Method and program for generating drawing of structural member, method and program for noise removal from point cloud data, and method and program for acquiring bolt position

Abstract

To accurately generate a drawing of a structural member including a plurality of bolt holes corresponding to a plurality of bolts installed on a foundation.SOLUTION: An information processing system 100 including at least one information processing apparatus 3 and 103 is configured to acquire point cloud data generated by measuring a plurality of bolts 10 installed on a foundation 11, to acquire three-dimensional models for positioning relating to outer shapes of the bolts, to determine positions of the three-dimensional models for positioning by performing fitting processing of the three-dimensional models for positioning to the point cloud data of the bolts, and to generate drawing data of the structural member in which the plurality of bolt holes are formed on the basis of the positions of the three-dimensional models for positioning.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method and program for generating drawings of structural members fixed by bolts, a method and program for removing noise from point cloud data, and a method and program for acquiring bolt positions. [Background technology]

[0002] Conventionally, for example, at a construction site of a plant, a group of anchor bolts is installed in advance in the foundation to secure equipment (i.e., plant equipment) to a concrete structure serving as the foundation. The equipment to be secured to the foundation includes structural members to be secured to the anchor bolts. A plurality of anchor bolt holes are formed in the structural members, through which corresponding anchor bolts are inserted, respectively. The actual position of each anchor bolt may have an unacceptable error with respect to a preset design position. Therefore, the position of each anchor bolt installed in the foundation is actually measured, and anchor bolt holes are formed in the structural members based on the measurement results.

[0003] On the other hand, if human error occurs in measuring the position of each anchor bolt, the efficiency of the work of forming anchor bolt holes in the structural member may decrease.

[0004] Therefore, as a technology for suppressing such a decline in work efficiency, for example, in a method for processing steel plates to reinforce concrete structures, a three-dimensional measurement system is used to measure the installation positions of anchor bolts, and the measurement data is transmitted via a communication line to an office that produces full-size patterns for steel plate processing.The full-size patterns are then produced using a plotter based on the measurement data, and the full-size patterns are placed on top of a steel plate and holes are drilled.The drilled steel plate is then transported to the site and attached to the concrete structure (see Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 10-82295 Summary of the Invention [Problem to be solved by the invention]

[0006] According to the above-mentioned conventional technology, by creating a full-size template for processing steel plates based on the measurement results of each anchor bolt installed in the foundation, it is possible to efficiently drill holes in steel plates even if the steel plate processing factory is located far from the surveying site.

[0007] On the other hand, there are cases where the position of each anchor bolt installed in the foundation cannot be obtained with the desired accuracy by simply measuring the anchor bolts using a three-dimensional measurement system like the above-mentioned conventional technology. In particular, for anchor bolts that include threaded portions, it is difficult to measure the external shape of the anchor bolt (i.e., the shape of the thread and thread root that make up the threaded portion), making it even more difficult to accurately grasp the position of each anchor bolt.

[0008] In view of the above background, the present invention aims to provide a method and program for generating drawings of structural members that can accurately grasp the positions of multiple bolts installed in a foundation and accurately generate drawings of structural members that include multiple bolt holes corresponding to the multiple bolts; a method and program for removing noise from point cloud data that can appropriately remove noise from point cloud data generated by measuring bolts; and a method and program for obtaining the position of a bolt relative to the foundation that can appropriately obtain the position of a bolt. [Means for solving the problem]

[0009] In order to solve the above problem, a first aspect of the present invention is a method for generating a drawing of a structural member (15) including a plurality of bolt holes (20) corresponding to a plurality of bolts (10) by an information processing system (100) including one or more information processing devices (3, 103), in which the information processing system acquires point cloud data generated by measuring a plurality of bolts installed in a foundation (11), acquires a three-dimensional positioning model related to the outer shape of each of the bolts, performs a fitting process of the three-dimensional positioning model to the point cloud data of each of the bolts, thereby determining the position of each of the three-dimensional positioning models, and generates drawing data of the structural member in which the plurality of bolt holes are formed based on the position of each of the three-dimensional positioning models.

[0010] According to this aspect, it is possible to generate with high accuracy a drawing of a structural member including multiple bolt holes corresponding to multiple bolts installed in the foundation based on the position of the 3D positioning model obtained by fitting processing to point cloud data related to the bolts.

[0011] In a second aspect of the present invention, in the above aspect, the three-dimensional positioning model includes data on the threaded portion (40) of the bolt, and the fitting process of the three-dimensional positioning model includes fitting the data on the threaded portion to the point cloud data of each of the bolts.

[0012] According to this aspect, it is possible to generate with high accuracy a drawing of a structural member that includes a plurality of bolt holes corresponding to bolts that include threaded portions.

[0013] A third aspect of the present invention is that, in the above-mentioned aspects, the fitting process of the three-dimensional positioning model may include fitting data regarding at least one of the threads and thread roots of the screw portion contained in the three-dimensional positioning model to the point cloud data of each of the bolts.

[0014] According to this aspect, fitting processing of a three-dimensional model for positioning to point cloud data relating to a bolt including a threaded portion can be performed based on appropriate data.

[0015] A fourth aspect of the present invention is that, in the above-mentioned aspects, the 3D positioning model includes data of a fitting cylinder that approximates the outer shape of the bolt, and the fitting process of the 3D positioning model includes fitting the data of the fitting cylinder with the point cloud data of each of the bolts.

[0016] According to this aspect, by performing fitting processing using data of a fitting cylinder that approximates the outer shape, it is possible to reduce the processing load while accurately generating drawings of structural members that include multiple bolt holes.

[0017] A fifth aspect of the present invention is that, in the above-mentioned aspects, the fitting cylinder has a wall of a predetermined thickness, and in the fitting process of the 3D positioning model, the distance between the 3D positioning model and points located inside the wall among the multiple points included in the point cloud data of each bolt is set to zero.

[0018] According to this embodiment, the fitting cylinder has a wall of a predetermined thickness (i.e., the threads and thread roots in the threaded portion of the bolt are reflected in the 3D positioning model as wall thickness), thereby enabling appropriate fitting to be performed on point cloud data obtained from a bolt having threads and thread roots.

[0019] A sixth aspect of the present invention is that, in the above-mentioned aspects, the fitting process of the three-dimensional positioning model may include a step of repeatedly performing calculations while adjusting the position of the three-dimensional positioning model so that the sum of the squares of the distances between the data of the fitting cylinder and the point cloud data of each bolt is minimized.

[0020] According to this aspect, the position of the three-dimensional model for positioning can be determined with high precision by the fitting process.

[0021] A seventh aspect of the present invention is that, in the above-mentioned aspects, the outer diameter of the fitting cylinder may be the same as any one of the outer diameter of the threads of the bolt, the outer diameter of the roots of the threads, and the average value of the outer diameters of the threads and the roots of the threads of the bolt.

[0022] According to this aspect, fitting processing of a three-dimensional model for positioning to point cloud data relating to a bolt including a threaded portion can be performed based on appropriate data.

[0023] As an eighth aspect of the present invention, in the above-mentioned aspects, the data of the fitting cylinder may be set so that the axial length thereof is longer than the design value of the bolt.

[0024] According to this aspect, the fitting process can be stably performed without being affected by the length of the bolt.

[0025] A ninth aspect of the present invention, in the above-mentioned aspect, may be such that said information processing system removes noise from said point cloud data of each of said bolts by noise removal processing before the fitting processing of said three-dimensional model for positioning.

[0026] According to this aspect, by performing fitting processing using point cloud data from which noise has been removed, it is possible to reduce the processing load and accurately generate drawings of structural members that include multiple bolt holes.

[0027] A tenth aspect of the present invention is that, in the above-mentioned aspects, the information processing system acquires a 3D model for noise removal relating to the outer shape of each bolt, determines the position of the 3D model for noise removal, and removes, as noise, points in the point cloud data whose distance from the 3D model for noise removal exceeds a predetermined threshold.

[0028] According to this aspect, noise can be appropriately removed from the point cloud data generated by measuring the bolt.

[0029] In an eleventh aspect of the present invention, the three-dimensional model for noise removal includes data regarding the threaded portion of the bolt, and the position of the three-dimensional model for noise removal is determined by a fitting process between the data regarding the threaded portion and the point cloud data of each of the bolts.

[0030] According to this aspect, it is possible to appropriately perform a three-dimensional model fitting process for removing noise from point cloud data generated by measuring a bolt including a threaded portion.

[0031] In a twelfth aspect of the present invention, the fitting process of the 3D model for noise removal may include fitting data regarding at least one of the threads and thread roots of the screw portion contained in the 3D model for noise removal to the point cloud data of each bolt.

[0032] According to this aspect, in relation to noise removal from point cloud data relating to a bolt including a threaded portion, fitting processing of a three-dimensional model for noise removal can be performed based on appropriate data.

[0033] In a thirteenth aspect of the present invention, the three-dimensional model for noise removal includes data of a cylinder for noise removal that approximates the outer shape of the bolt, and the position of the three-dimensional model for noise removal is determined by a fitting process between the data of the cylinder for noise removal and the point cloud data of each bolt.

[0034] According to this aspect, the processing load can be reduced by performing a fitting process using cylindrical data for noise removal that approximates the external shape when removing noise from point cloud data generated by measuring a bolt including a threaded portion.

[0035] A fourteenth aspect of the present invention is that, in the above-mentioned aspects, the information processing system may remove, from among the multiple points included in the point cloud data, points whose minimum value of the distance from the virtual outer surface set for each bolt exceeds a predetermined threshold value as the noise.

[0036] According to this aspect, the accuracy of the noise removal process is improved based on an appropriate technique.

[0037] A 15th aspect of the present invention is that, in the above-mentioned aspects, when the point cloud data is data generated by measuring the plurality of bolts from one direction, the information processing system may remove, from the plurality of points included in the point cloud data, points corresponding to the circumferential ends of the outer surface of each of the bolts as the noise.

[0038] According to this aspect, points located at the circumferential ends of the outer surface of the bolt, where noise is likely to occur, are treated as noise, thereby making it possible to reduce the processing load while maintaining the accuracy of the noise removal process.

[0039] A 16th aspect of the present invention is that, in the above-mentioned aspects, the information processing system may select points relating to at least one of the tip and base ends of each bolt from among the multiple point data included in the point cloud data as the target areas for the noise removal processing.

[0040] According to this aspect, points located at at least one of the tip and base ends of the bolt, where noise is likely to occur, are treated as noise, thereby reducing the processing load while maintaining the accuracy of the noise removal process.

[0041] A 17th aspect of the present invention is the above-mentioned 9th aspect, wherein the information processing system divides the point cloud data in the target area of ​​the noise removal process into a plurality of groups using a plurality of dividing planes perpendicular to the axial direction of the bolt, and removes the point data included in the point cloud data for each group as noise.

[0042] According to this aspect, noise is removed for each group generated by dividing the point cloud data using multiple dividing planes perpendicular to the axial direction of the bolt, thereby making it possible to more reliably remove noise in areas where noise is likely to occur.

[0043] In an 18th aspect of the present invention, in the above-mentioned 16th aspect, the information processing system divides the point cloud data in the target area of ​​the noise removal process into multiple groups using multiple dividing planes perpendicular to the axial direction of the bolt, and collectively removes the point data included in the point cloud data for each group as noise.

[0044] According to this aspect, for at least one of the tip and base ends of each bolt, noise is removed for each group generated by dividing the point cloud data using multiple dividing planes perpendicular to the axial direction of the bolt, thereby making it possible to more reliably remove noise in areas where noise is likely to occur.

[0045] In a 19th aspect of the present invention, the information processing system acquires a 3D model for noise removal related to the outer shape of each of the bolts, determines the position of the 3D model for noise removal, and in the noise removal process, removes as noise points whose distance from the 3D model for noise removal exceeds a predetermined threshold, and if the point cloud data is data generated by measuring the plurality of bolts from one direction, removes as noise points corresponding to the circumferential ends of the outer peripheral surface of each of the bolts from among the plurality of points included in the point cloud data from which the noise has been removed by the noise removal process, and removes as noise points related to at least one of the tip end and base end of each of the bolts from among the plurality of point data included in the point cloud data from which the points corresponding to the circumferential ends of the outer peripheral surface of each of the bolts have been removed as noise.

[0046] According to this aspect, when the point cloud data is data generated by measuring multiple bolts from one direction, by appropriately performing noise removal processing, noise can be effectively removed from the point cloud data generated by measuring the bolts.

[0047] In a twentieth aspect of the present invention, the information processing system acquires a 3D model for noise removal related to the outer shape of each of the bolts, determines the position of the 3D model for noise removal, and if the point cloud data includes a plurality of point cloud data generated by measuring the plurality of bolts from a plurality of directions, generates one piece of point cloud data by combining the plurality of point cloud data generated by measuring the bolts, and performs the noise removal process on the generated single point cloud data to remove, as noise, points whose distance from the 3D model for noise removal exceeds a predetermined threshold, and removes, from the plurality of point data included in the point cloud data from which the noise has been removed by the noise removal process, points related to at least one of the tip end and base end of each of the bolts as noise.

[0048] According to this aspect, when the point cloud data includes multiple point cloud data generated by measuring multiple bolts from multiple directions, by appropriately performing noise removal processing, it is possible to effectively remove noise from the point cloud data generated by measuring the bolts.

[0049] In a 21st aspect of the present invention, the information processing system acquires a 3D model for noise removal related to the outer shape of each of the bolts, determines the position of the 3D model for noise removal, and when the point cloud data includes a plurality of point cloud data generated by measuring the plurality of bolts from a plurality of directions, performs the noise removal process on each of the plurality of point cloud data, thereby removing points whose distance from the 3D model for noise removal exceeds a predetermined threshold as noise, generates one point cloud data by combining the plurality of point cloud data on which the noise removal process has been performed, and removes points related to at least one of the tip end and base end of each of the bolts as noise from the plurality of point data included in the generated one point cloud data.

[0050] According to this aspect, when the point cloud data includes multiple point cloud data generated by measuring multiple bolts from multiple directions, by appropriately performing noise removal processing, it is possible to effectively remove noise from the point cloud data generated by measuring the bolts.

[0051] A 22nd aspect of the present invention is that, in the above-mentioned aspect, when the information processing system acquires multiple point cloud data generated by measuring the multiple bolts from multiple directions, the multiple point cloud data may be synthesized to generate a single point cloud data to be used in the fitting process of the 3D model for noise removal.

