Display position identification system, point cloud data display system, display position identification method, and display position identification program

Abstract

To provide a display position identification system that reduces processing costs and identifies the combined display position of design data relative to on-site data. [Solution] The display position identification system according to this disclosure comprises a point cloud data acquisition unit, a storage unit, a reference object determination unit, a position identification unit, and an output unit. The point cloud data acquisition unit acquires first point cloud data indicating the installation environment including at least one reference object, and second point cloud data indicating the object to be installed. The storage unit stores identification information of the reference object and the installation conditions of the object. The reference object determination unit creates a plurality of group data by dividing the first point cloud data, and determines each of the plurality of group data corresponding to the reference object based on the identification information. The position identification unit identifies the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement and installation conditions of each of the plurality of group data corresponding to the reference object. The output unit outputs the composite display position.

Description

Technical Field

[0001] The present disclosure relates to a display position specifying system, a point cloud data display system, a display position specifying method, and a display position specifying program.

Background Art

[0002] In the civil engineering and construction industries, initiatives are underway to utilize 3D data in all processes from design to operation by promoting i-construction. Here, the difference between design and construction can be clarified by superimposing and displaying three-dimensional design data created by 3DCAD (3-Dimensional Computer-Aided Design) software or the like and three-dimensional site data acquired from the work site using sensors, images, etc. Therefore, superimposing and displaying design data and site data can be utilized for visualizing the progress status and instructing workers on work locations. Patent Document 1 describes a position specifying device capable of accurately specifying the position of an object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The position specifying device described in Patent Document 1 estimates the position of a position specifying target based on wireless signal reception information, and performs collation between three-dimensional model data near the estimated position and a collation object extracted from point cloud data to specify the accurate position of the position specifying target. Therefore, the position specifying device described in Patent Document 1 can accurately specify the position without being affected by fluctuations in radio wave intensity. However, the position specifying device described in Patent Document 1 cannot superimpose and display design data and site data while suppressing processing costs.

[0005] The purpose of this disclosure is, in light of the aforementioned issues, to provide a display position identification system, etc., that identifies the combined display position of design data on field data while reducing processing costs. [Means for solving the problem]

[0006] The display position identification system according to this disclosure comprises a point cloud data acquisition unit, a storage unit, a reference object determination unit, a position identification unit, and an output unit. The point cloud data acquisition unit acquires first point cloud data indicating the installation environment including at least one reference object, and second point cloud data indicating the object to be installed. The storage unit stores identification information of the reference object and the installation conditions of the object. The reference object determination unit creates multiple group data by dividing the first point cloud data and determines each of the multiple group data corresponding to the reference object based on the identification information. The position identification unit identifies the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement and installation conditions of each of the multiple group data corresponding to the reference object. The output unit outputs the composite display position.

[0007] The point cloud data display system according to this disclosure comprises a point cloud data acquisition unit, a drawing reading unit, a storage unit, a reference object determination unit, a position identification unit, an output unit, and a display unit. The point cloud data acquisition unit acquires first point cloud data indicating the installation environment including at least one reference object, and second point cloud data indicating the object to be installed. The drawing reading unit acquires identification information of the reference object and the installation conditions of the object from the drawing, and outputs the identification information and installation conditions to the storage unit. The storage unit stores the identification information and the installation conditions. The reference object determination unit creates a plurality of group data by dividing the first point cloud data, and determines each of the plurality of group data corresponding to the reference object based on the identification information. The position identification unit determines the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement and installation conditions of each of the plurality of group data corresponding to the reference object. The output unit outputs the composite display position. The display unit acquires the composite display position and displays the first point cloud data and the second point cloud data superimposed based on the composite display position.

[0008] The method for determining the display position according to this disclosure causes a computer to perform the following processes: The computer acquires first point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed. The computer stores the identification information of the reference object and the installation conditions of the object. The computer creates multiple group data by dividing the first point cloud data, and determines each of the multiple group data corresponding to the reference object based on the identification information. The computer determines the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement and installation conditions of each of the multiple group data corresponding to the reference object. The computer outputs the composite display position.

