KR20220158121A - Method and apparatus for monitoring construction based on 3D scanning - Google Patents

Abstract

A construction monitoring method and apparatus based on 3D scanning capable of minimizing construction errors and preventing causes of disputes in advance by examining construction consistency at each construction stage are disclosed. The construction monitoring apparatus based on 3D scanning, according to an embodiment, comprises: a 3D scanner acquiring 3D point cloud data for an object at different locations; a matching unit generating one 3D point cloud data by matching the 3D point cloud data acquired at different locations; a modeling unit generating a 3D construction model corresponding to the object by modeling the matched 3D point cloud data; an error calculating unit calculating an error between the 3D construction model and a 3D design model for each item; a correction unit determining the 3D design model when an error value calculated for each item falls within an error tolerance range, and modifying the 3D design model based on the 3D construction model if the error value calculated for each item exceeds the error tolerance range; and a storage unit storing the determined 3D design model or the modified 3D design model.

Description

Method and apparatus for monitoring construction based on 3D scanning {Method and apparatus for monitoring construction based on 3D scanning}

A construction monitoring method and apparatus based on 3D scanning are disclosed. More specifically, a construction monitoring method and apparatus based on 3D scanning capable of minimizing construction errors and preventing causes of disputes in advance by examining construction consistency at each construction stage are disclosed.

A 3D scanner is a device that acquires and digitizes 3D shape information of an object, and is used in various fields such as 3D image content production, medical care, fashion, and restoration of cultural properties. In particular, in the case of the construction field, the frequency of use of 3D scanners is increasing because it is possible to obtain objective data on buildings and to obtain effects such as shortening the construction period and reducing construction costs by using 3D scanners.

However, in conventional construction sites, 3D scanning is mainly performed for completed or completed buildings or facilities, and utilization in the construction stage is not high. In addition, even if 3D scan data for a building is acquired in the construction stage, it is not easy to compare the two data because the formats of the acquired 3D scan data and the existing design data are different.

Korean Registered Patent No. 10-1370989 (Title of Invention: Method for Analyzing Construction Errors Using 3D Scan Data, Publication Date: March 7, 2014)

A construction monitoring method and device based on 3D scanning that can easily compare 3D scan data and design data and minimize construction errors and prevent causes of disputes in advance by examining construction consistency at each construction stage are disclosed.

In order to solve the above problems, a construction monitoring device based on 3D scanning according to an embodiment includes a 3D scanner for acquiring 3D point cloud data for an object at different locations; a matching unit generating one 3D point cloud data by matching the 3D point cloud data acquired at different locations; a modeling unit generating a 3D construction model corresponding to the object by modeling the matched 3D point cloud data; an error calculating unit calculating an error between the 3D construction model and the 3D design model for each item; When the error value calculated for each item falls within the error tolerance range, the 3D design model is determined, and when the error value calculated for each item exceeds the error tolerance range, the 3D construction model is used as a standard. a correction unit for correcting the 3D design model; and a storage unit for storing the determined 3D design model or the modified 3D design model.

In order to solve the above problems, a construction monitoring method based on 3D scanning according to an embodiment includes generating one 3D point cloud data by matching 3D point cloud data for objects obtained at different locations; generating a 3D construction model corresponding to the object by modeling the matched 3D point cloud data; calculating an error between the 3D construction model and the 3D design model of the object for each item; When the error value calculated for each item falls within the error tolerance range, the 3D design model is determined, and when the error value calculated for each item exceeds the error tolerance range, the 3D construction model is used as a standard. modifying the 3D design model; and storing the confirmed 3D design model or the modified 3D design model, wherein the above steps are repeatedly performed for each construction stage.

Since the construction consistency review based on the error between the 3D construction model and the 3D design model is performed at each construction stage, construction errors can be minimized.

By displaying a comparison image in which the 3D construction model and the 3D design model are overlapped, the user can intuitively recognize the construction error.

