TWM570388U - 3D model building system - Google Patents

Abstract

A three-dimensional model building system for modeling underground pipelines. The three-dimensional model building system includes an image input device, a processor, and a data output device, wherein the processor is electrically connected to the image input device and the data output device. The image input device acquires a plurality of image data of the area to be modeled, wherein the image data includes an image of a pipeline, a leveling ruler and a plurality of control points. The processor analyzes the image data to create a three-dimensional point cloud data of the area to be modeled, obtains the triangular mesh data of the area to be modeled according to the three-dimensional point cloud data and the image data, and according to the triangular grid data, the length information and control of the leveling ruler The geographic coordinate information of the point obtains a three-dimensional model of the area to be modeled, wherein the three-dimensional model contains geographic coordinate information of the pipeline. The data output device is used to output a three-dimensional model.

Description

3D model building system

This creation is about a three-dimensional model building system, especially a three-dimensional model building system for building a three-dimensional model of underground pipelines.

In order to ensure the safety of the road works, the underground pipeline distribution information buried in the excavation area should be confirmed before the excavation work is carried out. In the past, the initial completion map of the underground pipeline was used, and the photos of the previous construction were used to infer the information of the underground pipeline distribution. However, this method can only obtain one-sided information, especially for the buried depth of the pipeline.

Nowadays, a method for obtaining three-dimensional measurement of underground pipelines by a laser scanner to obtain information on distribution of underground pipelines has been developed. However, the disadvantage is that the tools are expensive and the amount of data is too large to be instantaneously transmitted through current wireless communication technologies (such as 4G). Upload the 3D model it created.

In view of the above, the present creation provides a three-dimensional model building system.

The three-dimensional model building system according to an embodiment of the present invention is suitable for modeling underground pipelines. The three-dimensional model building system includes an image input device, a processor, and a data output device, wherein the processor is electrically connected to the image input device and the data output device. The image input device acquires a plurality of image data of the area to be modeled, wherein the plurality of image data includes an image of a pipeline, a leveling gauge and a plurality of control points. The processor processor parses the plurality of image data to create a three-dimensional point cloud data of the area to be modeled, and obtains triangular mesh data of the area to be modeld according to the three-dimensional point cloud data and the image data, and according to the triangular grid data and level The length information of the ruler and the geographic coordinate information of the control point obtain a three-dimensional model of the area to be modeled, wherein the three-dimensional model contains the geographic coordinate information of the pipeline. The data output device is used to output a three-dimensional model.

With the above structure, the three-dimensional model building system disclosed in the present invention can acquire the current image data of the underground pipeline construction work area with low-cost and easy-to-use tools, thereby establishing a high A three-dimensional model of a quality work area. In addition, the three-dimensional model building system disclosed in the present invention can store the information of the pipeline database in real time by storing the three-dimensional model in a portable file format with small file size and high applicability, and has the characteristics of high convenience and high efficiency.

The above description of the disclosure and the following description of the embodiments are intended to illustrate and explain the spirit and principles of the present invention, and to provide further explanation of the scope of the patent application of the present invention.

1, 1'‧‧‧3D model building system

11‧‧‧Image input device

12‧‧‧ Processor

13‧‧‧ data output device

14‧‧‧ memory

15‧‧‧ camera

16‧‧‧ prompt device

17‧‧‧Operating device

2‧‧‧Pipeline database

FIG. 1A is a functional block diagram of a three-dimensional model building system according to an embodiment of the present invention.

FIG. 1B is a functional block diagram of a three-dimensional model building system according to another embodiment of the present creation.

2 is a flow chart of a modeling method suitable for a three-dimensional model building system according to an embodiment of the present invention.

FIG. 3 is a detailed flow chart of a modeling method suitable for a three-dimensional model building system according to an embodiment of the present invention.

4 is a detailed flow chart of a modeling method suitable for a three-dimensional model building system according to an embodiment of the present invention.

The detailed features and advantages of the present invention are described in detail below in the embodiments, which are sufficient to enable any skilled artisan to understand the technical contents of the present invention and implement it according to the contents, the scope of the patent application and the drawings. Anyone familiar with the relevant art can easily understand the purpose and advantages of this creation. The following examples are intended to further illustrate the scope of this creation, but do not limit the scope of the creation in any way.

