with scale tube diameter d ₀ is displayed on the screen (step S34 in FIG. 14) tube diameter measured by comparing gauge method in the variable, then the most recent songs tube diameter measurement site The primitive coordinate values (X _G, Y _G, Z _G ) of the point are determined, and the scale S when the comparative gauge is arranged on the screen is determined by the following equation. S = nf / T where T = √ (X _G ² + Y _G ² + Z _G ² ) (X _G, Y _{G, and} Z _G are obtained from the curved-point information database 4) f: Focal length of the lens used (obtained from the image information database 2) n: Screen magnification during measurement (image information database 2)

The scale dimension d ₀ of the comparison gauge displayed on the screen is calculated by the following equation, and the comparison gauge of each size is stored in the comparison gauge box and displayed on the screen. d ₀ = S · d _std where d _std is an industrial standard value of pipe diameter (obtained from piping material database 6)

An arbitrary comparison gauge is dragged from the comparison gauge box to be superimposed on the measurement site, a suitable gauge is found, the nominal diameter is determined, and stored in the member information database 5.

6. The three-axis rotation correction of the coordinates by the measurement error basic adjustment system 104 The primitive data indicating the coordinates of each curved point obtained as described above includes the inclination of the camera, the inclination at the time of reading the photographic image, and the like. Therefore, the measurement error basic adjustment system 10
Reference numeral 4 performs a three-axis rotation correction of rotating the original data obtained as described above around the X, Y, and Z axes to correct the original data. Note that the three-axis rotation correction method referred to here is to use a relative positional relationship between two adjacent music points to convert each coordinate value of the music point to a predetermined correction angle θ around the Z, Y, and X axes. , Δ, and λ, the position of the reference coordinates with respect to the position of the curved point is optimized.

That is, the reference coordinates are to be set in a positional relationship in which all the pipes extend along the X, Y, and Z axes. The method will be described.

Creation of Source Data of Member (Step S 41 in FIG. 17) (a) First, the following data is acquired from the curved point information database 4.・ Original elevation angle data α of cameras I and II (and III)
₁ , α ₂ , (α ₃ ) Original tilt angle data β ₁ , β ₂ , (β ₃ ) of cameras I, II (and III) Original curve coordinate data X on orthogonal ternary coordinates
Y, Z At this time, the member numbers of the straight pipe sections connecting the adjacent curved points are determined using the curved point numbers, and are automatically numbered. (Pos) information determined by photographic observation, in the case of the horizontal pipe H (of these, the left and right (X-axis) in line with the direction H _X, the depth (Z axis) in line with the direction and H _Z),
Vertical piping is marked with V. In addition, the branch pipe is identified by adding a symbol T.

(B) Next, a member displacement value is calculated from the following three-dimensional coordinate values of the adjacent curved points using the following equation. Here, 1 is the length of the pipe member. ΔX _{n, n-1} = X _n -X _n-1 ΔY _{n, n-1} = Y _n -Y _n-1 ΔZ _{n, n-1} = Z _n -Z _n-1 l _{n, n-1} = √ ^{_{(ΔX n, n-1 2}} + ΔY n, n-1 2 + ΔZ
_{n, n-1} ² )

The horizontality correction (θ rotation correction) of the image using the Z axis as the rotation axis (Step S42 in FIG. 17) θ _V and θ _HX are obtained from the following equations, and the correction angle θ ₀ is calculated from them.

[0069]

(Equation 2)

[0070] Then, using the corrected angle theta ₀ obtained above, the the X-Y plane by the following equation is rotated by theta ₀ about the Z axis, the coordinate values X after theta rotational correction ', Y', Z '.

[0071]

(Equation 3)

Correction of misalignment (δ rotation correction) of horizontal piping with the Y axis as the rotation axis (Step S 43 in FIG. 17) (a) The XZ plane is rotated by δ around the Y axis by the following equation, X axis or Z on the XZ plane
Align with the axis.