1 is a diagram showing the configuration of a construction monitoring system based on 3D scanning according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a method of 3D scanning an object using the 3D scanner shown in FIG. 1 .
3 is a diagram showing the configuration of the control unit shown in FIG. 1;
4 is a diagram respectively illustrating 3D point cloud data, matched 3D point cloud data, and a 3D construction model.
5 is a diagram illustrating a comparison image displayed in which a 3D construction model and a 3D design model are overlapped.
6 is a diagram illustrating a report generated by a report generating unit.
7 is a flowchart illustrating a construction monitoring method based on 3D scanning according to an embodiment of the present invention.
FIG. 8 is a diagram illustrating an RGB image obtained by an RGB camera of the 3D scanner shown in FIG. 1 .
FIG. 9 is a diagram illustrating 3D point cloud data obtained by a depth camera of the 3D scanner shown in FIG. 1 .
10 is a diagram illustrating 3D point cloud data that is matched into one and does not include color information.
11 illustrates a screen of a 3D viewer according to an embodiment of the present invention, and is a diagram illustrating a screen of the 3D viewer displaying 3D point cloud data including color information.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, only the present embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, the singular form also includes the plural form unless otherwise specified in the entry and exit phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, like reference numerals denote like elements.

1 is a diagram showing the configuration of a construction monitoring system (hereinafter referred to as 'monitoring system') based on 3D scanning according to an embodiment of the present invention.

Referring to FIG. 1 , a monitoring system 1000 includes a 3D scanner 200 and a monitoring device 100 .

The 3D scanner 200 acquires 3D point cloud data (PCD) for the surface of an object. Here, the object means a building or facility. More specifically, examples of objects include buildings, plants, power plants, ships, cultural assets, dams, bridges, roads, underground facilities, various facilities, machinery, pipes, structures, air conditioners and other facilities. 3D point cloud data refers to a large number of points constituting the surface of an object. Each point included in the 3D point cloud data includes 3D coordinates (X, Y, Z) (here, 'Z' is depth information). 3D point cloud data is obtained when a 3D object is scanned using the 3D scanner 200 .

The 3D scanner 200 may acquire 3D point cloud data in a non-contact manner, for example. The non-contact 3D scanner 200 acquires 3D point cloud data without contacting an object. Examples of the non-contact method include a Time Of Flight (TOF) method, a light triangulation method, a white light method, and a modulated light method.

The TOF (Time Of Flight) method irradiates light (e.g., laser) on the surface of an object, measures the time for the irradiated light to be reflected from the surface of the object and returns, and calculates the distance between the object and the measurement origin. way. The 3D scanner 200 of the TOF method may include a laser source 210 that irradiates laser to an object and a depth camera 220 that photographs the object irradiated with laser.

The optical triangulation type 3D scanner 200 includes a laser source for irradiating laser onto an object and a CCD camera for receiving laser reflected from the object's surface. When the laser strikes objects at different distances, the laser is detected at different positions in the CCD camera receiving the laser. Since the distance and angle between the camera and the laser source are fixed and already known, the depth difference of the received beam can be obtained according to the relative position of the CCD element within the angle of view of the camera, which is called trigonometry.

The white light type 3D scanner 200 projects a specific pattern onto an object, captures a deformed form of the pattern, and obtains 3D point cloud data on the surface of the object. At this time, various types of patterns may be projected onto the object. For example, a pattern in the form of a single line, a grid, or a stripe pattern may be projected onto the object. The white light type 3D scanner 200 may acquire 3D coordinates of the surfaces of all objects throughout the entire field of view (FOV) at once.

The structured-light type 3D scanner 200 continuously emits light of different frequencies to the surface of an object, detects a difference in frequency when the light receiving unit receives the light, and calculates a distance value.

As described above, the non-contact type 3D scanner 200 may further include an RGB camera 230 for acquiring an RGB image in addition to components for obtaining 3D point cloud data.

On the other hand, since an object such as a building or a facility has a large scale, rather than acquiring 3D point cloud data while the 3D scanner 200 is fixed in one position, the position of the 3D scanner 200 is changed to obtain 3D data. It is desirable to acquire point cloud data. For example, as shown in FIG. 2, while changing the position of the 3D scanner 200 along the periphery of the object to a first position, a second position, a third position, a fourth position, and a fifth position, each It is preferable to obtain 3D point cloud data for each location by performing 3D scanning at each location.

According to the embodiment, a construction reference point 10 is installed near the object. The construction reference point 10 is a mark installed at a conspicuous location without any hindrance to construction. For example, the mark may be a 2D mark on which a specific pattern, symbol, or number is printed. As another example, the mark may be a 3D mark. When performing 3D scanning at each location, if the 3D scanning is performed to include the object and the construction reference point 10, the 3D point cloud data acquired at each location can be matched based on the construction reference point 10 .

