KR101756313B1 - Apparatus for guiding location of member - Google Patents

Apparatus for guiding location of member Download PDF

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Publication number
KR101756313B1
KR101756313B1 KR1020150121901A KR20150121901A KR101756313B1 KR 101756313 B1 KR101756313 B1 KR 101756313B1 KR 1020150121901 A KR1020150121901 A KR 1020150121901A KR 20150121901 A KR20150121901 A KR 20150121901A KR 101756313 B1 KR101756313 B1 KR 101756313B1
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South Korea
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dimensional model
target member
image
target
unit
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KR1020150121901A
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Korean (ko)
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KR20170025448A (en
Inventor
박정서
김호구
박인하
홍지수
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삼성중공업(주)
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    • G06K9/00201—
    • B63B9/00—
    • G06K9/00214—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics

Abstract

The present invention relates to a member position guiding apparatus. A member position guiding apparatus according to an embodiment of the present invention includes a camera unit for photographing a structure to generate a structure image; An image processing unit for matching a three-dimensional model related to the arrangement of the structure image and the member in the structure; An input unit for receiving data relating to a target member disposed in the structure; A target member position determination unit that detects a target portion corresponding to the target member in the three-dimensional model based on data relating to the target member and determines an area corresponding to the target portion in the structure image as a position of the target member part; And a display unit for displaying a structure image indicating a position of the target member.

Figure R1020150121901

Description

[0001] APPARATUS FOR GUIDING LOCATION OF MEMBER [0002]

The present invention relates to a member position guiding apparatus.

The modules installed in offshore plants are large structures similar to those of two or three floors. The module is installed with a lot of various kinds of equipment including piping, and when the installation work is completed, it is inspected whether the equipment is installed as designed.

The inspector goes around inside the module and inspects the equipment. However, since the module is very large and the number of equipment installed in the module is several thousand, it is very difficult to find the equipment to be inspected.

In this way, it is difficult to grasp the position of the equipment to be inspected when the equipment is inspected, so that it takes a long time to inspect the equipment, and a failure to carry out the inspections due to the schedule may occur.

SUMMARY OF THE INVENTION An object of the present invention is to provide a member position guiding apparatus that guides a user to a position of a member in a structure and can reduce the time and trouble involved in finding the member.

A member position guiding apparatus according to an embodiment of the present invention includes a camera unit for photographing a structure to generate a structure image; An image processing unit for matching a three-dimensional model related to the arrangement of the structure image and the member in the structure; An input unit for receiving data relating to a target member disposed in the structure; A target member position determination unit that detects a target portion corresponding to the target member in the three-dimensional model based on data relating to the target member and determines an area corresponding to the target portion in the structure image as a position of the target member part; And a display unit for displaying a structure image indicating a position of the target member.

The input unit may receive an identifier for identifying the target member, or may receive the target member from a list of members disposed in the structure.

The image processing unit may match the structure image and the three-dimensional model so that at least one reference point extracted from the structure image and a corresponding point of the three-dimensional model corresponding to the reference point coincide with each other.

Wherein the display unit displays the three-dimensional model, the input unit receives data relating to a position at which the structure is photographed based on the displayed three-dimensional model, and the image processing unit extracts, based on the input photographing position, Direction of the three-dimensional model corresponding to the direction of the three-dimensional model can be detected, and the three-dimensional model viewed in the direction of the sight line can be matched with the image of the structure.

The target member position determining unit may detect a model matched with data on the target member among the models of the members included in the three-dimensional model as the target portion.

According to the embodiment of the present invention, the user can more easily find the member by receiving the position of the member in the structure. For example, the inspector can confirm the position of the equipment to be inspected in the structure by using the embodiment of the present invention, thereby making it easier and less time-consuming and time-consuming to find the equipment to be inspected.

