WO2015152495A1 - Système et procédé de vérification de collision utilisant des données de nuage de points - Google Patents

Système et procédé de vérification de collision utilisant des données de nuage de points Download PDF

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Publication number
WO2015152495A1
WO2015152495A1 PCT/KR2014/012456 KR2014012456W WO2015152495A1 WO 2015152495 A1 WO2015152495 A1 WO 2015152495A1 KR 2014012456 W KR2014012456 W KR 2014012456W WO 2015152495 A1 WO2015152495 A1 WO 2015152495A1
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WO
WIPO (PCT)
Prior art keywords
point cloud
cloud data
collision
extracted
simulation
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PCT/KR2014/012456
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English (en)
Korean (ko)
Inventor
김덕은
강경완
하남국
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삼인정보시스템(주)
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Priority to CN201480077766.8A priority Critical patent/CN106164912A/zh
Publication of WO2015152495A1 publication Critical patent/WO2015152495A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

Definitions

  • the present invention relates to a collision detection system and method, and more particularly to a collision detection system and method using point cloud data.
  • collisions and interferences may occur between structures in the process of combining each module in the field. If collisions and interferences occur between structures, this causes the joining work to be suspended and corrective actions must be taken for the collisions and interferences.
  • the correction work for the part where the collision and interference has occurred is performed in the form that the worker approaches the part and cuts or removes the part where the collision and the interference occurred, and the work space is often narrow. Therefore, due to the delay of the correction work, the overall construction time can be increased, there is a problem that the risk of a safety accident is high.
  • the technical problem to be solved by the present invention is to provide a collision detection system and method that can predict in advance whether the collision and interference between the structures, before combining each module.
  • Another technical problem to be solved by the present invention is to provide a collision detection system and method that can predict in advance whether the collision and interference between the structures using the point cloud data obtained by actually scanning the structures.
  • the collision detection system using the point cloud data the first point cloud data for the first structure and the second point cloud data for the second structure
  • a simulation unit configured to perform a simulation of coupling the first structure and the second structure by using;
  • a collision inspection unit that checks whether a collision occurs between the first structure and the second structure while performing the simulation in the simulation unit, wherein the collision inspection unit is configured to inspect whether a collision occurs.
  • An inspection region setting unit configured to set an inspection region and first point cloud data in the set inspection region, and second point cloud data of an region located within a first distance from a position corresponding to the extracted first point cloud data;
  • An adjacent point cloud data extracting unit for extracting the data, a shortest distance calculating unit calculating a shortest distance between the position of the extracted first point cloud data and the position of the extracted second point cloud data, and the calculated shortest distance and the second. Comparing the distances when the calculated shortest distance is equal to or less than the second distance;
  • a collision determination unit determining that a collision has occurred between the first structure and the second structure in the set inspection area.
  • the collision detection method using the point cloud data comprises: checking whether a collision occurs.
  • FIG. 1 is a view showing the configuration of a collision detection system using point cloud data according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating a configuration of a collision inspection unit included in the collision inspection system of FIG. 1.
  • FIG. 3 is a diagram illustrating a configuration of a collision inspection option setting unit included in the collision inspection unit of FIG. 2.
  • FIG. 4 is a view for explaining the collision inspection system of FIG.
  • FIG. 5 is a view for explaining a simulation unit included in the collision inspection system of FIG.
  • FIG. 6 is a diagram for describing an inspection result report unit included in the collision inspection system of FIG. 1.
  • FIG. 7 and 8 are diagrams for describing an inspection area setting unit included in the collision inspection system of FIG. 1.
  • 9 to 11 are diagrams for describing the collision inspection system according to the first mode.
  • 12 and 13 are diagrams for describing the collision inspection system according to the second mode.
  • 14 and 15 are diagrams for describing the collision inspection system according to the third mode.
  • 16 and 17 are flowcharts illustrating a collision detection method using point cloud data according to an embodiment of the present invention.
  • FIG. 1 a configuration of a collision inspection system using point cloud data according to an embodiment of the present invention is disclosed.
  • FIG. 2 a configuration of a collision inspection unit included in the collision inspection system of FIG. 1 is disclosed.
  • FIG. 3 a configuration of a collision inspection option setting unit included in the collision inspection unit of FIG. 2 is disclosed.
  • FIG. 4 a diagram for describing the collision inspection system of FIG. 1 is disclosed, and FIG. 5 is described.
  • 1 is a diagram illustrating a simulation unit included in the collision inspection system of FIG. 1
  • FIG. 6 is a diagram illustrating an inspection result report unit included in the collision inspection system of FIG. 1, and FIG. 7.