Although not shown in the drawing, the 3D scanner 200 as described above further includes an input unit for receiving a power supply command, a scanning start command, a scanning end command, and the like, and a communication unit for transmitting and receiving data with the monitoring device 100. can do.

Referring back to FIG. 1 , the monitoring device 100 includes an input unit 120 , a display unit 130 , a control unit 140 and a storage unit 150 .

The input unit 120 receives a command from a user. For example, the input unit 120 receives a reference point setting command and various selection commands. In addition, the input unit 120 receives various types of information from the user. For example, information about the scale of an object is input. To this end, the input unit 120 may include at least one of a button, a keyboard, and a touch pad. In this case, the keyboard may be implemented in terms of software or hardware.

The display unit 130 displays command processing results or various types of data. For example, as information on the scale of an object is input through the input unit 120, a 3D scan condition related to the object may be calculated by the controller 140 to be described below. The display unit 130 displays the calculated 3D scan condition. indicate the condition. Here, the 3D scanning conditions include the type of 3D scanner 200 to be used for 3D scanning, the location of the 3D scanner 200, the 3D scanning resolution to be used at that location, and the number of 3D scanning to be performed at that location. can be cited as an example. As another example, the display unit 130 displays 3D point cloud data of an object. The 3D point cloud data displayed through the display unit 130 may be 3D point cloud data obtained at a specific location or may be 3D point cloud data obtained by matching 3D point cloud data obtained at different locations.

The display unit 130 may be implemented as an opaque display, a transparent display, a flat panel display, a flexible display, or a combination thereof. In addition, the display unit 130 is implemented to be hardware-separated from the input unit 120 or integrated with the input unit 120 in hardware. For example, in the case of a touch screen, the display unit 130 and the input unit 120 may be regarded as integrated in hardware.

The control unit 140 generates one 3D point cloud data by matching the 3D point cloud data obtained at different locations, and creates a 3D space-time model from the matched one 3D point cloud data. In addition, the control unit 140 generates a comparison image capable of confirming an error between the generated 3D construction model and the previously stored 3D design model. In addition, the control unit 140 connects and controls each component of the monitoring device 100 . A more detailed description of the control unit 140 will be described later with reference to FIG. 3 .

The storage unit 150 stores algorithms and/or data necessary for the monitoring device 100 to operate. For example, an algorithm required to match 3D point cloud data acquired at different locations, an algorithm required to extract predetermined 3D point cloud data from the matched 3D point cloud data, and a 3D construction model from the extracted 3D point cloud data. Stores one or more of an algorithm required to generate a 3D construction model, an algorithm required to generate a comparison image in which a 3D construction model and a 3D design model are superimposed, and an algorithm required to calculate an error between a 3D construction model and a 3D design model.

In addition, the storage unit 150 stores data acquired in the 3D scanning process. For example, 3D point cloud data for each location obtained by scanning an object at different locations and 3D point cloud data obtained by combining 3D point cloud data obtained at different locations into one are stored. The storage unit 150 includes a non-volatile memory, a volatile memory, a hard disk drive (HDD), an optical disk drive (ODD), and a magneto optical disk drive (MOD, SD card). (Secure Digital Card), or a combination thereof.

FIG. 3 is a diagram showing the configuration of the controller 140 shown in FIG. 1 .

Referring to FIG. 3 , the control unit 140 includes a screen configuration unit 141, a matching unit 142, a modeling unit 143, a comparison image generator 144, an error calculation unit 145, and a correction unit 146. and a report generator 147.

The screen configuration unit 141 configures a screen related to 3D scanning and displays it through the display unit 130 . For example, the screen configuration unit 141 configures an initial screen capable of receiving scale information (eg, floor area where the object is located, height of the object) for the object, and displays it through the display unit 130 . When the size information of the object is input, the 3D scan condition may be automatically calculated and displayed on the screen. Examples of the 3D scanning conditions include the type of 3D scanner 200, the location of the 3D scanner 200, the 3D scanning resolution to be applied at each location, and the number of 3D scanning to be performed at each location. The user may perform 3D scanning by referring to the displayed 3D scanning conditions.

Specifically, the user checks the type of 3D scanner suitable for scanning an object, places a 3D scanner identical or similar to the identified type at a specific location among a plurality of locations, and then scans at the corresponding location. and 3D scanning is performed by referring to the number of times of scanning. Then, 3D scanning is performed at each position while changing the position of the 3D scanner. In addition, the user may arrange a plurality of 3D scanners identical or similar to the identified type at each location, and then perform 3D scanning by referring to the scanning resolution and number of times of scanning at each location.

