Facility modeling system

Abstract

To estimate conditions of equipment / piping of a facility using surface information of the facility, to generate a 3D model for the equipment / piping and a supplementary object.SOLUTION: A modeling system 1 of a facility having a modeling target includes: an overall facility 3D model generation unit 3 which acquires facility information 14a including point cloud data and surface information of the entire facility to generate an overall facility 3D model 15; a characteristic part recognition unit 4 which detects a region where a supplementary object covering at least a part of the modeling target exists, and recognizes the region as a characteristic part; a characteristic part 3D model generation unit 5 which acquires characteristic part information 14b including point cloud data and surface information of the characteristic part by an acquisition method higher in precision than the acquisition method of the facility information 14a, and generates a characteristic part 3D model 17 regarding the characteristic part; and an internal 3D model generation unit 6 which estimates shape information of a part of the modeling target covered by the supplementary object on the basis of the characteristic part 3D model 17 and the characteristic part information 14b, and generates an internal 3D model 18 regarding the modeling target covered by the supplementary object.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a system for creating a 3D model of the shape information of devices, fluid piping, etc. of various facilities in plants, buildings, etc., using information obtained by non-destructive on-site measurement. [Background technology]

[0002] Facilities such as plants and buildings handle a variety of fluids including air and water, and are equipped with equipment to heat or cool, mix, react, store, and adjust the flow rate and pressure of these fluids, as well as piping to transport the fluids from one device to another.

[0003] Fluids flowing through equipment such as piping may be at a temperature different from the atmospheric temperature (generally around 5 to 30°C). Equipment and piping that handle fluids with temperature conditions different from the atmosphere are often equipped with accessories (various heating, heat retention, and cooling devices, covers, etc.) to cover the equipment and piping. Accessories are installed for operational reasons, such as to maintain the fluid temperature by suppressing heat loss from the fluid to the atmosphere or heat absorption from the atmosphere to the fluid, and for safety reasons, such as to prevent workers from getting burned when they come into contact with them.

[0004] As a means of obtaining 3D shape information of the equipment, piping, and the external accessories that cover them from the design information of the facility, for example, there are methods to obtain 3D coordinates from isometric drawings, and methods to obtain 3D coordinates from 2D drawings (layout drawings, installation drawings, assembly drawings, structural drawings, etc.). However, isometric drawings may not include detailed information about the shapes of the equipment, piping, and accessories, and 2D drawings may not allow obtaining information about the shapes and 3D coordinates of blind spots on the drawings. Therefore, in order to obtain 3D shape information using the above methods, it is necessary to supplement the missing information.

[0005] Prior art related to the present invention includes, for example, Patent Document 1 and Patent Document 2. Patent Document 1 describes a 3D-CAD data creation system that registers and stores the shapes of materials such as pipes, steel materials, and plate materials, creates continuous, integrated 3D-CAD data together with 3D point cloud data and images related to the surface shapes acquired by on-site measurement using lasers, images, etc., and reduces blind spots by synthesizing this 3D-CAD data obtained at multiple measurement points.

[0006] Furthermore, Patent Document 2 describes a plant construction support method and a plant construction support device that use a drone or the like to measure the shape and dimensions of products (equipment) and materials on-site during installation work and compare them with design information such as a 3D-CAD model to manage the on-site delivery and installation status. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 6060211 [Patent Document 2] JP 2012-180191 A Summary of the Invention [Problem to be solved by the invention]

[0008] As mentioned above, isometric drawings and 2D drawings lack the shape information necessary to obtain 3D shape information. In addition, when repair and renewal work is carried out on equipment, piping, and accessories, there are cases where the final digital drawings do not remain. For these reasons, in order to accurately model the shape information of on-site equipment, piping, and accessories in 3D, it is necessary to dismantle the external accessories on-site and measure the shapes of the accessories and the shapes of the equipment and piping covered by the accessories, or to estimate the shape information of the equipment, piping, and accessories from surface information such as 3D point cloud data and images obtained by non-destructive on-site measurements.

[0009] Of these two methods, the latter, estimation from surface information obtained by non-destructive on-site measurement, is more efficient because measurements can be made while the equipment is in operation, and it is possible to omit the installation of scaffolding for on-site inspection and the dismantling and restoration of auxiliary structures.

[0010] In order to model the shape information of equipment and piping covered with accessories from surface information obtained by non-destructive on-site measurement, a technology is required to distinguish the equipment and piping from the accessories from the above-mentioned surface information, and a technology to estimate the shape and dimensions of the equipment and piping inside the accessories. Neither Patent Document 1 nor Patent Document 2 describes solutions to these two technical problems.

