KR101081937B1 - A Method for Assessing the Possibility of Joining Structures Using Terrestrial Laser Scanner - Google Patents

Abstract

The present invention relates to a method for evaluating the joining possibility between structures using a ground laser scanner, the step of scanning the three-dimensional shape of the joint of the first and second structures using the ground laser scanner, the first and second structures from the scanned data Extracting the relative positions between the joint sites of the two, analyzing whether the relative positions of the corresponding joint sites between the first and second structures coincide, and modeling the joint sites of each structure in the state where the relative positions coincide, and By providing a method of assessing the possibility of joining between structures by performing collision search for the structure, it is possible to accurately assess the joining potential of large structures in advance and to block the possibility of failure of joining structures. Delay in construction period and increase of construction cost in case of failure This problem can be prevented.

Surface laser scanner, construct, splicing, combo

Description

A Method for Assessing the Possibility of Joining Structures Using Terrestrial Laser Scanner

The present invention relates to a method for evaluating the joining possibility between structures using a ground laser scanner, and in particular, by using a scanner to obtain the shape of the joint of the two structures, and the like by contacting the two shapes obtained, the structure is substantially accurately coupled, It relates to a method and a system for simulating whether a contact or the like.

In the field of building large-scale structures such as construction, construction, plant, and shipbuilding, each structure constituting the entire structure is generally manufactured, moved, and joined independently at different positions. In this way, it is possible to secure sufficient space for the fabrication of each structure and to perform the simultaneous work to achieve the effect of shortening the air and improving the quality. However, the size of each structure can range from several meters to several tens of meters and the weight can often range from several tons to thousands of tons, so moving and joining these structures is quite expensive. If the structure is manufactured due to inconsistent design changes between structures, or the structure is made inaccurately, or the structure is sag or warped, but it is attempted to join without knowing it, the structure may be damaged. In addition, significant damages may occur, such as the cost of movement and additional time required to modify the structure. Therefore, precise measurement of these structures is required prior to movement and joining of the finished structures.

The techniques used for precise measurement of large structures mentioned above can be largely divided into field measurement and photogrammetry.

Field measurement is a method of precisely measuring the size of a structure by manpower using a tape measure or light wave distance measuring equipment. On-site metrology can achieve very precise results, but it has the disadvantage of high cost and long time since it requires manpower.

Photogrammetry is a method of measuring an object by analyzing two or more pictures taken by allowing overlapping at different positions through a mathematical model in a post-processing process, and may have a considerable accuracy depending on the measurement distance. Theoretically, automatic matching allows continuous measurement of the entire structure surface. In practice, however, accurate measurements can only be made at clearly recognizable points, such as edges, deformables or joints of different colors and materials, or artificially attached labels, and precise measurement is difficult for flat or smooth bends with no visual change. . Also, since most of the process is done through post-processing, real-time monitoring is not possible. Finally, photogrammetry has a disadvantage in that it is difficult to maintain a certain level of recognition rate due to the amount of ambient light due to the use of visual photography.

On the other hand, the development and dissemination of ground laser scanners capable of accurate and dense scanning of buildings, construction sites, cultural assets, large structures, etc. has been actively performed. Laser scanners quickly perform direct surveys on target points and use lasers, so they are not significantly affected by the amount of ambient light. In addition, technology development such as precise three-dimensional modeling of scan data using reverse engineering technology is progressing considerably. It is necessary to develop a method for processing precision measurement and joint simulation of a large structure using such laser scanning.

Therefore, the present invention is to solve the problems according to the prior art, the need for damage and relocation of the structure that may occur due to the failure of the structure by grasping in advance the possibility and problems between the large structures independently produced And it aims to provide a technique for assessing the possibility of joining between large structures to prevent the problems that must be reproduced.

According to an aspect of the present invention, there is provided a method for assessing inter-structure bonding possibility by scanning a three-dimensional shape of a joint between first and second structures using a ground laser scanner; Extracting the relative positions of the joints between the first and second structures from the scanned data and analyzing whether the relative positions between the first and the second structures match; And modeling the joint sites between the first and second structures in the state where the relative positions coincide, and determining whether the joints are possible between the structures by performing collision search on the modeled structures.

Extracting a relative position of the joint site between the first and second structures from the scanned data may include: designating a feature point of the joint site as a first origin in the first structure; Calculating relative positions of other feature points with respect to the first origin from the scanned data; And setting a feature point of the second structure corresponding to the first origin as a second origin and calculating relative positions of other feature points of the second structure with respect to the second origin.

