WO2016132489A1

WO2016132489A1 - Drawing preparation system is drawing preparation method

Info

Publication number: WO2016132489A1
Application number: PCT/JP2015/054481
Authority: WO
Inventors: 敬介藤本; 渡邊　高志
Original assignee: 株式会社日立製作所
Priority date: 2015-02-18
Filing date: 2015-02-18
Publication date: 2016-08-25
Also published as: JP6227801B2; JPWO2016132489A1

Abstract

This drawing preparation system for preparing shape drawings from the results of a measurement unit measuring the surroundings, and is provided with a reference plane height setting unit which receives a height setting at which a reference plane is to be extracted, a reference plane extraction unit which extracts a reference plane in a high place at the height set by the reference plane height setting unit, a reference normal line estimation unit which estimates the reference normal line that is normal to the reference plane, and a shape reconstruction unit which, treating the shape of the reference plane as a two-dimensional shape, prepares a drawing in which a shape is represented that extends from a position on the reference plane in the direction of the reference normal line for a configured length.

Description

Drawing creation system and drawing creation method

The present invention relates to a system and method for creating a drawing from shape data measured by a shape measurement sensor.

As one means for recording the shape of the space, there is a shape measurement sensor that can measure the three-dimensional shape of an entity by measuring the distance to the surrounding entity. Using the shape measurement sensor, the shape of the entire space can be acquired more quickly and with higher accuracy than by hand measurement, and the shape can be measured non-destructively from a place away from a high place or a dangerous place where human hands cannot reach.

As background arts of this technology, there are JP-A-2005-43248 (Patent Document 1), JP-A-2003-323461 (Patent Document 2), and International Publication 2011/070927 (Patent Document 3). In Patent Document 1 (Japanese Patent Laid-Open No. 2005-43248), an asymmetrical three-dimensional marker is attached to a measurement location of an object to be measured, and a partial region of the object to be measured is optically three-dimensional with a marker using a shape measuring instrument. A measurement value is obtained by measurement, and then the shape measuring device is moved, and a partial region of another measurement location including the marker is optically measured three-dimensionally to obtain the measurement value. Then, while recognizing the marker from the measured value, calculating the position / orientation of the marker, calculating a coordinate conversion coefficient based on the marker, converting the measured value to the same coordinate system, and measuring the outer shape of the object to be measured A three-dimensional shape measuring method for measuring is described.

Patent Document 2 (Japanese Patent Application Laid-Open No. 2003-323461) acquires point cloud data for acquiring the position and shape of an object as point cloud data and displaying the point cloud on a display unit based on the point cloud data. Point cloud designating unit, a point cloud designating unit for designating a point cloud representing a member constituting the target object, and point cloud data which is a source of the point cloud representing the designated member And a CAD data creation device including a point group classification unit that classifies the data from other point group data. Arbitrary attribute information can be added to the point cloud data indicating the members classified by the point cloud classification unit, and CAD data for drawing a 3D-CAD drawing is created for each attribute data. Can do. By combining 3D-CAD drawings created for each member or attribute, a 3D-CAD drawing of the entire object can be created.

Furthermore, Patent Document 3 (International Publication 2011/070927) discloses a non-surface removal unit 16 that removes points in a non-surface region from the point cloud data of the measurement object, and points that are removed by the non-surface removal unit. 3rd order based on at least one of the surface labeling part that gives the same label to the points on the same surface, the intersection line of the surfaces divided by the surface labeling part, and the convex hull that wraps the surface in a convex shape A three-dimensional edge extraction unit that extracts the original edge, a two-dimensional edge extraction unit that extracts a two-dimensional edge from the plane divided by the surface labeling unit, and an edge integration unit that integrates the three-dimensional edge and the two-dimensional edge It is described in the point cloud data processing apparatus provided.

Japanese Patent Laid-Open No. 2005-43248 JP 2003-323461 A International Publication No. 2011/070927

According to the above-described prior art, in the shape measurement using the laser beam as described in Patent Document 1, the surrounding shape can be measured as a set of measurement points (hereinafter referred to as a point group). Then, as described in Patent Document 2, a drawing is created from the measured point cloud data.

In order to create a drawing from a point cloud, there is a method of instructing or searching the position of a predetermined object such as a wall or a pillar on the measured point cloud and describing it in the drawing. For example, there are many shielding objects such as desks indoors, and many areas of the floor cannot be measured. Moreover, only a part of the wall can be measured by a shielding object such as a shelf. Furthermore, it is not possible to obtain in advance information about what objects exist in the space. In other words, in order to create a drawing from point cloud data, it is necessary to determine the object that exists in the measurement target space and the location of the object in an unknown environment and in a situation where only a part of the space can be measured. is there.

