WO2016132490A1

WO2016132490A1 - Drawing preparation system and drawing preparation method

Info

Publication number: WO2016132490A1
Application number: PCT/JP2015/054482
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: JPWO2016132490A1; JP6248228B2

Abstract

This drawing preparation system, which prepares a shape drawing from the results of a measuring unit measuring the surroundings, is provided with: a normal line recognition unit which estimates the normal line of a plane configured by shape data measured by the measurement unit; a coordinate system calculation unit which calculates a coordinate system in having a coordinate axis in direction of the aforementioned normal line; a partial shape determination unit which sets, as partial shapes, shapes surrounded by planes orthogonal to the aforementioned coordinate axis of the coordinate system; and a shape reconstruction unit which arranges a plurality of the aforementioned partial shapes such that the partial shapes encompass the points representing the shape data and such that planes of adjacent partial shapes are smoothly connected to each other.

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), International Publication No. 2011/070927 (Patent Document 2), and JP-A-2014-089104 (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 (International Publication 2011/070927) discloses a non-surface removal unit that removes points in a non-surface region from point cloud data of a measurement object, and points other than points removed by the non-surface removal unit. 3D based on at least one of the surface labeling part that gives the same label to the point on the same surface, the intersection line between the surfaces divided by the surface labeling part, and the convex hull that wraps the surface in a convex shape A three-dimensional edge extracting unit for extracting an edge; a two-dimensional edge extracting unit for extracting a two-dimensional edge from the plane divided by the surface labeling unit; and an edge integrating unit for integrating the three-dimensional edge and the two-dimensional edge. A point cloud data processing apparatus 1 is described.

Patent Document 3 (Japanese Patent Laid-Open No. 2014-89104) discloses a three-dimensional point group in which a laser measuring unit measures a distance from a laser emission point to an irradiation point on a surface to be measured and calculates a three-dimensional coordinate. 3D point cloud acquisition means for acquiring data, and 3D point cloud data acquired as a measurement target when there is no volume estimation target object and a state where a volume estimation target object exists as a measurement target Data storage means for storing a plurality of foreground data, which are three-dimensional point cloud data acquired from a plurality of points, and a voxel for generating a plurality of object voxel data for each object for volume estimation from each of the plurality of foreground data and background data The volume of the common part voxel data extracted as a part common to the data generation means and the plurality of object voxel data is set as the volume of the object to be estimated. Volume estimating apparatus and a volume calculation means for output is described.

Japanese Patent Laid-Open No. 2005-43248 International Publication No. 2011/070927 JP 2014-89104 A

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, it is possible to generate a three-dimensional drawing by recognizing a surface or an edge from the measured point group.

However, a sufficient amount of measurement data is necessary for recognizing surfaces and edges. For this reason, a large amount of measurement data is required to make a detailed part into a drawing. If the amount of measurement data is insufficient, faces and edges cannot be recognized and a drawing may not be created.

On the other hand, in order to make a drawing without failing to a fine part, as disclosed in Patent Document 3, the measured point cloud data is approximated by a set of a plurality of small cubes, thereby drawing the drawing. Can be created. However, when the direction of the cube and the direction of the surface of the entity are different, there is a problem that a step is generated in the restored surface and the surface is broken.

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 a surrounding measurement result by a measurement unit, a normal recognition unit for estimating a normal of a surface constituted by shape data measured by the measurement unit, and the normal A coordinate system calculation unit that calculates a coordinate system with one direction as a coordinate axis, a partial shape determination unit that sets a shape surrounded by a plane orthogonal to the coordinate axis of the coordinate system, and the partial shape is the shape data And a shape restoration unit that arranges a plurality of the partial shapes so that the surfaces of the adjacent partial shapes are smoothly connected to each other.