The relative position of the other feature points with respect to the first origin point or the second origin point is a relative position of three-dimensional coordinates.

The process of extracting the relative position between the junctions from the scanned data comprises constructing a three-dimensional Triangular Irregular Network (TIN) from the feature data of the junction and generating a three-dimensional Convex Hull from it. can do.

If the relative positions do not match, the first and second structures of the scanned data may be rearranged, and the relative positions between the joint sites may be extracted to analyze whether the relative positions of the corresponding joint sites between the two structures match. .

The relocation of the structure may be characterized by moving one of the structures by moving a predetermined distance in an axial direction.

The determining of the possibility of joining by performing a collision search of the modeled structure may include calculating a distance to which two modeled structures may be accessed without collision, and comparing the approach interval and the reference interval to determine whether the joint is possible. It may be characterized by.

The method may further include estimating the possibility of bonding between structures by determining whether the document scans the shape of the joint portion of each structure and the drawings of the structure using the ground laser scanner.

According to another aspect of the present invention, there is provided a method for assessing inter-structure bonding possibility by scanning a shape of a bonding site between first and second structures using a ground laser scanner; And evaluating the possibility of joining between structures by determining whether the structures actually manufactured using the scanned data are consistent with the drawings of the structures.

Determining whether the structure and the drawings match the actual structure using the scanned data, the step of outputting the scanned data and the data of the drawings together; Measuring a distance between each feature point constituting a joint site between structures and a line constituting a joint site of the structure in the drawing; And determining whether the drawings match the actual structure using the distance between the feature point and the line.

The step of evaluating the possibility of joining the structures may be characterized in that the possibility of joining between structures by determining whether the distance between the feature point and the line is greater than the reference value.

If there is no drawing data to evaluate the conformity with the actual fabricated structure by using the scanned data, the relative position of the junction between the first and second structures is extracted from the scanned data and the first and second structures Analyzing whether the relative positions match; And modeling the joint sites between the first and second structures in the state where the relative positions coincide with each other, and determining whether the joints are possible between the structures by performing collision search on the modeled structures.

Extracting a relative position of the joint site between the first and second structures from the scanned data may include: designating an arbitrary feature point of the joint site as a first origin in the first structure; Calculating relative positions of other feature points with respect to the first origin from the scanned data; And setting a feature point of the second structure corresponding to the first origin as a second origin, and calculating relative positions of other feature points of the second structure with respect to the second origin.

The relative position of the other feature points with respect to the first origin point or the second origin point may be a relative position of three-dimensional coordinates.

As described above, according to the method for evaluating the inter-structure joining possibility using the ground laser scanner according to the present invention, the construction period occurring when the joining of the structure fails by fundamentally blocking the possibility of the joining of the structure by accurately evaluating the joining potential of the large structure in advance. The problem of delay and increase of construction cost can be prevented.

Hereinafter, a method for evaluating the joining possibility between structures using the ground laser scanner according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram showing a method for evaluating the joining possibility between structures using a drawing agreement evaluation technique according to an embodiment of the present invention.

The apparatus for assessing the possibility of joining structures between structures evaluates whether each structure is correctly manufactured with respect to the design drawings of the joints of two structures in the design drawings of the structures A and B. To this end, the terrestrial laser scanner performs precise scanning of the bonding sites for the structures A and B (S101).

In step S101, the ground laser scanner position is fixed when scanning a structure for more accurate modeling of the structure. If it is not possible to scan the full range of junctions by scanning at one fixed location, it is desirable to use several methods to separate and scan several targets and to integrate several scanning materials.

In addition, the apparatus for assessing the bonding possibility between structures loads the drawings for manufacturing the structure A and the structure B, respectively (S102).

After that, the apparatus for assessing the joinability between structures outputs the data of the drawing and the scanning data together in a three-dimensional display space for checking the correspondence between the drawing and the scanning data. After receiving the rotation and movement direction from the user or automatically overlap the two materials (S103).

An example of the result of overlapping the shape and the drawings of the actual structure according to the result of S103 is shown in FIG. 3.

The apparatus for assessing the joinability between structures determines the correspondence between the drawings and the scanning data. Specifically, the inter-structure joining possibility evaluation device measures the distance between the point and the line or plane constituting the joining portion of the structure in the drawing at the site where the structures A and B are joined (S104).