[0011] The objective of this invention is to accurately model in 3D the shape information of on-site equipment, piping and accessories by identifying equipment and piping from accessories based on surface information of the facility and estimating the shape and dimensions of the equipment and piping inside the accessories. [Means for solving the problem]

[0012] In order to solve the above-mentioned problems, one embodiment of the present invention is a modeling system for a facility having an object to be modeled, comprising: an entire-facility 3D model creation unit that acquires facility information including point cloud data and surface information of the entire facility and creates an entire-facility 3D model of the entire facility; a feature recognition unit that detects an area where the object to be modeled and accessories covering at least a portion of the object to be modeled are present based on the entire-facility 3D model and recognizes the area as a feature; a feature 3D model creation unit that acquires, for the feature, feature information including point cloud data and surface information of the feature by a method with higher accuracy than the method used to acquire the facility information, and creates a feature 3D model for the feature based on the feature information; and an internal 3D model creation unit that estimates shape information of the part of the object to be modeled that is covered by the accessories based on the feature 3D model and the feature information, and creates an internal 3D model of the modeled object covered by the accessories. Effect of the Invention

[0013] The facility modeling system of the present invention simplifies the installation of scaffolding for checking the installation status of equipment and piping on-site, as well as the dismantling and restoration work of accessories, and makes it possible to create a 3D model while the facility is in operation using information obtained by non-destructive on-site measurement. In addition, by using this system for facility inspection and repair, the work related to the above-mentioned on-site inspection can be simplified, thereby shortening the facility downtime.

[0014] Furthermore, by applying the 3D model of equipment created with this system to process evaluations (digital twin, etc.) and various evaluations of individual equipment (various analyses such as thermal flow, reaction, structure (stress, vibration) etc.), it is possible to support the creation of accurate shape data based on the on-site construction situation, and the selection of input, output and boundary conditions, which is expected to contribute to improving the efficiency and accuracy of preparation work for various evaluations.

[0015] Further features related to the present invention will become apparent from the description of the present specification and the accompanying drawings. Furthermore, the objects, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0016] [Figure 1] 4 shows an example of a flow for creating various 3D models based on information obtained by on-site measurement using the modeling system according to the first embodiment of the present invention. [Diagram 2] 13 is an example of a flow for detecting an area where a target object and an accessory are present by a feature recognition unit in the modeling system according to the first embodiment of the present invention. [Diagram 3] 13 is an example of a flow for estimating shape information of a target object by an internal 3D model creation unit in the modeling system according to the first embodiment of the present invention. [Figure 4] 13 is an example of a flow for estimating shape information of an accessory by an accessory 3D model creation unit in the modeling system according to the first embodiment of the present invention. [Diagram 5] 13 is an example of a flow for estimating shape information of a target object in a 3D model extension unit in the modeling system according to the first embodiment of the present invention. [Figure 6A]4 is an example of a screen output by a process performed by a feature recognition unit in the modeling system according to the first embodiment of the present invention. [Figure 6B] 1 is an example of an output screen of a 3D model around a characteristic part output by the modeling system according to the first embodiment of the present invention. [Figure 7] 13 is an example of a flow chart in which, when a region in which a target object and an accessory are present can be detected in a modeling system according to a second embodiment of the present invention, a heat transfer calculation is performed in an accessory 3D model creation unit to estimate shape information of the accessory. [Figure 8] 13 is an example of a flow chart for estimating shape information of an accessory by performing a heat transfer calculation in an accessory 3D model creation unit when an area in which a target object and an accessory exist cannot be detected in a modeling system according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Example 1 An embodiment in which a 3D model of a facility is created from surface information obtained by on-site measurement using the facility modeling system of the present invention will be described below. A facility modeling system according to a first embodiment of the present invention will be described with reference to Fig. 1 to Fig. 6. First, Fig. 1 shows an example of a flow for creating a 3D model based on information obtained by on-site measurement using the facility modeling system of the present invention. Here, in this specification, modeling refers to a diagram or the like in which point cloud data obtained by measurement is mapped onto a three-dimensional coordinate system by means of converting the point cloud data into mesh data or the like.

[0018] A facility modeling system 1 according to a first embodiment of the present invention includes a system control and data storage unit 2, an entire facility 3D model creation unit 3, a feature recognition unit 4, a feature 3D model creation unit 5, an interior 3D model creation unit 6, an accessory 3D model creation unit 7, and a 3D model extension unit 8. The system control and data storage unit 2 controls a field measurement device 10 such as a 3D laser scanner, communicates with a field measurement device control and data storage unit 9 that stores data acquired from the device, and sends a point cloud data and surface information acquisition command 11. The control and data storage unit 9 that receives the acquisition command 11 sends an operation and measurement command 12 to the field measurement device 10. The field measurement device 10 that receives the operation and measurement command 12 performs measurement according to the command and acquires data.

[0019] The system 1 according to the present invention can be built in a computer connected to the control / data storage unit 9 and the field measuring device 10 via a wired / wireless network, and executed by the CPU of the computer. Although not shown in Fig. 1, the modeling system 1 is connected to a monitor that outputs various data generated, measured, and processed within the system.