The matching unit 142 generates one 3D point cloud data by matching 3D point cloud data acquired at different locations. For example, by matching the 3D point cloud data as illustrated in (a) of FIG. 4 with the 3D point cloud data (not shown) obtained at a location different from the 3D point cloud data of (a), As shown in (b) of 4, the matched 3D point cloud data is created. Specifically, the matching unit 142 merges 3D point cloud data acquired at different locations into one coordinate system, removes overlapping data, and removes noise to generate matched 3D point cloud data.

If, as shown in FIG. 2 , when 3D point cloud data for each location is acquired by 3D scanning the object where the construction reference point 10 is installed at different locations, the matching unit 142 is located at different locations. The acquired 3D point cloud data can be matched based on the construction reference point 10.

If 3D point cloud data for each location is obtained by 3D scanning an object where the construction reference point 10 is not installed at different locations, the matching unit 142 is configured to 3D point clouds obtained at different locations. Data can be matched based on a reference point set by the user. Specifically, when the acquired 3D point cloud data is displayed through the display unit 130, the user determines a point that never changes during the construction process among the displayed 3D point cloud data, and touches the display unit 130 to display the determined point on the display unit. Determine as a reference point, and select a determined one. A coordinate value is given to the selected reference point according to a preset method. For example, if a coordinate value is set to be automatically assigned to a reference point, a pre-stored coordinate value, for example, (0, 0, 0) is automatically assigned to the selected reference point. As another example, if the reference point is set to be manually assigned a coordinate value, the coordinate value input from the user is assigned to the selected reference point.

Selecting a reference point and assigning coordinate values may be understood as a process of setting a user coordinate system (UCS). Setting the user coordinate system can be performed for each location-specific 3D point cloud data.

When the setting of the user coordinate system is completed, the matching unit 142 may match the 3D point cloud data acquired at different locations based on the reference point set by the user.

The matching unit 142 performs post-processing on the matched 3D point cloud data according to the above method. For example, redundant data and noise are removed from the matched 3D point cloud data. According to the embodiment, the post-processed 3D point cloud data may be generated as a file having an extension such as, for example, ASC, E57, PTS, or PTX. Therefore, other types of processing software or conversion software can convert corresponding 3D point cloud data and use it in a building information modeling solution (BIM).

The modeling unit 143 creates a 3D construction model by modeling the post-processed 3D point cloud data. For example, the modeling unit 143 connects each point of the 3D point cloud data with a triangle, which is a face unit, to generate mesh data composed of triangular faces, and from the mesh data, FIG. 4 (c) Create a 3D construction model as exemplified in That is, it can be understood that the modeling unit 143 converts the format of the matched 3D point cloud data into a format such as a previously stored 3D design model. The generated 3D construction model is provided to the comparison image generating unit 144 .

The comparison image generation unit 144 generates a comparison image capable of confirming an error between a 3D construction model and a pre-stored 3D design model. The comparison image is a 3D image in which the 3D construction model and the 3D design model are overlapped, centering on the comparison reference point of the 3D construction model and the 3D design model. That is, it can be understood that the comparison image is a 3D image in which each model is superimposed and displayed in a state in which the comparison reference points of the respective models are matched. According to the embodiment, in the comparison image, the 3D construction model and the 3D design model may be displayed in different colors. For example, as illustrated in FIG. 5 , the 3D construction model may be displayed in green and the 3D design model may be displayed in red. In this case, the user can intuitively recognize the error between the 3D construction model and the 3D design model. According to an embodiment, a color representing each model may be implemented to be changeable by a user.

According to an embodiment, a reference point for comparison of the 3D space-time model may be extracted from 3D point cloud data. For example, in the case of 3D scanning of an object where the construction reference point 10 is installed, points corresponding to the construction reference point 10 may be extracted from the 3D point cloud data, and the 3D coordinates of the selected point among the extracted points. Information can be used as a reference point for comparison of 3D construction models.

According to another embodiment, a reference point for comparison of the 3D construction model may be set by the user. For example, when a 3D construction model is displayed through the display unit 130, a user may select a specific point from the displayed 3D construction model. As a result, 3D coordinate information corresponding to the selected point is extracted, and the extracted 3D coordinate information can be used as a reference point for comparison of 3D construction models.