[0009] The display position identification program described herein causes a computer to perform the following processes: The computer acquires first point cloud data representing the installation environment including at least one reference object, and second point cloud data representing the object to be installed. The computer stores the identification information of the reference object and the installation conditions of the object. The computer creates multiple group data by dividing the first point cloud data, and determines each of the multiple group data corresponding to the reference object based on the identification information. The computer identifies the combined display position of the second point cloud data relative to the first point cloud data based on the arrangement and installation conditions of each of the multiple group data corresponding to the reference object. The computer outputs the combined display position. [Effects of the Invention]

[0010] According to this disclosure, it is possible to provide a display position identification system, a point cloud data display system, a display position identification method, and a display position identification program that can identify the composite display position of design data on field data while keeping processing costs down regardless of the environment. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram of the display position identification system related to this disclosure. [Figure 2] This is a flowchart of the method for determining the display location related to this disclosure. [Figure 3] This is a block diagram of the point cloud data display system related to this disclosure. [Figure 4] These are drawings of the construction site related to this disclosure. [Figure 5] This disclosure contains field data that has been cluster-determined and corresponds to existing equipment. [Figure 6] This is a first top view of the layout of the existing equipment related to this disclosure. [Figure 7] This is a second top view of the layout of the existing equipment related to this disclosure. [Figure 8] This disclosure relates to the superimposed display of field data and design data by the display unit. [Figure 9] This is a flowchart of the processing performed by the point cloud data display system described herein. [Figure 10] This is the first determination method of the reference material determination unit relating to this disclosure. [Figure 11] This is a second determination method of the reference material determination unit relating to this disclosure. [Figure 12] This is a first composite display position identification method for the position identification unit relating to this disclosure. [Figure 13] This is a second method for determining the position of the position-determining unit in this disclosure. [Figure 14] This is a third composite display position identification method for the position identification unit relating to this disclosure. [Figure 15] This is a block diagram illustrating the hardware configuration of a computer. [Modes for carrying out the invention]

[0012] The present disclosure will be described below through embodiments, but the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential for solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0013] <Embodiment 1> First, the display position identification system 10 according to the present disclosure will be described with reference to FIG. 1. FIG. 1 is a block diagram of the display position identification system 10 according to the present disclosure. The display position identification system 10 identifies the composite display position of the design data with respect to the field data for superimposing and displaying the created design data and the field data acquired from the work site. The display position identification system 10 mainly includes a point cloud data acquisition unit 101, a storage unit 102, a reference object determination unit 103, a position identification unit 104, and an output unit 105.

[0014] The point cloud data acquisition unit 101 acquires field data and design data. The field data indicates an installation environment including at least one reference object. The field data is three-dimensional point cloud data acquired from the work site using a sensor, an image, or the like. In the present disclosure, the field data is also referred to as first point cloud data. Note that the installation environment is an environment in which the object indicated by the design data is planned to be installed. The reference object is an article serving as a reference arranged in the installation environment. The reference object may be equipment or the like existing around the planned installation position of the object. For example, when the installation position of the object can be uniquely determined by one reference object such as a C shape, the number of reference objects included in the installation environment may be one.

[0015] The design data indicates the object to be installed. The design data is three-dimensional point cloud data created by 3DCAD (3-Dimensional Computer-Aided Design) software or the like. In the present disclosure, the design data is also referred to as second point cloud data. The design data may be acquired for each of a plurality of objects.

[0016] The storage unit 102 stores the identification information of the reference object and the installation conditions of the object. The identification information is information that can identify each reference object. The identification information includes, for example, the shape information or the arrangement information of the reference object. The installation conditions are conditions regarding the arrangement of the object. The installation conditions may be relative conditions with respect to a predetermined reference object.

[0017] The reference object determination unit 103 determines the range of point cloud data related to the reference object among the point cloud data included in the field data. First, the reference object determination unit 103 creates multiple group data consisting of point cloud data divided from the field data. The reference object determination unit 103 creates multiple group data from the first point cloud data, for example, using a clustering method. Next, the reference object determination unit 103 determines each of the multiple group data corresponding to the reference object based on the identification information.

[0018] The position identification unit 104 identifies the composite display position of the design data relative to the field data based on the arrangement and installation conditions of each of the multiple group data corresponding to the reference object. The output unit 105 outputs the composite display position.

[0019] Next, with reference to Figure 2, the processes performed by the display position identification system 10 will be described. Figure 2 is a flowchart of the display position identification method according to this disclosure. The processes of the display position identification system 10 comprise steps S11 to S16.

[0020] In step S11, the point cloud data acquisition unit 101 acquires the first point cloud data, which is the field data, and the second point cloud data, which is the design data. In step S12, the storage unit 102 reads out the reference object identification information and the installation conditions of the object from the stored data.

[0021] In step S13, the reference object determination unit 103 creates multiple group data consisting of point cloud data obtained by dividing the field data. In step S14, the reference object determination unit 103 determines each of the multiple group data corresponding to the reference object based on the identification information. As a result, the reference object determination unit 103 can extract point cloud data corresponding to the reference object from the field data.

[0022] In step S15, the position identification unit 104 identifies the composite display position of the design data relative to the field data based on the arrangement and design data of each of the multiple group data corresponding to the reference object. In step S16, the output unit 105 outputs the composite display position. Upon completion of step S16, the series of processes of the point cloud data acquisition unit 101 are completed.