[0052] According to this aspect, by using point cloud data obtained by combining a plurality of point cloud data (that is, point cloud data obtained by a plurality of different measurements) for the fitting process, it is possible to improve the accuracy of the fitting process.

[0053] In a 23rd aspect of the present invention, the noise removal cylinder has a diameter equal to the average value of the outer diameter of the thread and the outer diameter of the thread root of the bolt, and the information processing system removes as noise, from among the multiple points included in the point cloud data, points other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder.

[0054] According to this aspect, it is possible to appropriately remove noise from point cloud data while reducing the processing load on the information processing system.

[0055] In a 24th aspect of the present invention, the information processing system estimates parameters related to the noise removal cylinder from the point cloud data using the least squares method, and removes as noise all points included in the point cloud data other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder.

[0056] According to this aspect, by using a noise removal cylinder whose parameters (for example, center coordinates, diameter, direction of center axis, etc.) are estimated from point cloud data, noise can be removed stably from point cloud data.

[0057] A 25th aspect of the present invention is that, in the above-mentioned aspects, the information processing system calculates the minimum distance between each point cloud data and the 3D model for positioning in the fitting process of the 3D model for positioning, and determines the position of each of the 3D model for positioning so that the sum of the squares of these minimum distances is minimized.

[0058] According to this aspect, the position of the three-dimensional model for positioning can be determined by a simple fitting process.

[0059] A 26th aspect of the present invention is that, in the above-mentioned aspects, the information processing system obtains information on the angle of inclination (θ) of each of the three-dimensional positioning models relative to the reference direction in which the multiple bolts should extend through a fitting process of the three-dimensional positioning models, and if the inclination of any of the multiple three-dimensional positioning models exceeds a predetermined threshold, the generation of the drawing data is stopped.

[0060] According to this aspect, when the tilt angle of the installed bolt exceeds an allowable value (i.e., a threshold value), it is possible to avoid generating drawing data of a structural member that includes a bolt hole of an inappropriate form (e.g., position, size, shape, etc.).

[0061] A 27th aspect of the present invention is that, in the above-mentioned aspect, the information processing system obtains information on the direction of inclination of each of the three-dimensional positioning models relative to a reference direction in which the multiple bolts should extend by fitting the three-dimensional positioning models, and displays the information on the direction of inclination on a display (27).

[0062] According to this aspect, the user who creates the drawing can easily understand the direction in which the bolt hole should be enlarged.

[0063] A 28th aspect of the present invention is that, in the above-mentioned aspect, the information processing system obtains information on the protrusion amount of each bolt from a reference surface in the foundation based on the point cloud data, and sets the height of the corresponding bolt in the three-dimensional positioning model based on the information on the protrusion amount of each bolt.

[0064] According to this aspect, data unnecessary for the fitting process is eliminated from the three-dimensional model for positioning, so that the fitting process can be executed more reliably.

[0065] A 29th aspect of the present invention is that, in the above-mentioned aspects, the information processing system generates a projection drawing in which each of the three-dimensional positioning models is projected onto a bolt installation plane corresponding to a reference plane in the foundation based on the position of each of the three-dimensional positioning models, sets hole figures that surround the outline of each of the three-dimensional positioning models in the projection drawing, and generates the drawing data including the hole figures as each of the bolt holes formed in the structural member.

[0066] According to this aspect, drawing data of a structural member in which bolt holes are formed can be generated by simple processing.

[0067] A 30th aspect of the present invention is that, in the above-mentioned aspects, the information processing system calculates the maximum distance between the outer shape of the projection drawing and the hole figure, and if the maximum distance exceeds a predetermined threshold, changes the outer diameter of the hole figure within a range such that the maximum distance is equal to or less than the threshold.

[0068] According to this aspect, it is possible to generate drawing data of a structural member including bolt holes whose sizes are appropriately corrected (or corrected) according to the diameter and position of the bolt projection drawing.

[0069] A 31st aspect of the present invention is that, in the above-mentioned aspects, the information processing system calculates the minimum distance between the outer shape of the projection drawing and the hole figure, and if the minimum distance is less than a predetermined threshold, changes at least one of the position and outer diameter of the hole figure so that the minimum distance exceeds the threshold.

[0070] According to this aspect, it is possible to generate drawing data of a structural member including bolt holes whose positions have been appropriately corrected (or amended) according to the diameter and position of the bolt in the projection drawing.

[0071] A 32nd aspect of the present invention is that, in the above-mentioned aspect, the information processing system is communicatively connected to another pre-set information processing device via a network, and transmits the drawing data to the other information processing device.

[0072] According to this aspect, it is possible to efficiently process a structural member that includes a plurality of bolt holes corresponding to a plurality of bolts installed in a foundation.

[0073] A 33rd aspect of the present invention is such that, in the above-mentioned aspect, a measuring device generates the point cloud data by measuring the plurality of bolts, and the measuring device performs the measurement while mounted on an unmanned aerial vehicle.

[0074] According to this aspect, the degree of freedom in the bolt measurement direction is dramatically increased by using an unmanned aerial vehicle that can move freely in the air.

[0075] A 34th aspect of the present invention is such that, in the above-mentioned aspect, a measuring device generates the point cloud data by measuring the plurality of bolts, and the measuring device performs the measurement while mounted on a robot capable of autonomous movement.

[0076] According to this aspect, the measurement position and measurement direction of the bolt can be easily changed by using a robot that can move freely.

[0077] A 35th aspect of the present invention is a measuring device that generates the point cloud data by measuring the plurality of bolts, and the measuring device is a portable measuring device that can be used while being held by a measurer.

[0078] According to this aspect, it is possible to easily change the measurement position and measurement direction of the bolt using a portable measurement device.

[0079] A 36th aspect of the present invention is a drawing generation program that causes a computer to execute a process for generating a drawing of a structural member (15) that includes a plurality of bolt holes (20) corresponding to a plurality of bolts (10), wherein the drawing generation process includes the steps of acquiring point cloud data generated by measuring a plurality of bolts installed in a foundation (11), acquiring a three-dimensional positioning model related to the standard outer shape of each of the bolts, determining the position of each of the three-dimensional positioning models by executing a fitting process of the three-dimensional positioning model to the point cloud data of each of the bolts, and generating drawing data of the structural member in which the plurality of bolt holes are formed based on the position of each of the three-dimensional positioning models.

[0080] According to this aspect, it is possible to generate with high accuracy a drawing of a structural member including multiple bolt holes corresponding to multiple bolts installed in the foundation based on the position of the 3D positioning model obtained by fitting processing to point cloud data related to the bolts.

[0081] A 37th aspect of the present invention is a method for generating a drawing of a structural member (15) including a plurality of bolt holes (20) corresponding to a plurality of bolts (10) by an information processing system including one or more information processing devices (100), wherein the information processing system acquires point cloud data generated by measuring a plurality of bolts installed in a foundation (11), acquires information regarding the position of a three-dimensional positioning model relative to the point cloud data of each of the bolts from an external device, the information regarding the position of each of the three-dimensional positioning models is determined by performing a fitting process of the three-dimensional positioning model relative to the point cloud data of each of the bolts in the external device, and generates drawing data of the structural member in which the plurality of bolt holes are formed based on the position of each of the three-dimensional positioning models.

[0082] According to this aspect, it is possible to generate with high accuracy a drawing of a structural member including multiple bolt holes corresponding to multiple bolts installed in the foundation based on the position of the 3D positioning model obtained by fitting processing to point cloud data related to the bolts.

[0083] A 38th aspect of the present invention is a noise removal method for removing noise from point cloud data generated by measuring a bolt (10) using an information processing system (100) including one or more information processing devices (3, 103), wherein the information processing system acquires the point cloud data generated by measuring the bolt, acquires a 3D model for noise removal relating to the outer shape of each bolt, determines the position of the 3D model for noise removal, and executes a noise removal process to remove, as noise, points in the point cloud data whose distance from the 3D model for noise removal exceeds a predetermined threshold.

[0084] According to this aspect, noise can be appropriately removed from the point cloud data generated by measuring the bolt.

[0085] A 39th aspect of the present invention is such that, in the above-mentioned aspects, the 3D model for noise removal includes data regarding the threaded portion of the bolt, and the position of the 3D model for noise removal is determined by a fitting process between the data regarding the threaded portion and the point cloud data of each of the bolts.

[0086] According to this aspect, it is possible to appropriately perform a three-dimensional model fitting process for removing noise from point cloud data generated by measuring a bolt including a threaded portion.

[0087] A 40th aspect of the present invention is that, in the above-mentioned aspects, the fitting process of the 3D model for noise removal may include fitting data regarding at least one of the threads and thread roots of the screw portion contained in the 3D model for noise removal to the point cloud data of each of the bolts.

[0088] According to this aspect, in relation to noise removal from point cloud data relating to a bolt including a threaded portion, fitting processing of a three-dimensional model for noise removal can be performed based on appropriate data.

[0089] A 41st aspect of the present invention is such that, in the above-mentioned aspects, the 3D model for noise removal includes data of a cylinder for noise removal that approximates the outer shape of the bolt, and the position of the 3D model for noise removal is determined by a fitting process between the data of the cylinder for noise removal and the point cloud data of each of the bolts.

[0090] According to this aspect, the processing load can be reduced by performing a fitting process using cylindrical data for noise removal that approximates the external shape when removing noise from point cloud data generated by measuring a bolt including a threaded portion.

[0091] In a 42nd aspect of the present invention, the information processing system may remove, from among the multiple points included in the point cloud data, points whose minimum value of the distance from a virtual outer surface set for each bolt exceeds a predetermined threshold value as the noise.

[0092] According to this aspect, the accuracy of the noise removal process is improved based on an appropriate technique.

[0093] In a 43rd aspect of the present invention, when the point cloud data is data generated by measuring the plurality of bolts from one direction, the information processing system may remove, from the plurality of points included in the point cloud data, points corresponding to the circumferential ends of the outer surface of each of the bolts as the noise.

[0094] According to this aspect, points located at the circumferential ends of the outer surface of the bolt, where noise is likely to occur, are treated as noise, thereby making it possible to reduce the processing load while maintaining the accuracy of the noise removal process.

[0095] In a 44th aspect of the present invention, the information processing system may target points relating to at least one of the tip and base ends of each bolt from among the multiple point data included in the point cloud data as the target areas for the noise removal processing.

[0096] According to this aspect, points located at at least one of the tip and base ends of the bolt, where noise is likely to occur, are treated as noise, thereby reducing the processing load while maintaining the accuracy of the noise removal process.

[0097] A 45th aspect of the present invention is that, in any of the above 38th to 43rd aspects, the information processing system divides the point cloud data in the target area of ​​the noise removal processing into multiple groups using multiple dividing planes perpendicular to the axial direction of the bolt, and collectively removes the point data included in the point cloud data for each group as noise.

[0098] According to this aspect, noise is removed for each group generated by dividing the point cloud data using multiple dividing planes perpendicular to the axial direction of the bolt, thereby making it possible to more reliably remove noise in areas where noise is likely to occur.

[0099] A 46th aspect of the present invention is that, in the above 44th aspect, the information processing system divides the point cloud data in the target area of ​​the noise removal processing into multiple groups using multiple dividing planes perpendicular to the axial direction of the bolt, and collectively removes the point data included in the point cloud data for each group as noise.

[0100] According to this aspect, for at least one of the tip and base ends of each bolt, noise is removed for each group generated by dividing the point cloud data using multiple dividing planes perpendicular to the axial direction of the bolt, thereby making it possible to more reliably remove noise in areas where noise is likely to occur.

[0101] In a 47th aspect of the present invention, the information processing system further removes, from the plurality of points included in the point cloud data from which the noise has been removed, points corresponding to the circumferential ends of the outer peripheral surface of each of the bolts as noise when the point cloud data is data generated by measuring the plurality of bolts from one direction, and further removes, from the plurality of point data included in the point cloud data from which the noise has been removed, points relating to at least one of the tip end and base end of each of the bolts as noise.

[0102] According to this aspect, when the point cloud data is data generated by measuring multiple bolts from one direction, by appropriately performing noise removal processing, noise can be effectively removed from the point cloud data generated by measuring the bolts.

[0103] In a 48th aspect of the present invention, when the point cloud data includes a plurality of point cloud data generated by measuring the plurality of bolts from a plurality of directions, the information processing system generates one piece of point cloud data by combining the plurality of point cloud data generated by measuring the bolts, performs the noise removal process on the generated one piece of point cloud data, and removes, as noise, points relating to at least one of the tip and base ends of each of the bolts from the plurality of point data included in the point cloud data from which the noise has been removed by the noise removal process.

[0104] According to this aspect, when the point cloud data includes multiple point cloud data generated by measuring multiple bolts from multiple directions, by appropriately performing noise removal processing, it is possible to effectively remove noise from the point cloud data generated by measuring the bolts.

[0105] In a 49th aspect of the present invention, when the point cloud data includes a plurality of point cloud data generated by measuring the plurality of bolts from a plurality of directions, the information processing system performs the noise removal process on each of the plurality of point cloud data, synthesizes the plurality of point cloud data on which the noise removal process has been performed, thereby generating one point cloud data, and removes, from the plurality of point data included in the generated one point cloud data, points relating to at least one of the tip end and base end of each of the bolts as the noise.

[0106] According to this aspect, when the point cloud data includes multiple point cloud data generated by measuring multiple bolts from multiple directions, by appropriately performing noise removal processing, it is possible to effectively remove noise from the point cloud data generated by measuring the bolts.

[0107] A 50th aspect of the present invention is that, in the above-mentioned aspects, the fitting process of the 3D model for noise removal may include a step of repeatedly performing calculations while adjusting the position of the 3D model for noise removal so that the sum of the squares of the distances between the cylinder data and the point cloud data of each of the bolts is minimized.

[0108] According to this aspect, the position of the three-dimensional model for noise removal can be determined with high precision by the fitting process.

[0109] A 51st aspect of the present invention is such that, in the above-mentioned aspects, the noise removal cylinder has a diameter equal to the average value of the outer diameter of the thread and the outer diameter of the thread root of the bolt, and the information processing system removes as noise, from among the multiple points included in the point cloud data, points other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder.

[0110] According to this aspect, it is possible to appropriately remove noise from point cloud data while reducing the processing load on the information processing system.