Meanwhile, the reference point for comparison of the 3D design model may be designated by the user at each specific location in the step of generating the 3D design model, or may be designated by the user prior to generating the comparison image.

If the reference point for comparison of the 3D design model is already specified by the user in the step of generating the 3D design model, the user selects the 3D design model with the reference point for comparison and the 3D construction model without the reference point for comparison on the display unit. (130), and then select a point corresponding to the comparison reference point of the 3D design model from the 3D construction model so that 3D coordinate information corresponding to the selected point can be extracted from the 3D construction model. do. The extracted 3D coordinate information can be used as a reference point for comparison of 3D construction models.

If the reference point for comparison of the 3D design model is not specified, but the reference point for comparison of the 3D construction model is designated, the user can display the 3D design model without the reference point for comparison and the 3D construction model with the reference point for comparison. (130), and then select a point corresponding to the comparison reference point of the 3D construction model from the 3D design model so that 3D coordinate information corresponding to the selected point can be extracted from the 3D design model. . The extracted 3D coordinate information can be used as a reference point for comparison of 3D design models.

In the following description, a case in which both the comparison reference point of the 3D construction model and the comparison reference point of the 3D design model are directly designated by the user will be described as an example.

According to an embodiment, a specific part of the 3D construction model and the 3D design model of the comparison image is displayed together with numerical values related to the part. For example, in the case of a comparison image in which the 3D construction model and the 3D design model of the pipe are overlapped, the length of the straight pipe, the diameter of the straight pipe, and the radius of curvature of the curved pipe (elbow) connecting the straight pipe and the straight pipe. Numerical information about the back may be displayed along with the periphery of the corresponding part. According to an embodiment, numerical information of more items than the exemplified items may be displayed through a comparison image. In addition, an item to display numerical information may be selected by a user in advance, and the selected item may be implemented to be changeable by the user.

The error calculating unit 145 calculates an error between the 3D construction model and the 3D design model for each item based on the comparison reference point of the 3D construction model and the comparison reference point of the 3D design model. Taking the pipe as an example, the error calculation unit 145 calculates a difference in length of a straight pipe, a difference in a diameter of a straight pipe, and a difference in a radius of curvature of a curved pipe in the 3D construction model and the 3D design model, respectively. Error values calculated for each item are provided to the correction unit 146 and the report generation unit 147, respectively.

The correction unit 146 determines whether the error value calculated for each item falls within the tolerance range for each item. As a result of the determination, when the error value for each item falls within the tolerance range for each item, the correction unit 146 determines the 3D design model as it is. As a result of the determination, if the error value for each item is out of the tolerance range for each item, the correction unit 146 corrects the 3D design model based on the 3D construction model. The tolerance range for each item may be set by the user in advance, and the set values are stored in the storage unit 150 .

The above-described judgment process, that is, the 3D design model confirmed or modified through the construction compatibility review process (hereinafter, referred to as 'the 3D design model whose construction compatibility review has been completed') is stored in the storage unit 150 . For example, the 3D design model for which the construction consistency review has been completed may be stored with a distinct file name in an area distinct from an area in which the 3D design model before the construction consistency review is completed is stored. According to the embodiment, the user may reflect the 3D design model stored in the storage unit 150, for which construction consistency has been reviewed, to the next stage of design and construction planning.

Meanwhile, the report generation unit 147 generates a report including error values for each item provided from the error calculation unit 145 . A report generated by the report generating unit 147 is illustrated in FIG. 6 . Referring to FIG. 6, the report is 'division', 'work type', 'detailed work type', 'quantity', 'detected quantity', 'fail quantity', 'fail rate (%)', 'remaining quantity' along the horizontal direction. ', 'Detection rate (%)', and 'Remarks' items are arranged, and 'Facilities' and 'Electricity' items are arranged along the vertical direction.

The 'quantity' item means the installed quantity of the object to be analyzed in the design. The quantity item is a detailed item and may include 'piping', 'nozzle', and 'system'.

'Inspection' item refers to the number of objects installed in the actual site. The detection item is a detailed item and may include 'piping', 'nozzle', and 'system'.

The 'Fail Quantity' item means the quantity that does not match among the target quantities compared between the design and the site. The Fail quantity item is a detailed item and may include 'Pipe', 'Nozzle' and 'Total' items.

