WO2024047782A1

WO2024047782A1 - Point group data drawing system, server, point group data drawing device, and point group data drawing method

Info

Publication number: WO2024047782A1
Application number: PCT/JP2022/032731
Authority: WO
Inventors: 克之亀井; 昌志渡辺
Original assignee: 三菱電機株式会社
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2024-03-07

Abstract

The purpose of the present disclosure is to provide a point group data drawing system that can, with a simple operation, narrow down point group data to an area corresponding to a portion to be checked, transfer the point group data, and perform drawing. A point group data drawing system according to the present disclosure is provided with a server and a terminal device. The server is provided with: a server storage unit for storing model data, which includes element shape information and element identifying information, and point group data regarding measured subjects; a model processing unit for acquiring element shape information corresponding to received element identifying information; a point group extraction unit for extracting points based on the element shape information; and a server communication unit that receives the element identifying information from the terminal device and transmits identified point group data to the terminal device. The terminal device is provided with: a terminal storage unit for storing subject data including element identifying information and shape information about each element; an input unit for acquiring element identifying information corresponding to a specified element; a terminal communication unit that transmits the element identifying information to the server and receives the identified point group data from the server; and a drawing unit for drawing an image based on the identified point group data.

Description

Point cloud data drawing system, server, point cloud data drawing device, and point cloud data drawing method

The present disclosure relates to a point cloud data drawing system, a server, a point cloud data drawing device, and a point cloud data drawing method related to drawing point cloud data of an object.

Technology for acquiring high-density three-dimensional point cloud data of structures, cityscapes, etc. (hereinafter also referred to as "objects") by image measurement or laser measurement is becoming widespread. BACKGROUND ART Conventionally, there is a technology for performing maintenance and management such as inspection of objects using three-dimensional point cloud data. Since point cloud data has a high density, the amount of data becomes enormous when dealing with a wide range of equipment or areas. Therefore, in a device that draws a projected image using point cloud data, the processing load associated with drawing increases. Furthermore, if the point cloud data is managed by a server, it is necessary to transmit the point cloud data from the server to the terminal device, resulting in a large communication load between the server and the terminal device. In this way, there is a need to reduce the amount of point cloud data to be transmitted and the amount of point cloud data to be drawn.

For example, Patent Document 1 describes a technology that reduces the amount of data transferred from the robot to the terminal device of point cloud data measured by a three-dimensional sensor mounted on the robot while ensuring visibility in a terminal device that remotely controls the robot. is disclosed. In Patent Document 1, a predetermined area is set around a three-dimensional sensor by a terminal device, and an upper limit of the amount of data to be transferred in the set area is determined.

Japanese Patent Application Publication No. 2015-197329

When checking deformations such as deformation of an object, detailed point cloud data of a limited range (confirmation area) that requires confirmation is transferred from the server to the terminal device, and the transferred point cloud data is transferred to the terminal device. It will be drawn and displayed. However, when transmitting point cloud data by limiting the region of the confirmation portion using the technique disclosed in Patent Document 1, it is necessary to specify the region corresponding to the confirmation portion. The area corresponding to the confirmation portion does not have the same shape each time it is confirmed, and may have a complicated shape. Therefore, specifying the area corresponding to the confirmation portion becomes complicated.

As described above, in the past, there was a problem in that point cloud data could not be transferred and drawn in a narrowed area corresponding to the confirmation part with a simple operation.

The present disclosure has been made in order to solve such problems, and provides a point cloud data drawing system that can transfer and draw point cloud data in a region corresponding to the confirmation part with simple operations. , a server, a point cloud data drawing device, and a point cloud data drawing method.

In order to solve the above problems, a point cloud data drawing system according to the present disclosure includes a server and a terminal device communicably connected to the server, and the server draws a plurality of elements constituting a target object in three dimensions. a server storage unit that stores model data including element shape information expressed as a set of figures, element identification information that identifies each element, and three-dimensional point cloud data of the measured object; A model processing unit that acquires element shape information corresponding to element identification information received from a terminal device from stored model data, and an element acquired by the model processing unit from point cloud data stored in a server storage unit. A point cloud extraction unit that extracts multiple points based on shape information, and specific point cloud data that is point cloud data that receives element identification information from a terminal device and is composed of multiple points extracted by the point cloud extraction unit. a server communication unit that transmits data to the terminal device; , an input unit that accepts the designation of an element and acquires element identification information corresponding to the designated element from the terminal storage unit, and transmits the element identification information acquired by the input unit to the server and receives specific point cloud data from the server. and a drawing section that draws an image based on the specific point group data received by the terminal communication section.

According to the present disclosure, it is possible to transfer and draw point cloud data in a narrowed area corresponding to the confirmation portion with a simple operation.

Objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and accompanying drawings.