According to an embodiment of the present invention, a drawing can be created without breaking the shape of the surface of an entity and without failing to restore the shape. 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 structure of the outline | summary of the drawing creation system which can process the shape data comprised from the some site | part of 1st Example. It is a block diagram which shows the physical structure of the drawing creation system of 1st Example. It is a figure which shows the example of the shape data of the surrounding entity which the shape measurement part of 1st Example measured. It is a figure which shows the example of a division | segmentation of the shape data by the division part of 1st Example. It is a flowchart of the normal-line recognition process of the shape data by the normal-line recognition part of 1st Example. It is a figure which shows the example of the result as which the normal line recognition part of 1st Example recognized the normal line. It is a figure which shows the example of the coordinate system information which the coordinate system calculation part of 1st Example computed. It is a figure which shows the example of determination of the partial shape by the partial shape determination part of 1st Example. It is a figure which shows the example of calculation of the surface arrangement | positioning direction and partial shape arrangement | positioning direction by the partial shape determination part of 1st Example. It is a figure which shows creation of the partial shape by the partial shape determination part of 1st Example. It is a figure which shows the example of shape restoration by the shape restoration part of 1st Example. It is a figure which shows the shape restoration result by the shape restoration part of 1st Example. It is a flowchart of the process which the drawing preparation system of a present Example of a 1st Example performs. It is a figure which shows the example of the result as which the normal line recognition part of 2nd Example recognized the normal line. It is a figure which shows the example of the coordinate system information which the coordinate system calculation part of 2nd Example calculated. It is a figure which shows the example of calculation of the partial shape by the partial shape determination part of 2nd Example. It is a figure which shows the example of arrangement | positioning of the partial shape by the shape decompression | restoration part of 2nd Example. It is a figure which shows the decompression | restoration of the shape by the shape restoration part of 2nd Example.

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

<First embodiment>
The drawing creation system of the first embodiment restores the shape without breaking the surface when the front surface and the back surface of the entity are parallel to each other. Even in an environment where many artifacts exist, the drawing creation system of the first embodiment can be used when the above condition is satisfied.

FIG. 1 is a diagram showing a schematic configuration of a drawing creation system of the present embodiment.

1 has a normal line recognition unit 12, a coordinate system calculation unit 14, a partial shape determination unit 16 and a shape restoration unit 18 as a minimum configuration. In addition, the drawing creation system includes shape data 11 obtained by the shape measuring unit 10 measuring the surrounding shape, normal information 13 indicating the normal of the shape data, coordinate system information 15 indicating a coordinate system used for shape restoration, and a target shape. Is stored in the storage device (memory 2, auxiliary storage device 3).

In the present embodiment, a set of points (point group) is handled as an example of the shape data 11, but if the data represents a shape (specifically, the shape can be acquired and does not include information on edges and vertices). Good.

First, the normal recognition unit 12 recognizes the normal on the shape data. When there are a plurality of normals, the normal and the size of the surface are paired and stored as normal information 13. For example, the normal can be recognized using a plane recognition method such as Hough transform.

The coordinate system calculation unit 14 uses the normal information 13 to calculate coordinate system information 15 used for shape restoration of the shape data 11. For example, each coordinate axis constituting the coordinate system is determined using the normal direction stored in the normal information 13. When the target space is a three-dimensional space, three coordinate axes are required. If the number of recognized normals is less than 3, the direction designated by the operator may be used as the coordinate axis. For example, the operator may specify a direction equal to the surface of the entity that could not be measured. Specifically, if the upper surface cannot be measured, it may be vertically upward. When two or more coordinate axes are calculated, the direction of the outer product of the created coordinate axes may be set as a new coordinate axis.

The drawing creation system of this embodiment approximates the target shape by arranging a plurality of small partial shapes 17. The shape of the partial shape 17 is determined by the partial shape determining unit 16. At this time, a region surrounded by a set of planes orthogonal to each coordinate axis that has been created is defined as the partial shape 17. The length of each side of the partial shape 17 may be determined according to the operator's specification. For example, the length may be set according to the accuracy of the shape to be restored. Or since the partial shape 17 is arrange | positioned so that a measurement point may be included in a present Example, what is necessary is just to set length according to the measurement density of a measurement point.

The shape restoration unit 18 arranges the partial shapes 17 so as to include the measured shape data 11. The shape restoration unit 18 is arranged so that adjacent surfaces are smoothly connected so that the surfaces do not collapse. For example, the surfaces can be smoothly connected by stacking the partial shapes 17 in the direction calculated from the coordinate system information 15 by the following method. For example, the stacking direction is the normal group that was not used to create the surface of each partial shape 17 (one normal for a two-dimensional space, two normals for a three-dimensional space). ). As another method for preventing the surface from collapsing, the partial shape 17 may be sequentially added at a position where the newly added partial shape 17 is connected to the surface of the existing partial shape 17.

The shape restoration unit 18 outputs a set of the arranged partial shapes 17 as drawing information 19.