1 is an exemplary block diagram of a member position guiding apparatus according to an embodiment of the present invention.
FIG. 2 is an exemplary view illustrating a member position guiding device photographing a structure according to an embodiment of the present invention. FIG.
3 is an exemplary diagram of a three-dimensional model of an arrangement of members within a structure in accordance with one embodiment of the present invention.
4 is an exemplary diagram illustrating a process of matching a three-dimensional model with a structure image according to an embodiment of the present invention.
5 is a diagram illustrating an example of a user input process for determining a viewing direction of a three-dimensional model corresponding to a photographing direction of a structure according to an embodiment of the present invention.
6 is an exemplary diagram for explaining a process of determining the position of a target member according to an embodiment of the present invention.
7 is a view showing a structure image indicating the position of a target member according to an embodiment of the present invention.
8 is an exemplary diagram showing a structure image and a matching image of a three-dimensional model in which a position of a target member is indicated according to an embodiment of the present invention.
9 is a view showing a matched image in which the position of a target member is indicated according to another embodiment of the present invention.
10 is a view showing a structure image indicating the position of a target member according to another embodiment of the present invention.
11 is an exemplary flow diagram of a member location guidance method in accordance with one embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings attached hereto.

1 is an exemplary block diagram of a member position guiding apparatus 100 according to an embodiment of the present invention.

1, the member position guiding apparatus 100 includes a camera unit 110, an input unit 120, an image processing unit 130, a target member position determination unit 140, and a display unit 150 .

The camera unit 110 may include an image sensor, such as a CCD, for photographing a subject and generating an image of the subject. In the embodiment of the present invention, the camera unit 110 photographs a structure to generate a structure image.

In this specification, a structure may include objects made of one or more materials according to a certain design, including, but not limited to, objects having roofs and walls, such as buildings. In some cases, the structure may have only a frame structure without a roof or a wall. In the field of shipbuilding and marine technology, the structure may be a module mounted on an offshore plant, a block constituting a ship, or the like.

The input unit 120 may include a keypad, a touchpad, a touch screen, or the like for receiving data or commands from a user. For example, when the member position guiding device 100 is implemented in the form of a mobile terminal, the input unit 120 may include a key corresponding to the input device of the mobile terminal, a touch screen, The type of information is not limited as long as the information is input. In the embodiment of the present invention, the input unit 120 may receive data regarding the target member disposed in the structure.

The image processing unit 130 includes a processor for performing image processing, and may include a CPU, a GPU, and the like. In the embodiment of the present invention, the image processing unit 130 performs image matching, and can specifically match a structure image obtained by photographing a structure and a three-dimensional model of the structure.

The target member position determination unit 140 determines the position of the target member in the structure image and can perform data processing for the target member. In one example, the target member position determination unit 140 may include a processor such as a CPU and may execute a pre-programmed program to determine the position of the target portion in the structure image.

The display unit 150 is a display device for displaying data on a screen. For example, the display unit 150 may include a display panel such as an LCD. In the embodiment of the present invention, the display unit 150 may display an image of the structure indicated by the position of the target member and provide it to the user.

Further, the member position guiding apparatus 100 may further include a control unit 160. [ The controller 160 is a controller for controlling the operation of the member position guiding device 100. The controller 160 may execute a program or software for driving the apparatus, and may generate commands and control signals according to the programs and software.

FIG. 2 is a view exemplarily showing the member position guiding apparatus 100 photographing the structure 10 according to an embodiment of the present invention.

As shown in FIG. 2, the member position guiding apparatus 100 can photograph the structure 10 using the camera unit 110. As a result, the camera unit 110 can generate a structure image 10 'indicating the shape of the structure 10.

2, the camera unit 110 photographs the outside of the structure 10 to generate an external image of the structure. However, according to the embodiment, the camera unit 110 photographs the inside of the structure 10 to capture an image of the inside of the structure 10 . That is, the photographing position is not limited as long as the structure 10 is photographed by the camera unit 110 and at least a part of the shape of the structure 10 appears in the image.