[0111] A 52nd aspect of the present invention is that, in the above-mentioned aspects, the information processing system estimates parameters related to the noise removal cylinder from the point cloud data using the least squares method, and removes as noise points from among the multiple points included in the point cloud data other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder.

[0112] According to this aspect, by using a noise removal cylinder whose parameters (for example, center coordinates, diameter, direction of center axis, etc.) are estimated from point cloud data, noise can be removed stably from point cloud data.

[0113] A 53rd aspect of the present invention is a noise removal program that causes a computer (3) to execute a noise removal process that removes noise from point cloud data generated by measuring a bolt (10), wherein the noise removal process includes the steps of acquiring point cloud data generated by measuring the bolt, acquiring a 3D model for noise removal relating to the outer shape of each bolt, determining the position of the data of the 3D model for noise removal, and removing, as noise, points in the point cloud data whose distance from the 3D model for noise removal exceeds a predetermined threshold.

[0114] According to this aspect, noise can be appropriately removed from the point cloud data generated by measuring the bolt.

[0115] A 54th aspect of the present invention is a method for acquiring the position of a bolt relative to a foundation by an information processing system (100) including one or more information processing devices (3, 103), wherein the information processing system acquires point cloud data generated by measuring a plurality of bolts installed on the foundation, acquires a three-dimensional positioning model relating to the outer shape of each of the bolts, and performs a fitting process of the three-dimensional positioning model to the point cloud data of each of the bolts, thereby acquiring the position of each of the three-dimensional positioning model after the fitting process as the position of each corresponding bolt.

[0116] According to this aspect, the position of the three-dimensional model for positioning the bolt relative to the foundation can be appropriately determined from the point cloud data generated by measuring the bolt.

[0117] A 55th aspect of the present invention is such that, in the above-mentioned aspects, the 3D positioning model includes data regarding the threaded portion of the bolt, and the fitting process of the 3D positioning model includes fitting the data regarding the threaded portion with the point cloud data of each of the bolts.

[0118] According to this aspect, it is possible to appropriately position a three-dimensional model for positioning the bolt relative to the foundation from point cloud data generated by measuring the bolt including the threaded portion.

[0119] A 56th aspect of the present invention is that, in the above-mentioned aspects, the fitting process of the 3D positioning model may include fitting data regarding at least one of the threads and thread roots of the screw portion contained in the 3D positioning model to the point cloud data of each of the bolts.

[0120] According to this aspect, it is possible to perform positioning of a three-dimensional model for positioning with respect to point cloud data relating to a bolt including a threaded portion based on appropriate data.

[0121] A 57th aspect of the present invention is that, in the above-mentioned aspects, the 3D positioning model includes data of a fitting cylinder that approximates the outer shape of the bolt, and the fitting process of the 3D positioning model includes fitting the data of the fitting cylinder with the point cloud data of each of the bolts.

[0122] According to this aspect, the processing load can be reduced by fitting the 3D positioning model to point cloud data generated by measuring a bolt including a threaded portion using cylindrical data for noise removal that approximates the outer shape.

[0123] A 58th aspect of the present invention is that, in the above-mentioned aspects, the fitting process of the three-dimensional positioning model may include a step of performing repeated calculations while adjusting the position of the three-dimensional positioning model so that the sum of the squares of the distances between the cylinder data and the point cloud data of each bolt is minimized.

[0124] According to this aspect, the position of the three-dimensional model for positioning can be determined with high precision by fitting.

[0125] In a 59th aspect of the present invention, the information processing system may remove noise from the point cloud data of each of the bolts by noise removal processing before the fitting processing of the three-dimensional model for positioning.

[0126] According to this aspect, by performing fitting processing using point cloud data from which noise has been removed, it is possible to reduce the processing load and accurately generate drawings of structural members that include multiple bolt holes.

[0127] In a 60th aspect of the present invention, the information processing system acquires a 3D model for noise removal related to the outer shape of each of the bolts, determines the position of the 3D model for noise removal, and in the noise removal process, removes as noise points whose distance from the 3D model for noise removal exceeds a predetermined threshold, and if the point cloud data is data generated by measuring the plurality of bolts from one direction, removes as noise points corresponding to the circumferential ends of the outer peripheral surface of each of the bolts from among the plurality of points included in the point cloud data from which the noise has been removed by the noise removal process, and removes as noise points related to at least one of the tip end and base end of each of the bolts from among the plurality of point data included in the point cloud data from which the points corresponding to the circumferential ends of the outer peripheral surface of each of the bolts have been removed as noise.

[0128] According to this aspect, when the point cloud data is data generated by measuring multiple bolts from one direction, by appropriately performing noise removal processing, noise can be effectively removed from the point cloud data generated by measuring the bolts.

[0129] In a 61st aspect of the present invention, the information processing system acquires a 3D model for noise removal related to the outer shape of each of the bolts, determines the position of the 3D model for noise removal, and if the point cloud data includes a plurality of point cloud data generated by measuring the plurality of bolts from a plurality of directions, generates one piece of point cloud data by combining the plurality of point cloud data generated by measuring the bolts, and performs the noise removal process on the generated single point cloud data to remove points whose distance from the 3D model for noise removal exceeds a predetermined threshold as noise, and removes points related to at least one of the tip and base ends of each of the bolts as noise from the plurality of point data included in the point cloud data from which the noise has been removed by the noise removal process.

[0130] According to this aspect, when the point cloud data includes multiple point cloud data generated by measuring multiple bolts from multiple directions, by appropriately performing noise removal processing, it is possible to effectively remove noise from the point cloud data generated by measuring the bolts.

[0131] In a 62nd aspect of the present invention, the information processing system acquires a 3D model for noise removal related to the outer shape of each of the bolts, determines the position of the 3D model for noise removal, and when the point cloud data includes a plurality of point cloud data generated by measuring the plurality of bolts from a plurality of directions, performs the noise removal process on each of the plurality of point cloud data, thereby removing points whose distance from the 3D model for noise removal exceeds a predetermined threshold as noise, generates one point cloud data by combining the plurality of point cloud data on which the noise removal process has been performed, and removes points related to at least one of the tip and base ends of each of the bolts as noise from the plurality of point data included in the generated one point cloud data.

[0132] According to this aspect, when the point cloud data includes multiple point cloud data generated by measuring multiple bolts from multiple directions, by appropriately performing noise removal processing, it is possible to effectively remove noise from the point cloud data generated by measuring the bolts.

[0133] A 63rd aspect of the present invention is a bolt position acquisition program that causes a computer to execute a process for acquiring the position of a bolt relative to a foundation, wherein the positioning process of the 3D positioning model includes the steps of acquiring point cloud data generated by measuring a plurality of bolts installed on the foundation, acquiring a 3D positioning model related to the outer shape of each of the bolts, and performing a fitting process of the 3D positioning model to the point cloud data of each of the bolts, thereby acquiring the position of each of the 3D positioning model after the fitting process as the position of each corresponding bolt.

[0134] According to this aspect, the position of the three-dimensional model for positioning the bolt relative to the foundation can be appropriately determined from the point cloud data generated by measuring the bolt. [Effects of the Invention]

[0135] According to the above aspects, the structural member drawing generation method and drawing generation program enable the positions of multiple bolts installed in a foundation to be accurately determined, and enable the accurate generation of a structural member drawing including multiple bolt holes corresponding to the multiple bolts. Furthermore, the point cloud data noise removal method and noise removal program enable appropriate removal of noise from point cloud data generated by measuring the bolts. Furthermore, the position of the bolt relative to the foundation can be appropriately obtained from the point cloud data generated by measuring the bolts. [Brief explanation of the drawings]

[0136] [Figure 1] Overall configuration of the processing system [Figure 2] Plan view showing an example of anchor bolt installation in a foundation [Figure 3] FIG. 10 is a plan view showing the configuration of the ring member; [Figure 4] A perspective view showing the configuration of plant equipment [Figure 5] Block diagram showing the configuration of a drawing generation device [Figure 6] Sequence diagram showing an overview of the processing system [Figure 7] An explanatory diagram showing an example of measurement device installation (measurement in one direction) [Figure 8] An explanatory diagram showing another example of installation of the measurement device (measurement in multiple directions) [Figure 9] Flow diagram showing the noise removal process [Figure 10] An explanatory diagram showing an example of a synthesized point cloud of an anchor bolt. [Figure 11] FIG. 10 is an explanatory diagram showing an example of noise removal from a point cloud; [Figure 12] An explanatory diagram showing an example of a point cloud of an anchor bolt [Figure 13] An explanatory diagram showing an overview of the fitting process [Figure 14] A flow chart showing the flow of the confirmation process (S1007) of the drawing data shown in FIG. [Figure 15] An explanatory diagram for the inclination of anchor bolts [Figure 16] Diagram for correcting standard anchor bolt holes [Figure 17] An explanatory diagram showing the error between the actual position of the anchor bolt and the measured position [Figure 18] FIG. 10 is a flowchart showing a modification of the noise removal process shown in FIG. [Figure 19] FIG. 2 is an overall configuration diagram showing a modification of the machining system shown in FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0137] A structural member processing system according to an embodiment and a structural member drawing generation method using the system will be described below with reference to the drawings.

[0138] A processing system for a structural member (hereinafter simply referred to as the "processing system") is configured to generate drawings of a structural member including a plurality of anchor bolt holes corresponding to a plurality of anchor bolts installed in a foundation. The structural member is configured integrally with a predetermined facility fixed to the foundation using anchor bolts, or is attached to the main body of the facility. As shown in FIG. 1, the processing system 1 includes a measurement device 2, a drawing generation device 3 (an example of an information processing device), and a processing management device 4.

[0139] The measuring device 2, drawing creation device 3, and processing management device 4 can communicate with each other via a known network 5 such as a LAN (Local Area Network) or the Internet. However, the measuring device 2, drawing creation device 3, and processing management device 4 may also be directly connected via a known communication cable or by short-range wireless communication. Furthermore, necessary data may be exchanged between the measuring device 2 and drawing creation device 3 via a known storage medium (e.g., a flash drive).

[0140] As shown in Fig. 2, the multiple anchor bolts 10 are installed at predetermined intervals (here, equal intervals) in the circumferential direction along an imaginary circle 12 set on an upper surface 11A (an example of a reference surface) of the foundation 11 in a plan view. In this embodiment, a group of 16 anchor bolts 10 are installed in the foundation 11. The angle formed by line segments (not shown) connecting the center O of the imaginary circle 12 with the centers of adjacent anchor bolts 10 is set to 22.5°. The number and arrangement of the anchor bolts 10 and the shape of the foundation 11 on which the anchor bolts 10 are installed can be changed as appropriate.

[0141] In this embodiment, an example will be described in which a plurality of metal anchor bolts 10 are installed in a structure made of reinforced concrete as a foundation 11 at a plant construction site. The plurality of anchor bolts 10 are headless bolts having the same configuration and a linear shape. In this embodiment, a ring member 15 (see FIG. 3) will be described as an example of a structural member. Furthermore, plant equipment 18 (see FIG. 4) will be described as an example of equipment fixed to the foundation 11. However, the processing system 1 is not limited to plant construction sites and can be widely applied to anchor bolts and equipment (including structural members) fixed thereto at any construction site or the like.

[0142] As shown in FIG. 3, the ring member 15 has a plurality of substantially circular anchor bolt holes 20 formed therein so as to correspond to the positions of the anchor bolts 10 (see FIG. 2) installed in the foundation 11. That is, in the ring member 15, the plurality of anchor bolt holes 20 are arranged at predetermined intervals (i.e., approximately the same intervals as the anchor bolts 10) in the circumferential direction around an imaginary circle (not shown) having the same diameter as the imaginary circle 12 for the anchor bolts 10. The outer shape of the ring member 15 and the arrangement of the anchor bolt holes can be modified as appropriate. Also, while an example has been shown in which a pair of ring members 15 are attached to the main body of the plant equipment 18, this is not limiting, and the number of ring members can be modified in various ways. That is, only one ring member 15 may be used, or three or more ring members may be used.

[0143] As shown in Fig. 4, a pair of ring members 15 are attached to the lower part of the main body 19 of the plant equipment 18 (i.e., the part fixed to the foundation 11). The pair of ring members 15 have the same configuration and are connected to each other at a predetermined interval in the vertical direction. Such plant equipment 18 includes, for example, processing equipment and tanks used in the plant.

[0144] In the processing system 1 shown in Fig. 1, a measuring device 2 measures an anchor bolt 10 installed in a foundation 11. As a result of the measurement, the measuring device 2 generates three-dimensional point cloud data relating to the anchor bolt 10 and objects in its vicinity. In this embodiment, a three-dimensional laser scanner is used as the measuring device 2.

[0145] The drawing generating device 3 executes information processing for generating drawing data of structural members. The drawing generating device 3 can be configured by an information processing device such as a computer, for example, a PC or a server.

[0146] 5, the drawing generation device 3 may include one or more processors 21 (CPU, MPU, etc.), a RAM (Random Access Memory) 22, a ROM (Read Only Memory) 23, storage 24, and a communication interface 25. The storage 24 includes an SSD (Solid State Drive), an HDD (Hard Disk Drive), etc. Furthermore, the drawing generation device 3 may be provided with an input device 26 including a mouse, a keyboard, etc., and a display 27 that displays information related to drawing generation to a user (e.g., a construction manager).

[0147] As will be described later, at least a part of the processing executed by the drawing generation device 3 can be realized by the processor 21 executing a predetermined control program (including a drawing creation application 31 stored in the storage 24). The storage 24 also stores anchor bolt data 32, measurement data 33, fitting result data 34, structural member drawing data 35, etc. as appropriate.

[0148] At least some of the functions of the drawing generation device 3 may be realized by cooperation between multiple information processing devices. Also, at least some of the functions of the drawing generation device 3 may be realized as a cloud service. In this case, the drawing generation device 3 may be configured by a collection of servers, data centers, storage, network devices, etc., each connected to the network 5. Furthermore, the components of the processing system 1 may also cooperate with each other via a virtual network in a cloud environment.

[0149] The anchor bolt data 32 includes specification data on the anchor bolts 10, a 3D model of the external shape of the anchor bolts 10 (an example of a three-dimensional model for positioning, hereinafter referred to as the "positioning model"), etc. This positioning model is used in a fitting process for acquiring the position of each anchor bolt 10 relative to the foundation 11, as will be described later.