FIG. 2 is a diagram showing a schematic configuration of a drawing creation system capable of processing the shape data 11 composed of a plurality of parts.

2 has a dividing unit 20 that divides the shape data 11 composed of a plurality of parts for each part in addition to the structure shown in FIG. 2 stores the division shape data 21 generated by the division unit 20 in a storage device (memory 2, auxiliary storage device 3).

The divided divided shape data 21 is processed by the normal recognition unit 12, the coordinate system calculating unit 14, the partial shape determining unit 16, and the shape restoring unit 18, as in the drawing creation system shown in FIG. However, in order to handle a plurality of divided shape data 21, the normal line information 22, the coordinate system information 23, and the partial shape 24 are calculated independently for each divided shape data 21. Further, the shape restoration unit 18 integrates the partial shapes 24 created for each divided shape data, and outputs them as drawing information 19.

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

The drawing creation system of this embodiment is configured by a computer having a processor (CPU) 1, a memory 2, an auxiliary storage device 3, and a communication interface 4.

The processor 1 executes a program stored in the memory 2. The memory 2 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 DRAM (Dynamic Random Access Memory), and temporarily stores a program executed by the processor 1 and data used when the program is executed.

The auxiliary storage device 3 is a large-capacity non-volatile storage device such as a magnetic storage device (HDD) or a flash memory (SSD), for example, and a program executed by the processor 1 and data used when the program is executed (for example, , Map data). That is, the program is read from the auxiliary storage device 3, loaded into the memory 2, and executed by the processor 1.

The drawing creation system may have an input interface 5 and an output interface 8. The input interface 5 is an interface to which an input from an operator is received, to which a keyboard 6 and a mouse 7 are connected. The output interface 8 is an interface to which a display device 9 or a printer is connected, and the execution result of the program is output in a form that can be visually recognized by the operator.

The communication interface 4 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 4, 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 1 is provided to the drawing creation system via a removable medium (CD-ROM, flash memory, etc.) or a network, and is stored in the nonvolatile storage device 3 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.

Hereinafter, the processing executed by the drawing creation system of the present embodiment will be described by exemplifying the drawing creation system shown in FIG. 1, but the drawing creation system shown in FIG. This can be realized by executing the process.

FIG. 4 is a diagram showing an example of the shape data of the surrounding

entities

30, 31, 32 measured by the shape measuring unit 10.

When there is an object in the irradiation direction 33 of the laser beam, the distance to the entity in the irradiation direction can be measured by measuring the time until the laser beam is reflected and returned. The shape measuring unit 10 can repeatedly irradiate laser light in all directions and measure the distance to the entire surrounding objects. As a measurement result, one point on the surface of the surrounding object can be measured for each irradiation of the laser. By repeating this, the surrounding shape can be measured as a point cloud. A point group 34 is obtained as the measurement result of the existence object 30, a point group 35 is obtained as the measurement result of the existence object 31, and a point group 36 is obtained as the measurement result of the existence object 32.

FIG. 5 is a diagram showing an example of dividing shape data by the dividing unit 20.

The dividing unit 20 divides the shape data measured by the shape measuring unit 10 into different entities. For example, a clustering method such as Euclidean clustering or spectral clustering may be used to divide the points when the distance between the point groups is long. Specifically, the dividing unit 20 divides the shape data (point group) 11 into

point groups

34, 35, and 36 to generate

clusters

40, 41, and 42.

FIG. 6 is a flowchart of normal recognition processing of the shape data 11 (or each divided shape data 21) by the normal recognition unit 12.

First, the normal line recognition unit 12 executes a plane extraction process for extracting a plane having the maximum size from the shape data (point group) 11 (S500). For example, a plane can be extracted using the Hough transform, but any method other than the Hough transform may be used as long as it is a method for extracting a plane. In addition, a method of extracting a plurality of planes at a time may be used instead of a method of extracting planes in descending order.

Next, the normal line recognition unit 12 executes a data division process that divides the extracted plane data 502 and the remaining data 505 of other parts (S501). Data addition processing for adding the extracted plane data 502 to the normal information 22 is executed (S503). When there are a plurality of normals, the plane data 502 is a combination of the size of the surface and the direction of the normal, and is stored in the normal information 22.