[0073]

(Equation 4)

(B) Then, the corrected elevation angle α ₁ ′, the inclination angle β ₁ ′ after the δ rotation and the corrected orthogonal three-dimensional coordinate values X ″, Y ″, Z ″ are calculated by the following equations.

[0075]

(Equation 5)

Correction of Elevation Angle Using X-Axis as Rotation Axis (λ Rotation Correction) (Step S44 in FIG. 17) (a) In order to make the elevation angle of the camera center axis coincide with the horizontal line, the data after the δ rotation correction is used. And YZ by the following equation
Rotate the plane about the X axis by λ.

[0077]

(Equation 6)

(B) Then, the corrected elevation angle α ₁ ″, the inclination angle β ₁ ″ after the λ rotation, and the corrected orthogonal three-dimensional coordinate values X ′ ″, Y ′ ″, Z ″ are obtained by the following equations. 'Is calculated.

[0079]

(Equation 7)

Correction Processing of Member Data (Step S45 in FIG. 17) Further, based on the above correction result, the primitive data obtained in the above (Step S41 in FIG. 17) is corrected by the following equation.

[0081]

(Equation 8)

7. Determination processing of pipe dimensions by the pipe dimension determination system 105 The pipe after the above θ, δ, λ rotation correction has an elevation angle α and an inclination angle β.
For example, there is a possibility that a straight pipe is not formed in a straight line and the set position of the reference coordinates is not set to a sufficiently accurate position due to a measurement error included in, for example. Therefore, the piping size determination system 105 performs final processing for determining the piping coordinates. Hereinafter, the processing operation will be described with reference to the flowchart of FIG.

(1) Acquisition of basic data (step S51 in FIG. 18) Coordinate values X ′ ″, Y ′ ″, Z ″ of each curved point after the above θ rotation correction, δ rotation correction, and λ rotation correction 'And member data l ″, ΔX ′ ″, ΔY ″ ′ from the database,
Put them as follows. _Curve point data: X _ORG = X ''', Y _ORG = Y''', Z _ORG
= Z ′ ″ Member data: l _ORG = l ″, ΔX _ORG = ΔX ″ ′, ΔY
_ORG = ΔY ′ ″, ΔZ _ORG = ΔZ ″ ″ As the initial value input, the resolution q of the display to be used and the member displacement determination value B (for example, B = 50 mm)
To get.

(2) Correction processing for three-axis rotation correction (steps S52 to S55 in FIG. 18) Correction processing for θ rotation correction (step S52 in FIG. 18) (a) Theoretical maximum assumption for correction of θ rotation correction Estimation of Error The theoretical maximum assumed error (Δx, Δy) included in the coordinate value of each curved point m is estimated by the following equation. However, in the case of the 2C method, only the expression (1) is used, and in the case of the 3C method, the expressions (1) to (3) are selectively used according to the inclination angle of each curved point.

[0085]

(Equation 9)

(B) Selection of Reference Member for Correction of θ Rotation Correction For V and H _X pipes, member displacement η θ,
ξθ is calculated, and the member m · m−1 that minimizes it is θ
Select a reference member for correcting rotation correction.

[0087]

(Equation 10)

(C) Obtaining Coordinates after Correction of θ Rotation Correction From the member displacement of the reference member, a correction angle Δθ is obtained by the following equation, and based on this, the θ rotation correction of all the curved points is corrected, and the corrected coordinate value ( X _REV θ, Y _REV θ, Z _REV θ).

[0089]

[Equation 11]

Correction Process for δ Rotation Correction (Step S53 in FIG. 18) (a) Estimation of Theoretical Maximum Assumed Error for Correction of δ Rotation Correction The error (Δx, Δz) is estimated. However, in the case of the 2C method, only the expression (1) is used, and in the case of the 3C method, the expressions (1) to (3) are selectively used according to the inclination angle of each curved point.