[0023] As described above, the display position identification method performed by the display position identification system 10 determines each of the multiple group data corresponding to the object from the field data. Therefore, the display position identification system 10 can suitably identify the combined display position of the design data relative to the field data.

[0024] Here, the display position identification system 10 does not use a processing-intensive method such as ICP (Iterative Closest Point) to determine the position where design data is superimposed on field data. Therefore, the display position identification system 10 can determine the display position of design data relative to field data while keeping processing costs down, regardless of the environment.

[0025] Furthermore, the display position identification system 10 can identify the composite display position without newly installing markers or reference spheres as reference objects in the position identification of design data. Therefore, the display position identification system 10 can support the efficiency of design work.

[0026] The display position identification system 10 may also include a processor and a storage device, although these are not shown in the diagram. The storage device of the display position identification system 10 may include, for example, a non-volatile memory such as flash memory or an SSD (Solid State Drive). In this case, the storage device stores a computer program (hereinafter also referred to simply as a program) for executing the method described above. The processor loads the computer program from the storage device into a buffer memory such as DRAM (Dynamic Random Access Memory) and executes the program.

[0027] Each component of the display position identification system 10 may be implemented with dedicated hardware. Furthermore, some or all of each component may be implemented by general-purpose or dedicated circuits, processors, etc., or combinations thereof. These may be implemented by a single chip or by multiple chips connected via a bus. Some or all of each component of each device may be implemented by a combination of the aforementioned circuits, etc., and programs. Processors include CPUs (Central Processing Units), GPUs (Graphics Processing Units), FPGAs (Field-Programmable Gate Arrays), etc. Also, at least a portion of the processing performed by the display position identification system 10 may be provided as SaaS (Software as a Service). The descriptions of the configurations described herein may also apply to other systems described below in this disclosure.

[0028] <Embodiment 2> Figure 3 is a block diagram of the point cloud data display system 11 according to this disclosure. The point cloud data display system 11 is a system that displays site data 20 and design data 30 superimposed on each other. Here, the site data 20 indicates the construction site where existing equipment 200 exists. The design data 30 indicates the new equipment 300 to be installed at the construction site.

[0029] The point cloud data display system 11 comprises a point cloud data acquisition unit 111, a drawing reading unit 116, a storage unit 102, a reference object determination unit 113, a position identification unit 114, an output unit 105, and a display unit 117. The point cloud data display system 11 has some of the same configuration as the display position identification system 10 in Figure 1. Therefore, a description of the configuration of the point cloud data display system 11, which performs the same processing as the display position identification system 10, will be omitted.

[0030] The point cloud data acquisition unit 111 comprises a field data acquisition unit 1111 and a design data acquisition unit 1112. The field data acquisition unit 1111 acquires three-dimensional point cloud data of the construction site captured by a three-dimensional sensor as field data 20. The field data acquisition unit 1111 may acquire the field data 20 from the three-dimensional sensor in real time, or it may acquire previously acquired field data 20 from a computer (not shown) or an external server (not shown), etc. Note that the field data 20 is not limited to what is captured by the three-dimensional sensor, but may be generated from multiple photographs taken at the construction site, or from video footage of the construction site, etc. The field data 20 includes information on existing equipment 200.

[0031] The design data acquisition unit 1112 acquires three-dimensional point cloud data showing the shape of the new equipment 300 as design data 30. Here, the design data 30 can be created by any method as long as it consists of three-dimensional point cloud data; it can be generated using 3D CAD, or it can be data obtained by photographing the new equipment 300 with a three-dimensional sensor. The design data 30 may also include the installation conditions of the new equipment 300.

[0032] For simplicity, in the following explanation, we will assume that there is only one new piece of equipment 300 and only one design data set 30. However, there may be multiple new pieces of equipment 300. In this case, it is preferable to obtain design data 30 for each new piece of equipment 300.

[0033] The drawing reading unit 116 obtains identification information for existing equipment 200 and installation conditions for new equipment 300 from the drawing 40 linked to the installation environment. The drawing reading unit 116 outputs the identification information and installation conditions to the storage unit 102 for storage.

[0034] Figure 4 is a drawing 40 of a construction site relating to this disclosure. Figure 4 shows how drawing 40 specifies the location of the new equipment 300 based on its distance from the existing equipment 200. Here, the existing equipment 200 includes the first existing equipment 201, the second existing equipment 202, the third existing equipment 203, and the fourth existing equipment 204. Drawing 40 shows a top view of the arrangement of the first existing equipment 201, the second existing equipment 202, the third existing equipment 203, the fourth existing equipment 204, and the new equipment 300. Here, the new equipment 300 is installed in the space between the first existing equipment 201, the second existing equipment 202, the third existing equipment 203, and the fourth existing equipment 204.