[0150] The drawing generating device 3 can use a model relating to the standard outer shape of the anchor bolt 10 (hereinafter referred to as the standard model) as the first positioning model. The standard model can utilize design data (e.g., CAD data) of the anchor bolt 10 or data obtained by converting that design data into a predetermined data format. The standard model includes data relating to the threaded portion of the anchor bolt 10 (i.e., data relating to a spiral groove including a thread and a thread root). The standard model can be configured from multiple points that form the standard outer shape of the anchor bolt 10. Alternatively, the standard model can be configured from data for a polygon mesh (e.g., a collection of multiple faces, each made up of three or more vertices and line segments connecting them) obtained by polygonizing the standard outer shape (including curved surfaces) of the anchor bolt 10.

[0151] Furthermore, the drawing generating device 3 can use, as the second positioning model, a model (hereinafter referred to as an approximation model) in which the outer shape of the anchor bolt is regarded as a cylinder (an example of a fitting cylinder). The data related to the approximation model does not include data related to the threaded portion, but includes data on a cylinder (or column) that approximates the outer shape of the anchor bolt. The outer diameter of the cylinder of the approximation model can be set to be the same as the outer diameter of the threads of the anchor bolt 10, the outer diameter of the thread root, or the average value of the outer diameters of the threads and the thread root. Furthermore, it is preferable that the axial length of the cylinder data of the approximation model is set to be at least longer than the length (design value) of the anchor bolt 10. In some cases, a model of a cylinder of infinite length can be used as the approximation model.

[0152] The cylinder of the approximation model may have a wall of a predetermined thickness (that is, a wall defined by an outer peripheral surface and an inner peripheral surface having different diameters).

[0153] For data relating to the approximation model (for example, the outer diameter of the threads and the outer diameter of the thread roots), the design data of the anchor bolt 10 can be used. Furthermore, as data relating to the approximation model, data (for example, the outer diameter of the threads and the outer diameter of the thread roots) estimated from three-dimensional point cloud data of the anchor bolt 10 obtained by measurement with the measuring device 2 may be used instead of the design data of the anchor bolt 10. In this case, data for one cylinder can be obtained by the least squares method from the point cloud data including the threads and thread roots. The outer diameter of the cylinder data obtained in this way will be approximately equal to the average value of the outer diameters of the threads and thread roots obtained from the design data of the anchor bolt 10.

[0154] The measurement data 33 is data related to the measurement results obtained by the measuring device 2. The measurement data 33 includes point cloud data and the like related to each anchor bolt 10. The measurement data 33 may also include data related to noise removal processing, which will be described later.

[0155] The fitting result data 34 is data obtained by a fitting process (i.e., fitting of a positioning model to point cloud data related to each anchor bolt 10) described below. The fitting result data 34 includes position coordinates and the like related to the positioning model corresponding to each anchor bolt 10.

[0156] The processing management device 4 is used by workers who process the ring member 15, and manages information (including drawing data of the ring member 15) necessary for processing the ring member 15. Processing of the ring member 15 includes forming anchor bolt holes 20 (i.e., drilling). Like the drawing generation device 3, the processing management device 4 can be configured by a computer such as a PC or a server. The processing management device 4 can be placed in a processing factory for the ring member 15, which is located away from the installation location of the anchor bolts 10 (e.g., a plant construction site).

[0157] Next, the flow of processing from measurement of the anchor bolt 10 to acquisition of drawing data of the ring member 15 in the processing system 1 will be described.

[0158] Before the processing system 1 measures the anchor bolts 10, workers at the plant construction site install a group of anchor bolts 10 in the foundation 11. First, the installation positions of each anchor bolt 10 in the foundation 11 are determined based on the design drawings, and insertion holes for each anchor bolt 10 that open into the upper surface 11A of the foundation 11 are formed at these installation positions. Each anchor bolt 10 is fixed in place with a fixing agent (for example, adhesive or concrete) with its lower portion inserted into the corresponding insertion hole. At this time, the upper portion of each anchor bolt 10 protrudes from the upper surface 11A of the foundation 11, and the threaded portion located at the upper portion is exposed.

[0159] Thereafter, as shown in Fig. 6, in the processing system 1, measurement of the anchor bolts 10 is carried out by the measuring device 2 (S1001). As shown in Fig. 7, the measuring device 2 is placed at the center of the circularly arranged anchor bolts 10 (i.e., the center O of the imaginary circle 12 in Fig. 2). The measuring device 2 rotates a scan unit supported on a tripod to irradiate laser light onto the surrounding anchor bolts 10 and surrounding objects, and can measure the distance to each part of the anchor bolt 10 based on information about the reflected light. This allows the measuring device 2 to generate measurement data including point cloud data (a collection of point data having three-dimensional coordinates) related to each anchor bolt 10 and its surrounding objects.

[0160] The arrangement of the measuring device 2 is not limited to the example shown in FIG. 7 and various modifications are possible.

[0161] For example, as shown in Fig. 8, a plurality of measurement devices 2A-2D having the same configuration as the measurement device 2 shown in Fig. 7 may be arranged outside the group of anchor bolts 10 (i.e., outside the imaginary circle 12 shown in Fig. 2). Here, an example is shown in which the measurement devices 2A-2D are arranged on the east side, west side, south side, and north side of the group of anchor bolts 10, respectively (i.e., an example of measurement from four directions). In this case, the scanning unit of each measurement device 2A-2D is fixed facing a set measurement direction (for example, the measurement devices 2A-2D are fixed facing west, east, north, and south, respectively), or can rotate within a predetermined angle range with the set measurement direction as the base.

[0162] 8 shows an example in which the multiple measurement devices 2A-2D are respectively arranged on the east, west, south, and north sides of the group of anchor bolts 10, but their positions and number can be changed as appropriate. The measurement devices 2A-2D do not need to be arranged strictly in east, west, south, and north positions; for example, the south-side measurement device 2C may be arranged in a southwest position. Also, for example, at least one of the multiple measurement devices 2A-2D may be arranged inside the group of anchor bolts 10 as shown in FIG. 7.

[0163] Alternatively, the processing system 1 may use both the measuring device 2 (see FIG. 7) arranged inside the group of anchor bolts 10 and the measuring devices 2A-2D (see FIG. 8) arranged inside the group of anchor bolts 10 (i.e., measurement from five directions).

[0164] Also, while FIG. 7 shows an example in which the measuring device 2 is supported by a tripod, the measuring device 2 may be mounted on another device that is provided so as to be movable. For example, the measuring device 2 may be mounted on an unmanned aerial vehicle (e.g., a drone) and measurements may be performed while the unmanned aerial vehicle is in flight. Also, for example, the measuring device 2 may be mounted on an autonomously moving robot and measurements may be performed while the robot is moving or stopped. Furthermore, the measuring device 2 does not necessarily have to be installed on the ground (e.g., on the top surface of the foundation 11) and used, but may be a handy type device (i.e., a portable measuring device) that can be used while being held by the measurer.

[0165] Next, the measurement device 2 transmits the generated measurement data to the drawing generation device 3 (S1002). The drawing generation device 3 stores the measurement data 33 acquired from the measurement device 2 in the storage 24.

[0166] Thereafter, the drawing generation device 3 executes processing by the drawing creation application 31 (an example of a drawing generation program or noise removal program) using the acquired measurement data 33. First, the drawing generation device 3 extracts point cloud data related to each anchor bolt 10 from the measurement data 33 (S1003). The extracted point cloud data relates to the outer surface of the anchor bolt 10 facing the measurement device 2 (i.e., the surface of the anchor bolt 10 onto which laser light can be projected). In extracting the point cloud data, the drawing generation device 3 can execute processing for removing noise from the point cloud data (hereinafter referred to as noise removal processing). Such noise may include data related to points with large errors among the multiple points included in the point cloud data, or data related to points unnecessary for generating the drawing data.

[0167] Next, the flow of noise removal processing by the drawing generating device 3 will be described with reference to FIG.

[0168] First, the drawing generation device 3 determines whether the measurement data 33 acquired from one or more measurement devices 2 is the result of measurement from multiple directions or from one direction (ST101). If the point cloud to be processed is the result of measurement from one direction (i.e., if the anchor bolt 10 is measured from one direction as shown in FIG. 7) (No in ST101), the drawing generation device 3 selects a point cloud in the measurement data 33 that corresponds to one anchor bolt 10 that is the target of noise removal processing (ST102).

[0169] On the other hand, in the above-mentioned step ST101, if the point cloud to be processed includes points obtained by measurements from multiple directions (Yes in ST101, for example, if the anchor bolt 10 has been measured from multiple directions as shown in FIG. 8), the drawing generation device 3 combines the point clouds obtained from these multiple directions (ST103). In other words, the drawing generation device 3 integrates the measurement data 33 acquired from two or more measurement devices 2 into one measurement data 33 (i.e., generates one point cloud data from multiple point cloud data measured individually). Then, the drawing generation device 3 selects a point cloud from the integrated measurement data 33 that corresponds to one anchor bolt 10 that is the target of noise removal processing (ST102).

[0170] In step ST103, for example, the drawing generating device 3 can combine two or more pieces of measurement data (here, point cloud data of the anchor bolt 10 and its surrounding objects) among the measurement data obtained by the multiple measurement devices 2A-2D. For example, the drawing generating device 3 can combine measurement data obtained by adjacently arranged measurement devices (i.e., measurement devices 2A and 2C or measurement devices 2B and 2D in FIG. 8, etc.).

[0171] Furthermore, the drawing generation device 3 can also combine measurement data obtained by measurement devices arranged opposite to each other (i.e., measurement devices 2A and 2B or measurement devices 2C and 2D in FIG. 8, etc.). Measurement devices arranged opposite to each other can measure the anchor bolt 10 to be measured from one side and the other side (for example, the front side and the rear side), making it possible to more reliably measure the entire circumference of the anchor bolt 10. The point cloud data combined in this way includes, for example, point cloud data of one side (here, the lower side of the paper on which the figure is shown) obtained by one measurement device 2, as well as point cloud data Y of the other side (here, the upper side of the paper on which the figure is shown), as shown in FIG. 10.

[0172] Furthermore, the drawing generating device 3 can calculate the outer diameter (i.e., the diameter of the circle) of the composite data and compare the calculated outer diameter with the outer diameter (design value) of the anchor bolt 10 included in the anchor bolt data 32. This allows the drawing generating device 3 to determine whether or not an appropriate anchor bolt 10 (i.e., of a predetermined standard) is being used. Furthermore, if the difference between the calculated outer diameter and the design value exceeds a threshold, the drawing generating device 3 can display an error message for the user on the display 27. This can prevent incorrect use of anchor bolts 10 and incorrect production of anchor bolt holes 20 on site or at the manufacturing side.

[0173] Next, the drawing generating device 3 removes some of the points that make up the selected point cloud as noise based on the error from the reference position (ST104). More specifically, if the distance between the coordinates of the target point and the corresponding reference position (i.e., the error from the reference coordinate) exceeds a preset threshold, the drawing generating device 3 removes the target point as noise. For example, a rough guideline for such a threshold is about 10% of the diameter of the anchor bolt 10.

[0174] For example, in step ST104, if the point cloud to be processed is measured from one direction, the ratio of points to be removed as noise among all points included in the point cloud is approximately 10 to 20%. Similarly, if the point cloud to be processed is measured from two to four directions, the ratio of points to be removed as noise among all points included in the point cloud is approximately 5 to 10%.

[0175] When determining the reference positions corresponding to the target points as described above, the drawing generation device 3 performs fitting of a 3D model for noise removal (an example of a 3D model for noise removal, hereinafter referred to as the "noise removal model") to the point cloud data related to the target anchor bolt 10, in the same manner as the fitting process described below, and determines the position of the noise removal model relative to the point cloud data (i.e., the position of the noise removal model in the same coordinate system as the position of the point cloud data). As the noise removal model, a model identical to the standard model or a model similar to the approximation model is used.

[0176] For example, the drawing generating device 3 can use data of a cylinder (hereinafter referred to as a "cylinder for noise removal") set as a virtual outer peripheral surface of the anchor bolt 10 as data of a noise removal model similar to the approximation model. In this case, the outer diameter of the cylinder for noise removal can be set to be the same as the outer diameter of the threads of the anchor bolt 10, the outer diameter of the thread roots, or the average value of the outer diameters of the threads and thread roots.

[0177] The drawing generation device 3 transforms the data of the noise removal cylinder into the same coordinate system as the point cloud data, and determines the position of the noise removal cylinder that minimizes the error with the point cloud data using the least squares method. At this time, the drawing generation device 3 can determine, as the reference position, the point on the noise removal cylinder whose position has been determined that is the shortest distance from the target point. The target point is located inside or outside the outer periphery of the noise removal cylinder.

[0178] For ease of explanation, when focusing on one horizontal cross section of the noise removal cylinder (i.e., a cross section perpendicular to the axial direction of the cylinder), the drawing generation device 3 can remove, as noise, points located outside a circular region of a predetermined width set along a circle in the horizontal cross section of the noise removal cylinder (i.e., a region whose distance from the reference position exceeds a predetermined threshold). Such a circular region (hereinafter referred to as a "non-target circular region") is an area excluded from noise removal targets and is defined, for example, by a first imaginary circle set outside the circle in the horizontal cross section of the noise removal cylinder and a second imaginary circle set inside the circle in the horizontal cross section of the noise removal cylinder. These two imaginary circles may be concentric. On the other hand, when focusing on the entire axial direction of the noise removal cylinder (i.e., the entire axial direction of the anchor bolt 10) rather than one horizontal cross section, the non-target circular region corresponds to the space between the first and second imaginary cylinders, which are axial extensions of the first and second imaginary circles. A point located in the space between the first and second virtual cylinders corresponds to a point whose minimum distance from the axis of the noise removal cylinder is within a predetermined range.

[0179] However, such an asymmetric annular region may be only a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder. Alternatively, the asymmetric annular region may be only a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder. In other words, the asymmetric annular region may be defined by at least one of the first space and the second space. In this case, at least one of the points located in the first space and the points located in the second space corresponds to a point whose minimum distance from the axis of the noise removal cylinder is within a predetermined range.

[0180] Alternatively, instead of using the noise removal cylinder set as described above, the drawing generation device 3 may estimate parameters related to the noise removal cylinder (e.g., center coordinates, diameter, direction of the central axis, etc.) from the point cloud data selected in step ST102 using the least squares method or the like.

