KR101500911B1 - Method and apparatus for modeling 3d industrial object using 3d scanning data - Google Patents

Abstract

The present invention provides a technique of modeling an industrial object such as equipment and the like connected to pipes with high accuracy using only point cloud data of the pipe and the object even when using incompletely scanned 3D data. A method for modeling a 3D industrial object using 3D scanning data according to an embodiment of the present invention comprises the steps of: by a device for modeling a 3D industrial object using 3D scanning data, selecting a 3D pipe model obtained by modeling a pipe of a structure and object point cloud data which is point cloud data forming a part of an industrial object that is an object corresponding to equipment installed in the structure to be connected to the pipe as an object recognized from 3D scanning data; calculating connection relationship information between the pipes included in the 3D pipe model and the object point cloud data; matching one of the equipment with each object point cloud data by comparing a stored piping and instrument diagram including pipe information, information of the equipment, and connection information between the pipe and the equipment with the calculated connection relationship information; generating a 3D model of the industrial object corresponding to each equipment using at least of the information of the matched equipment, the object point cloud data, and the connection relationship information; and generating a 3D industrial object model by disposing the generated 3D model of the industrial object in the position of the object point cloud data.

Description

TECHNICAL FIELD The present invention relates to a three-dimensional industrial object modeling method and apparatus using three-dimensional scanning data,

The present invention relates to a method and an apparatus for modeling an industrial object installed on a structure using point-scanned point-group data for modeling a structure or the like. More specifically, the present invention relates to a method and apparatus for modeling multi- And more particularly,

Recently, due to the development of 3D modeling technology, 3D modeling technology for complex structures such as plants has been applied to monitoring and maintenance of structures. The three-dimensional modeling technique that has been used hitherto has employed a technique of scanning the inside and the outside of a structure in a plurality of directions, and then modeling the inside and outside of the structure using the scanned data.

Among them, as a technique for modeling an industrial object such as an industrial device and a structure installed in a complicated structure, for example, a technique such as Japanese Patent Application Laid-Open No. 2005-242878 is proposed. In this conventional technique, a three-dimensional model is created on the layout space based on the property information of the equipment and the structure, and three-dimensional modeling of the industrial object in the structure is implemented.

However, the conventional three-dimensional modeling technology of the industrial object models only the uniformized object based on the attribute information, and the arrangement information of the object can be implemented only according to the design rule. Therefore, It has been pointed out that it is almost impossible to implement a 3D model accurately reflecting the type, size, placement direction and position of the object.

Accordingly, it is an object of the present invention to provide a technology for realizing a three-dimensional model by accurately reflecting kinds, sizes, placement directions, and positions of various kinds of industrial objects.

According to an aspect of the present invention, there is provided a three-dimensional industrial object modeling method using three-dimensional scanning data, the three-dimensional industrial object modeling apparatus using three-dimensional scanning data comprises: Selecting an object point cloud data which is point cloud data constituting a part of an industrial object which is an object corresponding to a facility installed in a structure as an object recognized from the 3D scanning data; Calculating connection relationship information between a plurality of piping included in the three-dimensional piping model and the object point cloud data; The pipeline information, the information of the facility apparatus, and the connection information between the pipeline and the facility apparatus, and compares the calculated pipeline system parameter and the calculated connection relationship information to determine whether any of the plurality of facility apparatuses Matching step; Generating a three-dimensional model of an industrial object corresponding to each equipment using at least one of the information of the matched equipment, the object point group data, and the connection relation information; And generating a three-dimensional industrial object model by disposing the generated three-dimensional model of the industrial object at the position of the matched object point group data.

A three-dimensional industrial modeling apparatus using three-dimensional scanning data according to an embodiment of the present invention includes a three-dimensional piping model modeling a piping of a structure, and an industrial apparatus installed in a structure as an object recognized from the three- A connection information calculation unit for selecting an object point cloud data which is point cloud data representing an industrial object which is a corresponding object and calculating connection relation information between a plurality of pipes included in the three dimensional pipeline model and the object point cloud data; The pipeline information, the information of the industrial equipment, and the connection information between the piping and the industrial equipment are compared with each other and the calculated connection relationship information is compared with each other. Then, each object point group data is compared with any one of the plurality of industrial objects A matching object matching unit; And generating a three-dimensional model of each industrial object by using the matching facility equipment information, the object point group data, and the connection relation information, and generating a three-dimensional model of the generated industrial object at a location of the matching point cloud data And a modeling unit for generating a three-dimensional industrial object model by arranging the three-dimensional industrial object model.