Please refer to FIG. 1A. FIG. 1A is a functional block diagram of a three-dimensional model building system 1 according to an embodiment of the present invention. As shown in FIG. 1A, the three-dimensional model building system 1 is suitable for Modeling of underground pipelines, wherein modeling of the underground pipelines indicates modeling of an area in which one or more pipelines and trenches are provided. The three-dimensional model building system 1 includes an image input device 11, a processor 12, and a data output device 13, wherein the processor 12 is electrically connected to the image input device 11 and the data output device 13, respectively.

For example, the image input device 11 can be a wired transmission connection such as a USB, a micro USB, or the like, or a wireless transmission connection such as a Bluetooth transceiver, a WIFI transceiver, or the like. The image input device 11 obtains a plurality of image data of an area to be executed by the three-dimensional model (hereinafter referred to as a region to be modeled) through a wired or wireless transmission method (ie, electrical or information connection to the image data source), and then transmits the image data. To the processor 12. The processor 12 is, for example, a central processing unit (CPU), a microcontroller (Microcontroller unit (MCU), a field programmable gate array (FPGA), and a special application integrated circuit (Application specific). Integrated circuit, ASIC) or other processor. The processor 12 analyzes and computes the image data from the image input device 11 to obtain a three-dimensional model of the region to be modeled. The data output device 13 can be a wired transmission connection, such as a USB, a micro USB, or the like, or a wireless transmission connection, such as a Bluetooth transceiver, a WIFI transceiver, or the like, and outputs a three-dimensional model obtained by the processor through a wired or wireless transmission method.

Further, the plurality of image data acquired by the image input device 11 includes images of a pipeline, a level gauge, and a plurality of control points located in the area to be modeled. The processor 12 parses the plurality of image data to create a three-dimensional point cloud data of the area to be modeled; and obtains the triangular mesh data of the area to be modeled according to the three-dimensional point cloud data and the image data; and according to the triangular grid data and level The length information of the ruler and the geographic coordinate information of the control point obtain the three-dimensional model of the area to be modeled. The detailed process of acquiring the three-dimensional point cloud data and the triangular mesh data of the region to be modeled, and the three-dimensional model of the region to be modeled will be described later.

In addition to the image input device 11, the processor 12, and the data output device 13, the three-dimensional model building system may further include other components. Please refer to FIG. 1B. FIG. 1B is a functional block diagram of a three-dimensional model building system 1' according to another embodiment of the present invention. As shown in Figure 1B, the 3D model The configuration system 1' includes the image input device 11, the processor 12, and the data output device 13. The connection relationship between the components and the respective operations are similar to the above embodiments, and thus will not be described herein. In addition, the three-dimensional model building system 1' may further include one or more of the memory 14, the camera 15, the prompting device 16, and the operating device 17. In particular, FIG. 1B exemplarily shows the connection relationship between the above elements, and the three-dimensional model building system for limiting the creation includes all of the above elements, and the operation of each element will be further described below.

The memory 14 can be a flash memory, a read-only memory (ROM), a magnetic memory (Magnetoresistive random access memory (MRAM), or other non-volatile storage medium, and is electrically connected to The data output device 13; the memory 14 can also be a cloud database, and the information is connected to the data output device 13. The memory 14 receives and stores the three-dimensional model of the region to be modeld obtained by the processor 12 through the data output device 13 in a wired or wireless manner. In detail, the processor 12 may output the three-dimensional model of the area to be modeled in a three-dimensional portable document format (PDF) through the data output device 13 for storage in the memory 14.

The camera 15 can be a general-purpose digital camera or an unmanned aerial vehicle (UAV), and is electrically or information-connected to the image input device 11 to capture a region to be modeled to generate the pipeline, the leveling gauge, and the control included in the area to be modeled. Image data of the image of the point. The prompting device 16 can be an alarm device or a personal device such as a mobile phone or a tablet computer, and the electrical or information is connected to the processor 12. When the processor 12 calculates the specification information of the pipeline according to the geographic coordinate information of the pipeline (for example, the length and the width and the depth of the pipeline) And when it is determined that the standard specification information is not met, the control prompting device 16 outputs a prompt signal, such as an alarm sound, a message notification, etc., wherein the standard specification information may be pre-stored in the memory 14 or the memory built in the processor 12. .