According to the method described in Patent Document 3, a model such as an edge can be recognized from a measured point cloud even in an unknown environment. On the other hand, when the target is measured with laser light, data cannot be acquired because the laser light does not reach the area behind the shield. That is, the method described in Patent Document 3 cannot recognize the shape of a region where no data exists, and therefore cannot draw a region where the laser does not reach.

Also, in an unknown environment, a method for searching for an object using a type of object as a wall or a cylinder has been proposed. However, with this method, if there is a lot of shielding, such as indoors, and most of the shapes to be described in the drawing cannot be measured, a point cloud sufficient to perform the search cannot be obtained, and the object search is robust. Difficult to do.

A typical example of the invention disclosed in the present application is as follows. That is, a drawing creation system for creating a shape drawing from surrounding measurement results by a measurement unit, which is set by a reference surface height setting unit that accepts a height setting for extracting a reference surface, and the reference surface height setting unit A reference surface extraction unit that extracts a reference surface at a height of the height, a reference normal estimation unit that estimates a reference normal that is a normal of the reference surface, and a shape of the reference surface as a two-dimensional shape A shape restoring unit that creates a drawing showing a shape extended from the position of the reference plane to a length set in the direction of the reference normal.

According to an embodiment of the present invention, it is possible to create a robust drawing with few failures from point cloud data, that is, a robust drawing. Problems, configurations, and effects other than those described above will become apparent from the description of the following embodiments.

It is a figure which shows the structure of the outline | summary of the drawing creation system of 1st Example. It is a figure which shows the detailed structure of the drawing creation system of 1st Example. It is a block diagram which shows the physical structure of the drawing creation system of 1st Example. It is a flowchart of the process which the drawing production system of 1st Example performs. It is a figure which shows the measurement of the surrounding shape by the shape measurement part of 1st Example. It is a figure which shows the screen for selecting the range which the shape data selection part of 1st Example receives. It is a figure which shows extraction of the reference plane by the reference plane extraction part of 1st Example. It is a figure which shows the projection to the two-dimensional image of the presence thing by the two-dimensional projection part of 1st Example. It is a figure which shows extraction of the two-dimensional shape data of 1st Example. The screen for setting the distance which the corresponding reference plane height setting part of 1st Example accepts is shown. It is a figure which shows restoration | restoration of the whole shape by the shape restoration part of 1st Example. It is a figure which shows creation of the histogram of 2nd Example. It is a figure which shows extraction of the piping connected to the wall of 3rd Example.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First embodiment>
FIG. 1 is a diagram illustrating a schematic configuration of a drawing creation system according to the present embodiment.

1 includes a reference surface height setting unit 102, a reference surface extraction unit 103, a reference normal estimation unit 106, and a shape restoration unit 115 as a minimum configuration. In addition, the drawing creation system stores the shape data 101 measured by the shape measuring unit 100 and the drawing information 116 representing the restored shape in the storage device (memory 12, auxiliary storage device 13).

In the present embodiment, a set of points (point group) is handled as an example of the shape data 101. However, if the data represents a shape (specifically, the shape can be acquired and information on edges and vertices is not included). Good.

First, the reference surface height setting unit 102 accepts the height setting by the operator. For example, it is sufficient to set a height (about 2 m) at which there are few artifacts that are difficult for human hands to reach directly. Since there are few artifacts in high places, it is possible to measure a shape (for example, a wall) without being shielded by the artifact during shape measurement. The height may be set to a lower limit height for extracting the reference plane or a height range for extracting the reference plane.

The reference surface extraction unit 103 extracts a surface that is present at a height higher than the height set by the reference surface height setting unit 102 (or the set height range) and serves as a reference for shape restoration from the shape data 101. To do. In the present embodiment, the entire shape is restored based on a high surface (for example, a ceiling surface) with less shielding. Note that the reference surface may be a surface other than the ceiling as long as the surface is at a high place where the shape can be easily measured. When extracting the reference plane, a plane that is positioned in the vertical direction and that is higher than the height specified by the operator is extracted by a plane search algorithm such as Hough transform.

The reference normal estimation unit 106 estimates the normal vector of the shape data on the reference surface extracted by the reference surface extraction unit 103. Specifically, a normal vector can be estimated by fitting a plane to the shape data on the reference plane using the least square method and using the value of the normal of the fitted plane. Alternatively, the operator may directly input the normal value.

The shape restoration unit 115 converts the shape of the reference surface in the direction of the estimated normal to convert it into three-dimensional information, restores the entire shape, and stores it as drawing information 116.

FIG. 2 is a diagram showing a detailed configuration of the drawing creation system of the present embodiment. In the description of FIG. 2, the description of the same components as those in the detailed configuration (FIG. 2) among the elements described above in the schematic configuration (FIG. 1) will be omitted.

