WO2022244206A1 - 測定条件最適化システム、三次元データ測定システム、測定条件最適化方法、及び非一時的なコンピュータ可読媒体 - Google Patents
測定条件最適化システム、三次元データ測定システム、測定条件最適化方法、及び非一時的なコンピュータ可読媒体 Download PDFInfo
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- 238000005259 measurement Methods 0.000 title claims abstract description 459
- 238000005457 optimization Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims description 30
- 238000012545 processing Methods 0.000 claims abstract description 46
- 230000009466 transformation Effects 0.000 claims description 21
- 230000001131 transforming effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 30
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 238000005401 electroluminescence Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Definitions
- the present invention relates to a measurement condition optimization system, a three-dimensional data measurement system, a measurement condition optimization method, and a non-transitory computer-readable medium.
- Patent Literature 1 discloses a technology related to an inspection planning support system that can appropriately collect data on structures to be inspected and detect locations requiring inspection by appropriate and simple means.
- Japanese Patent Application Laid-Open No. 2002-200003 discloses a technique for reducing the user's work by easily selecting a suitable image when selecting an image for a predetermined use from a group of images captured by a camera. disclosed.
- a three-dimensional distance sensor such as LIDAR is mounted on an autonomous mobile means and made to patrol, acquire three-dimensional data of social infrastructure facilities, and use the acquired three-dimensional data to determine the facilities in the facility.
- Technology for automatic inspection has been developed.
- An object of the present disclosure is to provide a measurement condition optimization system, a three-dimensional data measurement system, and a measurement condition that can optimize measurement conditions when measuring three-dimensional data of equipment to be measured in a facility using a measurement device.
- An optimization method and a non-transitory computer-readable medium are provided.
- a measurement condition optimization system includes a three-dimensional data input unit for inputting three-dimensional data of equipment to be measured in a predetermined facility, measured under predetermined measurement conditions using a measuring device; an overlapping portion determination unit that performs alignment processing on each of the input three-dimensional data and determines an overlapping portion included in the three-dimensional data after the alignment processing; a measurement policy acquisition unit that acquires a measurement policy when acquiring three-dimensional data of equipment to be measured; and a measurement condition adjustment unit that adjusts the measurement conditions so that overlapping portions included in the three-dimensional data are reduced.
- a three-dimensional data measurement system includes the above-described measurement condition optimization system and a measurement device that acquires three-dimensional data of the equipment to be measured in the facility, wherein the measurement device: Three-dimensional data of the equipment to be measured in the facility is newly acquired using the measurement conditions adjusted by the measurement condition adjustment unit.
- a method for optimizing measurement conditions includes inputting three-dimensional data of equipment to be measured in a predetermined facility measured under predetermined measurement conditions using a measuring device, and obtaining the input three-dimensional data Alignment processing is performed for each of the above, overlapping portions included in the three-dimensional data after the alignment processing are determined, and three-dimensional data of the equipment to be measured in the facility is obtained using the measuring device.
- a current measurement policy is acquired, and the measurement conditions are adjusted so as to satisfy the acquired measurement policy and to reduce overlapping portions included in the three-dimensional data determined to be overlapping portions.
- a non-transitory computer-readable medium includes a process of inputting three-dimensional data of a facility to be measured in a predetermined facility, which is measured under predetermined measurement conditions using a measuring device; performing alignment processing on each of the three-dimensional data obtained by the alignment processing, determining overlapping portions included in the three-dimensional data after the alignment processing; a process of acquiring a measurement policy when acquiring three-dimensional data; and a process of satisfying the acquired measurement policy and reducing overlapping portions included in the three-dimensional data determined to be overlapping portions, and a process for adjusting the measurement conditions.
- a measurement condition optimization system a three-dimensional data measurement system, and a measurement condition optimization that can optimize measurement conditions when acquiring three-dimensional data of equipment to be measured in a facility using a measurement device
- a method and non-transitory computer-readable medium can be provided.
- FIG. 1 is a block diagram showing a configuration example of a measurement condition optimization system according to Embodiment 1;
- FIG. FIG. 2 is a plan view for explaining an example of a patrol route when measuring equipment to be measured in a facility using a measuring device;
- FIG. 7 is a diagram for explaining overlapping portion determination processing of the measurement condition optimization system according to the first embodiment;
- 4 is a flow chart for explaining the operation of the measurement condition optimization system according to the first embodiment;
- FIG. 5 is a diagram for explaining an example of measurement condition optimization processing;
- FIG. 9 is a diagram for explaining another example of measurement condition optimization processing;
- FIG. 9 is a diagram for explaining another example of measurement condition optimization processing;
- FIG. 2 is a block diagram showing a configuration example of a three-dimensional data measurement system according to a second embodiment;
- FIG. 11 is a block diagram showing a configuration example of a three-dimensional data measurement system according to a third embodiment
- FIG. 1 is a block diagram showing a hardware configuration example including a measurement condition optimization system and a three-dimensional data measurement system according to the present disclosure
- FIG. 1 is a block diagram showing a configuration example of a measurement condition optimization system according to a first embodiment.
- the measurement condition optimization system 1 according to the present embodiment includes a three-dimensional data input section 11, an overlapping part determination section 12, a measurement policy acquisition section 13, and a measurement condition adjustment section .