[0181] However, when estimating the parameters related to the cylinder for noise removal, the drawing generating device 3 does not necessarily need to use all of the points included in the point cloud selected in step ST102. For example, the drawing generating device 3 may estimate the parameters related to the cylinder for noise removal using a plurality of points randomly selected from the point cloud selected in step ST102. In this case, the drawing generating device 3 can repeatedly estimate the parameters related to the cylinder for noise removal from the plurality of points randomly selected until appropriate parameters related to the cylinder for noise removal (for example, substantially the same diameter as that of the actual anchor bolt 10) are obtained.

[0182] In this method, the parameters related to the cylinder for noise removal are estimated, and the position of the cylinder for noise removal (i.e., the model for noise removal) is also determined. As in the above case, the drawing generating device 3 can determine the point on the model for noise removal that is the shortest distance from the target point as the reference position.

[0183] Alternatively, instead of using the noise removal cylinder set as described above, the drawing generation device 3 may use a noise removal cylinder generated from the point cloud selected in step ST102. In this case, two parallel representative planes perpendicular to the axial direction of the anchor bolt 10 are set in advance, and the drawing generation device 3 selects points located on these representative planes from the selected point clouds and fits each of them to a reference circle having the same diameter as the anchor bolt 10. The reference circle can be set as a circle based on the thread of the anchor bolt 10, a circle based on the thread root, or a virtual circle located midway between the thread and the thread root in the radial direction. This allows the drawing generation device 3 to determine the positions of the reference circles on the two representative planes.

[0184] Then, by forming a curved surface that connects the outer edges of these two reference circles, the drawing generation device 3 can generate a noise removal cylinder (an example of cylindrical data set as the virtual outer peripheral surface of the anchor bolt 10) that approximates the outer surface of the anchor bolt 10. At this time, the drawing generation device 3 can determine, as the reference position, the point on the noise removal cylinder (i.e., the curved surface that constitutes the cylinder) that is the shortest distance from the target point. In this case as well, the target point is located inside or outside the noise removal cylinder.

[0185] The reference position in step ST104 is not limited to being on a cylinder as described above, but may be set on a circle in a plurality of planes perpendicular to the axial direction of the anchor bolt 10. Such a circle may have a diameter equal to the outer diameter of the threads of the anchor bolt 10, the outer diameter of the thread roots, or the average value of the outer diameters of the threads and the thread roots.

[0186] Furthermore, when the drawing generating device 3 uses data of a noise removal model that is the same as the standard model as the 3D model for noise removal, the 3D model includes data on the threaded portions of the anchor bolts, just like the standard model as a positioning model described below. Furthermore, the position of the 3D model for noise removal is determined by fitting the data on the threaded portions to the point cloud data of each anchor bolt 10.

[0187] Furthermore, the fitting process of the noise removal model that is the same as the standard model includes fitting data relating to at least one of the threads and thread roots of the threaded portion included in the three-dimensional model to the point cloud data of each anchor bolt 10.

[0188] Next, the drawing generating device 3 determines whether the point cloud to be processed (i.e., the point cloud selected in step ST102) is the result of measurement from multiple directions or from one direction (ST105). If the point cloud to be processed is the result of measurement from one direction (i.e., the anchor bolt 10 is measured from one direction as shown in FIG. 7) (No in ST105), the drawing generating device 3 removes points at the circumferential end of the selected point cloud as noise (ST106).

[0189] Here, when the anchor bolt 10 is measured from one direction, a point cloud including points located on one side of the outer circumferential surface of the anchor bolt 10 (i.e., the side of the measuring device 2) is obtained. The obtained point cloud is generally similar to the point cloud obtained from a halved anchor bolt 10, and errors are likely to occur in measuring points corresponding to the circumferential ends of the outer circumferential surface of the halved anchor bolt 10 (i.e., both circumferential ends that form the boundary with the back side, which cannot be measured). For this reason, the drawing generating device 3 removes points located at the circumferential ends of the selected point cloud as noise in step ST106.

[0190] Thereafter, the drawing generating device 3 removes points in the anchor bolt 10 at a portion that is expected to contain a lot of noise (hereinafter referred to as a "noise-prone portion") (ST107).

[0191] In step ST107, the drawing generating device 3 executes the process described below (hereinafter referred to as "processing for identifying a noise-prone portion"), thereby being able to identify points included in a noise-prone portion.

[0192] First, the drawing generating device 3 divides the point cloud of the anchor bolt 10 selected in step ST102 into a plurality of groups (for example, 100 groups G1-G100) using a plurality of dividing planes that are perpendicular to the axial direction of the anchor bolt 10. The plurality of dividing planes may be arranged at intervals of, for example, about 10% of the diameter of the anchor bolt 10 (for example, about 3.0 mm).

[0193] Therefore, the standard deviation σ of the error between the reference position and the points included in a predetermined number of consecutive groups (for example, groups G1-G5) is 1-1 Similarly, the drawing generating device 3 calculates the standard deviation σ of the errors between the reference positions and the points included in the next same number of consecutive groups (for example, groups G2-G6). 1-2 The drawing generating device 3 repeatedly performs such calculation of the standard deviation, and finally calculates the standard deviation σ of the error between the reference position and the points included in the consecutive groups (for example, groups G96-G100). 1-96 Calculate.

[0194] Next, the drawing generating device 3 calculates the standard deviation σ 1-1 ~standard deviation σ 1-96 The drawing generating device 3 calculates the standard deviation σ2 for the standard deviation σ2. Therefore, the drawing generating device 3 collectively removes as noise all points belonging to a group that does not fall within a range of ±1σ of the standard deviation σ2 (corresponding to a noise-prone area). However, the range (reference range) from which noise is removed does not necessarily have to be limited to a range of ±1σ of σ2. For example, the drawing generating device 3 may collectively remove as noise all points belonging to a group that does not fall within a range of ±2σ of the standard deviation σ2.

[0195] In addition, the drawing generating device 3 can appropriately adjust the number of consecutive groups (for example, by increasing the number of groups to groups G1-G10) to obtain the standard deviation σ of the error from the calculated reference position without using the standard deviation σ2. 1-n (n is an integer of 2 or more), it is also possible to remove all points that do not fall within a predetermined reference range (for example, a range of ±1σ) as noise. For example, the number of consecutive groups may be set so that the portion formed by those groups has a length of about 10% of the overall length of the anchor bolt 10.

[0196] By performing this type of processing to identify noise-prone areas, the drawing generation device 3 can identify noise-prone areas in the anchor bolt 10 and remove points contained therein. In this case, many of the points to be removed would normally be points located at the tip and base ends of the anchor bolt 10, but this processing to identify noise-prone areas makes it possible to efficiently remove points located at areas other than the tip and base ends as well.

[0197] In the above-described process for identifying noise-prone portions, multiple groups can be set over the entire length of the anchor bolt 10. However, this is not a limitation, and multiple groups may be set only for arbitrarily selected portions of the anchor bolt 10 (hereinafter referred to as "processing target portions"). An example of such a processing target portion is the tip portion of the anchor bolt 10. The tip portion is a portion located within a predetermined range (for example, a range within 1.5 cm: corresponding to the above-described groups G1-G5) from the tip (here, the upper end) of the anchor bolt 10 as the base point. Another example of the processing target portion is the base end of the anchor bolt 10. The base end is a portion of the anchor bolt 10 located within a predetermined range (for example, a range within 1.5 cm: corresponding to the above-described groups G96-G100) from the top surface 11A of the foundation 11 (here, the lower end of the exposed portion of the anchor bolt 10) as the base point.

[0198] As another method, for example, the drawing generating device 3 can remove all points related to the tip end of the anchor bolt 10 as a noise-prone portion without performing the processing for specifying noise-prone portions as described above in step ST107. Also, for example, the drawing generating device 3 can remove all points related to the base end of the anchor bolt 10 as a noise-prone portion without performing the processing for specifying noise-prone portions as described above in step ST107. In other words, the drawing generating device 3 can remove points related to at least one of the tip end and base end of the anchor bolt 10 as points included in the noise-prone portion.

[0199] In this way, in step ST107, all points (including points other than noise) included in the noise-prone areas are removed collectively from the point cloud of the anchor bolt 10 obtained by measurement.

[0200] In the above-mentioned step ST105, if the point cloud to be processed includes points measured from multiple directions (Yes in ST105, for example, if the anchor bolt 10 has been measured from multiple directions as shown in FIG. 8), step ST106 is omitted, and step ST107 is executed as in the above-mentioned case.

[0201] The series of steps ST101-ST107 shown in Fig. 9 are executed for each point cloud corresponding to all anchor bolts. However, in the noise removal process shown in Fig. 9, it is sufficient to execute at least one of steps ST104, ST106, and ST107. That is, some of steps ST104, ST106, and ST107 may be omitted. The order in which steps ST104, ST106, and ST107 are executed may also be reversed. For example, step ST107 may be executed before step ST104, thereby removing points related to at least one of the tip and base ends of the anchor bolt 10. Furthermore, if the initial point cloud data obtained by measurement has the required accuracy, the entire noise removal process shown in Fig. 9 may be omitted.

[0202] 9 above, the drawing generating device 3 can remove points located in specific parts of the anchor bolt 10 as noise (or select them as normal points) in the noise removal process (for example, when selecting the point cloud to be processed in step ST102). For example, if the point cloud data to be processed has been generated by measuring the anchor bolt 10 from one direction (No in ST101), the drawing generating device 3 can remove points corresponding to both ends in the circumferential direction of the outer circumferential surface of each anchor bolt 10 from the multiple points included in the point cloud data as noise (in other words, select points other than both ends in the circumferential direction of the outer circumferential surface of each anchor bolt 10 as normal points).

[0203] In this case, as shown in FIG. 11, for example, when the anchor bolt 10 is measured from one direction, the point cloud data viewed from the axial direction of the anchor bolt 10 forms a substantially arc shape in one direction (i.e., the measurement direction). In this case, the drawing generation device 3 can remove, as noise, points that fall outside a region (hereinafter referred to as a "non-noise region") sandwiched between two line segments that extend from point P corresponding to the axis (central axis) of the anchor bolt 10 and form a predetermined angle α in the cross section of the anchor bolt 10. The non-noise region is set by placing two line segments on both sides of the measurement direction at an angle of α / 2. The angle α may be set, for example, in the range of 45° to 75°. FIG. 11 shows the non-noise region in the cross section of the anchor bolt 10, but the non-noise region (i.e., the space where normal points are located) may be defined not by two line segments but by two planes extending radially from the axis of the anchor bolt 10.

[0204] The noise removal process as described above can be executed independently of the generation of drawings of the structural member. That is, in this embodiment, the noise removal method applied to the point cloud data related to the anchor bolt 10 (i.e., point cloud data generated by measuring the anchor bolt 10) and the noise removal program for executing the method can also be used independently.

[0205] Referring again to Fig. 6, with regard to step S1003, Fig. 12 shows an example of a point cloud extracted for the anchor bolt 10 extending from the upper surface 11A of the foundation 11. As shown in Fig. 12, the extracted point cloud for the anchor bolt 10 relates to the outer surface on the measuring device 2 side (here, the front left side of the paper on which the figure is shown). Furthermore, the point cloud extracted for the circumferential surface of the anchor bolt 10 corresponds to the shape of the threaded portion formed on the circumferential surface (i.e., the shape of the thread and thread root). When the anchor bolt 10 is measured by multiple measuring devices 2, a point cloud such as that shown in Fig. 12 is extracted for each measuring device 2.

[0206] Next, the drawing generating device 3 executes a fitting process between the point cloud data for each anchor bolt 10 and the positioning model included in the anchor bolt data 32 (S1004). Note that the fitting process and the process of acquiring the position of each anchor bolt 10 relative to the foundation by fitting can be executed independently from the generation of the drawing of the structural member.

[0207] 13(A) and (B) show an overview of the fitting process. For ease of explanation, only the upper tip of the anchor bolt 10 is shown in Figures 13(A) and (B). However, the fitting process can be performed on the entire anchor bolt 10 exposed from the upper surface 11A of the foundation 11.

[0208] In this embodiment, since the multiple anchor bolts 10 have the same configuration, the same positioning model is used for each anchor bolt 10. As the positioning model, 3D data of the production drawing of the anchor bolt 10 or edited data of that data can be used.

[0209] In the fitting process, as shown in Figures 13(A) and 13(B), the point cloud data related to the anchor bolt 10 is associated with the positioning model, and as shown in Figures 13(A) and 13(B), the positioning model is aligned so that the position of the positioning model coincides with the position of the anchor bolt 10. The data of the positioning model is converted in advance into data in the same coordinate system as the point cloud data.

[0210] In the alignment of each positioning model, the drawing generating device 3 calculates the minimum distance (that is, error) between each point constituting the point cloud data and the positioning model including the shape of the screw portion 40.

[0211] First, the drawing generation device 3 calculates the distance between each point constituting the extracted point cloud and the reference position in the positioning model at the initial position (i.e., the point or surface in the positioning model corresponding to each point constituting the point cloud).

[0212] Thereafter, the drawing generation device 3 repeatedly performs calculations while displacing the positioning model from its initial position and fine-tuning the position of the positioning model (e.g., the position of the origin and the inclination of the axis) based on the least squares method so that the sum of the squares of the calculated distances is minimized. Eventually, the calculations converge, or the position of the positioning model relative to the point cloud data is determined after the calculations have been repeated a specified number of times. The origin of the positioning model can be, for example, a point corresponding to the center of gravity of the anchor bolt 10 or a point corresponding to the base end (e.g., a point on the axis of the anchor bolt 10 that is located on the top surface 11A of the foundation 11). The axis of the positioning model corresponds to the axis of the anchor bolt 10 and can be displaced with respect to the origin. The angle of inclination of the axis is, for example, the magnitude of the angle with respect to the vertical direction (or the direction perpendicular to the top surface 11A of the foundation 11).

[0213] Furthermore, when a standard model is used as the positioning model, the drawing generation device 3 can use an ICP (Iterative Closest Point) algorithm to align each positioning model. In this case, the drawing generation device 3 can use points that are pseudo-generated on the outer surface of the anchor bolt 10 based on the CAD data of the anchor bolt 10 as the points that constitute the standard model. In this case, polygon mesh data (e.g., vertices or internal points) obtained by polygonizing the CAD data may be used. From these points, points that are closest to points in the point cloud data or that are in the same direction as points in the point cloud data can be selected and paired in the ICP algorithm. By using the ICP algorithm, it is possible to minimize the distance between the point cloud obtained by measurement and the point cloud based on the positioning model (i.e., to bring the position of the positioning model close to or coincident with the position of the anchor bolt 10). Note that the convergence accuracy of the minimum distance when using the ICP algorithm can be set to, for example, about 0.1 mm.