According to an embodiment of the present invention, the input unit 120 may receive data relating to a target member disposed in the structure 10. [

In this specification, a member is used as a term encompassing an object disposed in the structure 10, and the type thereof is not limited as long as it is disposed in the structure 10. [ For example, if the structure 10 is a module that is mounted on a block or an offshore plant constituting a ship, the member may include a block or a fitting installed in the module.

In addition, the target member means a member that the user desires to confirm its position among the members disposed in the structure 10. [ For example, when the member position guiding apparatus 100 of the present invention is used for inspecting the equipment installed in the module, the target member may be a test object to be inspected by the inspector.

According to an embodiment of the present invention, the input unit 120 may receive an identifier for identifying the target member from a user. For example, the user can input the ID of the target member through a keypad, a touch screen, or the like provided in the member position guiding apparatus 100. [

According to another embodiment of the present invention, the input unit 120 may receive a user input for selecting the target member from a list of members disposed in the structure 10. [ In this case, the member position guiding apparatus 100 can display a list of members arranged on the structure 10 on the display unit 150, and the user can check the position in the list through the input unit 120 The target member can be selected.

In addition to the above-described embodiments, the user can input data specifying the target member through the input unit 120 to the member position guide apparatus 100 in various ways.

According to an embodiment of the present invention, the image processing unit 130 may match a three-dimensional model related to the arrangement of the structure image 10 'and members in the structure 10. [

3 is an exemplary diagram of a three-dimensional model 10 " relating to the placement of members within a structure 10 in accordance with an embodiment of the present invention.

The three-dimensional model 10 '' may be a model representing a three-dimensional shape of the structure 10 photographed by the camera unit 110. 3, the three-dimensional model 10 " includes shape models 101 ", 102 " of members disposed within the structure 10 together with the shell of the structure 10, '', 103 ", 104", 105 ", 106").

The members are installed at predetermined positions in the structure 10 according to the design, and the three-dimensional model 10 " can indicate installation positions of the members in the structure 10. [

Referring to FIG. 1, the three-dimensional model 10 '' may be stored and managed in a separate server 200, and the member location guiding device 100 may communicate with the member- Can be connected to the server 200 to obtain a three-dimensional model 10 " for the structure 10. [

However, according to the embodiment, the three-dimensional model 10 '' may be stored in the storage unit 180 included in the member position guiding apparatus 100, Dimensional model 10 " for the structure 10 from the storage unit 180. The three-dimensional model 10 "

FIG. 4 is an exemplary diagram for explaining a process of matching a structure image 10 'and a three-dimensional model 10' 'according to an embodiment of the present invention.

According to an embodiment of the present invention, the image processing unit 130 may include at least one reference point (?) Extracted from the structure image 10 'and a corresponding point (x) of the three-dimensional model 10' Can match the structure image 10 'and the three-dimensional model 10 "

For example, referring to FIG. 4, the image processing unit 130 may extract at least one reference point (?) From the structure image 10 "obtained by photographing the structure 10. Then, the image processing unit 130 can extract the corresponding point (x) from the three-dimensional model 10 '' of the structure 10. Then, the image processing unit 130 sets the structure image 10 'and the three-dimensional model 10' 'so that the reference point () of the structure image 10' and the corresponding point (x) 10 ") can be synthesized and matched.

According to the embodiment, the structure image 10 'obtained by photographing the structure 10 is moved along the distance from the photographing position (i.e., the position of the member position guiding device 100) to each point of the structure 10, (10) may appear in perspective.

In this case, the image processing unit 130 may correct the three-dimensional model 10 '' of the structure 10 to have a perspective to match the structure image 10 '. For example, the image processing unit 130 may convert the 3D model 10 '' into a perspective view mode and then match the structure image 10 '.