- the measurement condition optimization system 1 according to the present embodiment is, for example, a system that optimizes the measurement conditions of the measurement device when the measurement device is made to tour and three-dimensional data of a predetermined facility such as a social infrastructure facility is acquired. is.
- the measuring device is a device in which a three-dimensional distance sensor such as LIDAR is mounted on autonomous moving means.
- a three-dimensional distance sensor such as LIDAR
- autonomously movable vehicles equipped with LIDAR autonomously movable drones equipped with LIDAR
- autonomously movable robots equipped with LIDAR autonomously movable robots equipped with LIDAR.
- the measuring device is not limited to these, and any device having a three-dimensional distance sensor mounted on an autonomous moving means may be used.
- FIG. 2 is a plan view for explaining an example of a patrol route when measuring equipment to be measured in a facility using a measuring device.
- a predetermined facility 20 in a predetermined facility 20, facilities 21 to 23 to be measured are provided.
- the predetermined facilities 20 are social infrastructure facilities such as power plants and substations.
- the facilities 21 to 23 to be measured are transformers, insulators, steel structures, lead wires, and the like.
- a measuring device 15 is also provided in the facility 20 .
- the measuring device 15 can sequentially acquire three-dimensional data of the equipment to be measured 21 to 23 in the facility 20 by moving along the patrol route 25 shown in FIG. Note that the scope of application of the present disclosure is not limited to social infrastructure facilities such as power plants and substations, and can be applied to optimization of measurement conditions for equipment in all other facilities.
- Three-dimensional data of the equipment to be measured 21 to 23 in the predetermined facility 20 can be acquired by measuring the equipment to be measured 21 to 23 under predetermined measurement conditions using the measuring device 15 .
- the measurement conditions at this time are the measurement conditions before optimization, and can be arbitrary measurement conditions.
- the measurement conditions may be such that the three-dimensional data of all the equipment to be measured 21 to 23 in the facility 20 can be obtained without omission (that is, the measurement conditions are provided with a large number of measurement positions).
- three-dimensional data is, for example, point cloud data, three-dimensional CAD data, and the like.
- point cloud data can be acquired using a three-dimensional distance sensor such as LIDAR, and three mutually orthogonal axes (XYZ coordinates, distance, azimuth angle, elevation It is a group of data on an axis such as an angle).
- the point cloud data which is three-dimensional data, includes at least shape data (typically XYZ coordinates) of the facility to be measured, and may also include incidental information such as brightness information.
- the three-dimensional data input unit 11 inputs three-dimensional data measured by the measuring device 15 .
- the three-dimensional data input unit 11 may be a storage device that inputs and holds three-dimensional data measured by the measuring device 15 .
- the overlapping portion determination unit 12 shown in FIG. 1 performs alignment processing on each of the three-dimensional data input to the three-dimensional data input unit 11, and determines the overlapping portions included in the three-dimensional data after the alignment processing. judge. For example, if point groups included in three-dimensional data acquired at adjacent measurement positions in the three-dimensional data after alignment processing are adjacent to each other, the overlapping portion determining unit 12 You may determine the part containing the point cloud which is made as an overlapping part.
- FIG. 3 is a diagram for explaining overlapping part determination processing of the measurement condition optimization system according to the present embodiment.
- FIG. 3 shows an example in which the overlapping portion determination process is performed on each of two pieces of three-dimensional data 31 and 32 .
- the two three-dimensional data 31 and 32 are three-dimensional data measured at different measurement positions (for example, measurement positions P1 and P2 in FIG. 5).
- the three-dimensional data 31 includes a point group 41
- the three-dimensional data 32 includes a point group 42.
- Each point group 41, 42 represents the characteristic points of the equipment to be measured.
- the example shown in FIG. 3 shows the state after performing the alignment process on each of the three-dimensional data 31 and 32 .
- the measurement range 35 of the three-dimensional data 31 and the measurement range 36 of the three-dimensional data 32 have an overlapping portion 37 that overlaps with each other. In the overlapping portion 37, there is a portion 43 where the point group 41 of the three-dimensional data 31 and the point group 42 of the three-dimensional data 32 are adjacent to each other.
- the overlapping portion determination unit 12 thus detects a portion 43 where the point group 41 of the three-dimensional data 31 and the point group 42 of the three-dimensional data 32 are adjacent to each other, and determines that the point groups 41 and 42 are adjacent to each other.
- a portion including the portion 43 where the overlap is determined as the overlapping portion 37 .
- the point 43 where the point group 41 of the three-dimensional data 31 and the point group 42 of the three-dimensional data 32 are adjacent to each other correspond to the point group expressing the same characteristic point of the facility to be measured.
- the overlapping portion determination unit 12 may use the information of the point groups 41 and 42 in the overlapping portion 37 to calculate the measurement position/beam direction when acquiring each of the point groups 41 and 42 . That is, based on the information of each of the point groups 41 and 42, the overlapping portion determination unit 12 calculates information on the measurement position and beam direction of the measuring device 15 used to acquire the point groups 41 and 42. may
- the overlapping part determination unit 12 further calculates the orientation of the surface of the equipment to be measured on which the beam (the beam irradiated from the LIDAR) is incident using three-dimensional data, and irradiates the calculated surface orientation and the beam
- the angle of incidence of the beam incident on the equipment to be measured may be calculated using the coordinates of the measured position.