According to the present invention, even if incompletely scanned three-dimensional data is used, it is possible to model industrial objects such as equipments connected to pipelines with high accuracy using only the point group data of the piping and the object. Particularly, since the relationship between the pipe and the object point group data is applied to the relationship between the object and the object, it is possible to accurately match the object to the equipments, and accordingly, the three- Therefore, there is an effect that modeling with high accuracy can be performed as compared with existing technology that applies a model of a facility device uniformly.

1 is a flowchart of a method for modeling a three-dimensional industrial object using three-dimensional scanning data according to an embodiment of the present invention.
FIG. 2 is an example of a relation-ship diagram used in an embodiment of the present invention. FIG.
Figures 3 and 4 are examples of data tables used to match object equipments and object point cloud data according to an implementation of an embodiment of the present invention.
FIG. 5 is an example of a data-tree format of a relation-length diagram for the implementation of an embodiment of the present invention; FIG.
6 is an experimental example of a three-dimensional industrial object model modeled according to an embodiment of the present invention.
FIG. 7 is a block diagram of a three-dimensional industrial object modeling apparatus using three-dimensional scanning data according to an embodiment of the present invention; FIG.

Hereinafter, a method and apparatus for modeling three-dimensional industrial objects using three-dimensional scanning data according to an embodiment of the present invention will be described with reference to the accompanying drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. The following examples are intended to illustrate the present invention and should not be construed as limiting the scope of the present invention. Accordingly, equivalent inventions performing the same functions as the present invention are also within the scope of the present invention.

In the following description, the same reference numerals denote the same components, and unnecessary redundant explanations and descriptions of known technologies will be omitted.

In the embodiments of the present invention, " communication ", " communication network ", and " network " The three terms refer to wired and wireless local and wide area data transmission and reception networks capable of transmitting and receiving data between the constituent elements of the present invention.

1 is a flowchart of a method for modeling a three-dimensional industrial object using three-dimensional scanning data according to an embodiment of the present invention. Dimensional industrial object modeling method using 3D scanning data according to an embodiment of the present invention can be performed by a configuration of a three-dimensional industrial object modeling device (hereinafter referred to as a device) using 3D scanning data installed in a terminal have.

Referring to FIG. 1, the apparatus includes a three-dimensional piping model modeling a piping of a structure to be scanned, such as a plant, and an apparatus recognized as an object from three-dimensional scanning data, (Step S10) of selecting object point cloud data, which is point cloud data constituting at least a part of an industrial object that is an object to be processed.

As described in step S10, the device may have a three-dimensional piping model as a result of modeling the piping before modeling industrial objects. Also, the object point cloud data forms at least a part of the industrial object, which is enough data to recognize the size of the industrial object, the connection information with the pipe, and the installation direction or the location. According to the step S10, the object point cloud data for all the equipments installed in the structure will be obtained. Accordingly, the pipeline model and the object point cloud data become a plural number according to the pipeline structure and the number of equipments installed in the structure .

When the 3D piping model and the object point cloud data are selected through step S10, the apparatus performs step S20 of calculating connection information between the plurality of light distribution and the object point cloud data included in the 3D pipeline model. A specific example of this is shown in Fig.

FIG. 3 is an example of a data table in which connection point information in which object point cloud data and piping are connected according to an embodiment of the present invention is calculated.

Referring to the data table of FIG. 3, it can be seen that pipeline P information and connection relationship information N are shown. The piping information (P) is identification information of all piping (P) determined to be connected to each object point group data in the three-dimensional piping model.

The connection relationship information N is information indicating which object point group data is connected for each pipe P. [ As can be seen from the connection relationship information N, one or more object point cloud data can be connected to one pipe P, and such connection relationship information N can be calculated for each pipe P.

As shown in FIG. 3, when the connection relation information between each piping model and the object point group data is calculated by performing the step S20, the apparatus calculates the P & ID, Piping & Instrumentation Diagram The connection relation information is compared with each other, and the step (S30) of matching one of the plurality of equipments with the respective object point group data is performed.

The process-vessel relationship diagram utilized in the present invention means drawings and data including piping information, information of equipment, and connection information between each piping and equipment. An example of this is shown in FIG. Referring to FIG. 2, an example of a process piping instrumentation diagram 100 is shown. As shown in FIG. 2, a piping instrumentation drawing 100 is shown with piping and equipment connected by piping.