The drawing creation system shown in FIG. 2 includes an optional configuration, and includes a reference surface height setting unit 102, a reference surface extraction unit 103, a shape data display unit 104, a shape data selection unit 105, a reference normal estimation unit 106, an artifact. Shape extraction unit 107, two-dimensional projection unit 108, shape extraction unit 109, two-dimensional shape data 110, image display unit 111, shape editing unit 112, corresponding reference surface extraction unit 113, corresponding reference surface height setting unit 114, and shape restoration Part 115. In addition, the drawing creating system stores shape data 101 obtained by measuring the surrounding shape by the shape measuring unit 100, two-dimensional shape data 110 which is a shape extracted by the shape extracting unit 109, and drawing information 116 representing the shape in a storage device (memory). 12 and stored in the auxiliary storage device 13).

First, the reference surface height setting unit 102 accepts the height setting by the operator. Then, the reference surface extraction unit 103 extracts a surface which is present at a height higher than the height set by the reference surface height setting unit 102 and serves as a reference for shape restoration from the shape data 101 (see FIG. 7).

The shape data display unit 104 displays the shape data 101 on the display device 19. The shape data selection unit 105 receives a range selected by the operator from the shape data displayed on the screen, and selects shape data within the selected range. The reference surface extraction unit 103 may use a surface constituted by the shape data of the selected range as the reference surface (see FIG. 6).

The reference normal estimation unit 106 estimates the normal vector (reference normal) of the shape data on the reference surface extracted by the reference surface extraction unit 103.

The artifact shape extraction unit 107 extracts partial shape data existing within a range set in the direction of the estimated reference normal from the reference surface extracted by the reference surface extraction unit 103. The set range may be set by an operator as a range in the height direction from which partial shape data is extracted, or may be a preset range in the height direction.

The two-dimensional projection unit 108 projects the shape data extracted by the artifact shape extraction unit 107 onto a two-dimensional image plane that is parallel to the reference plane (see FIG. 8). The artifact perpendicular to the reference plane is represented as a line shape on the two-dimensional image. For example, when the reference plane is a ceiling, a vertically installed wall is represented as a straight line in the two-dimensional image.

The shape extraction unit 109 extracts a line shape from the two-dimensional image, and stores the extracted shape as two-dimensional shape data 110 (see FIG. 9). Specifically, the line is automatically recognized from the two-dimensional image information using a plane search algorithm such as a Hough transform or a dynamic contour extraction method, and the two-dimensional shape data 110 is extracted.

The image display unit 111 displays a two-dimensional image on the screen. The shape editing unit 112 accepts designation by the operator of the two-dimensional shape data of the artifact perpendicular to the reference plane. The shape extraction unit 109 may extract the two-dimensional shape data 110 according to an operator's specification.

The corresponding reference plane extraction unit 113 extracts, as a corresponding reference plane, an area that is separated from the extracted reference plane by a predetermined distance in the direction of the estimated reference normal. The corresponding reference plane height setting unit 114 receives a predetermined distance setting by the operator (see FIG. 10). When extracting the corresponding reference surface, a surface having a normal in the same direction as the reference surface and existing in the vertically downward direction at the measurement point may be automatically recognized.

The shape restoration unit 115 sets the reference surface as the upper surface, the corresponding reference surface as the lower surface, and the two-dimensional shape data 110 extracted by the shape extraction unit 109 in the normal direction of the reference surface between the reference surface and the corresponding reference surface. By moving, it is converted into three-dimensional information (see FIG. 11). In this way, the entire shape can be restored as the drawing information 116 by interpolating between the reference plane and the corresponding reference plane.

FIG. 3 is a block diagram showing the physical configuration of the drawing creation system of the present embodiment.

The drawing creation system of this embodiment is configured by a computer having a processor (CPU) 11, a memory 12, an auxiliary storage device 13, and a communication interface 14.

The processor 11 executes a program stored in the memory 12. The memory 12 includes a ROM that is a nonvolatile storage element and a RAM that is a volatile storage element. The ROM stores an immutable program (for example, BIOS). The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program executed by the processor 11 and data used when the program is executed.

The auxiliary storage device 13 is a large-capacity non-volatile storage device such as a magnetic storage device (HDD) or a flash memory (SSD), for example. The auxiliary storage device 13 is a program executed by the processor 11 and data used when the program is executed (for example, , Map data). That is, the program is read from the auxiliary storage device 13, loaded into the memory 12, and executed by the processor 11.

The drawing creation system may have an input interface 15 and an output interface 18. The input interface 15 is an interface to which a keyboard 16 and a mouse 17 are connected and receives an input from an operator. The output interface 18 is an interface to which a display device 19 or a printer is connected, and outputs an execution result of the program in a format that can be visually recognized by the operator.

The communication interface 14 is a network interface device that controls communication with other devices according to a predetermined protocol. The drawing creation system may be connected to a terminal (not shown) via the communication interface 14, may operate according to an instruction input from the terminal, and may output a calculation result to the terminal.