In order to match the three-dimensional model 10 '' to the two-dimensional structure image 10 'as described above, the three-dimensional model 10' May be required. Although the structure image 10 'and the three-dimensional model 10' 'both include shape data for the same structure 10, unlike the structure image 10' including only two-dimensional plane data, Dimensional model 10 '' viewed in the same direction as the photographing direction of the structure image 10 'is referred to as a structure image 10', because the model 10 '' includes three-dimensional stereoscopic data. .

According to an embodiment of the present invention, in order to determine the viewing direction of the three-dimensional model 10 '', the display unit 150 displays a three-dimensional model 10 '', Based on the displayed three-dimensional model 10 '', the image processing unit 130 receives data related to a position at which the structure 10 is photographed, It is possible to detect the viewing direction of the corresponding three-dimensional model 10 ", and to match the three-dimensional model 10 " seen in the visual direction with the structure image 10 '.

FIG. 5 is a diagram for explaining a user input process for determining a viewing direction of a three-dimensional model 10 '' corresponding to a photographing direction of a structure according to an embodiment of the present invention.

According to this embodiment, the user inputs data relating to the photographing point of the structure 10 to the member position guiding apparatus 100, so that the member position guiding apparatus 100 allows the three-dimensional model 10 " It is possible to quickly detect the direction of the line of sight of the user.

For example, referring to FIG. 5, first, the display unit 150 of the member position guiding apparatus 100 may display a three-dimensional model 10 "about the structure 10 on the screen. Then, the user can input data regarding the structure photographing position based on the displayed three-dimensional model 10 '' through the input unit 110 such as a touch screen.

5, the member position guiding device 100 touches the touch buttons 121, 122, and 123 for rotating the displayed three-dimensional model 10 '' in the three-dimensional coordinate space Can be provided on the screen.

5, the touch button 121 relating to the x-axis is a button for rotating the three-dimensional model 10 '' around the x-axis, and the touch button 122 relating to the y- ') On the y-axis, and the touch button 123 related to the z-axis is a button for rotating the three-dimensional model 10' 'about the z-axis. The user rotates the three-dimensional model 10 '' displayed on the display unit 150 in the three-dimensional coordinate space by touching the touch buttons 121, 122 and 123 to correspond to the direction in which the user took the structure 10 The three-dimensional model 10 "

According to the embodiment, in addition to the touch buttons 121, 122 and 123 for rotating the three-dimensional model 10 '' in the three-dimensional coordinate space, a touch button 121 for zooming in and out of the three- (124, 125).

Then, when the user touches the OK button 126, the image processing unit 130, based on the viewing direction of the three-dimensional model 10 '' displayed on the display unit 150 by the user's operation, Dimensional model 10 " corresponding to the three-dimensional model 10 "

According to this embodiment, the image processing unit 130 does not need to search the view direction of the three-dimensional model 10 '' corresponding to the photographing direction of the structure image 10 'over the entire area of the three-dimensional coordinate space , It is possible to detect the gaze direction corresponding to the photographing direction of the structure image 10 'by searching the gaze direction of the three-dimensional model 10' 'only for a certain area centering on the equipment photographing position inputted by the user. As a result, the embodiment of the present invention can greatly reduce the data throughput of the three-dimensional model 10 " required for image matching, thereby improving the processing speed and reducing the hardware resources used in the computation.

5 receives the structure photographing position from the user through the touch button provided on the touch screen, but the method of receiving the photographing position is not limited thereto and can be implemented by various user interfaces.

According to the embodiment of the present invention, the target member position determination unit 140 may determine the position of the target member in the structure image 10 '.

Specifically, the target member position determination unit 140 detects a target portion corresponding to the target member in the three-dimensional model 10 '' based on the data about the target member input through the input unit 120, The area corresponding to the target portion in the structure image 10 'may be determined as the position of the target member.

6 is an exemplary diagram for explaining a process of determining the position of a target member according to an embodiment of the present invention.