[0035] In Figure 4, the new equipment 300 is installed at a distance L1 in the horizontal direction (X direction in Figure 4) from the right end (the end in the positive X direction in Figure 4) of the first existing equipment 201 and the second existing equipment 202. The new equipment 300 is installed at a distance L2 in the horizontal direction from the left end (the end in the negative X direction in Figure 4) of the third existing equipment 203. The new equipment 300 is installed at a distance L3 in the horizontal direction from the left end of the fourth existing equipment 204. The new equipment 300 is installed at a distance L4 in the vertical direction (Y direction in Figure 4) from the bottom end (the end in the negative Y direction in Figure 4) of the first existing equipment 201. Although not shown, the vertical distances in the drawing between the second existing equipment 202, the third existing equipment 203, or the fourth existing equipment 204 and the new equipment 300 can be similarly obtained.

[0036] In this case, the drawing reading unit 116 reads the arrangement of the new equipment 300 relative to the existing equipment 200 from the drawing 40 as the installation conditions for the new equipment 300. The drawing reading unit 116 also reads the shape information and arrangement information of the first existing equipment 201, the second existing equipment 202, the third existing equipment 203, and the fourth existing equipment 204 from the drawing 40 as identification information.

[0037] Referring again to Figure 3, the storage unit 102 acquires and stores identification information and installation conditions from the drawing reading unit 116. The identification information includes shape information and arrangement information. Shape information is, for example, the dimensions of the existing equipment 200, such as width, height, and depth. The shape information may also include information indicating the characteristic shape of the existing equipment 200. Arrangement information is, for example, the distance between the existing equipment 200, the angle indicated by three or more existing equipment 200, or the arrangement of three or more existing equipment 200. Installation conditions are, for example, the distance between each of the existing equipment 200 and the new equipment 300, and the orientation of the new equipment 300. Other items may be used for the identification information and installation conditions, but are not limited to these.

[0038] The reference object determination unit 113 comprises a shape determination unit 1131 and a placement determination unit 1132. The reference object determination unit 113 detects point cloud data corresponding to existing equipment 200 from the field data 20 acquired by the field data acquisition unit 1111, which is necessary to identify the installation location of the design data 30. As a detection method, the reference object determination unit 113 first divides the field data 20 into multiple clusters using a clustering method. In this disclosure, clusters are also called group data. Note that the division into clusters may be done using a predetermined program, a machine learning program, or AI (Artificial Intelligence), etc. Next, the reference object determination unit 113 determines each of the multiple clusters corresponding to existing equipment 200 based on identification information using at least one of the shape determination unit 1131 and the placement determination unit 1132.

[0039] Figure 5 shows the field data 20 that has been determined to correspond to the cluster 210 of the existing equipment 200 related to this disclosure. Figure 5 shows the cluster 210 corresponding to the existing equipment 200. Cluster 210 includes the first cluster 211, the second cluster 212, the third cluster 213, and the fourth cluster 214. The first cluster 211 is the cluster that has been determined to correspond to the first existing equipment 201. The second cluster 212 is the cluster that has been determined to correspond to the second existing equipment 202. The third cluster 213 is the cluster that has been determined to correspond to the third existing equipment 203. The fourth cluster 214 is the cluster that has been determined to correspond to the fourth existing equipment 204.

[0040] The shape determination unit 1131 determines the cluster 210 corresponding to the existing equipment 200 based on its shape. Specifically, first, the shape determination unit 1131 obtains shape information about the existing equipment 200 from the storage unit 102. Here, the shape information is the width, height, and depth dimensions of the existing equipment 200. Next, the shape determination unit 1131 calculates the width, height, and depth dimensions for each cluster into which the field data has been divided. After that, the shape determination unit 1131 compares the shape information with the dimensions in each cluster and determines that the cluster with matching dimensions is the cluster 210 corresponding to the existing equipment 200.

[0041] The placement determination unit 1132 determines the cluster 210 corresponding to the existing equipment 200 based on the placement. The placement determination unit 1132 is used when the shape determination unit 1131 cannot uniquely determine the cluster 210 corresponding to the existing equipment 200 because there are multiple clusters of the same shape. Specifically, first the placement determination unit 1132 obtains placement information about the existing equipment 200 from the storage unit 102. Here, the placement information is the distance between the existing equipment 200. Next, the placement determination unit 1132 calculates the distance between each of the clusters that could not be uniquely determined from the clusters obtained by dividing the field data 20, and each of the clusters 210 that were determined to correspond to the existing equipment 200. After that, the placement determination unit 1132 compares the placement information with the distance between the clusters and determines that the clusters whose distances match are the clusters 210 corresponding to the existing equipment 200.