The operating device 17 is, for example, another processor and a screen disposed in the three-dimensional model building system, or a personal device such as a mobile phone or a tablet computer, and is electrically or information-connected to the data output device 13. The operating device 17 can provide a platform to display a three-dimensional model of the region to be modeled by the processor 12. For example, the operating device 17 can include a software tool suitable for PDF, such as PDF reader (PDF Reader), Adobe Acrobat Reader, etc., present a 3D model stored as a PDF file. Through the operation device 17, the operator can also measure and mark the specification information such as the length and width of the pipeline, the depth of the pipeline, the length and width of the trench, and the depth of the trench, and further compare the obtained specification information with the standard specification information to complete the completion supervision and examination. Work. In another embodiment, the processor 12 can be connected to the private or official pipeline database 2 through the data output device 13 to upload the obtained three-dimensional model or other information obtained from the three-dimensional model analysis to update the pipeline database 2.

The modeling method of the three-dimensional model building system 1 or 1' proposed by the present invention will be described below. Please refer to FIG. 1A, FIG. 1B and FIG. 2 to FIG. 4, wherein FIG. 2 is illustrated according to an embodiment of the present invention. The flowchart of the modeling method applicable to the three-dimensional model building system 1 or 1', and FIG. 3 and FIG. 4 are respectively detailed flowcharts of the modeling method illustrated in FIG. The above modeling method is applicable to the three-dimensional model building system 1 or 1' shown in Fig. 1A or 1B for performing modeling of underground pipelines.

In step S21 shown in FIG. 2, the video input device 11 acquires a plurality of video data of the area to be modeled, and transmits it to the processor 12 to establish a three-dimensional model. Among them, the image data includes images of pipelines, level gauges and multiple control points. Further, the step of obtaining the plurality of image data of the area to be modeled comprises capturing an area to be modeled to generate the plurality of image data. In detail, the camera or the UAV can be used as the camera 15 to pass through the fixed focus mode, surround the area to be modeled, and shoot at different angles, thereby generating a movie containing a plurality of image materials. For example, the length of the movie is less than 20 minutes. During the shooting, at least one leveling ruler is placed on the groove side of the pipeline in the area to be modeled. For example, the two leveling feet can be placed in the non-parallel (even perpendicular to each other) on the groove side of the pipeline. For reference processing of the x-axis and the y-axis when the subsequent processor 12 performs image processing. In addition, a plurality of control points are also disposed in the modeling area. For example, the control points may be hole covers or manually laid temporary control points, wherein the number of control points is at least three for the processor 12 to Used when building a 3D model later. In another embodiment, the above-mentioned leveling rule can also be implemented by connecting two control points. For example, the control point can be set as the point of the two ends of the hole cover, and the line of the point at both ends (ie, the edge of the hole cover) can be defined as a leveling ruler. Therefore, the captured image data will be included in the image to be modeled. Images of pipelines, trenches, level gauges, and control points in the area.

As a practical example, after the completion of the underground pipeline embedding project in the construction phase of the road excavation operation process, and before returning to the road surface, the construction photographs need to be uploaded for verification work according to the operation regulations. At this time, the operator can obtain a plurality of image data of the area to be modeled in a short time by using a simple and low-cost tool such as a general camera or a camera as described above, and achieve a low tool and time cost and a low-tech data acquisition process. .

In step S22, the processor 12 parses the plurality of image data received from the image input device 11 to create three-dimensional point cloud data of the region to be modeled. Further, FIG. 3 exemplarily shows the detailed steps S221 to S223 of step S22 in FIG. 2. In step S221, the processor 12 obtains a plurality of fundamental matrices according to the plurality of image data. In detail, each base matrix indicates a projected geometric relationship between two of the plurality of image data. Next, in step S222, the processor 12 performs sparse matching according to the plurality of image data and the plurality of basic matrices to obtain the original data. In detail, the processor 12 repeats the feature matching of the plurality of image data by using the corresponding basic matrix, the beam passing method and the Terrestrial laser scanning (TLS) method. Or other algorithms to obtain a sparse three-dimensional point cloud of the region to be modeled as the original data described above.