If the data amount of the remaining data 505 other than the plane data 502 is smaller than the predetermined threshold (YES in step S506), the process is terminated. On the other hand, when the data amount of the remaining data 505 is equal to or larger than the predetermined threshold (NO in step S506), the process returns to step S500, and the plane extraction process is repeatedly executed.

FIG. 7 is a diagram illustrating an example of a result of the normal line recognition unit 12 recognizing the normal line.

As shown in FIG. 7A, only one surface is extracted from the point group 34, and one normal 60 is recognized corresponding to the extracted surface. Further, as shown in FIG. 7B, two front and upper surfaces are extracted from the point group 35, and

normals

61 and 62 are recognized corresponding to the extracted surfaces. Yes. As shown in FIG. 7C, three surfaces are extracted from the point group 35, and

normals

63, 64, and 65 corresponding to the extracted surfaces are recognized.

FIG. 8 is a diagram illustrating an example of the coordinate system information 15 calculated by the coordinate system calculation unit 14.

In a three-dimensional space, three coordinate axes are required to construct a coordinate system. The coordinate system calculation unit 14 determines coordinate axes based on the normal lines recognized by the normal line recognition unit 12, but the number of recognized normal lines may be less than the number of necessary coordinate axes. Therefore, the coordinate system calculation unit 14 of the present embodiment will be described in the case where there are three, two, and one recognized normal.

As shown in FIG. 8C, since three normals are recognized from the point group 36, the coordinates of the coordinate axes are 70, 71 and 72 with the direction of each normal as the direction of the coordinate axes. Calculate the system. If the axes are orthogonal, the coordinate system is an orthogonal coordinate system. On the other hand, if the axes are not orthogonal, the coordinate system is a non-orthogonal coordinate system.

As shown in FIG. 8 (B), two normals are recognized from the point group 35, and one more coordinate axis is required to construct a coordinate system. Therefore, the direction 75 is calculated by the outer product of the recognized normal line 73 and the normal line 74. As a result, three directions are defined, and a

normal system

73 and 74 and a direction 75 constitute a coordinate system.

As shown in FIG. 8 (A), one normal is recognized from the point group 34, and two additional coordinate axes are required to construct the coordinate system. Therefore, it suffices to specify the vertically upward direction. If the restoration target is an artifact, in many cases, the upper surface is a horizontal plane, and therefore, the vertical upward direction may be designated. Note that the direction of the edge of the plane extracted by the normal line recognition unit 12 may be specified. The second coordinate axis direction 77 may be automatically designated by the coordinate system calculation unit 14, or the operator may be prompted to input one coordinate axis, and the direction designated by the operator may be used as the coordinate axis. Further, the third coordinate axis is calculated as a direction 78 by the outer product of the normal 76 and the direction 77 and is used as the coordinate axis. As a result, three directions are defined, and the normal system 76 and the

directions

77 and 78 constitute a coordinate system.

Also, if more than 4 normals are recognized, reduce the number of normals until it reaches 3. For example, one of normals in the same direction (for example, a surface having a large extracted plane area) is selected. In addition, three normals may be extracted in descending order of the area of the extracted plane.

Also, when normals in the same direction (including normals that are 180 degrees opposite) are recognized, it is preferable to select the normals of the surface with the large extracted plane area.

FIG. 9 is a diagram illustrating an example of determining the partial shape by the partial shape determining unit 16.

The partial shape determination unit 16 creates planes (planes with the respective coordinate axes as normals) 80, 81, 82 orthogonal to the coordinate

axes

70, 71, 72 calculated by the coordinate system calculation unit 14, and the created planes A partial shape 83 of an area surrounded by 80, 81, 82 is created. In addition, the surface on the opposite side of each surface in the partial shape 83 may be the same surface as the front surface, the back surface of the surface 80 is the same surface as the surface 80, and the back surface of the surface 81 is the same direction as the surface 81. The back surface of the surface 82 and the back surface of the surface 82 generate a surface in the same direction as the surface 82.

The length of each side of the partial shape 83 is the length set by the operator. For example, the operator may set the length from the approximate accuracy of the restored shape. In this embodiment, since the partial shape 83 is arranged so as to include the measurement points (points included in the position data), a length corresponding to the measurement density of the measurement points may be set. Hereinafter, the partial shape determination procedure will be described in detail with reference to FIGS. 10 and 11.

FIG. 10 is a diagram illustrating a calculation example of the surface arrangement direction and the partial shape arrangement direction by the partial shape determination unit 16.