[0042] The placement determination unit 1132 may be used in conjunction with the shape determination unit 1131. In this case, the placement determination unit 1132 calculates the distance for all cluster combinations and compares it with the placement information to determine the cluster 210 corresponding to the existing equipment 200. This allows the validity of the determination result to be confirmed by performing a re-determination with the placement determination unit 1132, even if the shape determination unit 1131 has been able to uniquely determine the cluster 210 corresponding to the existing equipment 200.

[0043] Referring again to Figure 3, the position identification unit 114 identifies the installation location and installation direction of the new equipment 300 indicated by the design data 30, based on the arrangement of clusters corresponding to the existing equipment 200 determined by the reference object determination unit 113. In other words, the position identification unit 114 identifies the composite display position of the design data 30 relative to the field data 20. The position identification unit 114 includes a distance identification unit 1141 and an angle identification unit 1142. The position identification unit 114 may include at least one of the distance identification unit 1141 and the angle identification unit 1142. The distance identification unit 1141 and the angle identification unit 1142 identify a position that conforms to the arrangement conditions obtained from the storage unit 102, based on the position of the cluster 210 corresponding to the existing equipment 200.

[0044] Referring to Figure 6, the method for determining the composite display position of the distance determination unit 1141 will be explained. Figure 6 is a first top view of the arrangement of the existing equipment 200 according to this disclosure. First, the distance determination unit 1141 calculates the distance from the center of each of the existing equipment 200 to the center 301 of the new equipment 300 based on the installation conditions. Specifically, the distance determination unit 1141 calculates the distance r1 between the center of the first existing equipment 201 and the center 301 of the new equipment 300 from the distances L1 and L2 explained in Figure 4 and the dimensions of the first existing equipment 201 and the new equipment 300. Similarly, the distance determination unit 1141 calculates the distances r2, r3, and r4 between the centers of the second existing equipment 202, the third existing equipment 203, and the fourth existing equipment 204 and the center 301 of the new equipment 300. If drawing 40 shows distances r1, r2, r3, and r4, the distance identification unit 1141 acquires distances r1, r2, r3, and r4 as placement conditions.

[0045] Next, the distance determination unit 1141 identifies points located at distances r1, r2, r3, and r4 from the center of the cluster 210 corresponding to the first existing equipment 201, second existing equipment 202, third existing equipment 203, and fourth existing equipment 204, respectively, in a top view. Subsequently, the distance determination unit 1141 identifies the composite display position of the design data 30 to be placed at the identified point where the center 301 of the new equipment 300 is located. Note that the distance determination unit 1141 does not need to use all the distances between the existing equipment 200 and the new equipment 300 to determine the composite display position. The distance determination unit 1141 can determine the composite display position if it can obtain at least three distances between the existing equipment 200 and the new equipment 300. The distance determination unit 1141 can improve the accuracy of determining the composite display position by calculating more distances between the existing equipment 200 and the new equipment 300.

[0046] Referring to Figure 7, the method for determining the composite display position of the angle determination unit 1142 will be explained. Figure 7 is a second top view of the arrangement of the existing equipment 200 according to this disclosure. First, the angle determination unit 1142 calculates the distance and angle from the center of the existing equipment 200 to the center 301 of the new equipment 300 based on the installation conditions from drawing 40. Specifically, the distance determination unit 1141 calculates the distance r1 between the center of the first existing equipment 201 and the center 301 of the new equipment 300 based on the distances L1 and L2 explained in Figure 4 and the dimensions of the first existing equipment 201 and the new equipment 300. Furthermore, the distance determination unit 1141 calculates the angle θ of the line segment connecting the center of the first existing equipment 201 to the center 301 of the new equipment 300, using the line segment connecting the center of the first existing equipment 201 to the center of the second existing equipment 202, shown as a dotted line in Figure 7, as a reference. Furthermore, if drawing 40 specifies the distance r1 and angle θ, the angle specification unit 1142 acquires the distance r1 and angle θ as placement conditions.

[0047] Next, the angle determination unit 1142 identifies a point with a distance r1 and an angle θ based on the top-view field data 20, using a line segment from the center of the first cluster 211 corresponding to the first existing equipment 201 to the center of the second cluster 212 corresponding to the second existing equipment 202 as a reference. Subsequently, the angle determination unit 1142 identifies the composite display position of the design data 30 that will be placed at the point where the center 301 of the new equipment 300 has been identified. The angle determination unit 1142 may also obtain the distance and angle from the center of other existing equipment 200 to the center 301 of the new equipment 300. The angle determination unit 1142 can improve the accuracy of identifying the composite display position by calculating the distance and angle between multiple existing equipment 200s and the new equipment 300.