[0020] Then, the measurement data 13 is transmitted to the control and data storage unit 9. The system control and data storage unit 2 receives the point cloud data and surface information 14 from the control and data storage unit 9 of the on-site measurement device. Here, the point cloud data is mainly a group of coordinate data of the periphery and center line of each system and device of the facility, and the surface information is an appearance image or photo, color, light reflection intensity, surface temperature, etc. These data and information can be acquired by unmanned means such as a drone equipped with various measuring instruments such as a laser scanner, a camera, and a thermograph, or manned means such as an inspector who brings these measuring instruments. In the following, the point cloud data and surface information of the entire facility will be referred to as facility information 14a, and the point cloud data and surface information around the characteristic parts described later will be referred to as characteristic part information 14b.

[0021] First, in order to create a 3D model of the entire facility, the entire facility is measured by the on-site measuring device 10, and the equipment information 14a of the entire facility obtained by the measurement is input to the entire facility 3D model creation unit 3 to create an entire facility 3D model 15, which is a 3D model of the entire facility. The entire facility 3D model 15 is based on a layout diagram of the facility created based on point cloud data obtained as a result of the measurement. However, if a 3D model that combines an image of the entire facility and surface temperature is also created and made available for reference from the layout diagram of the facility, it is possible to grasp the detailed situation of the site and is useful for searching for internal characteristic parts (parts where the modeling target object to be modeled is exposed from the accessories, areas where the outer diameter changes or the shape is characteristic due to connections such as flanges and valves, etc.). In addition, it is preferable to divide the facility into multiple blocks in the entire facility 3D model 15 so that the model data can be handled for each block. Note that the modeling target object refers to piping covered by accessories as described above, but will be simply referred to as the target object below.

[0022] The 3D model 15 of the entire facility created in this way is stored in the system control and data storage unit 2 and is sent to the feature recognition unit 4. The feature recognition unit 4 searches for an area in the 3D model 15 of the entire facility where the target object (equipment, piping, etc.) and accessories attached to the outside of the target object are present, and defines and detects the area as a feature. As a feature, a location where the outer diameter of the piping, etc. changes or the shape is characteristic is searched for on the layout diagram of the facility created from the point cloud data, but it is also possible to search for an appearance shape, color, light reflection intensity, etc. in the image data, as well as a location that differs from the surroundings in the surface temperature distribution data. In particular, when the surface temperature of the target object is different from the atmospheric temperature (about 5 to 30°C), there are many cases where accessories are installed on the outside of the target object, and in such cases, a method of detecting the part of the target object exposed from the accessories as a feature based on the difference in surface temperature from the surroundings is effective.

[0023] 2 shows an example of a specific method for detecting a feature where a target object and an accessory are present in the feature recognition unit 4. The feature recognition unit 4 has an image-3D model synthesis unit 21, a surface temperature synthesis unit 23, and a target object identification part search unit 25. First, the image-3D model synthesis unit 21 inputs the entire facility 3D model 15, point cloud data 100 of the entire facility acquired as part of the facility information 14a, and external image or photo data 101 of the entire facility linked to the point cloud data 100, and creates an image-synthesized entire facility 3D model 22. Then, the image-synthesized entire facility 3D model 22 is transmitted to the surface temperature synthesis unit 23 and the target object identification part search unit 25.

[0024] The surface temperature synthesis unit 23 further synthesizes the surface temperature data 102 of the entire facility acquired as part of the facility information 14a with the image-synthesized 3D model of the entire facility 22, and creates a 3D model of the entire facility 24 that combines the images and the surface temperature distribution. The created 3D model of the entire facility 24 that combines the images and the surface temperature distribution is transmitted to the identification part search unit 25 of the target object. Then, based on the image-synthesized 3D model of the entire facility 22 and the 3D model of the entire facility 24 that combines the images and the surface temperature distribution, the identification part search unit 25 of the target object searches for areas including areas where changes in outer diameter or shape occur, areas where the appearance color or light reflection intensity is different, and areas where the surface temperature is different from the surroundings, as described above, and detects them as characteristic parts.

[0025] The feature recognition unit 4 extracts a 3D model of the block containing the feature detected by the target object identification location search unit 25 from the entire equipment 3D model 15 as a feature 3D model 16, stores it in the system control and data storage unit 2, and also sends it to the feature 3D model creation unit 5.

[0026] The feature 3D model creation unit 5 inputs feature information 14b around the feature based on the feature 3D model 16 extracted from the entire facility 3D model 15, and creates a feature 3D model 17 based on the feature information 14b around the feature. Here, the feature information 14b around the feature is point cloud data obtained for a block including the feature and its surroundings by a method with higher accuracy than the method for obtaining the above-mentioned facility information 14a. For example, it is point cloud data and surface information obtained by measurement using a measuring device placed closer to the facility than when the facility information 14a was obtained, or by measurement from more directions than when the facility information 14a was obtained, but is not limited thereto, and in short, any method may be used as long as it can obtain a larger amount of data than the amount of data that the feature has on the entire facility 3D model 15.