[0091]

(Equation 12)

(B) Selection of Reference Member for Correction of δ Rotation Correction Focusing on H _X and H _Z piping, η δ and ξδ are calculated by the following equations, and member m · m−1 that minimizes η δ and ξδ is determined. Selected as a reference member for correction of δ rotation correction.

[0093]

(Equation 13)

(C) Acquisition of Coordinates after Correction of δ Rotation Correction From the member position of the reference member, a correction angle Δδ is obtained by the following equation. X _REV δ, Y _REV δ, Z _REV δ).

[0095]

[Equation 14]

Correction Processing of λ Rotation Correction (Step S 54 in FIG. 18) (a) Estimation of Theoretical Maximum Assumed Error for Correction of λ Rotation Correction (Δy, Δz) is estimated. However, in the case of the 2C method, only the expression (1) is used, and in the case of the 3C method, the expressions (1) to (3) are selectively used according to the inclination angle of each curved point. Δy = same as Δy in step 52 Δz = same as Δz in step 53

[0097] (b) Selection V of the reference member for correction of λ rotation correction, and focusing on H _Z piping, according to the following equation, Itaramuda, calculated the Kushiramuda, a member m · m-1 where it is minimum λ Select a reference member for correcting rotation correction.

[0098]

(Equation 15)

(C) Acquisition of Coordinates after Correction of λ Rotation Correction From the member position of the reference member, a correction angle Δλ is obtained by the following equation, and based on this, the λ rotation correction of all curved points is corrected, and the corrected coordinate value ( X _REV λ, Y _REV λ, Z _REV λ).

[0100]

(Equation 16)

As described above, when the maximum error that may theoretically occur is included in all the curved points, the bottom is lowered, and the member least affected by the error is selected as the reference member. Then, the corrected coordinate values X _REV λ, Y _REV λ, and Z _REV λ of each curved point after correcting the three-axis rotation correction based on the correction are obtained (step S55 in FIG. 18).

(3) Acquisition of “Corrected Coordinate Values” for Accuracy Evaluation of Curved Point Position (Steps S56 to S58 in FIG. 18) Selection of Reference Point (Step S56) First, the above-described θ, δ, λ rotation correction From all the later points,
Z _ORG theoretically assumed to contain the smallest error
Is selected as the reference point m, that is, the minimum curved point, that is, the curved point located on the front side in the depth (Z-axis) direction. The X and Y coordinate values of the reference point m are X _{ORG, m} and Y _{ORG, m} .

Correction processing in X, Y, Z axis directions (step S57) X, Y coordinate values (X _{ORG, m} , Y) of the selected reference point m
_{ORG, m} ) as a starting point, the coordinate values (X _ORG , Y _ORG , Z _ORG ) after the rotation correction of θ, δ, and λ for all the curved points are calculated by the following methods (a) to (d). Obtain corrected coordinate values (X _REV , Y _REV ) obtained by performing straight line correction along the Z axis.

(A) In the case of _HZ piping The X and Y coordinate values X _{ORG, m} and Y _{ORG, m} of the reference point m are set as X _{REV, m} and Y _{REV, m} , and the reference coordinate value X _{REV, m} ,
Starting from Y _{REV, m} , the corrected coordinate value (X
_{REV, m + -1, Y REV} , m + -1) the determined, by sequentially repeating this, H _Z correction coordinate value of the songs point of the pipe (X _REV, Y
_REV ). The subscript m + of the coordinate values X and Y
-1 means m ± 1.

[0105]

[Equation 17]

[0106] (b) H _X Piping reference coordinate values _{(Y ORG, m = Y REV} , m, Z ORG, m =
Z _{REV, m} ) as a starting point, the corrected coordinate value (X
_{REV, m + -1, Y REV} , m + -1) the determined, by sequentially repeating this, H _X correction coordinate value of the songs points for the pipe (X
_REV , Y _REV ).