In step S223, the processor 12 performs Dense matching on the original data to establish three-dimensional point cloud data of the area to be modeled. In detail, the processor 12 can utilize a block-based multi-view stereo (PMVS) algorithm and a clustering views for multi-view stereo (CVMS) algorithm. , or a combination of the above algorithms, calculate a dense three-dimensional point cloud of the region to be modeled, but the above algorithms are merely examples, and the present invention is not limited thereto. The processor 12 establishes the dense three-dimensional point cloud as three-dimensional point cloud data, wherein the three-dimensional point cloud data includes preset coordinate information of a plurality of points. In more detail, the sparse and dense three-dimensional point cloud is based on a preset coordinate system, and the three-dimensional point cloud includes a plurality of points, and each point has a corresponding preset coordinate in the preset coordinate system. The signal includes x-axis coordinate information, y-axis coordinate information, and z-axis coordinate information.

Through the above steps, the processor 12 establishes a three-dimensional point cloud data of the area to be modeled. Next, in step S23 of FIG. 2, the processor 12 obtains the triangular mesh data of the area to be modeled according to the three-dimensional point cloud data and the image data. Further, FIG. 4 exemplarily shows the detailed steps S231 to S233 of step S23 in FIG. 2. In step S231, the processor 12 classifies the plurality of points into a plurality of sets according to z-axis coordinate information of a plurality of points in the three-dimensional point cloud data. In detail, processor 12 divides points having the same z-axis coordinate information into the same set. In step S232, the processor 12 sequentially performs the establishment of a plurality of triangular meshes for two of the plurality of sets. For example, processor 12 may perform the creation of a triangular mesh for both of the plurality of sets, from small to large or from large to small, depending on the size of the z-axis coordinate information. Next, in step S233, the processor 12 performs texture attachment on the triangular mesh created in step S232 according to the image data acquired from the image input device 11 to obtain triangular mesh data, wherein the triangular mesh The data still contains preset coordinate information of a plurality of points of the aforementioned three-dimensional point cloud data, and further includes a triangular mesh formed by vertices of the points.

After obtaining the triangular mesh data of the area to be modeled, the processor 12 obtains the desired information according to the triangular mesh data, the length information of the leveling ruler, and the geographical coordinate information of the control point in step S24 shown in FIG. A three-dimensional model of the mold area. In detail, the length information of the leveling rule is pre-measured and stored in the memory built in the memory 13 or the processor 12, and the processor 12 can perform image recognition on the image of the leveling rule in the image data, and parse out The scale on the level gauge is obtained; and the geographic coordinate information of the control point can be obtained by an instant dynamic positioning system (e-GPS) and stored in the memory of the memory 14 or the processor 12, that is, The geographic coordinate information of the control point indicates the coordinates of the control point in the geographic information system (GIS) coordinate system, wherein the GIS coordinate system may be a coordinate system such as TWD97, TWD67, WGS84. The processor 12 converts the preset coordinate information of the points in the triangular mesh data into geographic coordinate information according to the length information of the above-mentioned leveling rule and the geographic coordinate information of the control point, that is, converts the triangular mesh data from the preset coordinate system into the geographical coordinate. Coordinate system, as three Dimensional model. That is to say, the 3D model can be based on the GIS coordinate system.

In step S25, the processor 12 outputs the aforementioned three-dimensional model to the material output device 13. For example, the processor 12 can store the three-dimensional model based on the GIS coordinate system as a compressed file of Shapefile (shp), Geography Markup Language (GML), Keyhole Markup Language (KML), and KML. (KMZ) and other formats of graphics, and then converted to PDF files for output. Further, the processor 12 can store the three-dimensional model in the memory 14 in the PDF format through the data output device 13, so that the file size of the three-dimensional model can be controlled below 40 MB, compared with the traditional three-dimensional model. The method can greatly reduce the memory capacity occupied by the output file, and can also improve the speed of subsequent reading and analyzing data.

In an embodiment, after obtaining the three-dimensional model of the area to be modeled, the processor 12 can obtain the geographic coordinate information of the pipeline or/and the trench by analyzing the three-dimensional model. For example, the processor 12 can discriminate the area of the pipeline or/and the trench from the three-dimensional model through image analysis, and extract geographic coordinate information of a plurality of points on the contour of the pipeline or/and the trench, as described below. Geographical coordinate information for pipelines or / and trenches. The processor 12 can upload the geographic coordinate information of the pipeline or/and the trench to the official or private pipeline database 2 through the data output device 13 to update the information. Further, the processor 12 can calculate the specification information of the pipeline or/and the trench according to the geographic coordinate information of the pipeline or/and the trench, such as the length and width of the pipeline, the buried depth of the pipeline, the length and width of the trench, and the depth of the trench, etc. The specification information of the pipeline or/and the trench is marked in the three-dimensional model to be integrated into a PDF file, and then uploaded to the official or private pipeline database 2 through the data output device 13. In addition, the standard specification information of the pipeline or the pipe trench can be pre-stored in the memory built in the memory 14 or the processor 12. When the processor 12 determines that the calculated specification information does not meet the pre-stored standard specification information, the control prompt will be The device 16 outputs a prompt signal, such as an alarm sound or a message notification.