[0027] In this way, by using the feature information 14b, which has higher measurement accuracy and resolution than the equipment information 14a and fewer blind spots, it is possible to create an accurate 3D model of the periphery of the feature. The data of the feature 3D model 17 created based on the feature information 14b is stored in the system control and data storage unit 2 and is sent to the internal 3D model creation unit 6.

[0028] In the internal 3D model creation unit 6, the point cloud data acquired in the feature information 14b around the feature and the feature 3D model 17 created based on the point cloud data and surface information around the feature are used to identify or estimate shape information of the target object (equipment, piping, etc.) in the feature detected by the feature recognition unit 4. Note that in this specification, the "shape information" is treated as including not only the dimensions of the target object but also position information such as the relative position with respect to the accessories covering the target object.

[0029] In the feature portion, where the target object is exposed and not covered by any accessories (i.e., where point cloud data and surface information can be measured), shape information of the exposed portion of the target object is measured and, for example, the outer diameter of the target object in the portion covered by the accessories is assumed to be the same as the outer diameter of the exposed portion, thereby estimating shape information of the target object in the portion covered by the accessories. When estimating shape information of the target object in the feature portion in an area where there is no part of the target object exposed from the accessories and there is a change in shape near the target object, such as a change in the outer diameter at a flange or valve portion to which the target object is connected, the following two types of approaches can be adopted, for example.

[0030] (1) The thickness of the accessories is assumed, and the outer diameter of the object covered by the accessories is estimated by engineering. If the accessories are thermal insulation materials, commercially available products have a thickness of about 20 to 100 mm, and the initial value of the thickness of the accessories is set from this. Based on the estimated outer diameter of the object, specifications indicating the outer diameter dimensions of commercially available products such as flanges and valves (e.g. 50A, Schedule 10, etc.) are searched and estimated from a standard table, and the specifications and size of the equipment, piping, etc. of the object are identified. Note that the thickness of the thermal insulation material may vary depending on the design values ​​of the outer diameter and surface temperature of the object, and the surface temperature of the accessories.

[0031] (2) As in (1), the thickness and physical properties (internal thermal conductivity, surface heat transfer coefficient) of the attached objects are assumed, and the surface temperature of the internal object is estimated by heat transfer calculation. This is an effective method when the internal temperature of the object can be obtained as process data for the equipment. By comparing the estimated surface temperature of the object with the obtained internal temperature of the object, it is possible to estimate the outer diameter of the object.

[0032] 3 shows an example of a specific flow for estimating shape information of a target object inside an accessory in a feature in the interior 3D model creation unit 6 of the equipment modeling system. Using point cloud data 103 around the feature acquired in feature information 14b around the feature, exterior image or photo data 104 around the feature, surface temperature data 105 around the feature, and feature 3D model 17, a shape information estimation result 27 of the target object for the part covered by the accessory is obtained in a shape information estimation unit 26 of the target object.

[0033] This estimation result is compared with target object design data 107 acquired from design information storage unit 29, which has engineering information stored in advance, in target object shape information determination unit 28, and the validity of target object shape information estimation result 27 is determined. If it is determined to be valid, shape information of the target object (equipment, piping, etc.) in the feature portion detected by feature portion recognition unit 4 described above is specified, and an internal 3D model 18 is output. On the other hand, if it is not valid, that is, if no corresponding candidate is found in target object design data 107, a command 30 to re-estimate the target object shape information is issued, and processing returns to target object shape information estimation unit 26.

[0034] If the design data (drawings, specifications, etc.) of the relevant part could be referenced in the design information storage unit 29, it would be possible to identify the shape information of the target object and back-check the above-mentioned assumptions and estimation results. It would also be possible to take an approach of creating a 3D model of the target object's characteristic parts based on this design information.

[0035] Through the above procedure, shape information of the part of the target object covered by the accessory is identified or estimated, and an internal 3D model 18, which is a 3D model of the part of the target object covered by the accessory in the characteristic part, is created. The data of the internal 3D model 18 is stored in the system control / data storage unit 2 and is also sent to the accessory 3D model creation unit 7.

[0036] 4, in the accessory 3D model creation unit 7, the shape information estimation unit 31 of the accessory in the characteristic part calculates the difference between the shape information of the feature 3D model 17 and the internal 3D model 18, and estimates the shape information of the accessory in the characteristic part. Based on the estimation result, the accessory 3D model 19 in the characteristic part is created, and the data is stored in the system control and data storage unit 2 and sent to the 3D model extension unit 8.

[0037] Next, an example of a flow for expanding the 3D model of the characteristic part by the 3D model expansion unit 8 is shown in Fig. 5. The 3D model expansion unit 8 creates a 3D model 20 of the target object and accessories of the system connected to the characteristic part, using the entire facility 3D model 15, the characteristic part 3D model 17, and the interior 3D model 18 in addition to the accessory 3D model 19. Here, the system connected to the characteristic part refers to a block adjacent to the block to which the characteristic part recognized by the feature part recognition unit 4 belongs, as will be described in detail later.