- the overlapping portion determination unit 12 uses the three-dimensional data (point cloud data) to calculate the orientation of the surface of the facility to be measured with respect to the measurement position (LIDAR position). Then, the overlapping part determination unit 12 uses the calculated orientation of the surface of the equipment to be measured and the coordinates of the measurement position (position of LIDAR) to calculate the incident angle of the beam incident on the equipment to be measured. can be done.
- the measurement policy acquisition unit 13 shown in FIG. 1 acquires the measurement policy when acquiring the three-dimensional data of the equipment to be measured 21 to 23 in the facility 20 using the measurement device 15 .
- the measurement policy includes the range of incident angles of the beams incident on the equipment to be measured 21 to 23, the resolution to be satisfied by the three-dimensional data measured by the measuring device 15, and the like.
- the measurement policy acquisition unit 13 may acquire information about the measurement policy input by the user using the input unit 160 (see FIG. 10). Alternatively, the measurement policy acquisition unit 13 may store information regarding the measurement policy in advance. Note that the measurement policy may be set for each of the equipment to be measured 21 to 23, or may be set for the equipment to be measured 21 to 23 in the facility 20 collectively.
- the measurement condition adjusting unit 14 shown in FIG. 1 satisfies the measurement policy acquired by the measurement policy acquiring unit 13 and reduces the overlapping portion included in the three-dimensional data determined by the overlapping portion determining unit 12. to adjust the measurement conditions.
- the measurement condition adjusting unit 14 inputs information about the overlapping portion included in the three-dimensional data determined by the overlapping portion determining unit 12 and information about the measurement policy acquired by the measurement policy acquiring unit 13 .
- the measurement condition adjustment unit 14 adjusts the measurement conditions such as the measurement position, measurement range, and resolution of the measurement device 15 based on the input information about the overlapping portion and information about the measurement policy.
- the measurement condition adjustment unit 14 adjusts the measurement conditions of the measurement device 15 so as to reduce overlapping portions included in the three-dimensional data.
- the measurement policy includes the range of the incident angle of the beam incident on the equipment to be measured
- the measurement conditions of the measuring device 15 include the conditions under which the measuring device 15 acquires three-dimensional data of the equipment to be measured. Includes measurement range.
- the measurement condition adjustment unit 14 adjusts the measurement apparatus so that the range of the incident angle of the beam incident on the equipment to be measured falls within the range of the measurement policy, and so that overlapping portions included in the three-dimensional data are reduced. Adjust 15 measurement ranges.
- the measurement conditions may include the measurement position when the measurement device 15 acquires the three-dimensional data of the facility to be measured.
- the measurement condition adjustment unit 14 may adjust the measurement position of the measurement device 15 so as to satisfy the measurement policy and reduce overlapping portions included in the three-dimensional data.
- the measurement policy may include the resolution that the three-dimensional data measured by the measurement device 15 should satisfy.
- the measurement condition adjustment unit 14 adjusts the measurement device 15 so that the resolution of the three-dimensional data measured by the measurement device 15 satisfies the measurement policy and that overlapping portions included in the three-dimensional data are reduced. Measurement conditions may be adjusted.
- the overlapping portion may be reduced so that the area of the overlapping portion 37 in the measurement range 35 of the three-dimensional data 31 is less than or equal to a predetermined ratio (for example, less than or equal to 5%).
- overlapping portions may be reduced so that the data size of the entire three-dimensional data is equal to or less than a predetermined data size. In this embodiment, it is preferable that the overlapping portion is as small as possible, and it is most preferable that there is no overlapping portion.
- adjusting the measurement conditions of the measurement device 15 so as to reduce overlapping portions included in the three-dimensional data will be described later.
- FIG. 4 is a flowchart for explaining the operation of the measurement condition optimization system according to this embodiment.
- the three-dimensional data input unit 11 inputs the three-dimensional data of the equipment to be measured 21 to 23 in the predetermined facility 20 (step S1).
- Three-dimensional data of the equipment to be measured 21 to 23 in the predetermined facility 20 can be obtained by measuring the equipment to be measured 21 to 23 (see FIG. 2) under predetermined measurement conditions using the measuring device 15. .
- the measurement conditions at this time are the measurement conditions before optimization, and can be arbitrary measurement conditions.
- FIG. 5 is a diagram for explaining an example of measurement condition optimization processing.
- FIG. 5 shows a state in which the measuring device 15 moves along the patrol route 25 and acquires three-dimensional data of the facility to be measured 21 at each of the measuring positions P1 to P3.
- the measuring device 15 is assumed to stop and measure at the measuring positions P1 to P3 when acquiring the three-dimensional data of the facility 21 to be measured. The same applies to other measurement positions.
- the measuring device 15 acquires three-dimensional data of the equipment 21 to be measured by measuring the equipment 21 to be measured at the measurement positions P1 to P3.