Returning to the description of FIG. 1, the process-stage relationship diagram shown above includes, for example, identification information of each equipment, identification information of pipes, information on additional devices such as valves installed in the pipes, Identification information of the connected equipment may be included.

In the present invention, the relationship between the process and the shoe can be utilized as it is, but the data included in the drawing can be processed in the form of a database and a data table in a tree format as described above. An example of this is shown in Figures 4 and 5.

Referring first to FIG. 4, there is shown a data table for the connection relationship between piping and equipment and additional devices such as valves.

First, in the piping tag information 110, identification information and size information of all the piping installed in the structure included in the process section relation diagram are shown. For example, the first pipe is shown as having a 10 inch size EC-21006 identification.

On the other hand, the connection relationship information 111 shows the identification information of the equipment connected to both ends of the pipe. For example, it can be seen that equipment having identification information of DV-2101 and PU-2101A is connected to a pipe having tag information of 14? -EC-21007.

It is confirmed that the additional device information 112 includes identification information and size information about an additional device that may be installed in a pipe such as a valve. The data table shown in Fig. 4 can be stored so as to be linked with the tree information shown in Fig.

Referring to FIG. 5, the identification information 120 of the equipment is stored. The identification information 120 may be linked to the process piping and may be configured to include information such as the type, size, and three-dimensional model of the device as detailed information of each equipment.

The additional device information 121 may store information on the identification information and size of each additional device. As described above, by linking with the process piping system parameters, detailed information of each additional apparatus can be configured to include information such as the type, size, and three-dimensional model of the apparatus.

The piping information 122 may store the piping identification information 1221, the size information 1222, the connection relation information 1223 and the additional apparatus information 1224 installed in the piping, And may be configured to include information such as a three-dimensional model of each pipe.

5 and FIG. 4 may be separately configured as mentioned above, but it will be appreciated that they may be stored as one data according to the storage format of the data.

As described above, the process-stage relational map is information generated at the time of designing the structure, and the device compares the calculated relationship information with the calculated relationship information to match each of the object point group data to any one of a plurality of equipments can do.

Meanwhile, in order to increase the matching accuracy of the equipment, in the present invention, when the object point group data and the equipment are matched with each other using the calculated connection information, the apparatus matches the object point group data with the equipment .

For example, the apparatus extracts the identification information of the first equipment (one or more) connected to both ends of each pipe, and further identifies the identification of the second equipment (one or more) connected to the first equipment by another pipe By applying the information to the connection relationship information, it is possible to match the object point group data with the equipment.

Pipes may be connected to different equipment of the same type of piping. Accordingly, when the above-described algorithm is applied, the facility equipment connected to two or more pipes adjacent to each other and the point-object data So that even if the same type of piping is connected to different equipments, the piping and equipments connected to different equipments are additionally compared. Therefore, it is possible to precisely identify the equipments and to match the equipments with the point object data have.

When the step S30 is completed, a three-dimensional model of the industrial object corresponding to each equipment is generated using at least one of the information of the matching equipment, the object point group data and the connection relation information calculated through the steps S10 to S30 (S40).

For example, the device loads a basic model of a three-dimensional model of an industrial object corresponding to each equipment previously stored in a process piping instrumentation or a separate storage space, and determines the size, installation direction, and connection A three-dimensional model of an industrial object can be created by correcting the relationship using object point cloud data and connection relationship information.

That is, a three-dimensional model of an industrial object corresponding to the corresponding object point cloud data can be modeled accurately by using object point cloud data and connection relationship information, rather than applying a single industrial object model uniformly.

When the step S40 is completed, the device finally carries out a step S50 of creating a three-dimensional industrial object model by arranging the three-dimensional model of each produced industrial object at the position of the object point group data matched to the corresponding model do.

An example of an experiment tested by performing the steps S10 to S50 is shown in Fig. 6 is an example of a three-dimensional industrial object model modeled according to an embodiment of the present invention.

Referring to the model 200 of FIG. 6, it can be seen that piping and equipments installed in the structure with very high accuracy are generated in a three-dimensional model. As can be seen from the model 200 of FIG. 6, it can be seen that piping and equipment installed in the structure are implemented as a three-dimensional model almost as it is, and the connection of each structure is implemented with high quality.

As described above, according to the present invention, even if incomplete three-dimensional scanning data is used, it is possible to generate a three-dimensional industrial object model of very high quality.