[0038] In the 3D model expansion unit 8, first, a deviation confirmation unit 34 for shape information of a system connected to a characteristic part takes a difference between shape information of an accessory in the system obtained from the entire facility 3D model 15 and shape information of an accessory of the characteristic part obtained from at least one of the feature part 3D model 17 and the accessory 3D model 19 of the feature part, and obtains a deviation 35 for shape information of the system connected to the characteristic part. A target object 3D model creation unit 36 ​​for a system connected to an accessory estimates shape information of a target object 3D model of the feature part by a method such as correcting the deviation amount described above, and creates a target object 3D model 37 of the system connected to the feature part from the estimation result. Next, a 3D model 20 of the target object and accessory of the system connected to the feature part is obtained by taking a difference between the entire facility 3D model 15 and the target object 3D model 37 of the system connected to the feature part.

[0039] In addition, starting from the 3D model of the characteristic part, 3D models of the target object and accessories in neighboring blocks in the system connected to the characteristic part can be estimated, and by repeating this estimation process, a 3D model of the target object inside covered by the accessories can be created.

[0040] Finally, examples of a processing screen and an output screen of the facility modeling system are shown in Fig. 6A and Fig. 6B. First, Fig. 6A shows an example of a processing screen displayed when the feature recognition unit 4 searches for a location where the target object and its accessories can be identified, as shown in Fig. 2 above.

[0041] The feature recognition unit 4 extracts areas whose appearance, such as outer diameter, color, or light reflection intensity, differs from the surroundings from an image-combined 3D model of the entire facility 22 created by an image-3D model composition unit 21 of the feature recognition unit 4. At the same time, it extracts areas whose surface temperature differs from the surroundings from an image-combined 3D model of the entire facility 24 created by a surface temperature composition unit 23 combining images and surface temperature distribution.

[0042] On the other hand, the size, positional relationship in the system, outer diameter, color, and estimated values ​​of the surface temperature of the target object are estimated from the 3D model 15 of the entire facility, the target object design data 107 stored in the system control and data storage unit 2, and actual measurement data of the internal temperature of the target object (not shown).

[0043] The above-mentioned locations where the appearance and / or surface temperature are different from the surroundings are compared with the estimated expected values, and it is determined whether the location is an exposed part of the target object, etc. Also, the location is recognized as a characteristic part, and data of the block including the location is extracted from the entire facility 3D model 15, and output as the characteristic part 3D model 16 extracted from the entire facility 3D model 15.

[0044] 6B shows an example of an output screen of a 3D model around a characteristic part. This output screen displays, on a single screen, an internal 3D model 18 of the target object covered with accessories in the characteristic part output from the internal 3D model creation unit 6, an accessory 3D model 19 in the characteristic part output from the accessory 3D model creation unit 7, and a 3D model 20 of the target object and accessories of the system connected to the characteristic part output from the 3D model extension unit 8.

[0045] To display the screen shown in Fig. 6B, first, 3D models 18 and 19 are created for block N, with block N including the target object (the exposed parts of pipes L1_N-1 and L2_N+1 in the figure, and equipment E1) as the feature part. Then, for adjacent blocks N-1 and N+1, these 3D models 18 and 19 and the entire facility 3D model 15 are used to create 3D models 20 of the target object (pipes L1_N-1 and L2_N+1) and accessories (cover L1_N-1 covering pipes L1_N-1, and cover L2_N+1 covering pipes L2_N+1) in blocks N-1 and N+1 adjacent to block N by the 3D model extension unit 8 shown in Fig. 5, and the 3D models of these three blocks are connected to obtain the display screen shown in Fig. 6B.

[0046] In FIG. 6B, the target objects are shown as the exposed portions of the pipes L1_N-1 and L2_N+1, and the equipment E1, but depending on the purpose of modeling, the characteristic parts may also be the valve B1, flanges F1, and F2.

[0047] The equipment modeling system described above uses surface information obtained from non-destructive on-site measurements from outside the equipment to search for feature areas that distinguish between external accessories and internal target objects (equipment, piping, etc.) that are covered by the accessories, and can create 3D models of the target objects and accessories at these feature areas.

[0048] Furthermore, by using the equipment modeling system of the present invention for equipment inspection and repair, it is possible to simplify the installation of scaffolding to check the current installation status of equipment and piping, and the dismantling and restoration work of accessories, thereby shortening the equipment downtime for these tasks.In addition, although not shown, by applying the 3D model of the equipment created by this system to process evaluation (digital twin, etc.) and various evaluations of individual equipment (various analyses such as heat flow, reaction, structure (stress, vibration)), it is possible to support the creation of accurate shape data based on the construction status at the site, and the selection of input, output, and boundary conditions, contributing to the efficiency and accuracy of preparation work for various evaluations.