The 'Fail rate (%)' item represents the error rate between the design quantity and the actual construction quantity. The Fail rate (%) item is a detailed item and may include 'piping', 'nozzle' and 'total' items.

The 'remaining quantity' item means the residual quantity of inspection remaining in the actual site compared to the quantity in the design. The remaining quantity item is a detailed item and may include 'piping', 'nozzle', and 'total' items.

The item 'detection rate (%)' means the percentage of the quantity detected compared to the quantity in the design. The detection rate (%) item is a detailed item and may include 'piping', 'nozzle' and 'total' items.

A report as described above may be in the form of a list having a comma-separated values (CSV) extension, for example.

The above-described screen configuration unit 141, matching unit 142, modeling unit 143, comparison image generation unit 144, error calculation unit 145, correction unit 146, and report generation unit 147 are one. It can be implemented as a software application of

In the above, the configuration of the monitoring system 1000 according to an embodiment has been described with reference to FIGS. 1 to 6 . Although FIG. 1 shows a case in which the monitoring device 100 and the 3D scanner 200 are implemented as separate hardware devices, the 3D scanner 200 may be implemented to be included in the monitoring device 100. have.

7 is a flowchart illustrating a construction monitoring method based on 3D scanning according to an embodiment of the present invention.

First, by using the 3D scanner 200 of the monitoring device 100, 3D point cloud data for an object are acquired at different locations (S710). According to the embodiment, the step S710 is a step of receiving information about the scale of the object (eg, the floor area where the object is located, the height of the object, etc.) from the user, and the 3D scanning conditions (based on the input scale information) For example, calculating the type of 3D scanner 200 to be used for 3D scanning, the location of the 3D scanner 200, the 3D scanning resolution to be used at that location, and the number of 3D scanning to be performed at that location) , displaying the calculated 3D scan conditions through the display unit 130, and acquiring 3D point cloud data for the object at different locations with reference to the displayed 3D scan conditions. In the acquired 3D point cloud data, each point has 3D coordinates (X, Y, Z) and RGB values.

Thereafter, the 3D point cloud data acquired at different locations are matched into one 3D point cloud data (S720). The step S720 may include aligning and matching the 3D point cloud data obtained at different locations, and removing duplicated data and noise from the matched 3D point cloud data.

Thereafter, a 3D construction model is generated by modeling the matched 3D point cloud data (S730). The step S730 may include generating mesh data composed of triangular faces by connecting each point of the matched 3D point cloud data with a triangle, which is a face unit, and generating a 3D construction model from the mesh data. .

When the 3D construction model is generated, a comparison image in which the 3D construction model and the 3D design model are overlapped is generated centering on the comparison reference point of the 3D construction model and the comparison reference point of the 3D design model (S740).

According to an embodiment, the comparison reference point of the 3D construction model and the comparison reference point of the 3D design model may be directly set by the user. Specifically, in a state where the 3D construction model and the 3D design model are displayed through the display unit 130, when the user selects a specific point of each model by manipulating the input unit 120, the coordinates of the selected point are extracted and extracted. coordinates are set as reference points.

According to another embodiment, the same coordinates as the coordinates of the selected point in any one model may be automatically selected in the other models, and the coordinates of the selected points may be set as reference points for comparison of each model. Specifically, when the user selects a specific point in the 3D construction model, the coordinates of the selected point are extracted, and the same coordinates are also extracted from the 3D design model. Then, the extracted coordinates are set as reference points for comparison of each model.

The generated comparison image is displayed through the display unit 130 . At this time, numerical information on each part of the model may be displayed together in the comparison image. For example, in the case of a comparison image of a pipe, numerical information such as the length of a straight pipe, the diameter of a straight pipe, and the radius of curvature of a curved pipe may be displayed together.

After the comparison image is generated, an error between the 3D construction model and the 3D design model is calculated for each item (S750).

Although not shown in FIG. 7 , when an error value is calculated for each item, a report including the calculated error value may be generated.

In addition, a construction consistency review is performed based on the error value calculated for each item (S760, S770, S780). The construction consistency review step (S760, S770, S780) is a step of determining whether the error value of each item belongs to the error tolerance range (S760). Step of confirming the 3D design model that exists (S770), as a result of the judgment, if the error value of each item is out of the error tolerance, the step of modifying the previously stored 3D design model based on the 3D construction model (S780 ).

The 3D design model for which construction consistency review has been completed is stored in the storage unit 150 and reflected in the design and construction plan of the next step (S790).