- the measurement range of the measurement device 15 at the measurement position P1 is ⁇ 1
- the measurement range of the measurement device 15 at the measurement position P2 is ⁇ 2
- the measurement range of the measurement device 15 at the measurement position P3 is ⁇ 3.
- the three-dimensional data input unit 11 (see FIG. 1) inputs the three-dimensional data of the equipment to be measured 21 thus measured.
- the overlapping portion determination unit 12 (see FIG. 1) performs alignment processing on each piece of three-dimensional data input to the three-dimensional data input unit 11, and performs alignment processing on the three-dimensional data after the alignment processing.
- the included overlapping portion is determined (step S2).
- the three-dimensional data of the facility to be measured 21 measured using the measuring device 15 includes overlapping portions D1 and D2.
- the overlapping part determination unit 12 determines these overlapping parts D1 and D2.
- the three-dimensional data measured at the measurement position P1 and the three-dimensional data measured at the measurement position P2 include the overlapping portion D1.
- the three-dimensional data measured at the measurement position P2 and the three-dimensional data measured at the measurement position P3 include an overlapping portion D2.
- the overlapping portion determination unit 12 determines such overlapping portions D1 and D2 included in the three-dimensional data input to the three-dimensional data input unit 11.
- the overlapping portion determining unit 12 It is possible to determine that the portion including the point cloud that is the overlapping portion (see FIG. 3).
- the measurement policy acquisition unit 13 acquires a measurement policy when acquiring three-dimensional data of the equipment to be measured 21 to 23 in the facility 20 using the measurement device 15 (step S3).
- the measurement policy includes the range of incident angles of the beams incident on the equipment to be measured 21 to 23, the resolution to be satisfied by the three-dimensional data measured by the measuring device 15, and the like.
- the measurement condition adjustment unit 14 adjusts the overlapping portion included in the three-dimensional data determined by the overlapping portion determination unit 12 so as to satisfy the measurement policy acquired by the measurement policy acquisition unit 13.
- the measurement conditions are adjusted so as to decrease (step S4).
- the measurement policy includes the range of the incident angle of the beam incident on the equipment to be measured
- the measurement conditions of the measuring device 15 include the conditions under which the measuring device 15 acquires three-dimensional data of the equipment to be measured. Includes measurement range.
- the measurement condition adjustment unit 14 adjusts the measurement apparatus so that the range of the incident angle of the beam incident on the equipment to be measured falls within the range of the measurement policy, and so that overlapping portions included in the three-dimensional data are reduced. Adjust 15 measurement ranges.
- the measurement condition adjustment unit 14 adjusts the measurement range at the measurement position P2 from ⁇ 2 to ⁇ 2a so that the measurement range at the measurement position P1 of the measurement device 15 is from ⁇ 1 to ⁇ 1a.
- the measurement range of the measurement device 15 is adjusted so that the measurement range at the measurement position P3 is from ⁇ 3 to ⁇ 3a.
- the measurement ranges ⁇ 1a to ⁇ 3a may have the same angles or may have different angles. It is also assumed that the measurement range ⁇ 1a to ⁇ 3a satisfies the measurement policy acquired by the measurement policy acquisition unit 13.
- FIG. 6 is a diagram for explaining another example of the measurement condition optimization process.
- the measuring device 15 moves along the patrol route 25 and acquires three-dimensional data of the facility to be measured 21 at each of the measurement positions P11 to P14. .
- the measuring device 15 acquires three-dimensional data of the equipment 21 to be measured by measuring the equipment 21 to be measured at the measurement positions P11 to P14.
- the measurement range of the measurement device 15 at the measurement position P11 is ⁇ 11
- the measurement range of the measurement device 15 at the measurement position P12 is ⁇ 12
- the measurement range of the measurement device 15 at the measurement position P13 is ⁇ 13
- the measurement range of the measurement device 15 at the measurement position P14 is The measurement range is ⁇ 14.
- the three-dimensional data input unit 11 (see FIG. 1) inputs the three-dimensional data of the equipment to be measured 21 thus measured (step S1).
- the overlapping portion determination unit 12 performs alignment processing on each piece of three-dimensional data input to the three-dimensional data input unit 11, and performs alignment processing on the three-dimensional data after the alignment processing.
- the included overlapping portions D11, D12, D13 are determined (step S2). Specifically, as shown in the upper diagram of FIG. 6, the three-dimensional data measured at the measurement position P11 and the three-dimensional data measured at the measurement position P12 include an overlapping portion D11. Moreover, the three-dimensional data measured at the measurement position P12 and the three-dimensional data measured at the measurement position P13 include an overlapping portion D12. Moreover, the three-dimensional data measured at the measurement position P13 and the three-dimensional data measured at the measurement position P14 include an overlapping portion D13.
- the overlapping portion determination section 12 determines such overlapping portions D11, D12, and D13 included in the three-dimensional data input to the three-dimensional data input section 11. FIG.
- the measurement policy acquisition unit 13 acquires a measurement policy when acquiring three-dimensional data of the equipment to be measured 21 to 23 in the facility 20 using the measurement device 15 (step S3).
- the measurement condition adjustment unit 14 adjusts the overlapping portion included in the three-dimensional data determined by the overlapping portion determination unit 12 so as to satisfy the measurement policy acquired by the measurement policy acquisition unit 13.