[0049] Example 2 Next, an equipment modeling system according to a second embodiment of the present invention will be described with reference to Fig. 7. In this embodiment, when the characteristic part recognition unit 4 can recognize a characteristic part, the accessory 3D model creation unit 7 of the first embodiment further performs a heat transfer calculation to estimate the specifications of the accessory (shape such as thickness, thermal properties such as thermal conductivity, etc.). The other flows of the equipment modeling system are the same as those of the first embodiment, and therefore illustrations and descriptions thereof will be omitted.

[0050] In the accessory 3D model creation unit 7 of the second embodiment, the shape information estimation unit 31 of the accessory of the characteristic part takes the difference between the feature 3D model 17 created based on the feature information 14b and the internal 3D model 18, and outputs it as the shape information estimation result 32 of the accessory of the characteristic part. At this point, the estimation result of the shape of the accessory in the characteristic part is obtained. Next, in the accessory specification estimation unit 33, a heat transfer calculation is performed using the shape of the accessory in the characteristic part and the feature information 14b, and the thermal property (thermal conductivity, etc.) 39 of the accessory is estimated. Here, if the exposed part of the target object can be detected as a feature, and the actual surface temperature measured at that point, the actual measured value of the internal temperature of the target object relative to this surface temperature, and the actual measured value of the atmospheric temperature can be obtained, estimation with practical accuracy is possible.

[0051] Next, the validity of the estimated results of the thermal properties 39 of the accessory is judged by the accessory specification judgment unit 40. If the accessory is, for example, a thermal insulation material, the thermal conductivity of commercially available thermal insulation materials is about 0.03 to 0.10 W / m·K (70°C), and if the estimated results are within this range, they are judged to be valid. Since such thermal property values ​​vary depending on the material, type, evaluation temperature, and deterioration state of the thermal insulation material, it is preferable to make the judgment taking information on these into consideration.

[0052] If the estimated results of the thermal properties 39 of the accessories are judged to be valid, the accessory 3D model creation unit 7 outputs the accessory 3D model 19 of the characteristic part, and if it is judged to be invalid, it issues a command 41 to re-estimate the shape information of the accessories in the characteristic part, and returns to processing in the accessory shape information estimation unit 31 for the characteristic part.

[0053] In this manner, in this embodiment, a means is provided for further estimating the thermal properties (thermal conductivity, etc.) of the attachment and verifying the validity of the estimation results from an engineering point of view, thereby making it possible to improve the accuracy of estimating the shape of the attachment.

[0054] Example 3 Finally, an equipment modeling system according to a third embodiment of the present invention will be described with reference to Fig. 8. In this embodiment, when the feature recognition unit 4 cannot detect a location that can distinguish the target object from an accessory, that is, when the feature cannot be automatically recognized, the accessory 3D model creation unit 7 performs a heat transfer calculation and estimates shape information of the accessory. In this embodiment as well, only the flow of the parts that differ from the first embodiment will be described.

[0055] In this embodiment, it is assumed that the feature recognition unit 4 cannot detect a location where the target object and the accessories can be identified. In this case, the user selects the location where the heat transfer calculation is to be performed as the feature by visual inspection or the like. Then, the user operates the measuring device himself to obtain feature information 14b in the area including the feature. The feature to be selected is preferably a location where there is little change in the outer diameter or deterioration of the accessories in the exterior of the equipment, where there is little variation in the surface temperature distribution of the accessories, and where the target object has an actual measured value of its internal temperature. By selecting such a location, the internal and external surface temperatures of the accessories of the feature can be given from the actual measured values.

[0056] The feature 3D model creation unit 5 uses the feature information 14b of the surroundings of the feature acquired by the user to create a feature 3D model 17 based on the feature information 14b of the surroundings of the feature, and can acquire detailed data on the shape information and surface temperature of the accessories. The feature information 14b acquired by the user is stored in the system control and data storage unit 2 by the user.

[0057] In addition to these data, the temperature and the actual measured values ​​of the outer diameter of the target object in the part covered by the accessory are given (the thickness of the accessory is also determined), and the thermal properties (thermal conductivity) of the accessory can be estimated by performing a heat transfer calculation in the accessory 3D model creation unit 7 in the same manner as in Example 2. If the estimation result is judged to be valid in the same manner as in Example 2, the material of the accessory can also be identified, and an accessory 3D model 19 in the characteristic part is output.

[0058] The obtained accessory 3D model 19 may be sent to the internal 3D model creation unit 6 to create an internal 3D model 18 for confirmation, or may be sent directly to the 3D model extension unit 8.