According to one embodiment of the present invention, the target member position determination unit 140 can determine a model matched with the data on the target member among the models of the members included in the three-dimensional model 10 " as a target portion have.

In the following examples of target member positioning, the target member is assumed to be the member 102 " of the members disposed in the structure 10.

Referring to FIG. 6, the target member positioning unit 140 includes a plurality of models 101 '', 102 '', 103 '', and 103 '' included in the three-dimensional model 10 '' for the structure 10, 104 ", 104 ", 105 ", 106 ", which are matched to the data relating to the target member.

As described above, the member position guiding apparatus 100 receives data relating to the target member, for example, an identifier of the target member through the input unit 120, and determines the position of the target member based on the data on the input target member The unit 140 first determines which of the models 101 ", 102", 103 ", 104", 105 ", 106" of the members included in the three-dimensional model 10 " Can be detected as the target portion.

The target member positioning unit 140 then determines the position of the target portion 102 '' in the structure image 10 'based on the detected target portion 102' 'to the position of the target member 102' You can decide.

Since the structure image 10 'and the three-dimensional model 10' 'are matched by the image processing unit 130 as described above, the target member position determination unit 140 determines the position of the three-dimensional model 10' May determine the position of the target member as the pixel area of the structure image 10 'overlapping the target portion 102' 'detected from the target image 102' '.

Then, the display unit 150 may display the structure image 10 'indicating the position of the target member.

FIG. 7 is a diagram illustrating a structure image 10 'in which a position 102' of a target member is indicated in accordance with an embodiment of the present invention.

As shown in FIG. 7, the member position guiding apparatus 100 may display on the display unit 150 the structure image 10 'indicated by the position 102' of the target member determined through the above-described process .

According to one embodiment, the display unit 150 may display the structure image 10 'in which the position 102' of the target member is indicated by color. For example, the position 102 'of the target member in the structure image 10' as shown in FIG. 7 may be indicated by being displayed in a different color from the remaining area of the structure image 10 '.

8 is an exemplary diagram illustrating a structure image 10 'in which a position 102' of a target member is pointed and a registration image 20 of a three-dimensional model 10 "in accordance with an embodiment of the present invention.

8, the display unit 150 may provide the position 102 'of the target member while displaying further the structure image 10' as well as the matched three-dimensional model 10 '' . In other words, the display unit 150 can indicate and display the position 102 'of the target member in the matched image 20.

9 is a view showing a matched image 20 in which a position 102 'of a target member is indicated according to another embodiment of the present invention.

According to this embodiment, the display unit 150 may display the structure image 10 'in which the position 102' of the target member is indicated by a symbol. Not only the structure image 10 'but also the matched three-dimensional model 10' 'may be displayed and the position 10' of the target member may be indicated by the symbol. For example, the position 102 'of the target member in the registration image 20 as shown in Fig. 9 may be indicated by a symbol such as an arrow.

In addition to the arrows, various symbols such as circles and squares may be used for indicating the position 102 'of the target member, and various symbols may be used as long as they can direct the user to a specific area in the image.

10 is a view showing a structure image 10 'in which a position 102' of a target member is indicated according to another embodiment of the present invention.

In the above-described embodiments, the position 102 'of the target member in the structure image 10' is indicated to the user by a symbol or color, but according to another embodiment of the present invention, 10) in the form of text.

For example, as shown in FIG. 10, the member position guiding apparatus 100 may display a text describing the position 102 'of the target member in one area 31 of the display unit 150 . The user is further provided with text describing the position 102 'of the target member as well as the structure image 10' in which the position 102 'of the target member is visually indicated, The location can be more easily and accurately grasped.

Figure 11 is an exemplary flow diagram of a member location guidance method 300 in accordance with one embodiment of the present invention.

The member position guiding method 300 can be executed by the member position guiding apparatus 100 according to the embodiment of the present invention described above to guide the position of the member in the structure to the user.