1 is a block diagram showing an example of the configuration of a point cloud data drawing system according to a first embodiment; FIG. FIG. 3 is a diagram showing an example of point cloud data according to the first embodiment. 5 is a flowchart illustrating an example of the operation of the terminal device according to the first embodiment. 3 is a diagram illustrating how elements of an object are selected according to the first embodiment; FIG. FIG. 3 is a diagram showing an example of displaying point cloud data according to the first embodiment. 3 is a flowchart illustrating an example of the operation of the server according to the first embodiment. FIG. 2 is a block diagram illustrating an example of the configuration of a point cloud data drawing system according to a second embodiment. 7 is a flowchart illustrating an example of the operation of the server according to the second embodiment. 7 is a diagram showing an example of point cloud data according to Embodiment 2. FIG. 12 is a block diagram showing an example of the configuration of a point cloud data drawing device according to a third embodiment. FIG. 7 is a flowchart illustrating an example of the operation of the point cloud data drawing device according to the third embodiment. 12 is a flowchart illustrating an example of the operation of the terminal device according to Embodiment 4. FIG. 12 is a diagram showing how elements of an object are selected according to Embodiment 4; 9 is a diagram illustrating an example of displaying point cloud data according to Embodiment 4. FIG. 12 is a flowchart illustrating an example of the operation of the terminal device according to the fifth embodiment. FIG. 9 is a diagram showing how elements of an object are selected according to the fifth embodiment. 9 is a diagram illustrating an example of displaying point cloud data according to Embodiment 5. FIG. 12 is a flowchart illustrating an example of the operation of the terminal device according to the sixth embodiment. FIG. 12 is a diagram showing how elements of an object are selected according to the sixth embodiment. 12 is a diagram showing an example of displaying point cloud data according to Embodiment 6. FIG. 12 is a flowchart illustrating an example of the operation of the terminal device according to Embodiment 7. 12 is a flowchart illustrating an example of the operation of a server according to Embodiment 7. FIG. 9 is a diagram showing how elements of an object are selected according to Embodiment 7; 12 is a diagram showing an example of displaying point cloud data according to Embodiment 7. FIG. 2 is a diagram showing an example of the hardware configuration of a point cloud data drawing system according to Embodiments 1 to 7. FIG. 2 is a diagram showing an example of the hardware configuration of a point cloud data drawing system according to Embodiments 1 to 7. FIG.

<Embodiment 1>
<Configuration>
FIG. 1 is a block diagram showing an example of the configuration of a point cloud data drawing system according to the first embodiment.

As shown in FIG. 1, the point cloud data drawing system includes a server 1 and a terminal device 8. The server 1 and the terminal device 8 are communicably connected via a network 16.

<Server configuration>
The server 1 includes a server storage section 2, a model processing section 5, a point cloud extraction section 6, and a server communication section 7.

The server storage unit 2 stores model data 3 and point cloud data 4. The model data 3 is three-dimensional data representing the object in CAD (Computer Aided Design) format or a collection of figures such as polygons. Specifically, the model data 3 includes ID information that specifies each element (element identification information) and shape information that expresses the shape of each element in coordinate values (each element (element shape information expressed as a set of three-dimensional figures). The ID information may be, for example, a number or a character string including a number and a symbol. The coordinate values are, for example, a sequence of coordinate values of the vertices of a polygon. Note that the model data (three-dimensional model data) may be data at the time of designing the object, or may be obtained by modeling the point cloud data 4.

The point cloud data 4 is a set of points having three-dimensional coordinate values of the measured object. FIG. 2 shows an example of point group data 4 in which three-dimensional coordinates are x, y, and z. In addition to this, other information may be added, such as information representing the color of each point or, if acquired by laser measurement, a laser reflection intensity value at the time of measurement. The coordinate system may be, for example, a coordinate system consisting of latitude, longitude, and height, a planar rectangular coordinate system announced by the Ministry of Land, Infrastructure, Transport and Tourism, or an arbitrarily set coordinate system. The unit of the coordinate value is, for example, "m". Note that the coordinate system described here is also applicable to a coordinate system of coordinate values representing the shape of each element included in the model data 3.

The model processing unit 5 acquires the shape information of the element corresponding to the ID information received from the terminal device 8 from the model data 3 stored in the server storage unit 2.

The point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2. Note that the value indicating the neighborhood range may be fixed, such as 10 cm, for example, or may be changed from the terminal device 8.

The server communication unit 7 communicates with the terminal device 8 via the network 16. Specifically, the server communication unit 7 receives ID information from the terminal device 8 and transmits point cloud data (specific point cloud data) made up of a plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8. Send.

<Terminal device configuration>
The terminal device 8 includes a terminal storage section 9, an input section 11, a drawing section 12, and a terminal communication section 13. The input section 11 is connected to an input device 14, and the drawing section 12 is connected to a monitor 15. Examples of the terminal device 8 include a personal computer and a mobile terminal.

The terminal storage unit 9 stores object data 10 including member data or shape information (shape information of each element forming the object) constituting the object, and ID information (element identification information) specifying each element. I remember. Here, the term "member" refers to a component of an object, such as a bridge pier that constitutes a bridge. In the first embodiment, it is assumed that the object data 10 is the same data as the model data 3 stored in the server storage unit 2 of the server 1. That is, the object data 10 includes a three-dimensional model in which a plurality of elements constituting the object are expressed as a set of three-dimensional figures.

The input unit 11 receives designation of an element of the object (designation of a confirmation part of the object) from an input device 14 such as a pointing device, for example. The input unit 11 also acquires ID information corresponding to the designated element from the object data 10 stored in the terminal storage unit 9.

The drawing unit 12 draws an image based on the point cloud data received by the terminal communication unit 13 and displays the image on the monitor 15.

The terminal communication unit 13 communicates with the server 1 via the network 16. Specifically, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1, and receives point cloud data (specific point cloud data) of the element corresponding to the ID information from the server 1.

<Operation>
<Operation of terminal device>
FIG. 3 is a flowchart showing an example of the operation of the terminal device 8.

In step S11, the drawing unit 12 draws an image of the object based on the shape information included in the object data 10 stored in the terminal storage unit 9 so as to have a predetermined viewpoint position and line of sight direction. Then, the image is displayed on the monitor 15. For example, a wire frame model that depicts the sides of a figure or a polygon model that depicts polygons by filling them in is used to draw the object. Note that the information regarding the predetermined viewpoint position and line-of-sight direction is set by the user of the terminal device 8 using the input device 14.