[0214] In the fitting process, if the anchor bolt 10 is tilted relative to the vertical direction (i.e., the reference direction perpendicular to the top surface 11A of the foundation 11), the tilt of the axis of the positioning model is adjusted. Also, in the fitting process, the amount of protrusion of each anchor bolt 10 from the top surface 11A of the foundation 11 (hereinafter referred to as "bolt length") is calculated, and the length of the corresponding positioning model is adjusted based on that bolt length. In other words, data for the portion of each positioning model that extends from the tip of the anchor bolt beyond the bolt length is excluded as data unnecessary for the fitting process.

[0215] Furthermore, in the processing system 1, as pre-processing for the above-mentioned fitting, part of the point cloud data of each anchor bolt 10 can be converted into vector format data. For example, in pre-processing, the drawing generating device 3 can replace point cloud data relating to part of the threaded portion of each anchor bolt 10 (for example, the thread) with data of a spiral curve. Because the point cloud of the anchor bolt 10 relates to the outer surface on the side of the measuring device 2, such spiral curve data forms a line segment corresponding to one side of the anchor bolt 10. Note that the spiral curve data is not limited to data corresponding to the thread, but may also correspond to the thread root.

[0216] By performing such pre-processing as necessary, the drawing generating device 3 is able to perform the above-mentioned fitting process with higher accuracy.

[0217] 13(A) and (B) show examples of a standard model, but similar alignment is possible when an approximate model is used. When performing fitting processing, the user of the drawing generation device 3 can select either the standard model or the approximate model, taking into consideration the accuracy of fitting, processing load, etc.

[0218] Furthermore, when the drawing generation device 3 uses a model based on a cylinder having a wall of a predetermined thickness as the approximation model, in the fitting process, the distance between the approximation model (i.e., the distance used in the least squares method described above) and points located inside the wall (i.e., points located between the inner surface and the outer surface) among the points in the point cloud data of each anchor bolt 10 can be set to zero.

[0219] The fitting process determines the position of the positioning model (i.e., the position of the origin and the angle of inclination of the axis) where the point cloud for each anchor bolt 10 (more specifically, the point cloud for the outer surface of the anchor bolt 10) and the outer circumferential surface of the anchor bolt in the corresponding positioning model closely match (S1005 in FIG. 6). At this time, the direction of inclination of the axis can also be determined.

[0220] The determined position of each positioning model is stored in the storage 24 as fitting result data 34. The fitting result data 34 may also include position coordinates of a large number of points set as points constituting the positioning model.

[0221] 16 may be executed by an external device (e.g., an information processing device such as a server) not shown that is communicatively connected to the drawing generating device 3 via the network 5, instead of the drawing generating device 3. In this case, the drawing generating device 3 can acquire information on the results of the fitting process (including information on the position of the positioning model) from the external information processing device. Furthermore, when executing the fitting process, the external information processing device may acquire at least one of the point cloud data on each anchor bolt 10 and the positioning model of the anchor bolt 10 from the drawing generating device 3.

[0222] Thereafter, the drawing generating device 3 generates 2D (two-dimensional) drawing data of the ring member 15 based on the fitting result data 34 of the positioning model corresponding to each anchor bolt 10 (S1006 in FIG. 6). The drawing generating device 3 can generate the drawing data of the ring member 15 by determining the position (e.g., center position of the hole), shape, size, etc. of the anchor bolt holes 20 to be formed in the ring member 15 based on the position of the positioning model corresponding to each anchor bolt 10. The standard anchor bolt holes 20 used in the drawing of the ring member 15 are circular in plan view, and have a standard size (i.e., standard inner diameter) that corresponds to the outer diameter of the anchor bolt 10. Furthermore, the center position of each of the standard anchor bolt holes 20 can be set to the same position as the center position of each anchor bolt 10 in the design position, for example.

[0223] In step S1006, the drawing generating device 3 is configured to generate 2D drawing data of the ring member 15. However, the drawing generating device 3 is not limited to this, and may generate 3D (three-dimensional) drawing data.

[0224] Finally, a confirmation process (S1007) of the drawing data of the ring member 15 is executed, thereby completing the drawing data of the ring member 15. As will be described later, in the drawing data confirmation process, the size, shape, center position, etc. of the standard anchor bolt holes 20 are corrected as necessary. Note that the drawing generation device 3 may use the 2D drawing data of the ring member 15 generated as described above to generate 3D data of the ring member 15 (i.e., drawing data including information on the thickness of the ring member 15).

[0225] Thereafter, the drawing generation device 3 transmits the drawing data of the completed ring member 15 to the processing management device 4 via the network 5 (S1008). Upon receiving the drawing data of the ring member 15, the processing management device 4 stores the drawing data in its own storage (S1009). The ring member 15 is manufactured using the drawing data stored in the processing management device 4.

[0226] The ring member 15 may be produced by a 3D printer using drawing data stored in the processing management device 4. Also, the main body 19 of the plant equipment 18 and the ring member 15 may be produced integrally by a 3D printer.

[0227] Next, the details of the confirmation process of the drawing data (S1007) shown in FIG. 6 will be described with reference to FIG.

[0228] In the process of checking the drawing data, the drawing generating device 3 acquires information on the tilt angle θ and tilt direction of each axis from the point cloud data of each anchor bolt 10, as shown in Fig. 14 (ST201). At this time, the drawing generating device 3 estimates the center line (i.e., axis) C of each anchor bolt 10 and the top surface 11A (i.e., plane) of the foundation 11 from the point cloud data of each anchor bolt 10 and its surrounding objects, and calculates the angle between the center line C and the top surface 11A of the foundation 11 as the tilt angle θ of the axis of each anchor bolt 10, as shown in Fig. 15.

[0229] Next, the drawing generating device 3 determines whether the tilt angle θ of the axis of the anchor bolt 10 is equal to or less than a predetermined threshold value (for example, 1°) (i.e., whether it is within the allowable range) (ST202). If the tilt angle θ of the axis of the anchor bolt 10 is within the allowable range (Yes in ST202), the drawing generating device 3 acquires the projection area (i.e., the outer shape in the plan view) of each anchor bolt 10 relative to the upper surface 11A in the plan view (ST203). Furthermore, the drawing generating device 3 provisionally sets the outer shape (an example of a hole figure) of a standard anchor bolt hole 20 that forms a concentric circle with the outer shape (i.e., a circle) of each anchor bolt 10 at the design position in the plan view (ST204). That is, the drawing generation device 3 generates a projection drawing (a plan drawing drawn on the upper surface 11A of the foundation 11) in which the anchor bolts 10 based on each three-dimensional model are projected, and sets the outer shapes of the anchor bolt holes 20 in the projection drawing (i.e., hole figures that surround the outer shapes of each three-dimensional model).

[0230] Thereafter, the drawing generating device 3 determines whether the maximum distance between the projection area of ​​the anchor bolt 10 and the outer shape of the standard anchor bolt hole 20 is equal to or less than a predetermined threshold value (for example, 6 mm) (i.e., whether it is within the allowable range) (ST205). If the maximum distance between the projection area of ​​the anchor bolt 10 and the outer shape of the standard anchor bolt hole 20 (i.e., the maximum value of the clearance between the outer peripheral surface of the anchor bolt 10 and the inner peripheral surface of the standard anchor bolt hole 20) is within the allowable range (Yes in ST205), the drawing data confirmation process ends normally.

[0231] If the tilt angle θ of the axis of the anchor bolt 10 exceeds a predetermined threshold in step ST202 (No in ST202), the generation of the drawing data is stopped, and error processing is executed (ST206). Similarly, if the maximum distance between the projection area of ​​the anchor bolt 10 and the outer shape of the standard anchor bolt hole 20 exceeds a predetermined threshold in step ST205 (No in ST205), error processing is also executed (ST206). In the error processing, for example, an error message is displayed for the user on the display 27 of the drawing generation device 3. After confirming the error message, the user can, for example, remeasure the anchor bolt 10 that is the subject of the error. Furthermore, if the maximum distance exceeds a predetermined threshold in this way, the drawing generation device 3 can change (e.g., reduce) the outer diameter of the anchor bolt hole 20 within a range in which the maximum distance is equal to or less than the threshold.

[0232] Furthermore, in addition to (or instead of) the processing of step ST205 described above, the drawing generating device 3 can determine whether the minimum distance between the projection area of ​​the anchor bolt 10 and the outer shape of the standard anchor bolt hole 20 is equal to or less than a predetermined threshold (i.e., whether it is within an acceptable range). If the minimum distance between the projection area of ​​the anchor bolt 10 and the outer shape of the standard anchor bolt hole 20 exceeds the predetermined threshold, error processing is executed as in the above-described case. Furthermore, if the minimum distance is less than the predetermined threshold, the drawing generating device 3 can perform processing to change at least one of the position and outer diameter of the anchor bolt hole 20 (for example, by displacing the position or enlarging the outer diameter) so that the minimum distance exceeds the threshold.

[0233] With regard to steps ST203 and ST204, for example, as shown in FIG. 16(A), if the anchor bolt 10 is installed in the designed position without error, the center Xa of the projection area 10a of the anchor bolt 10 onto the upper surface 11A of the foundation 11 (i.e., the circular area) coincides with the center of the provisionally set outer shape 20a of the anchor bolt hole 20. Furthermore, the axis of the anchor bolt 10 in the designed position coincides with the vertical line Va passing through the center Xa of the anchor bolt 10. At this time, a certain clearance Ga is ensured between the projection area 10a (i.e., the outer peripheral surface of the anchor bolt 10) and the outer shape 20a of the standard anchor bolt hole 20 in plan view (i.e., the inner peripheral surface of the anchor bolt hole 20). The diameter of the standard anchor bolt hole 20 is set so that the clearance Ga is equal to or less than a threshold value (e.g., 6 mm).

[0234] On the other hand, for example, as shown in Figure 16(B), if the anchor bolt 10 is installed at an angle to the vertical (i.e., the angle of inclination θ is within the allowable range), the projected area 10b of the anchor bolt 10 onto the upper surface 11A of the foundation 11 will be wider than the projected area 10a of the anchor bolt 10 installed without error in the designed position, and will have a substantially elliptical shape. As a result, in Figure 16(B), the clearance Ga shown in Figure 16(A) cannot be ensured for the outer shape 20a of the standard anchor bolt hole 20 in plan view.

[0235] Therefore, the drawing generating device 3 corrects the standard anchor bolt hole 20 so that its diameter is enlarged. As a result, a maximum clearance Gb that is equal to or less than a threshold value (e.g., 6 mm) is ensured between the projection area 10b and the outer shape 20b of the corrected anchor bolt hole 20. In this embodiment, the enlarged anchor bolt hole 20 has a circular shape centered on the center Xb of the projection area 10b (or the vertical line Vb). However, the anchor bolt hole 20 may also be enlarged to have an elliptical shape (see FIG. 17).

[0236] Note that even when the anchor bolt 10 is installed in the vertical direction, if the center of the projection area is deviated from the design position, the drawing creation device 3 can move the anchor bolt hole 20 to the deviated position. In this case, there is no need to enlarge the diameter of the anchor bolt hole 20. Furthermore, the drawing creation device 3 can display information regarding the tilt direction of the axis of each anchor bolt 10 on the display 27. This allows a user who uses the drawing creation device 3 to create a drawing of a structural member that includes anchor bolt holes 20 to easily understand the direction in which the diameter of the anchor bolt hole 20 should be enlarged. In this case, the drawing creation device 3 can also display information regarding the tilt angle θ of the axis on the display 27, in addition to information regarding the tilt direction of the axis of each anchor bolt 10. [Example]

[0237] Based on measurements by the measuring device 2 shown in Figure 7 and the measuring devices 2A-2D shown in Figure 8, 2D drawing data of the ring member 15 was generated in the same manner as the process shown in Figure 6 above. A Leica ScanStation P40 (manufactured by Leica Geosystems) was used as the measuring device 2 and the measuring devices 2A-2D. The diameter of the imaginary circle 12 (see Figure 2) of the 16 installed anchor bolts 10 (Nos. 1-16) was set to 3 m. M25 bolts were used for the anchor bolts 10. The protrusion amount of the anchor bolts 10 from the top surface 11A of the foundation 11 was set to 300 mm. The error (i.e., error from the design position) between the center position of each anchor bolt hole 20 in the generated drawing data and the center position of the standard anchor bolt hole 20 corresponding to the anchor bolt 10 at the design position was calculated.

[0238] Table 1 shows the results of using point cloud data obtained by measurements using measuring devices 2A-2D (i.e., measurements from four directions). In Table 1, the errors for each anchor bolt 10 are shown for the cases when the standard model and the approximate model were used.

[0239] [Table 1]

[0240] The average absolute value of the errors for the 16 anchor bolts 10 shown in Table 1 was about 0.7 mm when either the standard model or the approximate model was used (0.69 mm for the standard model, 0.66 mm for the approximate model). In this way, the processing system 1 can generate drawings of the ring member 15 including the anchor bolts 10 with high accuracy.

[0241] Similarly, Table 2 shows the results using point cloud data obtained by measurements using measuring devices 2A and 2B (that is, measurements from two opposing directions).

[0242] [Table 2]

[0243] The average absolute value of the errors for the 16 anchor bolts 10 shown in Table 2 was about 0.5 mm when either the standard model or the approximate model was used (0.48 mm for the standard model, 0.44 mm for the approximate model). In this way, the processing system 1 can generate drawings of the ring member 15 including the anchor bolts 10 with high accuracy.

[0244] Similarly, Table 3 shows the results using point cloud data obtained by measurements using measuring devices 2A and 2C (that is, measurements from two adjacent directions).

[0245] [Table 3]

[0246] The average absolute value of the errors for the 16 anchor bolts 10 shown in Table 3 was about 0.7 mm when either the standard model or the approximate model was used (0.72 mm for the standard model, 0.73 mm for the approximate model). In this way, the processing system 1 can generate drawings of the ring member 15 including the anchor bolts 10 with high accuracy.