In another embodiment, the three-dimensional model stored as a PDF file can be displayed by the operating device 17. As described in the foregoing embodiment, a software tool (for example, PDF Reader) suitable for PDF can be installed in the operation device 17. The operator can operate the device 17 in three dimensions The model browses the 3D model, measures and labels the specifications such as pipeline length and width, pipeline depth, pipe trench length and pipe trench depth, and further compares the obtained specification information with the standard specification information to complete the completion supervision and examination work. In addition, as described in the previous embodiment, the PDF file of the 3D model marked with the specification information can be uploaded to the official or private pipeline database 2 through the information link, thereby updating the pipeline database.

With the above structure, the three-dimensional model building system disclosed in the present invention can acquire the current image data of the underground pipeline construction work area with low-cost and easy-to-use tools, thereby establishing a three-dimensional model of a high-quality work area. In addition, the three-dimensional model building system disclosed in the present invention can store the information of the pipeline database in real time by storing the three-dimensional model in a portable file format with small file size and high applicability, and has the characteristics of high convenience and high efficiency.

Although the present invention has been disclosed above in the foregoing embodiments, it is not intended to limit the present invention. The changes and refinements that are made without departing from the spirit and scope of this creation are within the scope of patent protection of this creation. Please refer to the attached patent application scope for the scope of protection defined by this creation.

Claims (8)

A three-dimensional model building system is suitable for modeling underground pipelines. The three-dimensional model building system comprises: an image input device for acquiring a plurality of image data of a region to be modeled, wherein the image data comprises a pipeline and a An image of a leveling ruler and a plurality of control points; a processor electrically coupled to the image input device, the processor parsing the image data to create a three-dimensional point cloud data of the area to be modeled, according to the three-dimensional point cloud Obtaining a triangular mesh data of the region to be modeled according to the data and the image data, and obtaining one of the regions to be modeled according to the triangular mesh data, the length information of the leveling ruler, and the geographic coordinate information of the control points a three-dimensional model, wherein the three-dimensional model includes geographic coordinate information of the pipeline; and a data output device electrically connected to the processor for outputting the three-dimensional model. The three-dimensional model building system of claim 1, wherein the processor outputs the three-dimensional model through the data output device in a three-dimensional portable document format (PDF). The three-dimensional model building system of claim 2 further comprising an operating device coupled to the data output device and including a PDF reader having a measurement and labeling function to present the three-dimensional model. The three-dimensional model building system of claim 1, further comprising a camera coupled to the image input device and capturing the area to be modeled to generate the image data. The three-dimensional model building system of claim 1, further comprising a prompting device connected to the processor, wherein the processor further calculates specification information of the pipeline according to the geographic coordinate information of the pipeline, and when the processor When it is determined that the specification information of the pipeline does not conform to a standard specification information, the prompting device is controlled to output a prompt signal. The three-dimensional model building system of claim 1, wherein the processor is configured to obtain a plurality of basic matrices according to the image data when the image data is parsed to establish the three-dimensional point cloud data of the area to be modeled. Performing sparsity matching according to the image data and the basic matrices to obtain a raw material, and performing a dense matching on the original data to establish the three-dimensional point cloud data. The three-dimensional model building system of claim 1, wherein the processor obtains the triangular mesh data of the area to be modeled according to the three-dimensional point cloud data, according to the plurality of points in the three-dimensional point cloud data. The axis coordinate information classifies the points into a plurality of sets, sequentially performs the establishment of a plurality of triangular meshes for the two of the sets, and performs texture attaching on the triangular meshes according to the image data, To get the triangle mesh data. The three-dimensional model building system of claim 1, wherein the processor obtains the area to be modeled according to the triangular mesh data, the length information of the leveling ruler, and the geographic coordinate information of the control points. In the three-dimensional model, the triangular mesh data is converted from a preset coordinate system to a geographic coordinate system according to the length information of the leveling rule and the geographic coordinate information of the control points.