The partial shape determination unit 16 determines the arrangement direction of the surface corresponding to each coordinate axis by calculating the direction orthogonal to the other coordinate axes. For example, as shown in FIG. 10A, the surface created for the coordinate axis 70 is the surface 80 as described in FIG. This surface is arranged in the direction 90 to determine the partial shape. The direction 90 can be calculated by a direction orthogonal to the other coordinate axes (the coordinate axes 71 and 72) (the direction in which the inner product is zero in a two-dimensional space and the direction obtained by outer product calculation in a three-dimensional space). Similarly, for the coordinate axis 71, the arrangement direction 91 of the surface 81 is obtained by calculating the outer product of the coordinate axis 70 and the coordinate axis 72 (FIG. 10B). Similarly, with respect to the coordinate axis 72, the arrangement direction 92 of the surface 82 is obtained by calculating the outer product of the coordinate axis 70 and the coordinate axis 71 (FIG. 10C).

FIG. 11 is a diagram illustrating creation of a partial shape by the partial shape determination unit 16.

Referring to FIG. 11, a method in which the partial shape determination unit 16 creates a partial shape from the surfaces constituting the partial shape and the arrangement direction corresponding to each surface will be described. The surface 80 created for the coordinate axis 70 is moved to the position of the intersection 93 of the coordinate axes to create the surface 94, and further the surface 95 is created at the position moved by the length 90L set in the direction 90. The set length is the length set by the operator as described in FIG.

Similarly, also with respect to the coordinate axis 71, the surface 81 is moved to the position of the intersection 93 of the coordinate axes to create the surface 96, and further, the surface 97 is created at the position moved by the length 91L set in the direction 91. Further, similarly for the coordinate axis 71, the surface 82 is moved to the position of the intersection 93 of the coordinate axes to create the surface 98, and further, the surface 99 is created at a position moved by the length 92L set in the direction 92.

A partial shape 83 can be created by extracting a region surrounded by these

surfaces

94, 95, 96, 97, 98 and 99.

FIG. 12 is a diagram showing an example of shape restoration by the shape restoration unit 18.

The shape restoration unit 18 stacks the partial shapes 83 created by the partial shape determination unit 16 so as to include the shape data 11. For example, the partial shape 83 may be arranged so that the measurement point is located on the front side surface of the partial shape 83, or the partial shape 83 may be arranged so that the measurement point is located inside the partial shape 83. . At this time, the drawing information 19 can be created without breaking the surfaces by smoothly connecting the surfaces of the adjacent partial shapes 83.

A method of stacking the partial shapes 83 that smoothly connect the surfaces of the partial shapes 83 will be described. In order to connect the surfaces, the created partial shapes may be stacked in the above-described surface arrangement direction. Specifically, when the length of each side of the partial shape 83 is set according to the measurement density of the measurement points, if the partial shape 83 is translated in the direction 90 to the position of the measurement points and stacked, If it is translated and stacked in the direction 91, the arrangement example 102 is obtained. If it is translated in the direction 92 and stacked, the arrangement example 103 is obtained. Thus, even if the partial shapes 83 are stacked in any plane arrangement direction, each plane is smoothly connected. By repeating this process, the shape 104 for restoring the point group 36 can be created.

Also, the partial shape 83 is not arranged at the position of each measurement point, but the partial shape 83 is not arranged at the position of each measurement point, but the partial shape 83 is arranged along a predetermined grid. Good.

Further, the partial shape 83 may be arranged from an arbitrary position.

FIG. 13 is a diagram showing a shape restoration result by the shape restoration unit 18.

By restoring the shapes of the

existences

30, 31, and 32 independently, the restored

shapes

110, 111, and 112 are obtained, respectively. According to the present embodiment, the shape can be restored without breaking the surface by stacking the partial shapes 83 in the same direction as the surface of the object to be restored. Furthermore, if the partial shape 83 is determined, the partial shape 83 is simply repeatedly arranged so as to cover the measured shape data, so that the possibility of failure in drawing creation is low.

In addition, the procedure shown in the present embodiment is a method of restoring the shape without breaking the surface when the front and back surfaces of each entity are parallel. There is a problem that this aspect collapses. However, most of the artifacts to be drawn are parallel to the front surface and the back surface, and only the surface with a small amount of measurement is broken, so that the surface is rarely broken.

FIG. 14 is a flowchart of processing executed by the drawing creation system of this embodiment.