In the above description, the case where the report is generated after step S750 has been described as an example, but the report is generated after the construction consistency review step (S760, S770, S780) or during the execution of the construction consistency review step (S760, S770, S780). It could be. As another example, when a report generation command is input from the user after step S750, a report may be generated in response to the input command.

In the above, a construction monitoring method based on 3D scanning according to an embodiment of the present invention has been described with reference to FIG. 7 . The steps shown in FIG. 7 are repeated for each construction step. In other words, since construction consistency is verified at each construction stage, errors between design and construction can be minimized, and causes of disputes can be prevented in advance. In addition, the 3D construction model stored in each construction stage can be used for maintenance and management of the object or expansion.

In addition, in the description with reference to FIG. 7 , the case of comparing the 3D construction model and the 3D design model has been described as an example, but it is also possible to compare 3D construction models obtained in different construction stages.

The monitoring system 1000 and the monitoring method according to an embodiment of the present invention have been described above with reference to FIGS. 1 to 7 .

In one embodiment, the case of generating a 3D construction model for the entire object by post-processing the matched 3D point cloud data and then modeling the post-processed 3D point cloud data has been described as an example, but the present invention is limited to this. it is not going to be According to another embodiment, when a user selects a specific area from 3D point cloud data for the entire object, 3D point cloud data included in the selected area is extracted, and the extracted 3D point cloud data is modeled to form a portion of the entire object. It is also possible to create a 3D construction model for

In one embodiment, a case in which the comparison reference point of the 3D design model and the comparison reference point of the 3D construction model are set based on the entire object has been described as an example, but the present invention is not limited thereto. According to another embodiment, it is also possible to set comparison reference points for a specific part of the 3D design model and a specific part of the 3D construction model, respectively, and to generate a comparison image in which only the corresponding parts are overlapped based on the set comparison reference point. . For example, if the entire object is composed of a first part, a second part, and a third part, the user sets a reference point for the first part in the 3D design model and the 3D construction model, respectively, and sets the reference point for comparison as a reference point. As a result, a comparison image in which the first part of the 3D design model and the first part of the 3D construction model overlap may be generated.

Meanwhile, although not shown in FIGS. 1 and 3 , the monitoring device 100 may further include a 3D viewer. The 3D viewer includes the 3D point cloud data matched by the matching unit 142, the 3D construction model data modeled by the modeling unit 143, the previously stored 3D design model data, and the comparison image generator 144 Each of the comparison image data generated by is processed and displayed through the display unit 130, which is a two-dimensional plane. For example, an image obtained by projecting 3D construction model data viewed from a specific point of view onto a 2D plane perpendicular to the point of view is generated, and the generated image is displayed through the display unit 130 .

When the image processed through the 3D viewer is displayed on the display unit 130, the user can change the viewpoint by selecting another point on the screen of the 3D viewer. Also, the user may measure a numerical value by selecting a plurality of points on the screen of the 3D viewer. For example, when a user selects two points on the screen of a 2D viewer, a distance between the two selected points may be calculated and displayed through the 3D viewer. As another example, when the user selects three points on the screen of the 2D viewer, angles formed by lines connecting two points among the three selected points may be calculated and displayed.

According to an embodiment, when displaying 3D point cloud data, the 3D viewer may display 3D point cloud data without color information or 3D point cloud data with color information. Specifically, as described with reference to FIG. 1, when the 3D scanner 200 includes the depth camera 220 and the RGB camera 230, during 3D scanning, 3D point cloud data for the surface of the object and The RGB values of each point are acquired together. Therefore, the 3D viewer can display 3D point cloud data including color information based on the RGB values.

For example, the RGB image obtained by the RGB camera 230 of the 3D scanner 200 is shown in FIG. 8, and the 3D point cloud data obtained by the depth camera 220 of the 3D scanner 200 is shown in FIG. 9, and suppose that the 3D point cloud data matched to one is the same as in FIG. 10. In this case, the 3D viewer may display 3D point cloud data including color information, as shown in FIG. 11 .

The 3D viewer as described above may be implemented as a separate application and stored in the storage unit 150 , and the stored 3D viewer application may be driven by the controller 140 . As another example, the 3D viewer may be implemented to be included in the controller 140 like other components shown in FIG. 3 .