  • FIG. 1 is a diagram illustrating a simulation unit included in the collision inspection system of FIG. 1
  • FIG. 6 is a diagram illustrating an inspection result report unit included in the collision inspection system of FIG. 1, and FIG. 7.
  • FIG. 1 is a diagram illustrating a simulation unit included in the collision inspection system of FIG. 1
  • FIG. 6 is a diagram
  • FIGS. 9 to 11 a collision according to a first mode is disclosed.
  • 12 and 13 illustrate a collision inspection system according to a second mode.
  • FIGS. 14 and 15 a third mode may be described.
  • a diagram for describing a collision inspection system according to the present disclosure is disclosed.
  • the collision inspection system 1 may include a simulation unit 10, a collision inspection unit 20, and an inspection result report unit 30.
  • the collision detection system 1 may further include a point cloud data storage 40, an input unit 50, and a display unit 60.
  • the point cloud data storage unit 40 the input unit 50, and the display unit 60 will be described.
  • the point cloud data storage unit 40 may store the point cloud data of the structure to which collision check is to be performed. 1 and 4, for example, when a collision check is to be performed on the first structure 110 and the second structure 120, the point cloud data storage 40 may be connected to the first structure 110. The first point cloud data for the second point cloud data and the second structure 120 may be stored.
  • the laser scanner 130 may laser scan the first and second structures 110 and 120, respectively.
  • Three-dimensional shapes corresponding to the first and second structures 110 and 120 may be obtained through laser scanning, and the three-dimensional shapes may be formed of a point cloud composed of numerous points.
  • the point cloud data for the first and second structures 110 and 120 obtained through laser scanning may be stored in the point cloud data storage 40.
  • the point cloud data may include color information of the corresponding structure
  • the point cloud data of different structures displayed through the display unit 60 may be distinguished by colors.
  • the input unit 50 may receive input from the user and transmit the input to the collision inspection system 1
  • the display unit 60 may receive data from the collision inspection system 1 and display the data so that the user may check the collision inspection process. can do.
  • the simulation unit 10 may simulate a combination of structures using point cloud data.
  • a simulation of combining the first structure 110 and the second structure 120 may be performed using the first point cloud data 110p and the second point cloud data 120p. Since the simulation unit 10 may transmit the simulation data to the display unit 60, the user may check the simulation process through the display unit 60.
  • a simulation is performed to couple the first structure 110 and the second structure 120 by inserting the second structure 120 into the first structure 110.
  • the second structure 120 may be simulated to be inserted into the first structure 110 at one time, the simulation may be performed by dividing into several steps as necessary. That is, the second structure 120 is not inserted into the first structure 110 at one time, but may be inserted several times by a predetermined depth h, and is divided into three steps in FIG. 5. Is illustrated, but is not limited thereto.
  • the simulation unit 10 is not limited to simulating only the coupling process of the structures, for example, may simulate the driving process of the structures.
  • the coupled structures may be simulated to be driven while rotating or moving.
  • the collision inspection unit 20 is provided between the first structure 110 and the second structure 120 while the simulation unit 10 performs a simulation on the coupling of the first structure 110 and the second structure 120. You can check whether a collision occurs.
  • the inspection result report unit 30 may receive the collision inspection result from the collision inspection unit 20 and store the collision inspection result, and display the inspection area determined to have been collided by the collision determination unit 24 on the simulation.
  • the collision inspection results may be arranged for each step, and positions where collisions occurred for each step may be displayed on the simulation, and a distance between the first structure 110 and the second structure 120 may be determined. Can be displayed on the simulation.
  • the user may check the collision test result stored in the test result report unit 30 through the display unit 60 by manipulating the user interface (UI) 140.
  • UI user interface
  • the user may move between the locations collided at the corresponding step by manipulating four arrows of the user interface 140, and move between steps by manipulating two overlap arrows of the user interface 140, and the collision check result may be displayed. You can check it. Accordingly, the user may easily identify a desired collision position through the user interface 140.
  • the collision inspection unit 20 sets an inspection area setting unit 21, an adjacent point cloud data extracting unit 22, a shortest distance calculating unit 23, a collision determination unit 24, and a collision inspection option setting. It may include a portion (25).
  • the inspection region setting unit 21 may set an inspection region for inspecting whether a collision occurs. For example, an inspection area may be set for all areas of the first and second structures 110 and 120. However, since the collision is more likely to occur in some areas where the first and second structures 110 and 120 are adjacent to each other, and the part that the user wants to perform the collision check may be determined, the first and second structures 110 may be.
  • the inspection region may be set only for a portion of the region 120. When the inspection region is set only for some regions, the collision inspection time can be shortened.