- the measurement conditions are adjusted so as to decrease (step S4).
- the measurement condition adjustment unit 14 adjusts the measurement positions P11 to P14 (upper diagram in FIG. 6) of the measurement device 15 to measurement positions P11a to P13a (lower diagram in FIG. 6). Further, the measurement condition adjusting unit 14 adjusts the measurement range at the measurement position P11a of the measurement device 15 to ⁇ 11a, the measurement range at the measurement position P12a to ⁇ 12a, and the measurement range at the measurement position P13a to ⁇ 13a. Then, the measuring range of the measuring device 15 is adjusted respectively.
- the measurement ranges ⁇ 11a to ⁇ 13a may have the same angles or may have different angles.
- the measurement condition adjustment unit 14 can reduce the overlapping portions 53 and 54 included in the three-dimensional data by adjusting the measurement position and measurement range of the measurement device 15 . Therefore, it is possible to optimize the measurement conditions when acquiring the three-dimensional data of the equipment to be measured in the facility using the measurement device 15 .
- FIG. 7 is a diagram for explaining another example of the measurement condition optimization process.
- the measuring device 15 moves along the patrol route 25 and acquires three-dimensional data of the equipment to be measured 21 at each of the measurement positions P21 to P24. .
- the measuring device 15 obtains three-dimensional data of the equipment to be measured 21 by measuring the equipment to be measured 21 at the measurement positions P21 to P24.
- the measurement range of the measurement device 15 at the measurement position P21 is ⁇ 21
- the measurement range of the measurement device 15 at the measurement position P22 is ⁇ 22
- the measurement range of the measurement device 15 at the measurement position P23 is ⁇ 23
- the measurement range of the measurement device 15 at the measurement position P24 is The measurement range is ⁇ 24.
- the three-dimensional data input unit 11 (see FIG. 1) inputs the three-dimensional data of the equipment to be measured 21 thus measured (step S1).
- the overlapping portion determination unit 12 performs alignment processing on each piece of three-dimensional data input to the three-dimensional data input unit 11, and performs alignment processing on the three-dimensional data after the alignment processing.
- the overlapping portions D21, D22, and D23 included are determined (step S2). Specifically, as shown in the upper diagram of FIG. 7, the three-dimensional data measured at the measurement position P21 and the three-dimensional data measured at the measurement position P22 include an overlapping portion D21. Moreover, the three-dimensional data measured at the measurement position P22 and the three-dimensional data measured at the measurement position P23 include an overlapping portion D22. Moreover, the three-dimensional data measured at the measurement position P23 and the three-dimensional data measured at the measurement position P24 include an overlapping portion D23.
- the overlapping portion determining section 12 determines such overlapping portions D21, D22, and D23 included in the three-dimensional data input to the three-dimensional data input section 11.
- the measurement policy acquisition unit 13 acquires a measurement policy when acquiring three-dimensional data of the equipment to be measured 21 to 23 in the facility 20 using the measurement device 15 (step S3).
- the measurement condition adjustment unit 14 adjusts the overlapping portion included in the three-dimensional data determined by the overlapping portion determination unit 12 so as to satisfy the measurement policy acquired by the measurement policy acquisition unit 13.
- the measurement conditions are adjusted so as to decrease (step S4).
- the measurement condition adjustment unit 14 adjusts the measurement positions P21 to P24 (upper diagram in FIG. 7) of the measurement device 15 to measurement positions P21a to P24a (lower diagram in FIG. 7). That is, in the example shown in FIG. 7, as shown in the upper diagram of FIG. is too far away to meet the resolution requirements of the measurement policy.
- the measurement condition adjustment unit 14 adjusts the measurement position of the measurement device 15 so that it approaches the facility 21 to be measured so as to meet the resolution requirements of the measurement policy. That is, the measurement condition adjustment unit 14 measures the measurement position of the measurement device 15 so that the distance between the measurement device 15 and the equipment to be measured 21 is d2 (d2 ⁇ d1), as shown in the lower diagram of FIG. Adjust to positions P21a to P24a. Further, the measurement condition adjustment unit 14 adjusts the measurement range at the measurement position P21a of the measurement device 15 to ⁇ 21a, the measurement range at the measurement position P22a to ⁇ 22a, and the measurement range at the measurement position P23a to ⁇ 23a. Then, the measuring range of the measuring device 15 is adjusted so that the measuring range at the measuring position P24a becomes ⁇ 24a.
- the measurement ranges ⁇ 21a to ⁇ 24a may have the same angles or may have different angles. It is also assumed that the measurement range ⁇ 21a to ⁇ 24a satisfies the measurement policy acquired by the measurement policy acquisition unit 13. FIG. In this manner, the measurement condition adjustment unit 14 can reduce overlapping portions 55, 56, and 57 included in the three-dimensional data by adjusting the measurement position and measurement range of the measurement device 15. FIG. Therefore, it is possible to optimize the measurement conditions when acquiring the three-dimensional data of the equipment to be measured in the facility using the measurement device 15 .
- the measurement conditions of the measurement device are optimized so as to reduce overlapping portions included in the acquired three-dimensional data.
- the measurement time when the measurement device acquires three-dimensional data can be shortened, and the amount of acquired three-dimensional data can be reduced. can be done.