In the above, the embodiments of the present invention have been described. In addition to the foregoing embodiments, the embodiments of the present invention may be implemented through a medium containing computer readable code/instructions for controlling at least one processing element of the foregoing embodiment, for example, a computer readable medium. have. The medium may correspond to a medium/media enabling storage and/or transmission of the computer readable code.

The computer readable code may not only be recorded on a medium, but may also be transmitted through the Internet. The medium is, for example, a recording medium such as a magnetic storage medium (eg, ROM, floppy disk, hard disk, etc.) and an optical recording medium (eg, CD-ROM, Blu-Ray, DVD), a carrier wave ( carrier wave). Since the medium may be a distributed network, computer readable code may be stored/transmitted and executed in a distributed manner. Still further, by way of example only, a processing element may include a processor or a computer processor, and the processing element may be distributed and/or included within a device.

Although the embodiments of the present invention have been described with reference to the exemplified drawings as described above, those skilled in the art to which the present invention pertains may change the technical spirit or essential features of the present invention in other specific forms. It will be appreciated that it can be implemented. Therefore, the embodiments described above are illustrative in all respects, and should be understood as non-limiting.

100: monitoring device
110: 3D scanner
120: input unit
130: display unit
140: control unit
150: storage unit
160: communication department

Claims (12)

a 3D scanner for obtaining 3D point cloud data of an object at different locations;
a matching unit generating one 3D point cloud data by matching the 3D point cloud data acquired at different locations;
a modeling unit generating a 3D construction model corresponding to the object by modeling the matched 3D point cloud data;
an error calculation unit for calculating an error between the 3D construction model and the 3D design model of the object for each item;
When the error value calculated for each item falls within the error tolerance range, the 3D design model is determined, and when the error value calculated for each item exceeds the error tolerance range, the 3D construction model is used as a standard. a correction unit for correcting the 3D design model; and
A construction monitoring device based on 3D scanning including a storage unit for storing the confirmed 3D design model or the modified 3D design model. According to claim 1,
The 3D scan condition related to the object is
Including one or more of the type of the 3D scanner, the position of the 3D scanner, the 3D scanning resolution and the number of 3D scanning,
The 3D scan condition is a construction monitoring device based on 3D scanning that is calculated based on the scale information for the object. According to claim 1,
a comparison image generating unit generating a comparison image in which the 3D construction model and the 3D design model are overlapped with each other centered on a comparison reference point of the 3D construction model and the 3D design model; and
Construction monitoring device based on 3D scanning further comprising a display unit for displaying the comparison image. According to claim 3,
In the comparison image, the 3D construction model and the 3D design model are displayed in different colors. Construction monitoring device based on 3D scanning. According to claim 1,
A construction monitoring device based on three-dimensional scanning further comprising a report generator for generating a report including an error value calculated for each item. generating one 3D point cloud data by matching 3D point cloud data for objects acquired at different locations;
generating a 3D construction model corresponding to the object by modeling the matched 3D point cloud data;
calculating an error between the 3D construction model and the 3D design model for each item;
When the error value calculated for each item falls within the error tolerance range, the 3D design model is determined, and when the error value calculated for each item exceeds the error tolerance range, the 3D construction model is used as a standard. modifying the 3D design model; and
Storing the confirmed 3D design model or the modified 3D design model,
Construction monitoring method based on three-dimensional scanning in which the above steps are repeatedly performed for each construction step. According to claim 6,
receiving scale information about the object; and
Further comprising calculating a 3D scan condition related to the object based on the scale information,
The 3D scan condition is
A construction monitoring method based on 3D scanning that includes at least one of the type of the 3D scanner, the position of the 3D scanner, the 3D scanning resolution, and the number of 3D scanning. According to claim 6,
generating a comparison image in which the 3D construction model and the 3D design model are overlapped around a reference point for comparison of the 3D construction model and a reference point for comparison of the 3D design model; and
Construction monitoring method based on 3D scanning further comprising the step of displaying the comparison image. According to claim 8,
In the comparison image, the 3D construction model and the 3D design model are displayed in different colors. Construction monitoring method based on 3D scanning. According to claim 6,
A construction monitoring method based on 3D scanning further comprising generating a report including an error value calculated for each item. A computer-readable recording medium in which a program for performing the construction monitoring method based on 3D scanning according to any one of claims 6 to 10 is recorded. An application for a terminal device installed in a hardware terminal device to execute the space-time monitoring method based on any one of claims 6 to 10 and stored in a computer-readable temporary recording medium.

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