FIG. 7 is a block diagram of a three-dimensional industrial object modeling apparatus using three-dimensional scanning data according to an embodiment of the present invention.

7, the three-dimensional industrial object modeling apparatus 10 using three-dimensional scanning data according to an embodiment of the present invention includes a connection information calculating unit 11, an object matching unit 12, and a modeling unit 13 ). The object matching unit 12 and the modeling unit 13 are connected to the database 20 and can receive information on the above-mentioned process piping instrumentation and other equipment, piping, and additional equipment.

The connection information calculation unit 11 calculates the connection relationship information between the pipeline and the object point group data by using the 3D scanning data and the three-dimensional piping model 30 by performing the functions of steps S10 and S20 in FIG. 1 . It can be understood that it performs the function of generating the data table shown in Fig.

The object matching unit 12 performs a function of matching the object point group data and the equipments by performing the function in step S30 of FIG. The data of FIG. 4 and FIG. 5 can be utilized.

The modeling unit 13 creates a three-dimensional model of each industrial object through the function of steps S40 and S50 of FIG. 1 and arranges it to generate a three-dimensional industrial object model 31 of the equipments included in the structure . An example of the three-dimensional industrial object model 31 generated by the modeling unit 13 is as shown in Fig. 6 mentioned above.

In the description of FIG. 7, the same elements as those of FIGS. 1 to 6 are omitted. However, each configuration of the three-dimensional industrial object modeling apparatus 10 using the three-dimensional scanning data shown in FIG. It will be appreciated that the functions of the present invention can be applied in the same manner as the description of Figs.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to at least one. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention. As a storage medium of the computer program, a magnetic recording medium, an optical recording medium, or the like can be included.

It is also to be understood that the terms such as " comprises, "" comprising," or "having ", as used herein, mean that a component can be implanted unless specifically stated to the contrary. But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

Claims (5)

A three-dimensional industrial object modeling apparatus using three-dimensional scanning data,
An object point group data which is point cloud data constituting a part of an industrial object which is an object corresponding to an equipment installed in a structure as an object recognized from the 3D scanning data, Selecting;
Calculating connection relationship information between a plurality of piping included in the three-dimensional piping model and the object point cloud data;
The pipeline information, the information of the facility apparatus, and the connection information between the pipeline and the facility apparatus, and compares the calculated pipeline system parameter and the calculated connection relationship information to determine whether any of the plurality of facility apparatuses Matching step;
Generating a three-dimensional model of an industrial object corresponding to each equipment using at least one of the information of the matched equipment, the object point group data, and the connection relation information; And
And creating a three-dimensional industrial object model by disposing the generated three-dimensional model of the industrial object at the position of the matched object point group data,
The matching step comprises:
The calculated connection relationship information is compared with the identification information of the first equipment connected to both ends of each pipe and the identification information of the second equipment connected by the pipeline different from the first equipment, Dimensional object modeling method using three-dimensional scanning data. delete The method according to claim 1,
Wherein the generating using at least one of:
Dimensional model of the industrial object corresponding to each equipment, corrects the size of the basic model, the installation direction, and the connection relation with the pipe using the object point group data and the connection relation information, Dimensional industrial object modeling method using three-dimensional scanning data. The method according to claim 1,
The process-
Dimensional scanning data that is stored in a database in the form of a tree in the form of a database in which the identification information of the equipment, the information of the additional equipment installed in the pipe, the identification information of the pipe, and the identification information of the equipment connected to the pipe, Industrial object modeling method. Dimensional piping model modeling a piping of a structure and object point group data as point group data representing an industrial object that is an object corresponding to an equipment installed in a structure as an object recognized from the 3D scanning data, A connection information calculation unit for calculating connection relation information between a plurality of pipelines included in the model and the object point group data;
The pipeline information, the information of the facility apparatus, and the connection information between the pipeline and the facility apparatus, and compares the calculated pipeline system parameter and the calculated connection relationship information to determine whether any of the plurality of facility apparatuses A matching object matching unit; And
A three-dimensional model of each industrial object is generated using the information of the matched equipment, the object point group data, and the connection relation information, and the three-dimensional model of the generated industrial object is placed at the position of the matching point cloud data And a modeling unit for generating a three-dimensional industrial object model,
Wherein the object matching unit comprises:
The calculated connection relationship information is compared with the identification information of the first equipment connected to both ends of each pipe and the identification information of the second equipment connected by the pipeline different from the first equipment, Dimensional industrial object modeling device using three-dimensional scanning data.

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