In step S12, the input unit 11 determines whether an element of the object has been specified. The process of step S12 is repeated until the element of the object is specified, and once the element of the object is specified, the process moves to step S13.

For example, as shown in FIG. 4, when an image of a bridge, which is a target object, is being drawn on the monitor 15, the user uses the input device 14 to move the elements (shapes) constituting the bridge with the cursor ( (arrow). Thereby, the input unit 11 determines that the element of the object has been designated.

In step S13, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the object data 10. The specified element (graphic) may be, for example, a graphic drawn closest to the position specified by the cursor on the screen of the monitor 15. Note that there may be multiple elements specified by the user.

In step S14, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1. If there are multiple elements specified by the user, the terminal communication unit 13 transmits ID information corresponding to each element to the server 1.

In step S15, the terminal communication unit 13 receives point cloud data (specific point cloud data) of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S14.

In step S16, the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point group data received by the terminal communication unit 13, and displays the image on the monitor 15. FIG. 5 shows how point cloud data is displayed superimposed on the element selected in FIG. 4. The shape indicated by the thick frame on which the cursor is placed represents the selected element (shape). The filled circles drawn on it are points of point group data (specific point group data). Although the point cloud data 4 stored in the server storage unit 2 that measures the object includes points other than the selected element, only the points of the selected element are drawn.

In step S17, the terminal device 8 determines whether to end each process shown in FIG. 3. If the process is to be terminated, the operation shown in FIG. 3 is terminated. On the other hand, if the process does not end, the process returns to step S12.

<Server operation>
FIG. 6 is a flowchart showing an example of the operation of the server 1.

In step S21, the server communication unit 7 receives ID information from the terminal device 8.

In step S22, the model processing unit 5 acquires shape information of the element corresponding to the ID information received by the server communication unit 7 from the model data 3 stored in the server storage unit 2.

In step S23, the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2. do. For example, the point group extraction unit 6 extracts a plurality of points whose distance from the surface of a figure expressing the shape of the element is less than or equal to a predetermined value.

In step S24, the server communication unit 7 transmits point cloud data composed of a plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8.

<Effect>
In the point cloud data drawing system according to the first embodiment, the server 1 and the terminal device 8 share ID information, and the point cloud data of the elements of the object are displayed on the monitor 15 using the ID information. In this way, the terminal device 8 sends only the ID information to the server 1 with a simple operation by the user, and the server 1 corresponds to the confirmation part (the element specified by the user) from the entire point cloud data based on the ID information. It narrows down to the point cloud data and transmits it to the terminal device 8. Therefore, the communication load between the server 1 and the terminal device 8 and the processing load of drawing on the terminal device 8 can be reduced.

<Embodiment 2>
<Configuration>
FIG. 7 is a block diagram showing an example of the configuration of a point cloud data drawing system according to the second embodiment.

As shown in FIG. 7, the point cloud data drawing system according to the second embodiment is characterized in that the server 17 includes a server storage section 18, a model processing section 20, and a point cloud extraction section 21. The rest of the configuration is the same as the point cloud data drawing system shown in FIG. 1 described in Embodiment 1, so a detailed description will be omitted here.

The model processing unit 20 (element identification information assignment unit) assigns ID information to each point included in the point cloud data 19 in advance.

The point cloud extraction unit 21 extracts a plurality of points corresponding to the ID information received by the server communication unit 7 from the terminal device 8 from the point cloud data 19 stored in the server storage unit 18.

<Operation>
The operation of the terminal device 8 is similar to the operation shown in FIG. 3 described in Embodiment 1, so a description thereof will be omitted here. Below, the operation of the server 17 will be explained.

<Server operation>
FIG. 8 is a flowchart showing an example of the operation of the server 17.

In step S31, the model processing unit 20 assigns ID information to each point included in the point cloud data. Specifically, the model processing unit 20 assigns ID information corresponding to the element closest to each point. Note that points that do not fall within the neighborhood range of any element may be treated as noise points and not given ID information. FIG. 9 is a diagram showing an example of point cloud data to which ID information is added. Note that if ID information has already been assigned to each point, the operation in step S31 may be omitted.

In step S32, the server communication unit 7 receives ID information from the terminal device 8.

In step S33, the point cloud extraction unit 21 extracts a plurality of points assigned the same ID information as the ID information received by the server communication unit 7 from the point cloud data 19 stored in the server storage unit 18.

In step S34, the server communication unit 7 transmits point cloud data composed of a plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8.

<Effect>
In the point cloud data drawing system according to the second embodiment, since the calculation in the point cloud extraction section 21 is simple, the extraction process can be executed in a short time. Other effects are similar to those in the first embodiment.

<Embodiment 3>
<Configuration>
FIG. 10 is a block diagram showing an example of the configuration of the point cloud data drawing device 22 according to the third embodiment.

As shown in FIG. 10, the point cloud data drawing device 22 includes a storage section 23, an input section 11, a model processing section 5, a point cloud extraction section 6, and a drawing section 12. The input section 11 is connected to an input device 14, and the drawing section 12 is connected to a monitor 15. Note that the model data 3 and point cloud data 4 stored in the storage unit 23 are similar to the model data 3 and point cloud data 4 stored in the server storage unit 2 shown in FIG. 1 described in the first embodiment. It is.

The input unit 11 receives designation of an element of the object (designation of a confirmation part of the object) from an input device 14 such as a pointing device, for example. The input unit 11 also acquires ID information corresponding to the designated element from the model data 3 stored in the storage unit 23.