- the measurement time of the measuring device can be shortened, the power consumption of the measuring device can be suppressed.
- FIG. 8 is a block diagram of a configuration example of a three-dimensional data measurement system according to a second embodiment;
- the three-dimensional data measurement system 2 according to the present embodiment includes a three-dimensional data input unit 11, an overlapping portion determination unit 12, a measurement policy acquisition unit 13, a measurement condition adjustment unit 14, and a measurement device 15.
- a three-dimensional data measurement system 2 according to the present embodiment differs in that it includes a measurement device 15 in addition to the measurement condition optimization system 1 described in the first embodiment.
- Other configurations and operations are the same as those described in the first embodiment, so redundant description will be omitted.
- the measuring device 15 is configured to acquire three-dimensional data of the equipment to be measured 21 to 23 (see FIG. 2) in the facility 20. Using the measurement conditions adjusted by the measurement condition adjustment unit 14, the measurement device 15 newly acquires three-dimensional data of the equipment to be measured 21 to 23 in the facility 20. FIG. For example, after adjusting the measurement conditions, the measurement condition adjustment unit 14 supplies the adjusted measurement conditions to the measurement device 15 . Next, when the measuring device 15 moves in the facility 20 along the patrol route 25 and acquires the three-dimensional data of the equipment to be measured 21 to 23, the adjusted measurement conditions supplied from the measurement condition adjusting unit 14 are used. 3D data of the equipment to be measured 21 to 23 is acquired.
- the measuring device 15 obtains the three-dimensional data of the equipment to be measured 21 to 23 using the adjusted measurement conditions, that is, the measurement conditions optimized so as to reduce overlapping portions included in the three-dimensional data. Get a new one. Therefore, the measurement time of the measuring device 15 can be shortened, and the amount of acquired three-dimensional data can be reduced. Furthermore, since the measurement time of the measuring device 15 can be shortened, the power consumption of the measuring device 15 can be suppressed.
- the measuring device 15 may acquire three-dimensional data input to the three-dimensional data input unit 11 shown in FIG. That is, the measuring device 15 acquires three-dimensional data of the equipment to be measured 21 to 23 in the facility 20 under the pre-optimized measurement conditions, and supplies the acquired three-dimensional data to the three-dimensional data input unit 11. good too.
- the measurement device 15 first acquires the three-dimensional data of all the equipment to be measured 21 to 23 in the facility 20 under measurement conditions (that is, measurement conditions with a large number of measurement positions). After that, the measuring device 15 may newly acquire three-dimensional data of the equipment to be measured 21 to 23 using the optimized measurement conditions.
- the three-dimensional data measurement system 2 includes a three-dimensional data input unit 11, an overlapping portion determination unit 12, a measurement policy acquisition unit 13, a measurement condition adjustment unit 14, and a measurement device 15 integrated as the same device. may be configured.
- the three-dimensional data measuring system 2 including the measuring device 15 acquires the three-dimensional data of the equipment to be measured 21-23.
- the three-dimensional data measurement system 2 includes a three-dimensional data input unit 11, an overlapping part determination unit 12, a measurement policy acquisition unit 13, and a measurement condition adjustment unit, which are other components of the measurement device 15. 14 may be provided separately. That is, the three-dimensional data measurement system 2 according to the present embodiment includes the measurement condition optimization system 1 according to the first embodiment (see FIG. 1) and a measurement device 15 provided separately from the measurement condition optimization system 1. and may be used. In this case, the measuring device 15 acquires the three-dimensional data of the equipment to be measured 21-23.
- FIG. 9 is a block diagram of a configuration example of a three-dimensional data measurement system according to a third embodiment.
- the three-dimensional data measurement system 3 according to the present embodiment includes a three-dimensional data input unit 11, an overlapping part determination unit 12, a measurement policy acquisition unit 13, a measurement condition adjustment unit 14, a measurement device 15, and a coordinate transformation unit 16 .
- a three-dimensional data measurement system 3 according to the present embodiment differs from the three-dimensional data measurement system 2 described in the second embodiment in that a coordinate conversion section 16 is provided.
- Other configurations and operations are the same as those described in Embodiments 1 and 2, so redundant description will be omitted.
- the coordinate conversion section 16 is configured to convert the coordinates of the three-dimensional data newly acquired by the measuring device 15. Specifically, the coordinate transformation unit 16 transforms the coordinates of the three-dimensional data newly acquired by the measuring device 15 using coordinate transformation parameters.
- the coordinate transformation parameters used at this time are the coordinate transformation parameters used when the overlapped portion determination unit 12 performs alignment processing for each piece of three-dimensional data input to the three-dimensional data input unit 11 .
- the overlapping part determination unit 12 uses coordinates to combine the pieces of three-dimensional data. Determine transformation parameters.
- the overlapping part determination unit 12 outputs information about the coordinate transformation parameters determined at this time to the coordinate transformation unit 16 .
- the coordinate transformation parameters are transformation parameters (translation, rotation) for point cloud data at each measurement position.
- the coordinate transformation unit 16 uses the coordinate transformation parameters supplied from the overlapping part determination unit 12 to transform the coordinates of the three-dimensional data newly acquired by the measuring device 15 .