[0247] Similarly, Table 4 shows the results using point cloud data obtained by measurement using measurement device 2 (that is, measurement from one direction).

[0248] [Table 4]

[0249] The average absolute value of the errors for the 16 anchor bolts 10 shown in Table 4 was about 0.6 mm when either the standard model or the approximate model was used (0.60 mm for the standard model, 0.64 mm for the approximate model). In this way, the processing system 1 can generate drawings of the ring member 15 including the anchor bolts 10 with high accuracy.

[0250] The results shown in Table 4 (the same applies to Tables 1 to 3) correspond to the case where points located outside the annular region (corresponding to the above-mentioned first and second spaces) defined by a virtual circle having the same outer diameter as the outer diameter of the thread of the anchor bolt (corresponding to the above-mentioned first virtual circle) and a virtual circle having the same outer diameter as the outer diameter of the thread root (corresponding to the above-mentioned second virtual circle) were removed as noise in the noise removal related to step ST104 in Fig. 9. In contrast, when the annular region was defined based on a virtual circle having the same outer diameter as the outer diameter of the thread of the anchor bolt (corresponding to the above-mentioned first virtual circle) and a virtual circle based on a radially intermediate position of the thread and thread root of the anchor bolt (i.e., corresponding to the above-mentioned noise removal cylinder having an outer diameter equivalent to the average of the outer diameters of the thread and thread root), and fitting of the approximation model was performed, the average absolute value of the error was 0.63 mm.

[0251] Note that fitting of the approximation model may be performed using a region defined based on a first virtual circle (i.e., equivalent to a first virtual cylinder) and a virtual circle based on a radially intermediate position of the threads and thread roots of the anchor bolt (i.e., equivalent to the above-mentioned noise removal cylinder having an outer diameter equivalent to the average outer diameter of the threads and thread roots). Alternatively, fitting of the approximation model may be performed using a region defined based on a second virtual circle (i.e., equivalent to a second virtual cylinder) and a virtual circle based on a radially intermediate position of the threads and thread roots of the anchor bolt.

[0252] Furthermore, the results shown in Table 4 (the same applies to Tables 1 to 3) are the results obtained by executing the process of identifying noise-prone areas in the noise removal shown in step ST107 of Fig. 9. In contrast, when the tip and base ends of the anchor bolt 10 were treated as noise-prone areas and noise was removed (i.e., the alternative method described above was executed), and fitting of the approximation model was performed, the average absolute value of the error was 0.57 mm.

[0253] From the above results, it can be seen that the processing system 1 according to this embodiment can accurately generate drawings of the ring member 15 including the anchor bolt 10 without being significantly affected by the number and arrangement of the measuring devices 2, 2A-2D.

[0254] Next, a modified example of the noise removal process shown in Fig. 9 will be described with reference to Fig. 18. Details of the noise removal process related to this modified example are the same as those of the noise removal process shown in Fig. 9 above, except for matters specifically mentioned below.

[0255] In the modified example of the noise removal process shown in FIG. 18, step ST101 in FIG. 9 is omitted, and steps ST301 and ST302 similar to steps ST102 and ST104, respectively, are executed.

[0256] Next, the drawing generating device 3 determines whether the point cloud to be processed is the result of measurement from multiple directions or from one direction (ST303), similar to step ST105 in Fig. 9. If the point cloud to be processed is the result of measurement from one direction (No in ST303), the drawing generating device 3 removes points at the circumferential end of the selected point cloud as noise (ST304), similar to step ST106 in Fig. 9.

[0257] Thereafter, the drawing generating device 3 removes points included in the noisy portion in the same manner as in step ST107 in FIG. 9 (ST305).

[0258] On the other hand, in the above-mentioned step ST303, if the point cloud to be processed includes points obtained by measurements from multiple directions (Yes in ST303), the drawing generating device 3 synthesizes the point clouds obtained from the multiple directions (ST306), as in the case of ST103 in Fig. 9. By synthesizing the multiple point cloud data, one piece of point cloud data to be used in the subsequent fitting process is generated. Thereafter, the drawing generating device 3 executes the above-mentioned step ST305 in the same manner as in the above-mentioned case.

[0259] In this modified example of the noise removal process, the point groups are synthesized after noise is removed in step ST302, which has the advantage of reducing the processing load on the drawing generating device 3.

[0260] Next, a modified example of the processing system 1 shown in Fig. 1 will be described with reference to Fig. 19. In the drawings and explanations relating to the modified example of the processing system 1, components similar to those in the above-described processing system 1 are assigned the same reference numerals as those used in the above-described processing system 1. Furthermore, the configurations and operations of devices and equipment in the modified example of the processing system 1 are the same as those in the above-described processing system 1, except for matters specifically mentioned below.

[0261] 19, in the processing system 1, an information processing system 100 including one or more information processing devices 103 may be used instead of the above-described drawing generating device 3. Although only one information processing device 103 is shown in FIG. 19 for convenience, the information processing system 100 may include multiple information processing devices 103. Each information processing device 103 includes a computer such as a server, for example.

[0262] 19 includes one information processing device 103, the information processing device 103 has the same configuration as the drawing generation device 3 and can realize the same functions. In this case, the above-mentioned drawing generation device 3 is equivalent to including one information processing device 103. Also, for example, if the information processing system 100 shown in FIG. 19 includes multiple information processing devices 103, the information processing devices 103 can cooperate to realize the same functions as one drawing generation device 3.

[0263] At least some of the functions of the information processing system 100 may be realized as a cloud service (i.e., by cloud computing). In this case, the information processing system 100 may be configured by a collection of servers, data centers, storage, network devices, etc., each connected to a network 5. Furthermore, the components of the processing system 1 may cooperate with each other via a virtual network in a cloud environment.

[0264] Each of the processes disclosed in this embodiment (e.g., noise removal process for point cloud data, fitting process for a 3D model, and process for acquiring the positions of anchor bolts and anchor bolt holes) can be performed independently of the generation of 2D or 3D drawing data of a structural member. For example, all of the processes disclosed in this embodiment (including the process for generating 2D or 3D drawing data of a structural member) can be executed by any of one or more information processing devices 103 (not shown) included in the information processing system 100 shown in FIG. 19.

[0265] The above is the explanation of the embodiment including specific examples, but the present invention is not limited to the above embodiment and modified examples, and can be implemented in a wide variety of modified forms. The structural member processing system shown in the above embodiment, the structural member drawing generation method and drawing generation program using the system, the point cloud data noise removal method and noise removal program, and the bolt position acquisition method and position acquisition program are not necessarily all essential, and at least those skilled in the art can select and discard as appropriate within the scope of the present invention.

[0266] In the above-described embodiment, an example has been described in which a plurality of metal anchor bolts are installed in a structure made of reinforced concrete as a foundation at a plant construction site. However, the application of the structural member drawing generation method and drawing generation program, point cloud data noise removal method and noise removal program, and bolt position acquisition method and position acquisition program according to the present invention is not limited to anchor bolts for fixing plant equipment to the foundation at a plant construction site.

[0267] For example, the present invention can be applied to anchor bolts used to install structures on foundations provided on bridges, etc. Furthermore, the present invention is not limited to anchor bolts and can be applied to any bolts that include a threaded portion.

[0268] Furthermore, the foundation on which the bolts are installed is not limited to concrete, but various materials such as brick, stone, steel, wood, and composite materials can be used as needed. [Explanation of symbols]

[0269] 1: Processing system 2: Measuring equipment 3: Drawing generation device (information processing device) 4: Processing control device 5: Network 10: Anchor bolt 10a, 10b: Projection area 11: Basics 11A:Top surface 12: Virtual circle 15: Ring member 18: Plant equipment 19: Main body 20: Anchor bolt hole 20a, 20b: Outer shape of anchor bolt hole 21: Processor 24: Storage 25: Communication interface 26: Input device 27: Display 31: Drawing creation application 32: Anchor bolt data 33: Measurement data 34: Fitting result data 35: Structural member drawing data 40: Threaded part 100: Information Processing Systems 103: Information processing device

Claims

1. A method for generating a drawing of a structural member including a plurality of bolt holes corresponding to a plurality of bolts by an information processing system including one or more information processing devices, comprising: The information processing system, The point cloud data generated by measuring multiple bolts installed in the foundation is acquired, obtaining a three-dimensional positioning model relating to the outer shape of each of the bolts; determining a position of each of the three-dimensional positioning models by performing a fitting process of the three-dimensional positioning model to the point cloud data of each of the bolts; A method for generating a drawing of a structural member, which generates drawing data of the structural member in which the plurality of bolt holes are formed based on the positions of the three-dimensional positioning models.

2. the three-dimensional positioning model includes data relating to a threaded portion of the bolt; The drawing generating method according to claim 1 , wherein the fitting process of the three-dimensional positioning model includes fitting the data relating to the threaded portion to the point cloud data of each of the bolts.

3. 3. The drawing generation method according to claim 2, wherein the fitting process of the three-dimensional positioning model includes fitting data relating to at least one of the threads and thread roots of the screw portion included in the three-dimensional positioning model to the point cloud data of each of the bolts.

4. the three-dimensional positioning model includes data of a fitting cylinder that approximates an outer shape of the bolt, The drawing generating method according to claim 1 , wherein the fitting process of the three-dimensional positioning model includes fitting data of the fitting cylinder with the point cloud data of each of the bolts.

5. the fitting cylinder has a wall of a predetermined thickness; 5. The drawing generation method according to claim 4, wherein in the fitting process of the three-dimensional positioning model, a distance between the three-dimensional positioning model and a point located inside the wall among a plurality of points included in the point cloud data of each bolt is set to zero.

6. 6. The drawing generation method according to claim 4 or claim 5, wherein the fitting process of the three-dimensional positioning model includes a step of repeatedly performing calculations while adjusting the position of the three-dimensional positioning model so that the sum of the squares of the distances between the data of the fitting cylinder and the point cloud data of each of the bolts is minimized.

7. 6. The drawing generating method according to claim 4 or claim 5, wherein the outer diameter of the fitting cylinder is the same as any one of the outer diameter of the threads of the bolt, the outer diameter of the roots of the threads, and the average value of the outer diameters of the threads and the roots of the threads of the bolt.

8. 6. The drawing generating method according to claim 4, wherein the data of the fitting cylinder is set so that the axial length thereof is longer than a design value of the bolt.

9. 5. The drawing generating method according to claim 2, wherein the information processing system performs noise removal processing to remove noise from the point cloud data of each of the bolts before fitting the three-dimensional model for positioning.

10. The information processing system includes: obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; The drawing generating method according to claim 9 , wherein points in the point cloud data whose distance from the three-dimensional model for noise removal exceeds a predetermined threshold are removed as noise.

11. the three-dimensional model for noise removal includes data on a threaded portion of the bolt; The drawing generating method according to claim 10, wherein the position of the three-dimensional model for noise removal is determined by fitting the data relating to the threaded portion to the point cloud data of each of the bolts.

12. 12. The drawing generation method according to claim 11, wherein the fitting process of the three-dimensional model for noise removal includes fitting data relating to at least one of the threads and the thread roots of the threaded portion included in the three-dimensional model for noise removal to the point cloud data of each of the bolts.

13. the three-dimensional model for noise removal includes data of a cylinder for noise removal that approximates an outer shape of the bolt, The drawing generating method according to claim 10, wherein the position of the three-dimensional model for noise removal is determined by fitting data of the cylinder for noise removal to the point cloud data of each of the bolts.

14. The information processing system includes:

10. The drawing generation method according to claim 9, wherein, from among the plurality of points included in the point cloud data, points whose minimum value of the distance from the virtual outer peripheral surface set for each of the bolts exceeds a predetermined threshold value are removed as the noise.

15. 10. The drawing generation method according to claim 9, wherein, when the point cloud data is data generated by measuring the plurality of bolts from one direction, the information processing system removes, from among the plurality of points included in the point cloud data, points that correspond to circumferential ends of the outer peripheral surfaces of the respective bolts as the noise.

16. 10. The drawing generation method according to claim 9, wherein the information processing system selects points relating to at least one of the tip end and base end of each of the bolts from among the plurality of point data included in the point cloud data as target areas for the noise removal processing.

17. the information processing system divides the point cloud data of the target portion of the noise removal processing into a plurality of groups by a plurality of dividing planes orthogonal to an axial direction of the bolt; The drawing generating method according to claim 9 , wherein point data included in the point cloud data for each group is collectively removed as noise.

18. the information processing system divides the point cloud data of the target portion of the noise removal processing into a plurality of groups by a plurality of dividing planes orthogonal to an axial direction of the bolt; The drawing generating method according to claim 16 , wherein point data included in the point cloud data for each group is collectively removed as noise.

19. The information processing system includes: obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; In the noise removal process, a point whose distance from the three-dimensional model for noise removal exceeds a predetermined threshold is removed as the noise; When the point cloud data is data generated by measuring the plurality of bolts from one direction, among the plurality of points included in the point cloud data from which the noise has been removed by the noise removal process, points corresponding to the circumferential end portions of the outer circumferential surfaces of the bolts are removed as the noise; 10. The drawing generation method according to claim 9, wherein, of a plurality of point data included in the point cloud data from which points corresponding to circumferential ends of the outer circumferential surface of each of the bolts have been removed as noise, points relating to at least one of a tip end and a base end of each of the bolts are removed as noise.

20. The information processing system includes: obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; When the point cloud data includes a plurality of pieces of point cloud data generated by measuring the plurality of bolts from a plurality of directions, generating one piece of point cloud data by combining the plurality of pieces of point cloud data generated by measuring the bolts; performing the noise removal process on the generated one point cloud data, thereby removing, as noise, points whose distances from the three-dimensional model for noise removal exceed a predetermined threshold; 10. The drawing generation method according to claim 9, wherein points relating to at least one of a tip end and a base end of each of the bolts are removed as the noise from among a plurality of point data included in the point cloud data from which the noise has been removed by the noise removal process.

21. The information processing system includes: obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; When the point cloud data includes a plurality of pieces of point cloud data generated by measuring the plurality of bolts from a plurality of directions, the noise removal process is performed on each of the plurality of pieces of point cloud data, thereby removing, as noise, points whose distances from the three-dimensional model for noise removal exceed a predetermined threshold; generating one piece of point cloud data by combining the plurality of point cloud data that have been subjected to the noise removal processing; 10. The drawing generating method according to claim 9, wherein points relating to at least one of a tip end and a base end of each of the bolts are removed as the noise from among the plurality of point data included in the generated single point cloud data.