[0107]

(Equation 18)

(C) In the case of V piping Reference coordinate values (Y _{ORG, m} = Y _{REV, m} , Z _{ORG, m} =
Z _{REV, m} ) as a starting point, the corrected coordinate value (X
_{REV, m + -1} , Y _{REV, m + -1} ) are obtained, and are sequentially repeated to obtain corrected coordinate values (X _REV , Y
_Rev ).

[0109]

[Equation 19]

(D) In the case of S piping If there is an S piping in the piping system, the connection point with the S piping part is used as the end point or the starting point of the piping system before and after. Step S5 in FIG.
Returning to 2), a curved point having the minimum Z _{ORG in the} piping system is selected as a reference coordinate value, and the same operation is repeated.

[0111] (e) Z-axis correction coordinate value Z _REV acquisition Z-axis of the correction coordinate value Z _REV of the X, correction coordinate value of the Y-axis (X _REV, Y _REV) is a dependent variable. Then, the following formulas are used to obtain the corrected coordinate values (X _REV , Y
_REV ) to calculate the corrected coordinate value Z _REV of each _curved point. Z _REV = (1 / tan α ₁ ) √ (X _REV ² + Y _REV ² ) However, for members m and m + 1 having a reducer, | X
_{ORG, m + 1−} X _{ORG, m} | ≦ | Z _{ORG, m + 1−} Z _{ORG, m} | The offset correction by the reducer is performed by the following equation. Z _{REV, m + 1} = Z _{REV, m} ± τ τ: Reducer offset value (obtained from piping material database 6) −: Z _{ORG, m + 1} <Z _{ORG, m} +: Z _{ORG, m + 1} > Z _{ORG, m}

(F) Correction of Member Displacement of S Pipe The member displacement of the S pipe is obtained by the following equation. ΔX _{REV, S, S-1} = X _{REV, S} -X _{REV, S-1} ΔY _{REV, S, S-1} = Y _{REV, S} -Y _{REV, S-1} ΔZ _{REV, S, S-1} = Z _{REV, S} -Z _{REV, S-1}

(G) The member displacement values (ΔX _{REV, S, S−1} , Δ
A displacement value smaller than the determination value B (input as an initial value; for example, B = 50 mm) is selected from Y _{REV, S, S-1} and ΔZ _{REV, S, S-1} ) and corrected to zero. ΔY, ΔZ>B> ΔX ΔX → 0 (slope pipe) ΔX, ΔZ>B> ΔY ΔY → 0 (horizontal parallel pipe) ΔX, ΔY>B> ΔZ ΔZ → 0 (slope pipe) ΔX, ΔY, ΔZ> 0 Without correction

As described above, the corrected coordinate value X _REV of each curved point after straight line correction along the X, Y, and Z axis directions,
Y _REV and Z _REV are obtained (step S5 in FIG. 18).
8).

(4) Correction of Reference Coordinate Value of Reference Point m by Statistical Processing (Step S59 in FIG. 18) Correction of Reference Coordinate Value Based on Regression Line “Corrected coordinate value of each curved point obtained as described above ”And“ corrected coordinate values ”to obtain a regression line, and from this regression line, obtain correction values (ΔX _REV λ, ΔY _REV λ, ΔZ _REV λ) for the reference coordinate value of the selected reference point m. . That is, by the following equation, step S5 in FIG.
5 (X _REV λ, Y _REV λ, Z
_REV λ) and a regression line between the corrected coordinate values (X _REV , Y _REV , z _REV ) obtained in step S58 of FIG. 18 are obtained, and the corrected value (ΔX _REV λ, ΔY
_REV λ, ΔZ _REV λ).

[0116]

(Equation 20)

The correction values (ΔX _REV λ, Δ
Using Y _REV λ and ΔZ _REV λ), the reference coordinate value (X _{ORG, m} , Y _{ORG, m} , Z _{ORG, m} ) of the reference point m is corrected according to the following equation, and the corrected reference coordinate value of the reference m ( X _{F, m} , Y _{F, m} ,
Z _{F, m} ).