The program executed by the processor 11 is provided to the drawing creation system via a removable medium (CD-ROM, flash memory, etc.) or a network, and is stored in a nonvolatile storage device 13 which is a non-temporary storage medium. For this reason, the drawing creation system may have an interface for reading data from a removable medium.

A drawing creation system is a computer system that is configured on one computer or a plurality of computers that are logically or physically configured, and operates on separate threads on the same computer. Alternatively, it may operate on a virtual machine constructed on a plurality of physical computer resources.

FIG. 4 is a flowchart of processing executed by the drawing creation system of this embodiment.

First, the reference surface height setting unit 102 executes a reference surface height setting process for receiving a height setting by an operator (S102).

Thereafter, the reference surface extraction unit 103 executes a reference surface extraction process for extracting from the shape data 101 a surface that exists at a height higher than the height set in the reference surface height setting process S102 and serves as a reference for shape restoration. (S103).

Meanwhile, the shape data display unit 104 executes shape data display processing for displaying the shape data 101 on the display device 19 (S104). The shape data selection unit 105 receives the range selected by the operator from the shape data displayed on the screen, selects the shape data of the selected range, and executes the shape data selection process that is output to the reference plane extraction unit 103 (S105). ). The reference surface extraction unit 103 may use a surface constituted by the shape data in the range selected in the shape data selection process S105 as the reference surface.

The reference normal estimation unit 106 executes a reference normal estimation process for estimating a normal vector (reference normal) of shape data on the reference plane extracted in the reference plane extraction process S103 (S106).

Thereafter, the artifact shape extraction unit 107 extracts, from the reference plane extracted in the reference plane extraction process S103, partial shape data existing within a predetermined range in the direction of the estimated reference normal. An extraction process is executed (S107).

Thereafter, the two-dimensional projection unit 108 executes a two-dimensional projection process for projecting the shape data extracted in the artifact shape extraction process S107 onto a two-dimensional image plane parallel to the reference plane (S108).

Thereafter, the shape extraction unit 109 extracts a line shape from the two-dimensional image, and executes a shape extraction process for storing the extracted shape as the two-dimensional shape data 110 (S109).

Further, the image display unit 111 executes image editing processing for displaying a two-dimensional image on the screen (S111). The shape editing unit 112 receives the designation by the operator of the two-dimensional shape data of the artifact perpendicular to the reference plane, and executes the shape editing process output to the shape extraction unit 109 (S112). The shape extraction unit 109 may extract the two-dimensional shape data 110 according to an operator's specification.

On the other hand, the corresponding reference surface extraction unit 113 executes a corresponding reference surface extraction process that extracts a region that is a predetermined distance away from the extracted reference surface in the direction of the estimated reference normal as a corresponding reference surface (S113). ). The corresponding reference surface height setting unit 114 receives a setting of a predetermined distance by the operator, and executes a corresponding reference surface height setting process that is output to the corresponding reference surface extraction unit 113 (S114).

Thereafter, the shape restoration unit 115 sets the reference surface as the upper surface, the corresponding reference surface as the lower surface, and uses the two-dimensional shape data 110 (or the shape of the reference surface) extracted in the shape extraction process S109 as the reference surface and the corresponding reference surface. A shape restoration process for converting into three-dimensional information is performed by moving in the normal direction of the reference plane (S115).

FIG. 5 is a diagram showing the measurement of the surrounding shape by the shape measuring unit 100.

As shown in FIG. 5A, the shape measuring unit 100 irradiates the laser light in various directions and measures the time until the reflected light of the laser light returns to exist in the direction irradiated with the laser light. You can measure the distance to an object. The shape measuring unit 100 can measure the shapes of all objects existing around by irradiating laser light in all directions and repeatedly measuring the time until the reflected light is received.

When the shape measuring unit 100 is installed indoors and the surrounding shape is measured, an entity 201 such as a ceiling, a wall, and a pillar and an entity 202 installed indoors such as a desk, chair, shelf, and board are illustrated. As shown in FIG. 5B, measurement can be performed as a set of

points

203, 204, and 205 corresponding to the laser light irradiation points.

Note that the point cloud 203 shown in FIG. 5 is illustrated by omitting the point cloud on the front surface and the right surface, which are originally measured, so that the internal existence appears in the figure. In order to facilitate understanding, a rough shape 204 such as a wall is described with a large point, and a minute indoor object 205 is described with a small point to indicate a fine shape. However, in all regions, the size of the laser light irradiation point is substantially the same, and the density of the points is also substantially the same. However, in the present embodiment, the measurement density may be partially different (for example, for each region).

Measurement of the surroundings alone does not provide information on the relationship between measurement points and objects. Furthermore, it is impossible to measure a region (for example, a shape hidden on a shelf or a board) where the laser beam does not reach directly. Since the shape of the wall behind large objects such as shelves and boards can only be measured in a small area, it is difficult to determine the presence of a wall in that area. In addition, there are areas that are blocked by objects such as desks and chairs, and it is difficult to measure all floor surfaces. On the other hand, since the laser beam is less likely to be blocked by the shielding object at a high place such as the ceiling, the shape of the high place can be easily measured. For this reason, in this embodiment, the entire shape is restored based on the shape of the high place.