[0048] Note that the method of specifying distance and angle as described with reference to Figures 6 and 7 is just one example, and other methods may be used, but are not limited to these. After determining the composite display position, the position identification unit 114 determines the composite orientation of the design data based on the positional relationship of the existing equipment 200.

[0049] Referring again to Figure 3, the output unit 105 outputs the composite display position to the display unit 117. The output unit 105 may also output the composite display position to a storage medium or an external server. The display unit 117 displays the field data 20 and design data 30 superimposed based on the composite display position. The display unit 117 is, for example, a monitor or a printing device.

[0050] Figure 8 shows the superimposed display of field data 20 and design data 30 by the display unit 117 according to this disclosure. In Figure 8, the design data 30 is displayed superimposed on the field data 20 based on a specified composite display position. The new equipment 300 indicated by the design data 30 is located between the first cluster 211, the second cluster 212, the third cluster 213, and the fourth cluster 214.

[0051] Next, with reference to Figure 9, the processes performed by the point cloud data display system 11 will be described. Figure 9 is a flowchart of the processes performed by the point cloud data display system 11 according to this disclosure. The processes of the point cloud data display system 11 comprise steps S201 to S211.

[0052] In step S201, the field data acquisition unit 1111 of the point cloud data acquisition unit 111 acquires field data 20 captured by a three-dimensional sensor. In step S202, the design data acquisition unit 1112 of the point cloud data acquisition unit 111 acquires design data 30 that represents the shape of the new equipment 300 in three dimensions. In step S203, the drawing reading unit 116 acquires identification information of the existing equipment 200 and installation conditions of the new equipment 300 from the drawing 40. The storage unit 102 acquires and stores the identification information of the existing equipment 200 and installation conditions of the new equipment 300 from the drawing reading unit 116.

[0053] In step S204, the reference object determination unit 113 clusters the field data 20 to create multiple group data consisting of point cloud data. In step S205, the shape determination unit 1131 of the reference object determination unit 113 determines the group data corresponding to the existing equipment 200 based on the shape information included in the identification information. Here, the shape information is the dimensions of each piece of existing equipment. In step S205, the placement determination unit 1132 of the reference object determination unit 113 determines the group data corresponding to the existing equipment 200 that could not be uniquely determined in step S204, based on the placement information included in the identification information.

[0054] In step S207, the reference object determination unit 113 determines whether each of the clusters determined to correspond to the existing equipment 200 deviates from the identification information of the existing equipment 200. For example, the reference object determination unit 113 compares the dimensions of the clusters determined to correspond to the existing equipment 200 and the arrangement of the clusters determined to correspond to the existing equipment 200 with the shape information and arrangement information included in the identification information. If the reference object determination unit 113 detects a difference exceeding a predetermined threshold, it starts step S208. If it does not detect a difference exceeding a predetermined threshold, the reference object determination unit 113 starts step S209.

[0055] In step S208, the reference object determination unit 113 changes the parameters related to clustering. For example, the reference object determination unit 113 changes the setting for the number of clusters. After that, the point cloud data display system 11 resumes processing from step S204.

[0056] In step S209, the position identification unit 114 identifies the composite display position of the design data 30 relative to the field data 20. Specifically, the position identification unit 114 identifies the composite display position using at least one of the distance identification unit 1141 and the angle identification unit 1142. In step S210, the output unit 105 outputs the composite display position to the display unit 117. In step S211, the display unit 117 displays the point cloud data by superimposing the field data 20 and the design data 30 based on the composite display position. Upon completion of step S211, the series of processes of the point cloud data display system 11 are completed.

[0057] Furthermore, if the point cloud data display system 11 overlays the design data 30 onto the field data 20 in real time, the point cloud data display system 11 may restart processing from step S201 after step S211. In this case, the point cloud data display system 11 may omit step S203 from the second time onward.

[0058] As described above, the point cloud data display system 11 can suitably identify the composite display position of the design data 30 relative to the field data 20, and display the field data 20 and the design data 30 superimposed on each other.

[0059] <Embodiment 3> An example of an existing equipment determination method by the reference object determination unit of the point cloud data display system according to this disclosure will be described with reference to Figures 10 and 11. Figure 10 is the first determination method of the reference object determination unit according to this disclosure. Figure 10 shows a method for determining clusters based on the dimensions of a part of the existing equipment 220.