  • the inspection area may be set by, for example, receiving an input from a user through the input unit 50.
  • an area set as an inspection area by a user is indicated by a square box, and collision inspection may be performed on the area indicated by the square box.
  • the method of setting the inspection area is not limited thereto, and the inspection area may be automatically set by searching for an area in which collision is expected, such as a protrusion.
  • point cloud data of a set inspection area is illustrated.
  • the adjacent point cloud data extractor 22 extracts first point cloud data in the set inspection area, and extracts second point cloud data of an area located within a predetermined distance from a position corresponding to the extracted first point cloud data. can do.
  • first point cloud data 110p included in the set inspection area may be extracted, and for example, four first point cloud data 110p indicated by X may be extracted.
  • the second point cloud data 120p included in the located area may be extracted, and for example, four second point cloud data 120p indicated by X may be extracted.
  • the predetermined distance r may be predetermined as, for example, a distance determined to be necessary for collision check in a relationship with the extracted first point cloud data 110p.
  • the shortest distance calculator 23 may calculate the shortest distance between the location of the extracted first point cloud data 110p and the location of the extracted second point cloud data 120p.
  • the location of the simulation of the extracted first point cloud data 110p and the extracted second point cloud data (The shortest distance d between positions on the simulation of 120p) can be calculated.
  • the collision determination unit 24 compares the calculated shortest distance d with a predetermined reference distance, and the first structure 110 and the second structure in the set inspection area when the calculated shortest distance d is less than or equal to the reference distance. It may be determined that a collision has occurred between the 120.
  • the reference distance may be predetermined as a distance that can be estimated that a collision has occurred when the distance between the point cloud data is dropped by the corresponding distance.
  • the collision determination unit 24 determines the angle or phase of the first structure 110 and the second structure 120, that is, the extracted first point cloud data 110p and the extracted second. In consideration of an angle or phase of the point cloud data 120p, it may be determined whether a collision occurs between the first structure 110 and the second structure 120.
  • the collision inspection option setting unit 25 may set up additional options required while performing the collision inspection in the collision inspection unit 20. With reference to FIG. 3, the detailed structure of the collision inspection option setting part 25 is demonstrated.
  • the collision inspection option setting unit 25 may include an inspection frame interval setting unit 25A, a simulation pause setting unit 25B, and an inspection method setting unit 25C.
  • the inspection frame interval setting unit 25A may set how many steps the simulation is to be performed. That is, the first structure 110 and the second structure 120 may be determined how many times to complete the coupling depending on the degree of coupling. For example, in order to set the number of steps, when a simulation in which the second structure 120 is inserted into the first structure 110 is performed, a depth to be inserted for each step may be set.
  • the simulation unit 10 may perform a simulation of combining the first structure 110 and the second structure 120 by dividing the steps according to the degree of coupling. have. For example, referring to FIG. 5, it is illustrated to be performed by dividing into three steps. For this purpose, the depth to be inserted every step may be set to be h. Therefore, according to the collision inspection system of the present invention, it is possible to adjust the progress speed of the collision inspection.
  • the simulation pause setting unit 25B may set whether to pause the simulation. In detail, when it is set to pause by the simulation pause setting unit 25B, the simulation unit 10 may pause the simulation when it is determined that the collision has occurred by the collision determination unit 24. . Thus, the user can easily visually confirm that a collision has occurred.
  • the inspection method setting unit 25C may set a inspection method for determining whether the collision inspection unit 20 has a collision. Specifically, there may be three inspection modes, where the first mode is a collision check by comparing each point of the first point cloud data with each point of the second point cloud data, and the second mode is the first mode. Collision checking is performed by comparing each point of the second point cloud data with a line connecting the point cloud data, and the third mode is to compare each point of the second point cloud data with a surface containing the first point cloud data. We are going to run a collision check.
  • the adjacent point cloud data extractor 22 extracts the first point cloud data 110p in the set inspection area and is located within a predetermined distance from a position corresponding to a line connecting the extracted first point cloud data 110p.
  • the second point cloud data 120p of the region may be extracted.
  • a line connecting points of the extracted first point cloud data 110p is illustrated.
  • the points of the extracted first point cloud data 110p may be connected in various ways to form a line, and for this, an algorithm for generating a trend line may be used.
  • the second point cloud data 120p of the region located within the predetermined distance r may be extracted from the position corresponding to the line connecting the extracted first point cloud data 110p.