FIG. 6 is a diagram showing a screen for selecting a range that the shape data selection unit 105 accepts.

When the drawing creation system manually recognizes the reference plane (ceiling) by the operator, the shape data display unit 104 displays the shape data 101 on the display device 19. The operator operates an input device such as the mouse 17 to designate a desired range 300. The shape data selection unit 105 receives the range 300 specified by the operator, and selects the shape data 301 existing within the specified range. More specifically, the shape data selection unit 105 includes a mode switching unit that switches between a shape selection mode and a shape selection cancellation mode. When the operator designates a range in the shape selection mode, the shape data within the range is selected. On the other hand, when the operator designates a range in the shape selection cancellation mode, the shape data in the range is in a non-selected state.

Alternatively, when the range designated by the operator includes a plurality of objects, the shape data selection unit 105 may automatically extract the front entity and make the rear entity non-selected. In the method for extracting an entity, a plane extraction algorithm such as a Hough transform is used to divide shape data included in a selection range into a plurality of planes and extract the plane of the entity. Then, by selecting the plane closest to the front on the display screen from the plurality of extracted planes, it is possible to extract only the existing entity. Also, the plane on the foreground may be selected by canceling the selection of the point group on the back side by the operator's operation and selecting the point on the foreground.

FIG. 7 is a diagram illustrating the extraction of the reference plane by the reference plane extraction unit 103.

After the reference surface height setting unit 102 receives the height setting by the operator, the reference surface extraction unit 103 extracts a plane that exists above the received height by a plane search algorithm such as Hough transform. At this time, a plurality of plane candidates may be extracted simply by extracting a plane using a plane extraction method such as Hough transform. Therefore, when the shape data selection unit 105 accepts the selected shape 400, only the plane 401 including the selected shape 400 is extracted.

FIG. 8 is a diagram illustrating the projection of an entity onto a two-dimensional image by the two-dimensional projection unit 108.

First, the reference normal estimation unit 106 estimates the direction of the reference normal 500 of the reference surface 401 extracted by the reference surface extraction unit 103. For example, the normal direction can be estimated by applying a plane to the shape on the reference plane using the least square method. Furthermore, a robust estimation method such as RANSAC may be used to make the fit robust.

Next, as shown in FIG. 8A, the artifact shape extraction unit 107 extracts shape data 502 existing within a predetermined range 501 in the direction of the estimated reference normal 500 from the reference surface 401. . Here, the predetermined range 501 is an area where there are only a small number of objects other than walls when the ceiling is the reference plane 401. For example, since there are objects other than walls such as desks and chairs in the region far from the ceiling, extracting the shape in the region far from the ceiling reduces the robustness of shape extraction. On the other hand, when a range extremely close to the ceiling is selected, an object suspended from the ceiling may be detected. In order to avoid these objects, a range from 20 cm to 100 cm from the ceiling may be set as the predetermined range 501. It should be noted that it may be in a range where there are few entities other than those provided perpendicular to the reference surface 401.

The operator inputs a numerical value on the input screen, displays a point within the range corresponding to the input numerical value in a predetermined color (for example, red), confirms the range on the screen, and operates the “OK” button. By doing so, an interface for setting the predetermined range 501 may be provided.

Further, this process may be repeated twice or more to extract a plurality of predetermined ranges 501. By extracting a plurality of ranges, even when an object other than a wall or a pillar exists in a certain range below the ceiling, the predetermined range 501 can be set avoiding the object.

As shown in FIG. 8B, the two-dimensional projection unit 108 forms the shape 503 extracted by the artifact shape extraction unit 107 on a two-dimensional plane having the same normal as the direction of the reference normal 500 of the reference surface 401. Projection is performed to generate a two-dimensional image 504. Note that the point cloud shown in FIG. 8A is described with the front and right walls omitted as described above, and actually there are also point clouds in that region. For this reason, the two-dimensional image (FIG. 8B) also shows point groups corresponding to the front wall and the right wall.

FIG. 9 is a diagram illustrating extraction of the two-dimensional shape data 110 from the two-dimensional image on which the artifact is projected.

The shape 503 extracted by the artifact shape extraction unit 107 is a shape that extends perpendicularly to the reference plane, and thus is a line on the two-dimensional image. Specifically, the wall is a straight line, the cylinder is a circle, and the prism is a rectangle. The shape extraction unit 109 searches for a line shape 600 from the two-dimensional image, and extracts the searched line shape as two-dimensional shape data. Specifically, a line can be automatically extracted from a two-dimensional image using the Hough transform. Further, the dynamic contour method can be used to extract the contour element of the entire wall composed of a plurality of lines.