[0118]

(Equation 21)

(5) Convergence of coordinate values (step S in FIG. 18)
60) It is determined whether or not the corrected reference coordinate values (X _{F, m} , Y _{F, m} , Z _{F, m} ) obtained in step S59 match the previously obtained corrected reference coordinate values. in case of,
Returning to step S52 in FIG. 18 again, the above-mentioned reference coordinate values (X _{ORG, m} , Y _{ORG, m} , Z _{ORG, m} ) are modified to the corrected reference coordinate values (X _{F, m} , Y _{F, m} , Z _{F). , m} ), and uses this as a new reference coordinate value in steps S52 to S59.
Is repeated.

FIG. 19 shows a specific example of the coordinate value convergence process. In FIG. 19, for simplicity of explanation,
The the X-Y plane which was taken as an example, shows a modification of the pipe center line image when performing the processes in steps S56~S60 the inflection point m ₃ as a reference point.

(6) Determination of Final Coordinate Value (Step S61 in FIG. 18) The processing of steps S52 to S59 is repeated as described above, and the corrected reference coordinate value (X
_{F, m} , Y _{F, m} , and Z _{F, m} ) match the corrected reference coordinate values (X _{F, m} , Y _{F, m} , Z _{F, m} ) of the immediately preceding process _, and , And the corrected coordinate values (X _REV λ, Y _REV λ, Z _REV λ) of all the music points in the matching processing times are obtained as final fixed corrected coordinate values (X _F , Y _F , Z _F ) for drawing. I do.

As described above, the corrected coordinate values (X _REV λ, Y _REV λ, Y _REV λ, X _REV λ) of each intersection obtained when the coordinate value of the reference point before correction matches the coordinate value of the reference point after correction.
Z _REV λZ _R ) and corrected coordinate values (X _REV , Y _REV ,
When _Z.sub.REV ) is substantially equal within the range of the allowable error, the final corrected coordinate value (XF _{, m} , YF _{, m} , ZF _{, m} ) at that time is used instead of the corrected coordinate value ( _{XF, m} , YF _{, m} , ZF _{, m} ). X _{REV, F} , Y
_{REV, F, Z REV, F} ) a defined modified coordinates (X _F, Y _F, Z
_F ).

[0123]

(Equation 22)

(7) Evaluation and Grading of the Determined Coordinate Values (Step S62 in FIG. 18) The final corrected coordinate values obtained as described above are compared with the determined and corrected coordinate values, and the difference between them and the allowable error are determined. Is evaluated as the accuracy of each music point and output as an evaluation table. Then, for the curved points with low accuracy, the acquisition status of the contour line or the center line of the constituent member is reconfirmed, and if necessary, the measured value is corrected to determine the final coordinate value of the corrected coordinate value of each curved point.
The method of this evaluation and grading is described below.

First, the theoretical maximum assumed errors (Δx ₀ , Δy ₀ , Δz ₀ ) included in the fixed and corrected coordinate values (X _F , Y _F , Z _F ) of each music point are estimated by the following _equations . However, in the case of the 2C method, only the expression (1) is used, and in the case of the 3C method, the expressions (1) to (3) are selectively used according to the inclination angle of each curved point.

[0126]

(Equation 23)

[0127]

(Equation 24)

Further, according to the following equations, the determined corrected coordinate values (X _F , Y _F , Z _F ) of the obtained intersections and the final corrected coordinate values (X _{REV, F} , Y _{REV, F} , Z _REV ) at that time. _{, F} ) (Δx, Δy, Δz).