- the measurement position of the three-dimensional data input to the three-dimensional data input unit 11 and the measurement position of the three-dimensional data newly acquired by the measuring device 15 are the same positions. That is, since the measurement position of the three-dimensional data input to the three-dimensional data input unit 11 and the measurement position of the three-dimensional data newly acquired by the measuring device 15 are the same, the coordinate conversion unit 16 uses the overlapping part determination unit The same coordinate transformation parameters as those used in 12 can be used.
- the overlapping part determination unit 12 supplies the three-dimensional data after performing the alignment process (that is, the three-dimensional data after combination) to the coordinate conversion unit 16 .
- the coordinate transformation unit 16 aligns the combined three-dimensional data supplied from the overlapping part determination unit 12 and the three-dimensional data newly acquired by the measurement device 15, and the measurement device 15 Coordinate transformation is performed on the newly acquired three-dimensional data, and coordinate transformation parameters are determined. After that, when new three-dimensional data is acquired using the measuring device 15, the measurement position is the same.
- the coordinate transformation parameters thus determined can be used.
- FIG. 10 is a block diagram for explaining a hardware configuration example including the measurement condition optimization system according to this embodiment.
- the measurement condition optimization system according to this embodiment can be configured using an arithmetic processing unit 100 having a CPU (101) and a memory 102.
- FIG. In the present embodiment, the measurement condition optimization system 1 can be configured by causing the CPU (101) to execute the above measurement condition optimization processing program.
- a display unit 150 and an input unit 160 are connected to the processing unit 100 .
- the display unit 150 is configured using a liquid crystal display, an organic EL (electro-luminescence) display, or the like.
- the display unit 150 may display the measurement conditions of the measuring device 15, the three-dimensional data after alignment processing, the three-dimensional data of the equipment to be measured 21 to 23 measured by the measuring device 15, and the like.
- the user may input the measurement policy and measurement conditions by operating the input unit 160 (keyboard, mouse, etc.).
- the arithmetic processing device 100 may be configured to be able to transmit the adjusted measurement conditions (optimized measurement conditions) to the measurement device 15.
- the measurement device 15 performs measurement based on the supplied measurement conditions after adjustment.
- the measurement condition optimization system 1 may be provided in each facility 20. Moreover, the measurement condition optimization system 1 (arithmetic processing unit 100) may be configured as an application server. When the measurement condition optimization system 1 is configured as an application server, a plurality of users (facilities) can access the measurement condition optimization system 1 and optimize the measurement conditions of the measurement devices 15 of each facility. .
- Non-transitory computer readable media include various types of tangible storage media.
- Examples of non-transitory computer-readable media include magnetic recording media (specifically flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (specifically magneto-optical discs), CD-ROMs (Read Only Memory ), CD-R, CD-R/W, semiconductor memory (specifically, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM)), flash ROM, and RAM (Random Access Memory).