  • the shortest distance calculator 23 may calculate the shortest distance between the position of the line connecting the extracted first point cloud data 110p and the position of the extracted second point cloud data 120p.
  • a shortest distance d between a position on a simulation of a line connecting the extracted first point cloud data 110p and a position on the simulation of the extracted second point cloud data 120p may be calculated.
  • the adjacent point cloud data extracting unit 22 extracts the first point cloud data 110p in the set inspection area, and is located within a predetermined distance from a position corresponding to a surface including the extracted first point cloud data 110p.
  • the second point cloud data 120p of the region may be extracted.
  • a plane including points of the extracted first point cloud data 110p is shown.
  • an algorithm for generating a plane including the extracted first point cloud data 110p may be used.
  • the second point cloud data 120p of the region located within the predetermined distance r may be extracted from the position corresponding to the plane including the extracted first point cloud data 110p.
  • the shortest distance calculator 23 may calculate the shortest distance between the position of the surface including the extracted first point cloud data 110p and the position of the extracted second point cloud data 120p.
  • the shortest distance d between the position on the simulation of the plane including the extracted first point cloud data 110p and the position on the simulation of the extracted second point cloud data 120p may be calculated. have.
  • the collision inspection is not performed using the design data, but the collision inspection is performed using the point cloud data measured the structure. Because of this, accurate collision prediction results can be obtained.
  • FIGS. 16 and 17 A collision detection method using point cloud data according to an embodiment of the present invention will be described with reference to FIGS. 16 and 17. 16 and 17, a flowchart for describing a collision checking method using point cloud data according to an embodiment of the present invention is disclosed.
  • a collision check option may be set (S10).
  • an inspection frame interval can be set. Specifically, in order to set how many steps the simulation is to be performed, when the simulation in which the second structure 120 is inserted into the first structure 110 is performed, the depth h inserted for each step is determined. Can be set.
  • the inspection method has three modes, and specifically, there may be three inspection modes, and the first mode may determine each point of the first point cloud data 110p and each point of the second point cloud data 120p.
  • the collision checking is performed by comparing, and the second mode is collision checking by comparing each point of the second point cloud data 120p with a line connecting the first point cloud data 110p.
  • the collision inspection is performed by comparing the points including the first point cloud data 110p and the respective points of the second point cloud data 120p.
  • a simulation of combining 120 may be performed (S20).
  • the simulation may be performed by reflecting the options selected in setting the collision inspection option (S1).
  • a simulation of coupling the first structure 110 and the second structure 120 may be performed by the first structure 110.
  • the simulation may be checked whether a collision occurs between the first structure 110 and the second structure 120 (S30). For example, the simulation may be performed by reflecting the options selected in setting the collision inspection option (S1).
  • whether or not a collision occurs between the first structure 110 and the second structure 120 may be performed in units of steps of the simulation, and whether the simulation is performed for all the steps and whether the collision occurs is checked. Can be repeated.
  • the simulation may be paused at the moment when it is determined that the collision has occurred.
  • the inspection result can be reported for the user to see (S40).
  • the collision check result may be arranged for each step, and the locations where the collision occurred for each step may be displayed on the simulation.
  • step S30 of checking whether a collision occurs will be described in detail.
  • an inspection area for inspecting whether a collision occurs may be set (S31).
  • the inspection area may be set by receiving an input from the user through the input unit 50 of FIG. 1, but is not limited thereto.
  • the inspection area may be automatically set by searching for an area where a collision is expected, such as a protrusion. .
  • the first point cloud data 110p in the set inspection area is extracted and the position corresponding to the extracted first point cloud data 110p.
  • the second point cloud data 120p of the region located within a predetermined distance may be extracted.
  • the collision detection option is set to the second mode in step S10
  • the first point cloud data 110p in the set inspection area is extracted and connected to the line connecting the extracted first point cloud data 110p.
  • the second point cloud data 120p of an area located within a predetermined distance from the corresponding location may be extracted.
  • the collision detection option when the collision detection option is set to the third mode in operation S10, the first point cloud data 110p in the set inspection area may be extracted and the extracted first point cloud data 110p may be included.
  • the second point cloud data 120p of an area located within a predetermined distance from the corresponding location may be extracted.
  • the shortest distance between the position of the extracted first point cloud data 110p and the position of the extracted second point cloud data 120p It can be calculated (S33).
  • the collision checking option is set to the third mode in operation S10, between the position of the surface including the extracted first point cloud data 110p and the position of the extracted second point cloud data 120p.
  • the shortest distance can be calculated (S33).