The model processing unit 5 acquires shape information of the element corresponding to the ID information acquired by the input unit 11 from the model data 3 stored in the storage unit 23.

The point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the storage unit 23.

The drawing unit 12 draws an image based on point cloud data composed of a plurality of points extracted by the point cloud extraction unit 6, and displays the image on the monitor 15.

<Operation>
FIG. 11 is a flowchart showing an example of the operation of the point cloud data drawing device 22.

In step S41, the drawing unit 12 draws an image of the object based on the shape information included in the model data 3 stored in the storage unit 23 so as to have a predetermined viewpoint position and direction of sight, The image is displayed on the monitor 15.

In step S42, the input unit 11 determines whether an element of the object has been specified. The process of step S42 is repeated until the element of the object is specified, and once the element of the object is specified, the process moves to step S43.

In step S43, the input unit 11 acquires ID information corresponding to the specified element from the model data 3 stored in the storage unit 23. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the model data 3.

In step S44, the model processing unit 5 acquires shape information of the element corresponding to the ID information acquired by the input unit 11 from the model data 3 stored in the storage unit 23.

In step S45, the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the storage unit 23. .

In step S46, the drawing unit 12 draws an image based on the point cloud data made up of the plurality of points extracted by the point cloud extraction unit 6, and displays the image on the monitor 15.

In step S47, the point cloud data drawing device 22 determines whether to end each process shown in FIG. 11. If the process is to be terminated, the operation shown in FIG. 11 is terminated. On the other hand, if the process does not end, the process returns to step S42.

<Effect>
The point cloud data drawing device 22 according to the third embodiment draws only the point cloud data corresponding to the confirmation portion (the element designated by the user) from the entire point cloud data based on the ID information. Therefore, the processing load of drawing on the point cloud data drawing device 22 can be reduced.

<Embodiment 4>
<Configuration>
In Embodiment 4, a case where the target object is a tunnel will be described. In the following, a case where the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 will be described as an example, but it is also applicable to Embodiments 2 and 3.

The object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes a tunnel development diagram model that represents a tunnel as a tunnel development diagram. The tunnel development diagram model includes coordinate values (tunnel shape information) when drawing a tunnel development diagram. The coordinate system of the developed tunnel diagram is a coordinate system in which the horizontal axis is the central axis of the tunnel, and the vertical axis is the position along the contour of the cross section of the tunnel. Note that the distance from the cross-sectional curved surface may be added to the coordinate system of the tunnel development view to treat it as three-dimensional coordinates.

For example, one element of a tunnel development diagram is a range called a span, which serves as a standard for tunnel construction and management.

The point cloud data 4 stored in the server storage unit 2 of the server 1 is data of points measured from inside the tunnel to the tunnel inner wall, or in addition to this, the road surface.

<Operation>
The operation of the server 1 is similar to the operation shown in FIG. 6 described in Embodiment 1, so the description will be omitted here. Below, the operation of the terminal device 8 will be explained.

<Operation of terminal device>
FIG. 12 is a flowchart showing an example of the operation of the terminal device 8.

In step S51, the drawing unit 12 draws a tunnel development diagram based on the tunnel development diagram model included in the object data 10 stored in the terminal storage unit 9, and displays the image on the monitor 15. To draw a tunnel development diagram, for example, a wire frame model that depicts the sides of a figure or a polygon model that depicts polygons by filling them in is used. Alternatively, a photographic image of the tunnel inner wall may be texture mapped and drawn.

In step S52, the input unit 11 determines whether an element of the tunnel development diagram has been specified. The process of step S52 is repeated until the element of the tunnel development diagram is designated, and when the element of the tunnel development diagram is designated, the process moves to step S53.

For example, as shown in FIG. 13, when a tunnel development diagram is drawn on the monitor 15, the user uses the input device 14 to specify an element (shape) of the tunnel development diagram with a cursor (arrow in the diagram). do. Thereby, the input unit 11 determines that the element of the tunnel development diagram has been specified. As shown in FIG. 13, the tunnel development diagram may include information on the installation status of equipment and deformations such as cracks.

In step S53, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the object data 10.

In step S54, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.

In step S55, the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S54.

In step S56, the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point cloud data received by the terminal communication unit 13, and displays the image on the monitor 15. FIG. 14 shows that the element on which the cursor is placed in FIG. 13 is selected, and the point cloud data of the selected element is displayed. As shown in FIG. 14, the drawing unit 12 may display the point cloud data side by side with the developed tunnel diagram. Alternatively, the point cloud data received by the terminal communication unit 13 may be converted into the coordinate system of the tunnel development diagram and superimposed on the elements of the tunnel development diagram. Alternatively, the point cloud data may be superimposed on an image of the tunnel drawn using a wire frame model or a polygon model drawn by filling in polygons.

In step S57, the terminal device 8 determines whether to end each process shown in FIG. 12. If the process is to be terminated, the operation shown in FIG. 12 is terminated. On the other hand, if the process does not end, the process returns to step S52.

The tunnel development view model is also included in the model data 3 stored in the server storage unit 2 of the server 1, and the point cloud data 4 stored in the server storage unit 2 of the server 1 has development view coordinates. Then, the point group extraction unit 6 may extract a plurality of points existing in the vicinity of the shape of the element in developed view coordinates based on the shape information of the tunnel developed view model. Further, the server communication unit 7 may transmit point group data (specific point group data) whose coordinate values are developed view coordinates to the terminal device 8.