[0060] In Figure 10, the existing equipment 220 includes an extremely thin section 221 in part of its shape. In this case, the reference object determination unit divides the existing equipment 220 into multiple clusters, excluding the area of ​​the thin section 221 where the point cloud is sparse, and performs the determination. Specifically, the storage unit stores the dimensions of the upper part 222 or the lower part 223 of the existing equipment 220 as shape information for identification information, rather than the dimensions of the entire equipment 220. The reference object determination unit determines the cluster corresponding to the existing equipment based on the dimensions of the upper part 222 or the lower part 223. Alternatively, the storage unit may store both the upper part 222 and the lower part 223 as shape information for the identification information of the existing equipment 220, such as "equipment (upper part)" and "equipment (lower part)". In this case, the reference object determination unit determines the cluster corresponding to the existing equipment 220 based on the identification information of one or both of the upper part 222 and the lower part 223.

[0061] According to this, the reference object determination unit can determine the cluster corresponding to the existing equipment 220, even if the existing equipment 220 has a shape that makes it difficult to determine into a single cluster. Therefore, the point cloud data display system 11 can suitably superimpose and display the field data and design data based on the existing equipment 220 which has parts that are difficult to recognize.

[0062] Figure 11 shows a second determination method of the reference material determination unit according to this disclosure. Figure 11 shows a method for determining a cluster based on some of the characteristics of the existing equipment 230.

[0063] In Figure 11, the existing equipment 230 has a cylindrical shape with a central part of radius R at a height h1 from the ground. In this case, the reference object determination unit determines the cluster corresponding to the existing equipment from the characteristic shape of a part of the existing equipment, instead of measuring dimensions by clustering. Here, height refers to the Z direction in Figure 11.

[0064] Specifically, the memory unit stores as identification information for existing equipment that there is a cylindrical portion 231 with radius R at a height h1 from the ground. The reference object determination unit searches for this characteristic shape from the field data. For example, the reference object determination unit extracts a point cloud at height h1 from the field data and uses RANSAC (Random Sample Consensus) to extract point cloud data corresponding to the cylindrical portion 231 with radius R. Subsequently, the reference object determination unit determines that the extracted point cloud data is existing equipment 230.

[0065] According to this, the reference object determination unit can use the characteristic shape of the existing equipment 230 as identification information and determine the cluster corresponding to the existing equipment 230. Therefore, the point cloud data display system can suitably superimpose and display the field data and design data based on the existing equipment 230 which has a characteristic shape.

[0066] The point cloud data display system may set multiple characteristic shapes as identification information for a single existing facility, or it may include characteristic shapes in the identification information in combination with dimensional information. For example, the point cloud data display system may perform a determination based on dimensions for clusters divided by clustering, and then perform a determination based on characteristic shapes.

[0067] Furthermore, the reference object determination unit may determine a cluster to correspond to existing equipment even if the shape of the existing equipment partially deviates from the identification information of the existing equipment read by the drawing reading unit. As a result, the reference object determination unit 113 can determine a cluster to correspond to existing equipment even if the existing equipment is still in the assembly stage and does not reach its completed size.

[0068] Furthermore, the reference object determination unit may update and store the identification information of the existing equipment in the storage unit 102 based on the cluster it determines corresponds to the existing equipment. In this case, the reference object determination unit 113 can store the dimensions again even if the existing equipment is still being assembled, and can suitably determine the cluster that corresponds to the existing equipment.

[0069] <Embodiment 4> An example of a composite display position determination method by the position determination unit of the point cloud data display system according to this disclosure will be described with reference to Figures 12 and 13. Figure 12 is a first composite display position determination method of the position determination unit according to this disclosure. Figure 12 shows a method for determining the composite display position in which the clustering results are handled by a bounding box 241. The bounding box is the region enclosed by the smallest cube in which the detected object region is located.

[0070] Here, the existing equipment has a shape with significant surface irregularities, making it difficult to determine the center in a top view. In Figure 12, the positioning unit handles the determination result of the cluster 240 corresponding to the existing equipment using the bounding box 241 to determine the composite display position of the design data. This allows the positioning unit to suppress the influence of the distance measurement position on the determination of the composite display position due to the significant irregularities of the cluster 240 corresponding to the existing equipment. Therefore, the point cloud data display system can suitably superimpose and display the field data and design data.

[0071] Figure 13 shows a second method for determining the position of a position identification unit according to this disclosure. Figure 13 shows a method for determining the position of a position of a position using a predetermined measurement rule.

[0072] Here, the existing equipment has a shape with significant surface irregularities. In Figure 13, the positioning unit pre-sets a measurement reference point for measuring the distance to the cluster 250 corresponding to the existing equipment and identifies the composite display position. The storage unit stores the measurement reference point. The measurement reference point is, for example, a height h2 from the ground. Here, the height refers to the Z direction in Figure 13. The measurement reference point is not limited to this, and other reference points may be set. According to this, the positioning unit can identify the composite display position of the design data while suppressing the influence of missing data or noise in the clustering results. Therefore, the point cloud data display system can suitably superimpose and display the field data and the design data.