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  • Theoretical Computer Science (AREA)
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Abstract

L'invention concerne un système de vérification de collision utilisant des données de nuage de points. Le système de vérification de collision utilisant des données de nuage de points, selon un mode de réalisation de la présente invention, comprend : une unité de simulation pour réaliser une simulation combinant une première structure et une seconde structure par utilisation de premières données de nuage de points pour la première structure et de secondes données de nuage de points pour la seconde structure ; et une unité de vérification de collision pour vérifier si une collision se produit ou non entre la première structure et la seconde structure pendant que la simulation est réalisée par l'unité de simulation.
PCT/KR2014/012456 2014-03-31 2014-12-17 Système et procédé de vérification de collision utilisant des données de nuage de points WO2015152495A1 (fr)

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Application Number Priority Date Filing Date Title
CN201480077766.8A CN106164912A (zh) 2014-03-31 2014-12-17 利用点云数据的碰撞检查系统及方法

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KR1020140037903A KR101547288B1 (ko) 2014-03-31 2014-03-31 포인트 클라우드 데이터를 이용한 충돌 검사 시스템 및 방법
KR10-2014-0037903 2014-03-31

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CN105389849B (zh) * 2015-11-23 2018-06-05 公安部交通管理科学研究所 基于三维重建技术的车辆碰撞角度分析系统
KR102199722B1 (ko) * 2019-05-03 2021-01-07 최혁 맞춤 신발 제작용 인터페이스 제공 장치

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