<Effect>
The point cloud data drawing system according to Embodiment 4 is configured to specify elements on the screen on which the tunnel development diagram is drawn, so that confirmation parts (elements) can be specified without mistakes on the drawing in the form that is normally managed. be able to. Other effects are similar to those in the first embodiment.

<Embodiment 5>
<Configuration>
In Embodiment 5, a case where the target object is a bridge will be described. In the following, a case where the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 will be described as an example, but it is also applicable to Embodiments 2 and 3.

The object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes a bridge development model that represents a bridge as a bridge development. The bridge development diagram model includes coordinate values (bridge shape information) when drawing the bridge development diagram. The coordinate system of a developed bridge diagram is one in which the bridge is divided into each member, and each member is developed and expressed.

<Operation of terminal device>
FIG. 15 is a flowchart showing an example of the operation of the terminal device 8.

In step S61, the drawing unit 12 draws a bridge development diagram based on the bridge development diagram model included in the object data 10 stored in the terminal storage unit 9, and displays the image on the monitor 15. Note that a photographic image of a bridge may be superimposed and drawn.

In step S62, the input unit 11 determines whether an element of the developed bridge diagram has been specified. The process of step S62 is repeated until the element of the bridge development diagram is designated, and when the element of the bridge development diagram is designated, the process moves to step S63.

For example, as shown in FIG. 16, when a bridge development diagram is drawn on the monitor 15, the user uses the input device 14 to specify an element (shape) of the bridge development diagram with a cursor (arrow in the diagram). do. Thereby, the input unit 11 determines that the element of the developed bridge diagram has been specified.

In step S63, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 specifies the selected element (figure) and acquires ID information corresponding to the specified element from the object data 10.

In step S64, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.

In step S65, the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S64.

In step S66, the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point group data received by the terminal communication unit 13, and displays the image on the monitor 15. FIG. 17 shows that the side wall element on which the cursor is placed in FIG. 16 is selected, and the point cloud data of the selected element is displayed. As shown in FIG. 17, the drawing unit 12 may draw the point cloud data side by side with the developed bridge diagram. Alternatively, the point cloud data received by the terminal communication unit 13 may be converted into the coordinate system of the bridge development diagram and superimposed on the elements of the bridge development diagram. Further, the point cloud data may be superimposed on an image of a bridge drawn using a wire frame model or a polygon model drawn by filling in polygons.

In step S67, the terminal device 8 determines whether to end each process shown in FIG. 15. If the process is to be terminated, the operation shown in FIG. 15 is terminated. On the other hand, if the process does not end, the process returns to step S62.

<Effect>
The point cloud data drawing system according to Embodiment 5 is configured to specify elements on the screen on which the developed bridge diagram is drawn, so that confirmation parts (elements) can be specified without mistakes on the drawing in the form that is normally managed. be able to. Other effects are similar to those in the first embodiment.

<Embodiment 6>
<Configuration>
The sixth embodiment has a feature in the object data 10 stored in the terminal storage section 9 of the terminal device 8. In the following, a case where the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 will be described as an example, but it is also applicable to Embodiments 2 and 3.

The object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes members or elements constituting the object, ID information of the members or elements, dimensions, materials, standards, serial numbers of the members or elements, It has attribute information such as manufacturer, installer, date and time.

<Operation of terminal device>
FIG. 18 is a flowchart showing an example of the operation of the terminal device 8.

In step S71, the drawing unit 12 displays the members or elements included in the object data 10 stored in the terminal storage unit 9 on the monitor 15 in the form of a table together with necessary attribute information. For example, in the table shown in FIG. 19, each row corresponds to information regarding members or elements constituting the object.

In step S72, the input unit 11 determines whether a row of the table has been specified. The process of step S72 is repeated until a row of the table is designated, and once the row of the table is designated, the process moves to step S73.

For example, when a table is being drawn on the monitor 15 as shown in FIG. ). Thereby, the input unit 11 determines that the row of the table has been designated.

In step S73, the input unit 11 acquires ID information corresponding to the designated row (element) from the object data 10 stored in the terminal storage unit 9. Note that the table may include a column for displaying ID information. Alternatively, a link to a member or element included in the object data 10 may be pasted in each row of the table, and the link may be designated with a cursor.

In step S74, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.

In step S75, the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S74.

In step S76, the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point group data received by the terminal communication unit 13, and displays the image on the monitor 15. FIG. 20 shows that when the row on which the cursor is placed in FIG. 19 is selected, the point cloud data of the element corresponding to the selected row is displayed. As shown in FIG. 20, the drawing unit 12 may draw the table and the point cloud data side by side.

In step S77, the terminal device 8 determines whether to end each process shown in FIG. 18. If the process is to be terminated, the operation shown in FIG. 18 is terminated. On the other hand, if the process does not end, the process returns to step S72.

<Effect>
In the point cloud data drawing system according to Embodiment 6, the rows of the table (information about the members or elements) are specified on the screen on which the table showing information about the members or elements of the target object is drawn. It is possible to specify the confirmation part (element) without making a mistake. Other effects are similar to those in the first embodiment.

<Embodiment 7>
<Configuration>
Embodiment 7 is characterized in that the degree of points in the point cloud data transmitted from the server 1 to the terminal device 8 can be specified on the terminal device 8. In the following, a case where the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in Embodiment 1 will be explained as an example, but it is also applicable to Embodiments 2 to 6.

In the terminal device 8, the input unit 11 receives the score level input by the user using the input device 14. The terminal communication unit 13 transmits the transfer level to the server 1 along with the ID information. In the server 1, the point cloud extraction unit 6 extracts point cloud data thinned out according to the score level from the point cloud data of the element.