The method for measuring the distance between the feature point constituting the junction in the process S104 and the line or plane constituting the junction in the drawing is shown in FIG. That is, the shaded surface in the image (A) of FIG. 4 corresponds to the joint surface of the drawing, and a circle represented by a plurality of circles is a point cloud of scanned data.

As shown in the image (B) of FIG. 4, the image (A) of FIG. 4 is observed from another direction. In this case, the distance d between the drawing and the point cloud is measured. In particular, the inter-structure joint possibility evaluation apparatus according to the present invention measures the distance between the joint surface and the point cloud using the following equation.

포인트 :

point :

Plane equation in the drawing:

Euclidian Distance between Point and Plane:

After that, the apparatus for assessing the joinability between structures may use a method of measuring a distance between a point and a drawing component surface and expressing the degree of agreement by a numerical index (S105).

Finally, the apparatus for assessing the possibility of bonding between structures determines whether the degree of matching obtained by performing the structures A and B is greater than or equal to the reference value, and thereby determines whether the structures A and B can be joined (S106). In this case, the reference value can be set by reflecting various parameters such as normal construction accuracy.

That is, in the method of assessing the possibility of joining structures between structures according to the present embodiment, if the structure is normally manufactured according to the drawings under the assumption that the design of the structure is not wrong, it is determined that the structures will be normally joined.

If the structures A and B do not match the drawings that are designed, it is determined that the joining of the two structures is impossible (S108). The user may perform precise measurement by manpower on the mismatched portion and determine whether to proceed with the joining or improve the structure.

1 is a method that can be performed when a drawing of a structure is stored and loaded in an apparatus for joining a structure.

If there is no drawing to be compared with the actual structure, the inter-structure joint possibility evaluation apparatus may evaluate the joint possibility between structures according to FIG. 2 as described below.

2A and 2B are diagrams illustrating a method for evaluating joining potential between structures using a simulation joining method according to another exemplary embodiment of the present invention.

As shown in FIG. 1, the inter-structure bonding possibility evaluation apparatus performs scanning on each of the bonding sites for the structures A and B using the ground laser scanner (S201).

In this embodiment, when scanning one structure, the position of the scanner does not change, and when scanning at one position does not allow scanning of all the joints, it is more preferable to integrate several scanning materials using several targets.

Thereafter, a feature point of an arbitrary joining site in the structure A is designated as an origin (S202), and a three-dimensional relative position (dx, dy, dz) of feature points of other joining sites with respect to this origin is obtained from the scan data. It calculates (S203).

For this work, a method of constructing a 3D TIN (Triangular Irregular Network) from the point data of the junction and generating a 3D convex hull can be used.

A 3D TIN means a structure of point clouds distributed in a 3D space into continuous voxels, and a 3D convex hull means a minimum stereoscopic frame surrounding the point cloud.

The inter-structure joint possibility evaluation apparatus sets a feature point of the structure B corresponding to the origin of the structure A, and calculates the relative positions of the feature points constituting the portions joined to the structure A from the feature point corresponding to the origin of the structure A in the structure B as well. (S204).

The apparatus for assessing the joining potential between structures determines whether the relative positions of the joining sites of the two structures match (S205).

If the relative positions do not match, reposition Structure B and perform step S204 again. For example, the structure B is moved by a predetermined distance along an axis (for example, the Y-axis direction) to change the feature points corresponding to the origin of the structure A, and determine whether there is a coincidence again.

When the relative positions of the joints of the two structures coincide with each other, the apparatus for assessing the possibility of joining the structure generates a three-dimensional shape of the joint by using the feature point information in the current state (S206).

After that, the apparatus for assessing the joinability between structures performs collision detection to check the correspondence of the corresponding joining sites. In more detail, the apparatus for assessing the possibility of bonding between structures calculates how far the modeled two structures can be accessed without collision (S207).

The apparatus for assessing the possibility of bonding between structures determines that the two structures can be joined when the accessible distance is less than a given reference value (S208).

If the accessible distance is less than the given reference value, the apparatus for assessing the possibility of joining between structures determines that structures A and B cannot be joined (S210). In this case, precise measurement by manpower is performed on the joint and the joint is confirmed whether or not the progress of the structure is improved.

If the accessible distance is more than a given reference value, the inter-structure joinability evaluation apparatus determines that the structures A and B can be joined.