[0059] According to the embodiment of the present invention described above, the following advantageous effects are obtained. (1) A modeling system 1 for an equipment having an object to be modeled, comprising: a feature recognition unit 4 that acquires equipment information 14a including point cloud data and surface information of the equipment, detects an area where the object to be modeled and accessories covering at least a part of the object to be modeled are present based on the equipment information 14a, and recognizes the area as a feature; a feature 3D model creation unit 5 that uses the equipment information 14a to create a feature 3D model 17 related to the feature; and an internal 3D model creation unit 6 that estimates shape information of the part of the object to be modeled that is covered by the accessories based on the feature 3D model 17 and the equipment information 14a, and creates an internal 3D model 18 related to the object to be modeled that is covered by the accessories.

[0060] This simplifies the installation of scaffolding to check the installation status of equipment and piping on-site, as well as the dismantling and restoration work of accessories, and makes it possible to create 3D models while the equipment is in operation using information obtained from non-destructive on-site measurements.In addition, by using this system for equipment inspection and repair, the work required for the above-mentioned on-site inspection can be simplified, thereby shortening the equipment downtime.

[0061] (2) A modeling system 1 for a facility having an object to be modeled, comprising: an entire-facility 3D model creation unit 3 that acquires facility information 14a including point cloud data and surface information of the entire facility and creates an entire-facility 3D model 15 for the entire facility; a feature recognition unit 4 that detects an area where the object to be modeled and accessories covering at least a part of the object to be modeled are present based on the entire-facility 3D model 15 and recognizes the area as a feature; a feature 3D model creation unit 5 that acquires, with respect to the feature, feature information 14b including point cloud data and surface information of the feature by a method with higher accuracy than the method used to acquire the facility information 14a, and creates a feature 3D model 17 for the feature based on the feature information 14b; and an internal 3D model creation unit 6 that estimates shape information of the part of the object to be modeled that is covered by the accessories based on the feature 3D model 17 and the feature information 14b, and creates an internal 3D model 18 for the modeled object covered by the accessories.

[0062] This makes it possible to detect areas that distinguish between external accessories and internal target objects (equipment, piping, etc.) covered by accessories as feature areas based on information about the entire facility obtained from non-destructive on-site measurements from outside the facility, thereby improving the detection accuracy of feature areas. Furthermore, for feature areas, point cloud data and surface information are obtained using a measurement method with higher accuracy than the method used to measure the entire facility, and a 3D model is then created, making it possible to create a more accurate 3D model of the target objects and accessories in the feature areas.

[0063] (3) An accessory 3D model creation unit 7 that calculates the difference between the feature 3D model and the internal 3D model, estimates shape information of the accessory, and creates an accessory 3D model 19 related to the accessory. This makes it possible to create highly accurate 3D model drawings not only of the object to be modeled, but also of the accessory covering the object.

[0064] (4) A 3D model expansion unit 8 is further provided which expands the accessory 3D model 19 by estimating shape information of an accessory present in an area adjacent to the feature using information on the feature 3D model 17 and point cloud data on the area adjacent to the feature, calculates the difference between the point cloud data of the area adjacent to the feature and the expanded accessory 3D model, and estimates the shape of the object to be modeled in the area adjacent to the feature to expand the internal 3D model. This makes it possible to easily model the area adjacent to one feature using various data obtained from the feature.

[0065] (5) The internal 3D model creation unit 6 compares the estimated shape information of the object to be modeled with information about the object to be modeled obtained from the design information of the facility. This makes it possible to improve the accuracy of modeling when the design information of the facility is known.

[0066] (6) The surface information includes at least one of the following: an external image or photograph of the facility, or a distribution of surface temperature. These can be easily obtained using existing equipment such as a 3D laser scanner or a thermograph, and therefore the present invention can be implemented efficiently.

[0067] (7) To detect the object to be modeled and the accessories covering at least a part of the object to be modeled, at least one type of data from the surface information of the outer diameter, color, and surface temperature is used. By using such multifaceted information, the obtained data becomes more diverse, and multifaceted analysis becomes possible.

[0068] (8) The surface information includes the distribution of the surface temperature of the equipment, and the feature recognition unit searches for areas on the surface of the equipment that have a different surface temperature from the surrounding area and detects those areas as feature areas. This makes it possible to recognize areas that do not appear to have changed in shape as feature areas, thereby reducing the number of overlooked feature areas.

[0069] (9) The accessory 3D model creation unit 7 estimates the thermal conductivity of the accessory by performing heat transfer calculations for areas with a different surface temperature from the surroundings, using the surface temperatures of the area and the surroundings of the area. This makes it possible to further estimate the thermal properties (thermal conductivity, etc.) of the accessory and to confirm the validity of the estimation results from an engineering perspective, thereby improving the accuracy of estimating the shape of the accessory.