The score level is information (transfer point information) indicating the degree of transfer points of the point cloud data that the server 1 transmits to the terminal device 8. The score level is, for example, a thinning rate, and is the ratio of the point cloud to be transmitted to the terminal device 8 and drawn with respect to the point cloud data of the element specified by the user. For example, a score level ranging from "0" indicating no transmission to a score level "1" indicating transmitting everything is defined, and the initial value is "1". Alternatively, the score level may be an upper limit number of points to be transmitted, or the initial value may have no upper limit.

<Operation>
<Operation of terminal device>
FIG. 21 is a flowchart showing an example of the operation of the terminal device 8.

In step S81, the drawing unit 12 draws an image of the object based on the shape information included in the object data 10 stored in the terminal storage unit 9 so as to have a predetermined viewpoint position and line of sight direction. Then, the image is displayed on the monitor 15.

In step S82, the input unit 11 determines whether the input score level has been changed. If the score level has been changed, the process moves to step S83. On the other hand, if the score level has not been changed, the process moves to step S84.

In step S83, the input unit 11 sets the input new score level.

In step S84, the input unit 11 determines whether an element of the object has been specified. If the element of the object is specified, the process moves to step S85. On the other hand, if the element of the object is not specified, the process returns to step S82.

In step S85, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9.

In step S86, the terminal communication unit 13 transmits the ID information and score level acquired by the input unit 11 to the server 1.

In step S87, the terminal communication unit 13 receives point cloud data (specific point cloud data) of the element based on the ID information and score data transmitted by the terminal communication unit 13 in step S86.

In step S88, the drawing unit 12 draws an image in the viewing direction starting from a predetermined viewpoint position based on the point cloud data received by the terminal communication unit 13, and displays the image on the monitor 15.

In step S89, the terminal device 8 determines whether to end each process shown in FIG. 21. If the process is to be terminated, the operation shown in FIG. 21 is terminated. On the other hand, if the process does not end, the process returns to step S82.

<Server operation>
FIG. 22 is a flowchart showing an example of the operation of the server 1.

In step S91, the server communication unit 7 receives the ID information and score level from the terminal device 8.

In step S92, the model processing unit 5 acquires shape information of the element corresponding to the ID information received by the server communication unit 7 from the model data 3 stored in the server storage unit 2.

In step S93, the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2. do. For example, the point group extraction unit 6 extracts a plurality of points whose distance from the surface of a figure expressing the shape of the element is less than or equal to a predetermined value.

In step S94, the point cloud extraction unit 6 reduces the extracted points according to the score level. For example, if the score level is the upper limit of points to be transmitted, the points are randomly reduced until the upper limit is reached. Points may be deleted in other ways. Furthermore, when the score level is a thinning rate, the total number of extracted points multiplied by the thinning rate is set as the upper limit score, and the points are reduced until this upper limit score is reached.

In step S95, the server communication unit 7 transmits the point cloud data composed of the plurality of points extracted and reduced by the point cloud extraction unit 6 to the terminal device 8.

<Operation example>
For example, in step S81, the terminal device 8 draws an object as shown in FIG. Then, when the user specifies a low score level and specifies all the elements of the object, the points are suppressed and the point cloud data is displayed on the entire object, as shown in FIG. The points of this point cloud data are represented by unfilled circles. After that, when the user specifies the confirmation part (element) and also specifies a score level higher than the previous score level, detailed point cloud data is displayed for the specified element, as shown in Figure 24. . The points of this point cloud data are represented by filled circles.

<Effect>
In the point cloud data drawing system according to Embodiment 7, when confirming a wide range including the confirmation part (element) and its surroundings, point cloud data is drawn in accordance with the performance of the network and drawing unit so as not to impose a large load. Can be drawn. In addition, when you want to display the confirmation part (element) and its surroundings widely and see their positional relationship, by suppressing the number of points included in the point cloud data sent from the server 1 to the terminal device 8, the transmission and drawing speed can be reduced. The load can be reduced.

<Hardware configuration>
Each function of the model processing unit 5, point cloud extraction unit 6, and server communication unit 7 in the server 1 shown in FIG. 1 is realized by a processing circuit. That is, the server 1 acquires the shape information of the element corresponding to the ID information received from the terminal device 8 from the model data 3 stored in the server storage unit 2, and obtains the shape information of the element corresponding to the ID information received from the terminal device 8, and obtains the point cloud data stored in the server storage unit 2. 4, the model processing unit 5 extracts a plurality of points existing in the vicinity of the shape of the element based on the acquired shape information, receives ID information from the terminal device 8, and uses the plurality of points extracted by the point cloud extraction unit 6. A processing circuit for transmitting the configured point cloud data to the terminal device 8 is provided. The processing circuit may be dedicated hardware, and may be a processor (CPU, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in memory. ).

When the processing circuit is dedicated hardware, as shown in FIG. 25, the processing circuit 24 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, or an ASIC (Application Specific Integrated Circuit). , FPGA (Field Programmable Gate Array), or a combination of these. Each function of the model processing section 5, point cloud extraction section 6, and server communication section 7 may be realized by the processing circuit 24, respectively, or each function may be realized by a single processing circuit 24.