11, the member position guiding method 300 includes a step of matching a structure image 10 'obtained by photographing a structure with a three-dimensional model 10' 'relating to the arrangement of members in the structure 10 S310), detecting (S320) a target portion 102 " corresponding to the target member in the three-dimensional model 10 " based on the data relating to the target member disposed in the structure 10, (S330) of determining a region corresponding to the target portion 102 " at the target structural member 10 'to the target structural member image 10' (Step S340).

According to one embodiment, the member position guiding method 300 includes receiving an identifier for identifying a target member from a user via the input unit 120 before detecting the target portion (S320) .

According to another embodiment, the member position guiding method 300 selects a target member from the list of members disposed in the structure 10 via the input unit 120, before detecting the target portion (S320) And receiving a user input.

According to one embodiment, step S310 of matching the structure image 10 'with the three-dimensional model 10 " includes extracting at least one reference point (?) From the structure image 10' Extracting a corresponding point (x) from the three-dimensional model (10 ''), and matching the structure image (10 ') and the three-dimensional model (10' ') such that the reference point (? .

According to an embodiment of the present invention, the member position guiding method 300 may further include the step of aligning the three-dimensional model 10 '' with the three-dimensional model 10 ' Dimensional model 10 " through the input unit 120, inputting data related to a position at which the structure 10 is photographed based on the displayed three-dimensional model 10 " through the input unit 120, Dimensional model 10 " corresponding to the photographing direction of the structure 10 based on the received photographing position.

According to an embodiment of the present invention, the step of detecting the target portion (S320) includes a step of detecting the model of the member (101 ", 102 ", 103 ", 104 ' ', 105' ', 106' 'as the target portion of the model 102' 'matched to the data relating to the target member.

According to an embodiment of the present invention, the step (S340) of outputting the structure image 10 'indicated by the position 102' of the target member may be such that the position 102 'of the target member is at least And displaying the structure image 10 'indicated by one.

The member position guiding method 300 may be stored in a computer-readable recording medium that is manufactured as a program for execution on a computer. The computer-readable recording medium includes all kinds of storage devices in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like. In addition, the member location guidance method 300 may be implemented as a computer program stored on a medium for execution in association with the computer.

While the present invention has been described with reference to the exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will appreciate that various modifications may be made to the embodiments described above. The scope of the present invention is defined only by the interpretation of the appended claims.

10: Structure
10 ': Structure image
10 '': 3D model
100: member position guiding device
110:
120: Input unit
130:
140: target member position determining unit
150:
160:
170:
180:
200: Server

Claims (5)

A camera unit for photographing a structure to generate a structure image;
An image processing unit for matching a three-dimensional model related to the arrangement of the structure image and the member in the structure;
An input unit for receiving data relating to a target member disposed in the structure;
A target member position determination unit that detects a target portion corresponding to the target member in the three-dimensional model based on data relating to the target member and determines an area corresponding to the target portion in the structure image as a position of the target member part; And
And a display unit for displaying a structure image indicating a position of the target member,
The display further displays a list of members arranged in the structure,
Wherein the input unit receives the target member from a list of members arranged in the structure displayed on the display unit. delete The method according to claim 1,
Wherein the image processing unit comprises:
Wherein the structure image and the three-dimensional model are matched so that at least one reference point extracted from the structure image is matched with a corresponding point of the three-dimensional model corresponding to the reference point. The method according to claim 1,
The display unit displays the three-dimensional model,
Wherein the input unit receives data regarding a position at which the structure is photographed based on the displayed three-dimensional model,
Wherein the image processing unit detects the view direction of the three-dimensional model corresponding to the photographing direction of the structure based on the received photographing position and matches the three-dimensional model viewed in the sight direction with the structure image. The method according to claim 1,
Wherein the target member position determining unit comprises:
And detects a model matched with data on the target member among the models of the members included in the three-dimensional model as the target portion.
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