The image display unit 111 displays a two-dimensional image including the extracted two-dimensional shape data on the display device 19. The operator can correct the two-dimensional shape data by operating an input device such as the mouse 17. For example, when an object is erroneously detected due to noise or the like, or when there is an object that cannot be detected, the shape editing unit 112 accepts correction of two-dimensional shape data by an operator's operation. Specifically, when a wall is added, a line 601 can be added by clicking two points of a start point and an end point. When deleting a wall, the line 602 can be deleted by clicking an arbitrary point on the line. Moreover, a cylinder and a prism can be added by designating a shape and a plurality of points.

Further, the shape that can be extracted and the shape that can be edited may be other than the above-described object as long as it is represented as a line on the two-dimensional image.

FIG. 10 shows a screen for setting the distance 701 from the reference surface 401 to the corresponding reference surface 700, which is received by the corresponding reference surface height setting unit 114.

As described above, since a plurality of shields are arranged on the indoor floor surface, it is often impossible to directly measure the floor surface. Therefore, it is determined that the ceiling is the reference plane 401, the floor is the corresponding reference plane 700, and the corresponding reference plane 700 has the same shape as the reference plane 401. A surface having the same shape as the reference surface 401 is generated at a position separated from the reference surface 401 in the direction of the reference normal 500 by a predetermined distance 701, and the generated surface is set as a corresponding reference surface 700. The corresponding reference plane 700 may be arranged in a range in which the plane measured by the shape measuring unit 100 is distributed.

The distance from the reference surface 401 is input by the operator (ceiling height). In addition, an interface is provided that allows an area corresponding to the corresponding reference plane to be specified on the screen while adjusting the height of the corresponding reference plane by operating an input device such as the mouse 17 (for example, dragging and dropping the reference plane 401). Also good. In addition, if there are few obstacles on the floor and the floor can be recognized as a plane, a plane existing in the vertically downward direction is extracted using a plane extraction method such as Hough transform, and the height of the extracted plane The shape of the reference plane may be applied to

FIG. 11 is a diagram illustrating restoration of the entire shape from the reference plane 401, the corresponding reference plane 700, and the two-dimensional shape data 800 by the shape restoration unit 115.

The two-dimensional shape data 800 becomes the two-dimensional shape data 801 in the three-dimensional space depending on the direction of the reference normal 500 used when the two-dimensional projection unit 108 projects the shape data (C, D). The two-dimensional shape data 801 is moved in the direction of the reference normal 500 between the reference surface 401 and the corresponding reference surface 700, and the two-dimensional shape is stretched to be converted into a three-dimensional shape 803 having a size. (E). The room shape 806 can be restored by combining the three-dimensional shape 803 thus created, the reference planes 401 (A, B), and the corresponding reference planes 700 (A, B) (F).

As explained above, the surface at a high place can be easily measured because it is less shielded by artifacts. The wall and pillar artifacts use the property of extending in the vertical direction. For this reason, according to the present embodiment, it is possible to easily measure the shape even in the case where there is no prior information regarding the shape in an environment where there is much shielding, and it is possible to create a robust drawing from the measured shape data.

In addition, since the drawing representing the shape obtained by extending the two-dimensional shape extracted by the shape extraction unit 109 from the position of the reference surface 401 to the length 701 set in the direction of the reference normal 500 is created, The outline becomes clear and the accuracy of the drawing can be improved.

In addition, the image display unit 111 includes a shape editing unit 112 that executes at least one process of adding a two-dimensional shape to the image displayed on the display device 19 and correcting the two-dimensional shape extracted by the shape extraction unit 109. Therefore, a point cloud can be extracted reliably.

Further, since the artifact shape extraction unit 107 extracts shape data within two or more set ranges 501 in the direction from the reference plane 401 to the reference normal 500, even in an environment where the shielding objects are arranged in a complicated manner. The two-dimensional shape can be extracted accurately, and the accuracy of the drawing can be improved.

Further, since the shape extraction unit 109 extracts a line shape from the two-dimensional image created by the two-dimensional projection unit 108, it is possible to create a highly accurate drawing with a small amount of calculation.

In addition, the corresponding reference surface extraction unit 113 extracts shape data located at a position away from the reference surface 401 by the set distance 701 as the corresponding reference surface (floor surface) 700, and the shape restoration unit 115 performs the shape extraction unit 109. Are extracted from the position of the reference plane 401 to the position of the corresponding reference plane 700 in the direction of the reference normal 500, and a region surrounded by the reference plane 401 and the corresponding reference plane 700 is represented. Since the drawing is created, the floor surface can be accurately determined.

The corresponding reference surface height setting unit 114 receives the distance set by the operator, and the corresponding reference surface extraction unit 113 is set from a position away from the reference surface 401 by the distance set by the corresponding reference surface height setting unit 114. Since the surface existing within the range is extracted, the floor surface can be accurately determined.