When the processing circuit 24 is the processor 25 shown in FIG. 26, the functions of the model processing section 5, point cloud extraction section 6, and server communication section 7 are realized by software, firmware, or a combination of software and firmware. . Software or firmware is written as a program and stored in memory 26. The processor 25 implements each function by reading and executing programs recorded in the memory 26. That is, the server 1 acquires the shape information of the element corresponding to the ID information received from the terminal device 8 from the model data 3 stored in the server storage unit 2, and the point cloud stored in the server storage unit 2. A step of extracting a plurality of points existing in the vicinity of the shape of an element based on the shape information acquired by the model processing unit 5 from the data 4, a step of receiving ID information from the terminal device 8, and a step of receiving the plurality of points extracted by the point cloud extraction unit 6. A memory 26 is provided for storing a program that results in the step of transmitting point cloud data consisting of points to the terminal device 8. It can also be said that these programs cause the computer to execute the procedures or methods of the model processing section 5, point cloud extraction section 6, and server communication section 7. Here, memory refers to nonvolatile or volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory). The storage medium may be a flexible semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.

Note that some of the functions of the model processing unit 5, point cloud extraction unit 6, and server communication unit 7 may be realized by dedicated hardware, and other functions may be realized by software or firmware. good.

In this way, the processing circuit can realize each of the above functions using hardware, software, firmware, or a combination thereof.

Although the hardware configuration of the server 1 shown in FIG. 1 has been described above, the same applies to the hardware configuration of the terminal device shown in FIG. 1. The same applies to the hardware configuration of the server 17 shown in FIG. 7 and the hardware configuration of the point cloud data drawing device 22 shown in FIG.

Note that within the scope of the present disclosure, it is possible to freely combine the embodiments, or to modify or omit each embodiment as appropriate.

Although the present disclosure has been described in detail, the above description in all aspects is illustrative and not restrictive. It is understood that countless variations not illustrated may be envisioned.

1 Server, 2 Server storage unit, 3 Model data, 4 Point cloud data, 5 Model processing unit, 6 Point cloud extraction unit, 7 Server communication unit, 8 Terminal device, 9 Terminal storage unit, 10 Object data, 11 Input unit , 12 drawing unit, 13 terminal communication unit, 14 input device, 15 monitor, 16 network, 17 server, 18 server storage unit, 19 point cloud data, 20 model processing unit, 21 point cloud extraction unit, 22 point cloud data drawing device , 23 storage unit, 24 processing circuit, 25 processor, 26 memory.