Although the present invention has been described in detail through the representative embodiments, those skilled in the art to which the present invention pertains can make various modifications without departing from the scope of the present invention. Will understand. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims below and equivalents thereof.

1 is a view showing a method for evaluating the possibility of joining structures between structures using a drawing agreement evaluation technique according to an embodiment of the present invention.

2A and 2B are diagrams showing a method for evaluating the possibility of joining structures between structures using a simulation joining method according to another embodiment of the present invention.

3 is a view showing an example of the result of superimposing the shape of the scanned real structure and the drawings.

4 is a view illustrating a method of measuring a distance between a scanned feature point and a line or surface constituting a joint in the drawing;

Claims (14)

In the method of assessing the joinability between structures, Scanning the three-dimensional shape of the joint between the first and second structures using a terrestrial laser scanner; Extracting the relative positions of the joints between the first and second structures from the scanned data and analyzing whether the relative positions between the first and the second structures match; And A method of evaluating inter-structure joint possibility including modeling the joint sites between the first and second structures in a state where the relative positions coincide, and determining whether the joint is possible between structures by performing collision search on the modeled structure. The method of claim 1, Extracting the relative position of the junction between the first and second structures from the scanned data, Designating any feature point of the junction within the first structure as the first origin; Calculating relative positions of other feature points with respect to the first origin from the scanned data; And setting a feature point of the second structure corresponding to the first origin as a second origin and calculating a relative position of other feature points of the second structure with respect to the second origin. Assessment Methods. The method of claim 2, The relative position of the other feature points relative to the first origin point or the second origin point is a relative position of the three-dimensional coordinates evaluation method. The method according to claim 2 or 3, The process of extracting the relative position between the junction sites from the scanned data, A method for evaluating inter-structure joint possibility, comprising using a method of constructing a three-dimensional triangular irregular network (TIN) from the feature point data of the junction and generating a three-dimensional convex hull from the joint. The method of claim 1, If the relative positions do not match, the first and second structures of the scanned data are rearranged, and the relative positions between the joint sites are re-extracted to analyze whether the relative positions of the corresponding joint sites between the two structures match. Joint Possibility Assessment Method. The method of claim 5, Relocation of the structure, A method of evaluating the joining possibility between structures, wherein one of the structures is moved and rearranged by a predetermined distance in an axial direction. The method of claim 1, Determining whether or not a joint is possible by performing collision search of the modeled structure, A method of evaluating joinability between structures, comprising calculating a distance to which two modeled structures can be accessed without collision, and comparing the access interval with a reference interval to determine whether the joint is possible. The method of claim 1, The method of evaluating the joinability between structures further comprising the step of assessing the conformity between the data scanned the shape of the joint portion of each structure and the drawings of the structure using the ground laser scanner. In the method of assessing the joinability between structures, Scanning the shape of the junction between the first and second structures using a terrestrial laser scanner; Wow Using the scanned data to determine whether the actual structure and the conformity between the drawings of each structure comprising the step of evaluating the possibility of bonding between the structures, If there is no drawing data to evaluate the conformity with the actual fabricated structure by using the scanned data, the relative position of the junction between the first and second structures is extracted from the scanned data and the first and second structures Analyzing whether the relative positions match; And Modeling the joints between the first and second structures in the state where the relative positions coincide, and determining whether the joints are possible by performing collision search on the modeled structures. Likelihood Assessment Method. 10. The method of claim 9, Determining whether or not the conformity between the actual structure and the drawings using the scanned data, Outputting the scanned data and the data of the drawing together and overlapping them; Measuring a distance between each feature point constituting a joint site between structures and a line constituting a joint site of the structure in the drawing; And And determining whether the drawings match the actual structure using the distance between the feature point and the line. The method of claim 10, Evaluating the possibility of bonding between the structures, The method of assessing the joinability between structures, wherein the joinability between the structures is determined by determining whether the distance between the feature point and the line is greater than or equal to a reference value. delete 10. The method of claim 9, Extracting the relative position of the junction between the first and second structures from the scanned data, Designating any feature point of the junction site as a first origin in the first structure; Calculating relative positions of other feature points with respect to the first origin from the scanned data; And setting a feature point of the second structure corresponding to the first origin as a second origin and calculating a relative position of other feature points of the second structure with respect to the second origin. Assessment Methods. The method of claim 13, The relative position of the other feature points relative to the first origin point or the second origin point is a relative position of the three-dimensional coordinates evaluation method.

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