(Equation 25)

Grading The theoretical maximum assumed errors calculated above (Δx ₀ , Δy ₀ ,
Using Δz ₀ ) and deviations (Δx, Δy, Δz), the reliability of the corrected coordinate values (X _F , Y _F , Z _F ) is evaluated by the following equation, and each coordinate data is classified into the first class according to the reliability. Second grade,
Classify by classifying into 3rd grade. With this evaluation table, it can be easily determined whether or not the drawing data is reliable.

[0130]

(Equation 26)

The above-described reliability evaluation is based on the following idea. That is, Δx, Δy, Δz
Is the corrected coordinate value of each point (X _{REV, F} , Y _{REV, F} , when the arrangement of each point is forcibly aligned along the X, Y, and Z axes.
Z _{REV, F} ) and the measured values are rotated around the coordinate axes while maintaining the positional relationship at the time of measurement, so that the corrected coordinate values (X _F , X _F , Y _F , Z _F ), Δx ₀ , Δy ₀ ,
Δz ₀ is a value obtained by converting the maximum error that may have been included at the time of measuring the image size on a monitor screen such as a CRT into a displacement on orthogonal three-dimensional coordinates, and Δx (or Δy, Δ
z. By taking the difference between Δx ₀ (or Δy ₀ , Δz ₀ ; the same applies hereinafter) and Δx ₀ (hereinafter the same), it is possible to evaluate whether Δx is within the range of the displacement caused by the measurement error. It is based on the viewpoint of wax. In addition, 1/2 |
Δx ₀ | is based on the assumption that the transfer of the contour measurement error generated on the CRT to the curved point coordinate error is 、, and an arbitrary number can be selected according to the concept.

Further, ε is a production distortion that may be included in the photographed target pipe itself. Even when this is taken into consideration, a curve having an excessive error is regarded as 3
The class is classified into the second class and the first class according to the deviation level.

(8) Output of Calculation Result (Step S63 in FIG. 18) Each calculation result obtained by each of the above processes is displayed on the screen of the monitor 11 in a format as shown in FIG. 20, for example. Alternatively, a printout is performed by the printer 12. Then, based on the output result, the operator is asked to judge whether the calculation result is practical or not, and whether the correction is necessary. A normal color (for example, black) is used for the first-grade degree class, and a blue color is displayed or printed for the second-grade class with the reliability class to call attention to the operator.

As a result of the determination, when it is determined that there is no problem even when put to practical use, a material table is output, and the determined final corrected coordinate values and piping dimensional data are used in CA.
The image is transferred to the D system 13 (FIG. 3), and based on the drawing information, the outline drawing of the piping image captured by the photographic image is drawn.

In the embodiment described above, piping is taken as an example of a drawing object in order to make the description easy to understand. However, the present invention is applicable to existing structures (for example, pipes) that can extract the outer shape by tracing the outline of a photographic image. , Buildings, houses, bridges,
Tower, ship, etc.). In this case, if the object to be drawn is not made using a standardized component member such as the pipe, in the case where the drawing can be performed only with the contour line or the center line, or in the case where the drawing is performed, the drawing object in the above-described embodiment is used. The piping material database 6 and the pipe diameter measuring system 103 are not required. Whether or not to prepare industrial standard data such as dimensions for each component of the existing structure as a database depends on the type of drafting object, design specifications, type of drafting drawings, drafting accuracy, etc. You just have to select it.

[0136]

As described above, according to the method of the present invention, it is possible to extremely easily generate data necessary for drawing an existing structure from a plurality of photographic images taken by two or three cameras. Can be. Therefore, even for large structures such as oil plants and existing structures installed in places where people cannot easily access, it is necessary to easily and reliably obtain the necessary drawing data and draw the outline drawing. Becomes possible. In addition, since the preparation work for generating the drawing data only needs to prepare a photograph of the existing structure, there is no need for conventional surveying work that requires skill, which eliminates the need to dispatch skilled workers to the site. Can be. Therefore, human and cost burdens can be significantly reduced as compared with the conventional drawing method.