In addition, a shape data display unit 104 that displays shape data on the screen, and a corresponding reference plane height setting unit that receives selection of a shape included in the region of the shape data displayed on the display device 19 by the shape data display unit 104 114, and the corresponding reference surface extraction unit 113 extracts the corresponding reference surface 700 so as to include the selected shape data, so that the floor surface can be accurately determined.

Further, since the reference plane extraction unit 103 extracts the reference plane (ceiling) 401 so as to include the shape data selected by the shape data selection unit 105, the ceiling can be accurately selected.

In addition, when there are a plurality of entities within the selected range, the shape data selection unit 105 selects the entity located in the forefront, so that the selection work by the operator can be facilitated.

<Second embodiment>
In the second embodiment, a method in which the two-dimensional projection unit 108 creates a histogram corresponding to the number of points extracted by the artifact shape extraction unit 107 and the shape extraction unit 109 extracts the two-dimensional shape data 110 will be described. In the second embodiment, only differences from the first embodiment described above will be described, and description of the same configuration and function will be omitted.

FIG. 12 is a diagram showing creation of a histogram according to the second embodiment.

The two-dimensional projection unit 108 projects shape data 903 within a range 902 designated in the direction of the reference normal 500 of the reference surface 401 onto a two-dimensional image 904 as shown in FIG. The range 902 does not have to be the entire range from the ceiling to the floor, and may be a range that sufficiently includes information to be included in the drawing. In the second embodiment, a histogram value corresponding to the number of points existing in the region corresponding to each pixel in the two-dimensional image 904 is calculated, the pixel color is determined according to the histogram value, and the two-dimensional image 904 is calculated. Create

As shown in FIG. 12B, in the region where the wall is measured, the points can be measured at the same position in a wide range from the ceiling to the floor, so the histogram value becomes high (905). On the other hand, since the number of measurement points is lower in the wall located behind the existence object placed indoors, the histogram value is slightly lower (906). Furthermore, the number of measurement points of the existence is determined according to the height, and becomes a histogram value according to the number of measurement points. For example, the position where both the board and the foot are measured has a high histogram value (907), and the position where only the board is measured has a low histogram value (908).

Furthermore, the shape extraction unit 109 extracts a two-dimensional shape using the two-dimensional image 904 created by the two-dimensional projection unit 108. At this time, a two-dimensional shape is extracted by a Hough transform, a dynamic contour method, or the like using a histogram of each pixel as a weight.

In the second embodiment, the two-dimensional projection unit 108 creates a histogram according to the number of points extracted by the artifact shape extraction unit 107, and the shape extraction unit 109 extracts a two-dimensional shape using the histogram. Even in an environment where a shield is placed on the wall, the shape can be extracted more robustly than the first embodiment described above, and a robust drawing can be created.

<Third embodiment>
In the third embodiment, an example in which the pipe 1000 connected to the wall is extracted using the drawing creation system of the above-described embodiment will be described. In the third embodiment, only differences from the above-described embodiment will be described, and description of the same configuration and function will be omitted.

FIG. 13 is a diagram illustrating extraction of pipes connected to a wall.

The reference plane extraction unit 103 extracts the wall 1001 located at a high place as a reference plane. The normal direction 1002 estimated by the reference normal estimation unit 106 is the same direction as the pipe 1000 extending vertically from the wall. By using the extracted reference plane 1001 and normal direction 1002, the pipe projected by the two-dimensional projection unit 108 has a circular shape 1004 in the two-dimensional image 1003. The shape extraction unit 109 can extract the two-dimensional shape data 110 of the pipe by extracting the circular shape 1004 by the Hough transform, or directly by the operator using the shape editing unit 112.

By extending the extracted two-dimensional shape data of the pipe by the length designated by the operator, the shape restoration unit 115 can make the pipe into drawing information.

In the third embodiment, piping can be detected particularly in an area where there are few shields such as high places.

The present invention is not limited to the above-described embodiments, and includes various modifications and equivalent configurations within the scope of the appended claims. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the configurations described. A part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Moreover, you may add the structure of another Example to the structure of a certain Example. In addition, for a part of the configuration of each embodiment, another configuration may be added, deleted, or replaced.

In addition, each of the above-described configurations, functions, processing units, processing means, etc. may be realized in hardware by designing a part or all of them, for example, with an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.

Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, a hard disk, and an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, and a DVD.

Also, the control lines and information lines indicate what is considered necessary for the explanation, and do not necessarily indicate all control lines and information lines necessary for mounting. In practice, it can be considered that almost all the components are connected to each other.