22. 11. The drawing generation method according to claim 10, wherein when the information processing system acquires a plurality of point cloud data generated by measuring the plurality of bolts from a plurality of directions, the information processing system generates a single point cloud data to be used in fitting processing of the three-dimensional model for noise removal by combining the plurality of point cloud data.

23. the noise removal cylinder has a diameter equal to the average value of the outer diameter of the threads and the outer diameter of the roots of the bolt; The drawing generation method according to claim 13, wherein the information processing system removes as noise, from among the plurality of points included in the point cloud data, points other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder.

24. The information processing system includes: Estimating parameters related to the cylinder for noise removal from the point cloud data using a least squares method; 14. The drawing generation method according to claim 13, wherein, of the plurality of points included in the point cloud data, points other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder are removed as the noise.

25. 2. The drawing generation method according to claim 1, wherein the information processing system calculates the minimum distance between each point cloud data and the three-dimensional model for positioning in the fitting process of the three-dimensional model for positioning, and determines the position of each of the three-dimensional model for positioning so that the sum of the squares of these minimum distances is minimized.

26. the information processing system acquires information on an angle of inclination of each of the three-dimensional positioning models with respect to a reference direction in which the plurality of bolts should extend, by fitting the three-dimensional positioning models; The drawing generating method according to claim 1 , wherein if an angle of inclination of any of the plurality of three-dimensional models for positioning exceeds a predetermined threshold, generation of the drawing data is stopped.

27. 2. The drawing generation method according to claim 1, wherein the information processing system obtains information on the direction of inclination of each of the three-dimensional positioning models relative to a reference direction in which the plurality of bolts should extend by fitting the three-dimensional positioning models, and displays the information on the direction of inclination on a display.

28. the information processing system acquires information on the protrusion amount of each bolt from a reference surface of the foundation based on the point cloud data, The drawing generating method according to claim 1 , further comprising the step of: setting a height of the corresponding bolt in the three-dimensional positioning model based on the information on the protrusion amount of each bolt.

29. The information processing system includes: generating a projection drawing in which each of the three-dimensional positioning models is projected onto a bolt installation plane corresponding to a reference plane of the foundation based on the position of each of the three-dimensional positioning models; setting hole figures surrounding the outlines of the three-dimensional models for positioning in the projection drawings, The drawing generating method according to claim 1 , wherein the drawing data is generated including hole graphics as the bolt holes formed in the structural member.

30. The information processing system includes: Calculating the maximum distance between the outline of the projection drawing and the hole pattern; 30. The drawing generating method according to claim 29, wherein, when the maximum distance exceeds a predetermined threshold, an outer diameter of the hole pattern is changed within a range in which the maximum distance is equal to or less than the threshold.

31. The information processing system includes: Calculating the minimum distance between the outline of the projection and the hole pattern; 30. The drawing generating method according to claim 29, wherein, when the minimum distance is equal to or less than a predetermined threshold, at least one of a position and an outer diameter of the hole graphic is changed so that the minimum distance exceeds the threshold.

32. the information processing system is communicably connected to other predetermined information processing devices via a network, The drawing generating method according to claim 1 , further comprising the step of transmitting the drawing data to the other information processing device.

33. a measuring device measuring the plurality of bolts to generate the point cloud data; The drawing generation method according to claim 1 , wherein the measurement device performs the measurement while mounted on an unmanned aerial vehicle.

34. a measuring device measuring the plurality of bolts to generate the point cloud data; The drawing generating method according to claim 1 , wherein the measurement device performs the measurement while mounted on a robot capable of autonomous movement.

35. a measuring device measuring the plurality of bolts to generate the point cloud data; The drawing generating method according to claim 1 , wherein the measurement device is a portable measurement device that can be used while being held by a measurer.

36. A drawing generation program that causes a computer to execute a process for generating a drawing of a structural member including a plurality of bolt holes corresponding to a plurality of bolts, The drawing generation process includes: The point cloud data generated by measuring multiple bolts installed in the foundation is acquired, obtaining a three-dimensional positioning model for each of the bolts with respect to a standard outer shape; determining a position of each of the three-dimensional positioning models by performing a fitting process of the three-dimensional positioning model to the point cloud data of each of the bolts; A drawing generation program including a procedure for generating drawing data of the structural member in which the plurality of bolt holes are formed based on the positions of the three-dimensional positioning models.

37. A method for generating a drawing of a structural member including a plurality of bolt holes corresponding to a plurality of bolts by an information processing system including one or more information processing devices, comprising: The information processing system, The point cloud data generated by measuring multiple bolts installed in the foundation is acquired, acquiring information about a position of a three-dimensional model for positioning relative to the point cloud data of each of the bolts from an external device, and determining the information about the position of each of the three-dimensional model for positioning by executing a fitting process of the three-dimensional model for positioning relative to the point cloud data of each of the bolts in the external device; A method for generating a drawing of a structural member, which generates drawing data of the structural member in which the plurality of bolt holes are formed based on the positions of the three-dimensional positioning models.

38. A noise removal method for removing noise from point cloud data generated by measuring bolts using an information processing system including one or more information processing devices, comprising: The information processing system, acquiring point cloud data generated by measuring the bolt; obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; a noise removal method for performing a noise removal process to remove, as noise, points in the point cloud data whose distance from the three-dimensional model for noise removal exceeds a predetermined threshold value.

39. the three-dimensional model for noise removal includes data on a threaded portion of the bolt; 39. The noise removal method according to claim 38, wherein the position of the three-dimensional model for noise removal is determined by fitting the data regarding the threaded portion to the point cloud data of each of the bolts.

40. 40. The noise removal method according to claim 39, wherein the fitting process of the three-dimensional model for noise removal includes fitting data relating to at least one of the threads and thread roots of the threaded portion included in the three-dimensional model for noise removal to the point cloud data of each of the bolts.

41. the three-dimensional model for noise removal includes data of a cylinder for noise removal that approximates an outer shape of the bolt, 39. The noise removal method according to claim 38, wherein the position of the three-dimensional model for noise removal is determined by fitting data of the cylinder for noise removal to the point cloud data of each of the bolts.

42. The information processing system includes:

39. The noise removal method according to claim 38, wherein, of the plurality of points included in the point cloud data, a point whose minimum value of the distance from the virtual outer peripheral surface set for each of the bolts exceeds a predetermined threshold is removed as the noise.

43. 39. The noise removal method according to claim 38, wherein, when the point cloud data is data generated by measuring the plurality of bolts from one direction, the information processing system removes, from among the plurality of points included in the point cloud data, points that correspond to circumferential ends of the outer circumferential surfaces of the respective bolts as the noise.

44. 44. The noise removal method according to claim 38, wherein the information processing system selects, from among a plurality of point data included in the point cloud data, points relating to at least one of a tip end and a base end of each of the bolts as target portions for the noise removal process.

45. the information processing system divides the point cloud data of the target portion of the noise removal processing into a plurality of groups by a plurality of dividing planes orthogonal to an axial direction of the bolt; 44. The noise removal method according to claim 38, wherein point data included in the point cloud data for each group is collectively removed as noise.

46. the information processing system divides the point cloud data of the target portion of the noise removal processing into a plurality of groups by a plurality of dividing planes orthogonal to an axial direction of the bolt; The noise removal method according to claim 44, wherein point data included in the point cloud data for each group is removed as noise.

47. The information processing system includes: Furthermore, when the point cloud data is data generated by measuring the plurality of bolts from one direction, points corresponding to the circumferential end portions of the outer peripheral surfaces of the bolts are removed as noise from among the plurality of points included in the point cloud data from which the noise has been removed; 39. The noise removal method according to claim 38, further comprising removing, as the noise, points relating to at least one of the tip end and the base end of each of the bolts from a plurality of point data included in the point cloud data from which the noise has been removed.

48. The information processing system includes: When the point cloud data includes a plurality of pieces of point cloud data generated by measuring the plurality of bolts from a plurality of directions, generating one piece of point cloud data by combining the plurality of pieces of point cloud data generated by measuring the bolts; performing the noise removal process on the generated point cloud data; 39. The noise removal method according to claim 38, wherein points relating to at least one of a tip end and a base end of each of the bolts are removed as the noise from among a plurality of point data included in the point cloud data from which the noise has been removed by the noise removal processing.

49. The information processing system includes: When the point cloud data includes a plurality of pieces of point cloud data generated by measuring the plurality of bolts from a plurality of directions, the noise removal process is performed on each of the plurality of pieces of point cloud data; generating one piece of point cloud data by combining the plurality of point cloud data that have been subjected to the noise removal processing; 39. The noise removal method according to claim 38, wherein points relating to at least one of a tip end and a base end of each of the bolts are removed as the noise from among a plurality of point data included in the generated single point cloud data.

50. 42. The noise removal method according to claim 41, wherein the fitting process of the three-dimensional model for noise removal includes a step of repeatedly performing calculations while adjusting the position of the three-dimensional model for noise removal so as to minimize the sum of squares of distances between the data of the cylinder and the point cloud data of each of the bolts.

51. the noise removal cylinder has a diameter equal to the average value of the outer diameter of the threads and the outer diameter of the roots of the bolt; 42. The noise removal method according to claim 41, wherein the information processing system removes as noise, from among the plurality of points included in the point cloud data, points other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder.

52. The information processing system includes: Estimating parameters related to the cylinder for noise removal from the point cloud data using a least squares method; 42. The noise removal method according to claim 41, wherein, of the plurality of points included in the point cloud data, points other than points located in at least one of a first space surrounded by a first virtual cylinder set outside the noise removal cylinder and the noise removal cylinder, and a second space surrounded by a second virtual cylinder set inside the noise removal cylinder and the noise removal cylinder are removed as the noise.

53. A noise removal program that causes a computer to execute a noise removal process that removes noise from point cloud data generated by measuring a bolt, The noise removal process includes: acquiring point cloud data generated by measuring the bolt; obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining a position of the data of the three-dimensional model for noise removal; a step of removing, as noise, points in the point cloud data whose distance from the three-dimensional model for noise removal exceeds a predetermined threshold value.

54. A method for acquiring a position of a bolt relative to a foundation by an information processing system including one or more information processing devices, comprising: The information processing system, Acquiring point cloud data generated by measuring a plurality of bolts installed in the foundation; obtaining a three-dimensional positioning model relating to the outer shape of each of the bolts; A bolt position acquisition method that performs a fitting process of the three-dimensional positioning model to the point cloud data of each bolt, and acquires the position of each three-dimensional positioning model after the fitting process as the position of each corresponding bolt.

55. the three-dimensional positioning model includes data relating to a threaded portion of the bolt; 55. The bolt position acquisition method according to claim 54, wherein the fitting process of the three-dimensional positioning model includes fitting data relating to the threaded portion to the point cloud data of each of the bolts.

56. 56. A bolt position acquisition method as described in claim 55, wherein the fitting process of the three-dimensional positioning model includes fitting data regarding at least one of the threads and thread roots of the screw portion included in the three-dimensional positioning model to the point cloud data of each of the bolts.

57. the three-dimensional positioning model includes data of a fitting cylinder that approximates an outer shape of the bolt, 55. The bolt position acquisition method according to claim 54, wherein the fitting process of the three-dimensional positioning model includes fitting data of the fitting cylinder with the point cloud data of each of the bolts.

58. 58. A bolt position acquisition method as described in claim 57, wherein the fitting process of the three-dimensional positioning model includes a step of repeatedly performing calculations while adjusting the position of the three-dimensional positioning model so that the sum of the squares of the distances between the cylinder data and the point cloud data of each bolt is minimized.

59. 55. The bolt position acquisition method according to claim 54, wherein the information processing system removes noise from the point cloud data of each bolt by noise removal processing before fitting the three-dimensional model for positioning.

60. The information processing system includes: obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; In the noise removal process, a point whose distance from the three-dimensional model for noise removal exceeds a predetermined threshold is removed as the noise; When the point cloud data is data generated by measuring the plurality of bolts from one direction, among the plurality of points included in the point cloud data from which the noise has been removed by the noise removal process, points corresponding to the circumferential end portions of the outer circumferential surfaces of the bolts are removed as the noise; 60. A bolt position acquisition method according to claim 59, wherein, of a plurality of point data included in point cloud data from which points corresponding to circumferential ends of the outer circumferential surface of each of the bolts have been removed as noise, points relating to at least one of the tip end and base end of each of the bolts are removed as noise.

61. The information processing system includes: obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; When the point cloud data includes a plurality of pieces of point cloud data generated by measuring the plurality of bolts from a plurality of directions, generating one piece of point cloud data by combining the plurality of pieces of point cloud data generated by measuring the bolts; performing the noise removal process on the generated one point cloud data, thereby removing, as noise, points whose distances from the three-dimensional model for noise removal exceed a predetermined threshold; 60. A bolt position acquisition method as described in claim 59, wherein points relating to at least one of the tip end and base end of each of the bolts are removed as the noise from among a plurality of point data included in the point cloud data from which the noise has been removed by the noise removal process.

62. The information processing system includes: obtaining a noise-removing three-dimensional model of the outer shape of each of the bolts; determining the position of the three-dimensional model for noise removal; When the point cloud data includes a plurality of pieces of point cloud data generated by measuring the plurality of bolts from a plurality of directions, the noise removal process is performed on each of the plurality of pieces of point cloud data, thereby removing, as noise, points whose distances from the three-dimensional model for noise removal exceed a predetermined threshold; generating one piece of point cloud data by combining the plurality of point cloud data that have been subjected to the noise removal processing; 60. A bolt position acquisition method as described in claim 59, wherein points relating to at least one of the tip and base ends of each of the bolts are removed as noise from among the multiple point data included in the generated single point cloud data.

63. A bolt position acquisition program that causes a computer to execute a position acquisition process for acquiring the position of a bolt relative to a foundation, The position acquisition process includes: Acquiring point cloud data generated by measuring a plurality of bolts installed in the foundation; obtaining a three-dimensional positioning model relating to the outer shape of each of the bolts; A bolt position acquisition program including a procedure for executing a fitting process of the three-dimensional positioning model to the point cloud data of each bolt, thereby acquiring the position of each three-dimensional positioning model after the fitting process as the position of each corresponding bolt.

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