First, the dividing unit 20 divides the shape data 11 composed of a plurality of parts for each part, and creates divided shape data 21 (S1200). The normal line recognition unit 12 recognizes each normal line of the divided divided shape data 21 (S1201). When there are a plurality of normals, the combination of the size of the surface and the direction of the normal is stored in the normal information 22. For example, the normal can be recognized using a plane recognition method such as Hough transform.

Next, the coordinate system calculation unit 14 uses the normal information 22 to calculate the coordinate system information 15 used for shape restoration (S1202). For each coordinate axis constituting the coordinate system, the normal direction stored in the normal information 13 is used. If the target space is three-dimensional, three coordinate axes are required, but if the number of recognized normals is less than three, the direction specified by the operator (for example, the surface of the surrounding shape that could not be measured) May be used as a coordinate axis. For example, when the upper surface cannot be measured, the vertical upward direction may be specified. When two or more coordinate axes are calculated, the outer product of the calculated coordinate axes may be calculated and the direction may be set as a new coordinate axis.

Next, the partial shape determining unit 16 determines the shape of the partial shape (S1203). For example, a region surrounded by a set of planes orthogonal to each coordinate axis that has been created is defined as a partial shape 38. The length of each side of the partial shape 38 is designated by the operator based on the approximate accuracy of the shape to be restored. Alternatively, in the present embodiment, since the partial shape 38 is arranged so as to include the measurement points, the length may be set according to the measurement density of the measurement points.

Next, the shape restoration unit 18 arranges the partial shapes 38 so as to include the measured shape data (S1204). It is good to arrange so that adjacent surfaces may be smoothly connected so that the surfaces to be restored will not collapse. Thereafter, a set of the arranged partial shapes 38 is output as the drawing information 19.

As described above, according to the first embodiment of the present invention, the shape restoration unit 18 includes the partial shape 83 including the shape data (point group) and the surfaces of the adjacent partial shapes 83 are smooth. Since the partial shapes 83 are arranged so as to be connected, regardless of the size and orientation of the existence, the shape of the surface of the existence is not destroyed and the drawing can be created without failing to restore the shape (robustly). can do.

Further, the dividing unit 20 divides the shape data 11 into divided shape data 21, the normal recognition unit 12 recognizes a normal for each divided shape data 21, and the coordinate system calculation unit 14 performs a normal for each divided shape data 21. A coordinate system having one axis as one axis is calculated, and the shape restoration unit 18 arranges the partial shapes 83 using the coordinate system calculated for each divided shape data 21. Therefore, two or more surfaces having different directions are provided. Even in an environment where an object exists, a drawing can be created without breaking the shape of the surface of the object.

Also, since the partial shape determining unit 16 determines the length of each side of the partial shape based on an instruction from the operator, it is possible to determine the size of the partial shape according to the accuracy with which the shape is restored.

Further, the partial shape determining unit 16 determines the shape of the partial shape so that the shape data is located on the surface of the partial shape 83 and the surfaces of the adjacent partial shapes are smoothly connected to each other. The accuracy of the position of the surface of the shape can be improved.

In addition, the shape restoration unit 18 has a partial shape in a direction orthogonal to two normals that were not used to create the surface of the partial shape 83 (a direction orthogonal in a two-dimensional space, a direction of an outer product in a three-dimensional space or more). Since 83 are arranged side by side, the restored shape can be made smooth.

In addition, since the normal recognition unit 12 estimates normals in order from the largest plane in the shape data, it is possible to correctly calculate the coordinate system and improve the accuracy of the restored shape.

In addition, the normal recognition unit 12 associates the sizes and normals of a plurality of planes configured by shape data and records them in the

normal information

13 and 22, and the coordinate system calculation unit 14 has a surface configured by shape data. Since the coordinate system is calculated by selecting the normal corresponding to the plane in the descending order as the coordinate axis, it is possible to correctly calculate the coordinate system and improve the accuracy of the restored shape.

In addition, the coordinate system calculation unit 14 determines the coordinate axis corresponding to the surface that is not configured by the shape data by calculating the outer product of two normals having different directions among the estimated normal lines. From these, three normals can be estimated.

In addition, since the coordinate system calculation unit 14 determines the coordinate axis in the direction designated by the operator, even when only one normal is estimated from the measured point group, an appropriate normal can be determined.