Further, when processing is performed using three photographic images taken from each vertex position of a triangle facing the existing structure, it is possible to generate drawing data with less measurement errors. it can.

When using the recording medium of the present invention, C
By combining with a drawing device such as an AD system, an outline drawing of an existing structure can be created extremely easily and reliably. This eliminates the need for skill in drawing work as in the related art, and can greatly reduce labor and simplify this type of design drawing work.

[Brief description of the drawings]

FIG. 1 is a processing flowchart for explaining the principle of the present invention.

FIGS. 2A to 2J are views for explaining processing of a photographic image according to the present invention.

FIG. 3 is a block diagram showing an embodiment of an outline drawing data generation device configured by applying the present invention.

FIG. 4 is an explanatory diagram of a method (2C method) of photographing an existing structure using two cameras.

FIGS. 5A and 5B are explanatory diagrams of a method (3C) of photographing an existing structure using three cameras.

FIG. 6 is a diagram showing an example of a camera platform used in the 3C method.

FIG. 7 is a diagram showing an example of image information data stored in an image database.

FIGS. 8A and 8B are diagrams showing examples of basic information data stored in a basic information database 3. FIGS.

FIG. 9 is a flowchart of a processing operation of the image adjustment system.

FIG. 10 is an explanatory view of an intersection (curved point) of a center line of a pipe, where (A) is an example of a bent pipe, (B) is a T-shaped pipe, and (C) is an example of a reducer.

FIG. 11 is a flowchart of a processing operation of the music point position measuring system.

FIG. 12 is an explanatory diagram of calculating a center coordinate value of a pipe.

FIG. 13 is a diagram showing an example of music piece information data stored in a music piece information database.

FIG. 14 is a flowchart of a processing operation of the pipe diameter measuring system.

FIGS. 15A and 15B are diagrams showing examples of piping material data stored in a piping material database.

16 is a diagram illustrating an example of member information data stored in a member information database 5. FIG.

FIG. 17 is a flowchart of a processing operation of the measurement error basic adjustment system.

FIG. 18 is a flowchart of a processing operation of the piping size determination system.

FIG. 19 is a diagram showing a specific example of coordinate value convergence processing.

FIG. 20 is a diagram illustrating an output example of plotting data.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Data processing part 2 Image information database 3 Basic information database 4 Curve point information database 5 Member information database 6 Piping material database 8 Keyboard 9 Pen 10 Mouse 11 Monitor 12 Printer 13 CAD system 101 Image adjustment system 102 Curve point position measuring system 103 Tube Diameter measuring system 104 Measurement error basic adjustment system 105 Piping dimension determination system

Claims (4)