Claims

A drawing creation system for creating a shape drawing from surrounding measurement results by a measurement unit,
A reference surface height setting unit that accepts a height setting for extracting the reference surface;
A reference surface extraction unit that extracts a reference surface at a height of the height set by the reference surface height setting unit;
A reference normal estimation unit that estimates a reference normal that is a normal of the reference plane;
A drawing creation system comprising: a shape restoration unit that creates a drawing in which a shape extending from a position of the reference surface to a length set in the direction of the reference normal is represented as a two-dimensional shape of the reference surface .
A drawing creation system according to claim 1,
For the direction of the reference normal from the reference plane, an artifact shape extraction unit that extracts shape data existing within a set range;
A two-dimensional projection unit that creates a two-dimensional image by projecting the shape data extracted by the artifact shape extraction unit onto a plane parallel to the reference plane;
A shape extraction unit that extracts a two-dimensional shape from a two-dimensional image created by the two-dimensional projection unit,
Instead of the shape of the reference surface, the shape restoration unit has a shape obtained by extending the two-dimensional shape extracted by the shape extraction unit from the position of the reference surface to the set length in the direction of the reference normal. A drawing creation system for creating a represented drawing.
The drawing creation system according to claim 2,
An image display unit for displaying an image created by the two-dimensional projection unit on a screen;
A drawing creation system comprising: a shape editing unit that executes at least one process of adding a two-dimensional shape to an image displayed by the image display unit and correcting the two-dimensional shape extracted by the shape extraction unit.
The drawing creation system according to claim 2,
The drawing creation system, wherein the artifact shape extraction unit extracts two or more shape data within the set range with respect to a direction of the reference normal from the reference plane.
The drawing creation system according to claim 2,
The two-dimensional projection unit creates a histogram according to the number of shape data extracted by the artifact shape extraction unit,
The drawing extraction system, wherein the shape extraction unit extracts a two-dimensional shape using the histogram.
The drawing creation system according to claim 2,
The drawing creation system, wherein the shape extraction unit extracts a line shape from a two-dimensional image created by the two-dimensional projection unit.
The drawing creation system according to claim 2,
A corresponding reference surface extraction unit that extracts shape data at a position away from the reference surface by a set distance as a corresponding reference surface;
The shape restoration unit includes a shape obtained by extending the two-dimensional shape extracted by the shape extraction unit from the position of the reference plane to the position of the corresponding reference plane in the direction of the reference normal, the reference plane, and the corresponding reference plane A drawing creation system for creating a drawing in which a region surrounded by is represented.
The drawing creation system according to claim 7,
With a corresponding reference surface height setting unit that accepts the distance set by the operator,
The drawing creation system, wherein the corresponding reference plane extraction unit extracts a plane within a set range from a position away from the reference plane by a distance set by the corresponding reference plane height setting unit.
The drawing creation system according to claim 7,
A shape data display for displaying shape data on the screen;
A corresponding reference surface height setting unit that accepts selection of shape data displayed by the shape data display unit,
The corresponding reference plane extraction unit extracts a corresponding reference plane so as to include the selected shape data.
The drawing creation system according to claim 7,
The corresponding reference plane extraction unit extracts a floor surface.
A drawing creation system according to any one of claims 1 to 10,
A shape data display for displaying shape data on the screen;
A shape data selection unit for receiving selection of shape data displayed on the shape data display unit,
The drawing creation system, wherein the reference plane extraction unit extracts a reference plane so as to include the selected shape data.
A drawing creation system according to claim 11,
The drawing data selection unit, when a plurality of entities are specified from the shape data within a selected range, selects the entity located at the forefront.
A drawing creation system according to any one of claims 1 to 10,
The drawing creation system, wherein the reference plane extraction unit extracts a ceiling.
A method of creating a shape drawing from a surrounding measurement result by a measuring unit using a computer,
The computer has a processor that executes a program, and a memory that stores the program,
The method
A reference surface height setting procedure for receiving a setting of a height at which the processor extracts a reference surface;
A reference surface extraction procedure in which the processor extracts a reference surface at a height of a height set by the reference surface height setting unit;
A reference normal estimation procedure in which the processor estimates a reference normal that is a normal of the reference plane;
A shape restoration procedure in which the processor creates a drawing representing a shape extended from the position of the reference surface to a length set in the direction of the reference normal, with the shape of the reference surface being a two-dimensional shape. Including drawing creation method.
A drawing creation method according to claim 14,
An artifact shape extraction procedure in which the processor extracts shape data existing within a set range with respect to the direction of the reference normal from the reference plane;
A two-dimensional projection procedure in which the processor creates a two-dimensional image by projecting the shape data extracted in the artifact shape extraction procedure onto a plane parallel to the reference plane;
The processor includes a shape extraction procedure for extracting a two-dimensional shape from the two-dimensional image created by the two-dimensional projection procedure;
In the shape restoration procedure, instead of the shape of the reference surface, the shape obtained by extending the two-dimensional shape extracted in the shape extraction procedure from the position of the reference surface to the set length in the direction of the reference normal line A drawing creation method, characterized in that a drawing in which is represented is created.