<Second embodiment>
In the second embodiment, a drawing creation system that defines a different coordinate system for each position of an entity 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. 15 is a diagram illustrating an example of a result of the normal line recognition unit 12 recognizing the normal line in the second embodiment.

In the second embodiment, in order to define a coordinate system for each point of the measurement data, the normal recognition unit 12 searches for a neighboring point for each point of the measurement data, and uses a normal calculation method such as principal component analysis. A normal direction 1301 is obtained. Thereby, the normal direction can be recognized for each point.

FIG. 16 is a diagram illustrating an example of the coordinate system information 15 calculated by the coordinate system calculation unit 14 of the second embodiment.

∙ Since the recognized normal is only calculated in one direction, it is necessary to add two axes. First, the outer product of the vertically upward direction and the recognized normal direction is calculated to determine one coordinate axis. Further, the outer product of the determined coordinate axis and the normal direction is calculated to determine another coordinate axis.

Furthermore, the coordinate system may be modified so that the coordinate systems of adjacent points are close to each other. For example, the coordinate system can be modified by fixing the normal vector and rotating the other two axes about the normal vector. Further, the difference in the direction of each axis is obtained by the square sum of the directions of the respective axes, and the closeness of the coordinate system is calculated. The rotation amount of the coordinate axes is obtained by an optimization method such as the steepest descent method, and the coordinate axes are corrected so as to minimize the sum of squares in the direction of each axis. As a result, adjacent coordinate systems become closer.

FIG. 17 is a diagram illustrating an example of calculation of a partial shape by the partial shape determination unit 16 of the second embodiment.

First, the orientation of the surface is determined for each position of the entity. For example, the direction of the surface is determined as a surface having the coordinate axis direction as a normal line. When the coordinate system changes within the partial shape, the front and back surfaces of the partial shape are determined non-parallel to match the coordinate system. Further, when the point cloud is not measured and the coordinate system is unknown, it may be determined as a plane parallel to the opposite plane.

Further, in the portion where the direction of the coordinate system changes, the portion where the basic partial shape 38 overlaps the adjacent partial shape may be deleted so that the surfaces of the adjacent partial shapes 83 are smoothly connected to each other. . At this time, the surface of the partial shape 83 located outside the shape to be restored may be smoothly connected, and the surface of the partial shape 83 located inside the shape to be restored is an unknown surface and its position is determined. It does not have to be.

In the present embodiment, the size of the partial shape is determined so that the surface of the partial shape matches the position of the point cloud. For example, in FIG. 17, when the point group 1502 is measured, the left side of the partial shape 1501 is matched with the position of the point group. When two or more point groups are measured on the surface of one partial shape, an average of the two or more point groups is used. Also in this embodiment, as shown in FIG. 9, the operator may determine the length of each side of the partial shape.

In FIG. 17, the explanation has been given on the two-dimensional, but the three-dimensional can be processed in the same procedure.

FIG. 18 is a diagram illustrating an arrangement example of the partial shapes 17 by the shape restoration unit 18 of the second embodiment.

In this embodiment, since the coordinate system is different for each position of the entity, the arrangement direction of the partial shape is also different for each position. As shown in FIG. 12, the arrangement direction of the partial shape is determined using the coordinate system at the position of each surface of the partial shape, and the partial shapes are sequentially added. For example, as shown in FIG. When the shape in the range 1600 is restored, first, the partial shape arrangement direction on the right side 1602 surface of the leftmost partial shape 1601 in the range 1600 is a direction 1603. Therefore, a partial shape 1604 is created and added in the direction of the direction 1603. Similarly, by adding a new partial shape 1607 in the direction 1606 from the surface 1605 and further adding

partial shapes

1608 and 1609 in order, the shape of the point group in the range 1600 can be restored.

Then, as shown in FIG. 19, this process is repeated to generate a restored shape 1700 in which all the shape data 1300 is restored.

As described above, according to the second embodiment of the present invention, the coordinate system calculation unit 14 calculates a coordinate system for each of a plurality of positions of the shape data 1300, and information on the position and the calculated coordinate system Information is recorded in the coordinate

system information

15 and 23 in association with the information, and the shape restoration unit 18 arranges partial shapes using the coordinate system calculated for each position. For this reason, it is possible to restore the shape of an arbitrarily-shaped entity (including a curved surface or a surface whose back and front are not parallel).