- the program may also be delivered to the computer on various types of transitory computer readable medium. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can deliver the program to the computer via wired channels, such as wires and optical fibers, or wireless channels.
- measurement condition optimization system 2 3 three-dimensional data measurement system 11 three-dimensional data input unit 12 overlapping part determination unit 13 measurement policy acquisition unit 14 measurement condition adjustment unit 15 measurement device 16 coordinate conversion unit 20 facility 21, 22, 23 measurement Object facility 25 Patrol route 31, 32 Three-dimensional data 35, 36 Measurement range 37 Overlapping part 41, 42 Point group 100 Arithmetic processing unit 101 CPU 102 memory 150 display unit 160 input unit
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Abstract
Description
以下、図面を参照して本開示の実施の形態について説明する。
図1は、実施の形態1にかかる測定条件最適化システムの構成例を示すブロック図である。図1に示すように、本実施の形態にかかる測定条件最適化システム1は、三次元データ入力部11、重複部分判定部12、測定ポリシー取得部13、及び測定条件調整部14を備える。本実施の形態にかかる測定条件最適化システム1は、例えば、測定装置を巡回させて社会インフラ施設等の所定の施設の三次元データを取得する際の、測定装置の測定条件を最適化するシステムである。
次に本開示の実施の形態2について説明する。図8は、実施の形態2にかかる三次元データ測定システムの構成例を示すブロック図である。図8に示すように、本実施の形態にかかる三次元データ測定システム2は、三次元データ入力部11、重複部分判定部12、測定ポリシー取得部13、測定条件調整部14、及び測定装置15を備える。本実施の形態にかかる三次元データ測定システム2は、実施の形態1で説明した測定条件最適化システム1に加えて、測定装置15を備える点が異なる。これ以外の構成及び動作については、実施の形態1で説明した場合と同様であるので重複した説明を省略する。
次に本開示の実施の形態3について説明する。図9は、実施の形態3にかかる三次元データ測定システムの構成例を示すブロック図である。図9に示すように、本実施の形態にかかる三次元データ測定システム3は、三次元データ入力部11、重複部分判定部12、測定ポリシー取得部13、測定条件調整部14、測定装置15、及び座標変換部16を備える。本実施の形態にかかる三次元データ測定システム3は、実施の形態2で説明した三次元データ測定システム2に加えて、座標変換部16を備える点が異なる。これ以外の構成及び動作については、実施の形態1、2で説明した場合と同様であるので重複した説明を省略する。
2、3 三次元データ測定システム
11 三次元データ入力部
12 重複部分判定部
13 測定ポリシー取得部
14 測定条件調整部
15 測定装置
16 座標変換部
20 施設
21、22、23 測定対象設備
25 巡回ルート
31、32 三次元データ
35、36 測定範囲
37 重複部分
41、42 点群
100 演算処理装置
101 CPU
102 メモリ
150 表示部
160 入力部
Claims (10)
- 測定装置を用いて所定の測定条件で測定した、所定の施設内の測定対象設備の三次元データを入力する三次元データ入力部と、
前記入力された三次元データの各々に対して位置合わせ処理を実施し、当該位置合わせ処理後の三次元データに含まれる重複部分を判定する重複部分判定部と、
前記測定装置を用いて前記施設内の測定対象設備の三次元データを取得する際の測定ポリシーを取得する測定ポリシー取得部と、
前記測定ポリシー取得部で取得した前記測定ポリシーを満たすように、かつ、前記重複部分判定部で判定された前記三次元データに含まれる重複部分が減少するように、前記測定条件を調整する測定条件調整部と、を備える、
測定条件最適化システム。 - 前記測定ポリシーには、前記測定対象設備に入射するビームの入射角の範囲が含まれており、
前記測定条件には、前記測定装置が前記測定対象設備の三次元データを取得する際の測定範囲が含まれており、
前記測定条件調整部は、前記測定対象設備に入射するビームの入射角の範囲が前記測定ポリシーの範囲となるように、かつ、前記三次元データに含まれる重複部分が減少するように、前記測定装置の測定範囲を調整する、
請求項1に記載の測定条件最適化システム。 - 前記重複部分判定部は更に、前記ビームが入射した前記測定対象設備の面の向きを前記三次元データを用いて算出し、当該算出された面の向きと前記ビームを照射した測定位置の座標とを用いて、前記測定対象設備に入射するビームの入射角を算出する、
請求項2に記載の測定条件最適化システム。 - 前記測定条件には、前記測定装置が前記測定対象設備の三次元データを取得する際の測定位置が含まれており、
前記測定条件調整部は、前記測定ポリシーを満たすように、かつ、前記三次元データに含まれる重複部分が減少するように、前記測定装置の測定位置を調整する、
請求項1~3のいずれか一項に記載の測定条件最適化システム。 - 前記測定ポリシーには、前記測定装置で測定された三次元データが満たすべき分解能が含まれており、
前記測定条件調整部は、前記測定装置で測定された三次元データの分解能が前記測定ポリシーを満たすように、かつ、前記三次元データに含まれる重複部分が減少するように、前記測定装置の測定条件を調整する、
請求項1~4のいずれか一項に記載の測定条件最適化システム。 - 前記重複部分判定部は、前記位置合わせ処理後の三次元データのうち、互いに隣り合う測定位置の各々において取得された三次元データに含まれる点群同士が互いに隣接している場合、当該隣接している点群を含む部分を重複部分と判定する、請求項1~5のいずれか一項に記載の測定条件最適化システム。
- 請求項1~6のいずれか一項に記載の測定条件最適化システムと、
前記施設内の前記測定対象設備の三次元データを取得する測定装置と、を備え
前記測定装置は、前記測定条件調整部で調整された測定条件を用いて、前記施設内の前記測定対象設備の三次元データを新たに取得する、
三次元データ測定システム。 - 前記測定装置で新たに取得された三次元データの座標を変換する座標変換部を更に備え、
前記座標変換部は、前記三次元データ入力部に入力された三次元データの各々に対して前記重複部分判定部が位置合わせ処理を実施した際に用いた座標変換パラメータを用いて、前記測定装置で新たに取得された三次元データの座標を変換する、
請求項7に記載の三次元データ測定システム。 - 測定装置を用いて所定の測定条件で測定した、所定の施設内の測定対象設備の三次元データを入力し、
前記入力された三次元データの各々に対して位置合わせ処理を実施し、当該位置合わせ処理後の三次元データに含まれる重複部分を判定し、
前記測定装置を用いて前記施設内の測定対象設備の三次元データを取得する際の測定ポリシーを取得し、
前記取得した測定ポリシーを満たすように、かつ、前記重複部分と判定された前記三次元データに含まれる重複部分が減少するように、前記測定条件を調整する、
測定条件最適化方法。 - 測定装置を用いて所定の測定条件で測定した、所定の施設内の測定対象設備の三次元データを入力する処理と、
前記入力された三次元データの各々に対して位置合わせ処理を実施し、当該位置合わせ処理後の三次元データに含まれる重複部分を判定する処理と、
前記測定装置を用いて前記施設内の測定対象設備の三次元データを取得する際の測定ポリシーを取得する処理と、
前記取得した測定ポリシーを満たすように、かつ、前記重複部分と判定された前記三次元データに含まれる重複部分が減少するように、前記測定条件を調整する処理と、を備える測定条件最適化処理をコンピュータに実行させるためのプログラムが格納された非一時的なコンピュータ可読媒体。
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