[0070] (10) An arbitrary area on the equipment where the surface temperature and / or outer diameter of the object to be modeled can be actually measured is set as a characteristic area, and the accessory 3D model creation unit 7 performs heat transfer calculations on the outer surface of the accessory and estimates the thermal conductivity of the accessory based on the surface temperature and / or outer diameter of the object to be modeled and the result of the heat transfer calculation. Therefore, even if the feature recognition unit 4 cannot recognize a feature, it is possible to apply the present invention to realize appropriate modeling. That is, even if the object to be modeled cannot be recognized from the appearance and surface temperature because it is covered by the accessory, it is possible to detect the object by a user's search and set the area where the object exists as a characteristic area, thereby applying the present invention to create a highly accurate 3D model drawing. [Industrial Applicability]

[0071] The equipment modeling system of the present invention can be applied to various equipment, such as plants, factories, buildings, commercial facilities, underground mines, and tunnels, which are equipped with many devices and pipes with external accessories (heating, heat retention, cooling means, covers, etc.). In addition, the information on the 3D model that digitizes the current construction status of the equipment created by this system can be linked to systems for equipment operation evaluation, maintenance planning, construction management, etc., using various analyses including digital twins, and the O&M (Operation & Maintenance) work of the equipment using these systems can be made more accurate and efficient.

[0072] The present invention is not limited to the above-mentioned embodiments, and various design changes can be made without departing from the spirit of the present invention described in the claims. For example, the above-mentioned embodiments have been described in detail to aid in understanding the present invention, and the present invention is not necessarily limited to those having all of the configurations described. In addition, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. [Explanation of symbols]

[0073] 1...Modeling system, 3...3D model creation unit for entire facility, 4...Feature recognition unit, 5...3D model creation unit for feature, 6...3D model creation unit for interior, 7...3D model creation unit for accessory, 8...3D model expansion unit, 14...Point cloud data and surface information, 14a...Point cloud data and surface information for entire facility (facility information), 14b...Point cloud data and surface information around feature (feature information), 15...3D model for entire facility, 16...3D model for feature extracted from 3D model for entire facility, 17...3D model for feature created based on point cloud data and surface information around feature, 18...3D model for interior, 19...3D model for accessory, 20...3D model of target object and accessory of system connected to feature (block adjacent to feature), 36...3D model creation unit for target object of system connected to feature (block adjacent to feature), 38... A part for creating a 3D model of an accessory of a system connected to a feature (a block adjacent to the feature), 107... Target object design data

Claims

1. 1. A system for modeling a facility having an object to be modeled, comprising: a feature recognition unit that acquires facility information including point cloud data and surface information of the facility, detects an area in which the object to be modeled and an accessory covering at least a part of the object to be modeled are present based on the facility information, and recognizes the area as a feature; a feature 3D model creation unit that creates a feature 3D model related to the feature by using the facility information; an internal 3D model creation unit that estimates shape information of a portion of the modeling target object that is covered with the accessory based on the feature 3D model and the equipment information, and creates an internal 3D model of the modeling target object that is covered with the accessory; A modeling system comprising:

2. 1. A system for modeling a facility having an object to be modeled, comprising: an entire facility 3D model creation unit that acquires facility information including point cloud data and surface information of the entire facility and creates an entire facility 3D model regarding the entire facility; a feature recognition unit that detects an area in which the modeling target object and an accessory covering at least a part of the modeling target object are present based on the entire facility 3D model, and recognizes the area as a feature; a feature 3D model creation unit that acquires feature information including point cloud data and surface information of the feature by a method with higher accuracy than the method for acquiring the equipment information, and creates a feature 3D model of the feature based on the feature information; an internal 3D model creation unit that estimates shape information of a portion of the modeling target object that is covered with the accessory based on the feature 3D model and the feature information, and creates an internal 3D model of the modeling target object that is covered with the accessory; A modeling system comprising:

3. 3. The modeling system of claim 2, and an accessory 3D model creation unit that calculates a difference between the feature 3D model and the internal 3D model, estimates shape information of the accessory, and creates an accessory 3D model related to the accessory.

4. 4. The modeling system of claim 3, Using information on the 3D model of the feature and point cloud data on an area adjacent to the feature, shape information of an accessory present in the area adjacent to the feature is estimated to extend the 3D model of the accessory; A modeling system further comprising a 3D model extension unit that calculates a difference between point cloud data of an area adjacent to the feature and the extended accessory 3D model, estimates a shape of the object to be modeled in the area adjacent to the feature, and extends the internal 3D model.

5. 3. The modeling system of claim 2, The internal 3D model creation unit is A modeling system comprising: a modeling unit that compares the estimated shape information of the object to be modeled with information about the object to be modeled obtained from design information of the facility.

6. 3. The modeling system of claim 2, A modeling system, characterized in that the surface information includes at least one of an exterior image or photograph of the equipment, or a distribution of surface temperature.

7. 3. The modeling system of claim 2, A modeling system characterized in that at least one type of data among outer diameter, color, and surface temperature is used from the surface information to detect the object to be modeled and any accessories covering at least a portion of the object to be modeled.

8. 4. The modeling system of claim 3, the surface information includes a distribution of surface temperatures of the equipment; The feature recognition unit searches for an area on a surface of the equipment that has a surface temperature different from that of the surrounding area, A modeling system that detects the region as the feature.

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