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 normal recognition unit that estimates a normal of a surface constituted by the shape data measured by the measurement unit;
A coordinate system calculation unit that calculates a coordinate system having the direction of the normal as one coordinate axis;
A partial shape determining unit that takes a shape surrounded by a plane orthogonal to the coordinate axis of the coordinate system as a partial shape;
A shape restoration unit that includes a plurality of the partial shapes so that the partial shapes include points representing the shape data and the surfaces of adjacent partial shapes are smoothly connected to each other. To create a drawing system.
A drawing creation system according to claim 1,
A division unit for dividing the shape data into a plurality of divided shape data;
The normal recognition unit recognizes a normal for each divided shape data,
The coordinate system calculation unit calculates a coordinate system with the direction of the normal as one axis for each of the divided shape data,
The shape restoration unit includes, for each of the divided shape data, a plurality of the portions so that the partial shape includes a point representing the divided shape data and surfaces of adjacent partial shapes are smoothly connected to each other. A drawing creation system characterized by arranging shapes.
A drawing creation system according to claim 1,
The partial shape determination unit determines a length of each side of the partial shape based on an instruction from an operator, and determines the shape of the partial shape.
A drawing creation system according to claim 1,
The partial shape determining unit determines the shape of the partial shape so that the shape data is located on the surface of the partial shape and surfaces of adjacent partial shapes are smoothly connected to each other. To create a drawing system.
A drawing creation system according to any one of claims 1 to 4,
The drawing reconstruction system, wherein the shape restoration unit arranges the partial shapes side by side in a direction orthogonal to two normals that were not used for creating the surface of the partial shape.
A drawing creation system according to any one of claims 1 to 4,
The drawing recognizing system, wherein the normal recognizing unit estimates normals in descending order of the surface constituted by the shape data.
The drawing creation system according to claim 6,
The normal recognition unit associates and records in a memory the size and normal of a plurality of planes configured by the shape data,
The drawing system according to claim 1, wherein the coordinate system calculation unit calculates a coordinate system by selecting a normal line corresponding to the plane as a coordinate axis in order of decreasing size of the plurality of planes.
The drawing creation system according to claim 7,
The coordinate system calculation unit determines a coordinate axis corresponding to a surface not constituted by the shape data by calculating an outer product of two normals having different directions among the estimated normal lines. system.
The drawing creation system according to claim 7,
The drawing system, wherein the coordinate system calculation unit determines a coordinate axis in a direction designated by an operator.
A drawing creation system according to any one of claims 1 to 4,
The coordinate system calculation unit calculates a coordinate system for each of a plurality of positions of the shape data, associates the information of the position with the information of the calculated coordinate system, and records the information in the memory,
The drawing reconstruction system, wherein the shape restoration unit arranges the partial shapes using a coordinate system calculated for each position.
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 normal recognition procedure in which the processor estimates a normal of a surface constituted by shape data measured by the measurement unit;
A coordinate system calculation procedure in which the processor calculates a coordinate system having the direction of the normal as one coordinate axis;
A partial shape determination procedure in which the processor has a shape surrounded by a plane orthogonal to the coordinate axis of the coordinate system;
The processor includes a shape restoration procedure for arranging a plurality of the partial shapes so that the partial shapes include a point representing the shape data and surfaces of adjacent partial shapes are smoothly connected to each other. A drawing creation method characterized by the above.
A drawing creation method according to claim 11,
The processor includes a dividing procedure for dividing the shape data into a plurality of divided shape data;
In the normal recognition procedure, a normal is recognized for each divided shape data,
In the coordinate system calculation procedure, a coordinate system having the direction of the normal as one axis is calculated for each of the divided shape data,
In the shape restoration procedure, the partial shape is arranged using a coordinate system calculated for each of the divided shape data.
A drawing creation method according to claim 11,
In the partial shape determination procedure, a drawing creation method is characterized in that, based on an instruction from an operator, the length of each side of the partial shape is determined to determine the shape of the partial shape.
A drawing creation method according to claim 11,
In the partial shape determining procedure, the shape of the partial shape is determined so that the shape data is positioned on the surface of the partial shape and surfaces of the adjacent partial shapes are smoothly connected to each other. Drawing creation method.
A drawing creation method according to any one of claims 11 to 14,
In the shape restoration procedure, the partial shape is arranged side by side in a direction orthogonal to two normals not used for creating the partial shape surface.