[Claims] 1. A method for generating outline drawing creation data for creating an outline drawing of an existing structure using a plurality of photographic images obtained by photographing an existing structure to be drawn, comprising: A step of obtaining an intersection of a contour line or a center line of each component of the existing structure for each of the photographic images, and a step of calculating an elevation angle α and an inclination angle β of each of the intersections for each of the plurality of photographic images, The orthogonal three-dimensional coordinate value X (horizontal distance from the origin of the reference coordinates) of each intersection on the reference coordinates using the elevation angle α and the inclination angle β of each intersection obtained from each of the plurality of photographic images, Y (Height from the origin of the reference coordinates) and Z (distance in the depth direction from the origin of the reference coordinates); and calculating the orthogonal three-dimensional coordinate values of the respective intersections around the X, Y, and Z axes. Are given angles θ, δ, and λ, respectively. A three-axis rotation correction step of calculating orthogonal three-dimensional coordinate values in which image inclination is corrected by rotating the image, and a component member estimated to have the smallest measurement error in each of the X, Y, and Z axes as a reference member. Then, the orthogonal three-dimensional coordinate values of the respective intersections obtained by the three-axis rotation correction based on the selected member are referred to as minute angles Δθ, Δ around the X, Y, and Z axes.
a corrected coordinate value calculating step of calculating a corrected coordinate value rotated and corrected by δ and Δλ; and an intersection from which the measurement error is estimated to be the smallest in the Z-axis direction among all the intersections obtained by the three-axis rotation correction. Correction coordinate value calculation step of calculating correction coordinate values for accuracy evaluation in which the orthogonal three-dimensional coordinate values of the respective intersections are linearly corrected in the X, Y, and Z-axis directions with the coordinate values of the reference points as starting points. And calculating a regression line by statistical analysis using the corrected coordinate value of each intersection obtained in the corrected coordinate value calculation step and the corrected coordinate value of each intersection obtained in the corrected coordinate value calculation step, A reference point coordinate value correcting step of correcting the coordinate value of the selected reference point based on the coordinate value of the reference point after the correction and the coordinate value of the reference point before the correction. If not, the corrected reference point The corrected coordinate value calculating step, the corrected coordinate value calculating step, and the reference point coordinate value correcting step are repeated using the value as a new starting point, and the corrected coordinate value or the corrected coordinate value of each intersection at the time when the two coincide with each other is determined as the final coordinate value. Creating a contour drawing of an existing structure using a photographic image, comprising the steps of: determining a coordinate value to be performed; and outputting a final coordinate value of each determined intersection point as data for creating a contour drawing. How to generate data for use. 2. The method for generating data for creating an outline drawing according to claim 1, wherein two photographic images taken from two points separated by a predetermined distance to the left and right are used. 3. The method according to claim 1, wherein three photographic images taken from each vertex position of a triangle facing the existing structure are used. 4. A procedure for capturing a plurality of photographic images obtained by photographing an existing structure to be drawn, and determining an intersection of a contour line or a center line of each component of the existing structure with respect to each of the plurality of photographic images. A procedure for calculating, an elevation angle α and an inclination angle β of each of the intersections for each of the plurality of photographic images, and an elevation angle α and an inclination angle β of each of the intersections obtained from each of the plurality of photographic images. , X (horizontal distance from the origin of the reference coordinates), Y (height from the origin of the reference coordinates), Z (depth direction from the origin of the reference coordinates) Distance) and the calculated orthogonal three-dimensional coordinate values of each intersection are rotated by predetermined angles θ, δ, and λ around the X, Y, and Z axes, respectively, to correct the image inclination. Calculate orthogonal 3D coordinate values A three-axis rotation correction procedure, selecting a component member that is estimated to have the smallest measurement error for each of the X, Y, and Z axes as a reference member, and each intersection obtained by the three-axis rotation correction with reference to the member Of the three-dimensional coordinate values of the small angles Δθ, Δ
a corrected coordinate value calculating procedure for calculating a corrected coordinate value rotated and corrected by δ and Δλ; and a reference point, from among all the intersection points obtained by the three-axis rotation correction, an intersection that is estimated to have the smallest measurement error in the Z-axis direction. And calculating the corrected coordinate values for accuracy evaluation by correcting the orthogonal three-dimensional coordinate values of the respective intersections in the X, Y, and Z-axis directions using the coordinate values of the reference points as starting points. And calculating a regression line by statistical analysis using the corrected coordinate value of each intersection obtained in the corrected coordinate value calculation procedure and the corrected coordinate value of each intersection obtained in the corrected coordinate value calculation procedure, A reference point coordinate value correction procedure for correcting the coordinate value of the selected reference point based on the above, comparing the coordinate value of the corrected reference point with the coordinate value of the reference point before the correction, and if the two match, If not, the corrected reference point The corrected coordinate value calculating step, the corrected coordinate value calculating step, and the reference point coordinate value correcting step are repeatedly performed with the value as a new starting point, and the corrected coordinate value or the corrected coordinate value of each intersection at the time when the two coincide with each other is determined as the final coordinate value. And a data output procedure for outputting the final coordinate values of each of the determined intersection points as data for creating an outline drawing. Computer-readable recording medium.