Claims

A point cloud data drawing system comprising a server and a terminal device communicably connected to the server,
The server is
Model data including element shape information that expresses multiple elements constituting the target object as a set of three-dimensional figures, element identification information that identifies each of the elements, and measured three-dimensional point cloud data of the target object. a server storage unit that stores
a model processing unit that acquires the element shape information corresponding to the element specifying information received from the terminal device from the model data stored in the server storage unit;
a point cloud extraction unit that extracts a plurality of points based on the element shape information acquired by the model processing unit from the point cloud data stored in the server storage unit;
a server communication unit that receives the element identification information from the terminal device and transmits specific point cloud data, which is point cloud data made up of the plurality of points extracted by the point cloud extraction unit, to the terminal device;
Equipped with
The terminal device is
a terminal storage unit that stores object data including at least shape information of each of the elements constituting the object and element identification information that specifies each of the elements;
an input unit that receives the designation of the element and acquires the element specifying information corresponding to the designated element from the terminal storage unit;
a terminal communication unit that transmits the element identification information acquired by the input unit to the server and receives the specific point group data from the server;
a drawing unit that draws an image based on the specific point cloud data received by the terminal communication unit;
A point cloud data drawing system.
A point cloud data drawing system comprising a server and a terminal device communicably connected to the server,
The server is
Model data including element shape information that expresses multiple elements constituting the target object as a set of three-dimensional figures, element identification information that identifies each of the elements, and measured three-dimensional point cloud data of the target object. a server storage unit that stores
an element specifying information adding unit that adds the element specifying information to each point included in the point cloud data stored in the server storage unit;
a point cloud extraction unit that extracts a plurality of points corresponding to the element specifying information received from the terminal device from the point cloud data stored in the server storage unit;
a server communication unit that receives the element identification information from the terminal device and transmits specific point cloud data, which is point cloud data made up of the plurality of points extracted by the point cloud extraction unit, to the terminal device;
Equipped with
The terminal device is
a terminal storage unit that stores object data including at least shape information of each of the elements constituting the object and element identification information that specifies each of the elements;
an input unit that receives the designation of the element and acquires the element specifying information corresponding to the designated element from the terminal storage unit;
a terminal communication unit that transmits the element identification information acquired by the input unit to the server and receives the specific point cloud data from the server;
a drawing unit that draws an image based on the specific point cloud data received by the terminal communication unit;
A point cloud data drawing system.
The object data includes a three-dimensional model that represents a plurality of the elements constituting the object as a set of three-dimensional figures,
3. The point cloud data drawing system according to claim 1, wherein the input unit accepts designation of the element when the element included in the three-dimensional model drawn by the drawing unit is selected with a pointing device.
the object is a tunnel;
The object data includes a tunnel development diagram model that represents the tunnel in a development diagram,
3. The point cloud data drawing system according to claim 1, wherein the input unit receives a designation of the element when the element included in the tunnel developed view model drawn by the drawing unit is selected with a pointing device.
The target object is a bridge,
The object data includes a bridge development diagram model that represents the bridge in a development diagram,
3. The point cloud data drawing system according to claim 1, wherein the input unit accepts designation of the element when the element included in the bridge development view model drawn by the drawing unit is selected with a pointing device.
The object data includes information regarding the member or the element of the object,
The input unit accepts designation of the element when information about the member or the element included in a table showing information about the member or the element of the object drawn by the drawing unit is selected with a pointing device. The point cloud data drawing system according to item 1 or 2.
The terminal communication unit transmits to the server the element identification information and transfer point information indicating the degree of transfer points of the specific point group data that the server communication unit transmits to the terminal device,
The point cloud extraction unit reduces points included in the extracted specific point cloud data based on the transfer point number information,
The point cloud data drawing system according to claim 1 or 2, wherein the server communication unit transmits the specific point cloud data from which the point cloud extraction unit has reduced the points to the terminal device.
The drawing unit draws an image based on the specific point cloud data thinned out to a predetermined degree,
3. The point cloud data drawing system according to claim 1, wherein the input unit accepts designation of the element when the element of the object in the image drawn by the drawing unit is selected with a pointing device.
A server communicably connected to a terminal device,
Model data including element shape information that expresses multiple elements constituting the target object as a set of three-dimensional figures, element identification information that identifies each of the elements, and measured three-dimensional point cloud data of the target object. a storage unit that stores
a model processing unit that acquires the element shape information corresponding to the element specifying information received from the terminal device from the model data stored in the storage unit;
a point cloud extraction unit that extracts a plurality of points based on the element shape information acquired by the model processing unit from the point cloud data stored in the storage unit;
a communication unit that receives the element identification information from the terminal device and transmits specific point cloud data, which is point cloud data made up of the plurality of points extracted by the point cloud extraction unit, to the terminal device;
A server comprising:
Model data including element shape information that expresses multiple elements constituting the target object as a set of three-dimensional figures, element identification information that identifies each of the elements, and measured three-dimensional point cloud data of the target object. a storage unit that stores
an input unit that receives input of the element identification information;
a model processing unit that acquires the element shape information corresponding to the element specifying information received by the input unit from the model data stored in the storage unit;
a point cloud extraction unit that extracts a plurality of points based on the element shape information acquired by the model processing unit from the point cloud data stored in the storage unit;
a drawing unit that draws an image based on specific point cloud data that is point cloud data made up of the plurality of points extracted by the point cloud extraction unit;
A point cloud data drawing device.
The element shape information is a three-dimensional model that represents a plurality of the elements constituting the object as a set of three-dimensional figures,
11. The point cloud data drawing device according to claim 10, wherein the input section accepts designation of the element when the element included in the three-dimensional model drawn by the drawing section is selected with a pointing device.
the object is a tunnel;
The element shape information is a tunnel development diagram model that represents the tunnel in a development diagram;
11. The point cloud data drawing device according to claim 10, wherein the input unit receives a designation of the element when the element included in the tunnel developed diagram model drawn by the drawing unit is selected with a pointing device.
The target object is a bridge,
The object data includes a bridge development diagram model that represents the bridge in a development diagram,
11. The point cloud data drawing device according to claim 10, wherein the input unit accepts designation of the element when the element included in the bridge development view model drawn by the drawing unit is selected with a pointing device.
The object data includes information regarding the member or the element of the object,
The input unit accepts designation of the element when information about the member or the element included in a table showing information about the member or the element of the object drawn by the drawing unit is selected with a pointing device. The point cloud data drawing device according to item 10.
The drawing unit draws an image based on the specific point cloud data thinned out to a predetermined degree,
11. The point cloud data drawing device according to claim 10, wherein the input unit receives designation of the element when the element of the object in the image drawn by the drawing unit is selected with a pointing device.
A point cloud data drawing method in a point cloud data drawing system comprising a server and a terminal device communicably connected to the server, the method comprising:
The server is
Model data including element shape information that expresses multiple elements constituting the target object as a set of three-dimensional figures, element identification information that identifies each of the elements, and measured three-dimensional point cloud data of the target object. remember and
obtaining the element shape information corresponding to the element specifying information received from the terminal device from the stored model data;
extracting a plurality of points based on the acquired element shape information from the stored point cloud data;
receiving the element identification information from the terminal device, and transmitting specific point cloud data, which is point cloud data made up of a plurality of points extracted by the point cloud extraction unit, to the terminal device;
The terminal device is
storing object data including at least shape information of each of the elements constituting the object and element identification information that specifies each of the elements;
accepting the designation of the element, acquiring the element identification information corresponding to the designated element;
transmitting the acquired element identification information to the server, receiving the specific point cloud data from the server,
A point cloud data drawing method for drawing an image based on the received specific point group data.
A point cloud data drawing method in a point cloud data drawing system comprising a server and a terminal device communicably connected to the server, the method comprising:
The server is
Model data including element shape information that expresses multiple elements constituting the target object as a set of three-dimensional figures, element identification information that identifies each of the elements, and measured three-dimensional point cloud data of the target object. remember and
assigning the element identification information to each point included in the stored point cloud data;
extracting a plurality of points corresponding to the element identification information received from the terminal device from the stored point cloud data;
receiving the element identification information from the terminal device, and transmitting specific point cloud data, which is point cloud data made up of a plurality of points extracted by the point cloud extraction unit, to the terminal device;
The terminal device is
storing object data including at least shape information of each of the elements constituting the object and element identification information that specifies each of the elements;
accepting the designation of the element, acquiring the element identification information corresponding to the designated element;
transmitting the acquired element identification information to the server, receiving the specific point cloud data from the server,
A point cloud data drawing method for drawing an image based on the received specific point group data.
Model data including element shape information that expresses multiple elements constituting the target object as a set of three-dimensional figures, element identification information that identifies each of the elements, and measured three-dimensional point cloud data of the target object. remember and
Accepting input of the element identification information,
obtaining the element shape information corresponding to the received element specifying information from the stored model data;
extracting a plurality of points based on the acquired element shape information from the stored point cloud data;
A point group data drawing method for drawing an image based on specific point group data that is point group data composed of the plurality of extracted points.