[0073] <Embodiment 5> An example of a composite display position determination method by the position determination unit of the point cloud data display system according to this disclosure will be described with reference to Figure 14. Figure 14 shows a third composite display position determination method of the position determination unit according to this disclosure. Figure 14 shows a method for determining a composite display position without acquiring drawing data.

[0074] In Figure 14, the field data 26 represents multiple existing facilities 260. These multiple existing facilities 260 consist of the 5th existing facility 261, the 6th existing facility 262, and the 7th existing facility 263. Also in Figure 14, the design data represents the new facility 310. The storage unit stores identification information and installation conditions in advance and does not acquire identification information and installation conditions from the drawing reading unit. Here, the installation conditions include placement prohibition information. The placement prohibition information is information that defines the placement prohibition area of ​​the design data based on the cluster determined to correspond to the existing facilities 260.

[0075] Installation conditions include, for example, prohibition information such as "Do not install the new equipment 310 within a distance r5 from the 5th existing equipment 261" and "Do not install the new equipment 310 on the line segment connecting the 6th existing equipment 262 and the 7th existing equipment 263." In this case, the area where installation is prohibited, as set based on the field data 26, will be the area shown by the diagonal lines in Figure 14.

[0076] The location identification unit determines the composite display position of the design data, avoiding the superimposition of design data onto the prohibited placement area indicated by the prohibited placement information of the installation conditions. As a result, the point cloud data display system can suitably superimpose and display the field data 26 and the design data. Furthermore, the point cloud data display system can automatically detect the installation location of the new equipment 310. Therefore, the point cloud data display system can support the efficiency of the design work. If there are multiple installation locations for the new equipment 310, the point cloud data display system may present the user with candidate installation locations and accept the user's specification of the installation location.

[0077] <Other embodiments> The point cloud data display system described herein may acquire multiple design data sets. In this case, the storage unit stores the installation conditions for each of the multiple design data sets. The installation conditions for each of the multiple design data sets may be set based on different existing equipment.

[0078] Specifically, the design data acquisition unit acquires the first design data for the first new equipment and the second design data for the second new equipment. The storage unit stores the first installation conditions for the first design data and the second installation conditions for the second design data. The first installation conditions define the composite display position of the first design data using the first existing equipment and the second existing equipment at the construction site. The second installation conditions define the composite display position of the second design data using the third existing equipment and the fourth existing equipment at the construction site. According to this, the point cloud data display system can display multiple independent design data superimposed on a single site data.

[0079] Furthermore, the location identification unit may identify the composite display position of design data representing at least one new piece of equipment based on the composite display position of design data representing other new pieces of equipment. In other words, the second installation condition may define the composite display position of the second design data using the distance from the composite display position of the first design data.

[0080] Furthermore, the point cloud data display system may identify the combined display position of one design data from among multiple design data from a cluster corresponding to existing equipment, and then sequentially identify the combined display positions of other design data based on the previously identified combined display positions of the design data. This allows the point cloud data display system to suitably determine the combined display positions of multiple design data and to display multiple design data superimposed on a single field data.

[0081] Furthermore, when displaying multiple design data superimposed on a single field data, the point cloud data display system according to this disclosure may correct the composite display position of the multiple design data so as to minimize the difference with the installation conditions. For example, for a second design data having installation conditions defined by the distance from the composite display position of the first design data, the point cloud data display system may determine the composite display position of the second design data without using the composite display position of the first design data.

[0082] Here, let's assume that the composite display position of the second design data does not meet the installation conditions for the composite display position of the first design data. In this case, the point cloud data display system corrects the distance between the composite display position of the first design data and the composite display position of the second design data so that it approaches the distance indicated by the installation conditions. Specifically, the point cloud data display system adjusts the method for determining clusters corresponding to existing equipment, or adjusts the method for identifying the composite display position of the first design data. As a result, the point cloud data display system can display the field data and the installation data superimposed in a suitable position.

[0083] <Example hardware configuration> The following describes examples of how each functional configuration of the information processing device described herein can be realized through a combination of hardware and software.

[0084] Figure 15 is a block diagram illustrating the hardware configuration of a computer. The display position identification system according to this disclosure can realize the above-described functions using a computer 500 including the hardware configuration shown in the figure. The computer 500 may be a portable computer such as a smartphone or tablet terminal, or a stationary computer such as a PC. The computer 500 may be a dedicated computer designed to realize each device, or it may be a general-purpose computer. The computer 500 can realize the desired functions by installing a predetermined application.

[0085] Computer 500 includes a bus 502, a processor 504, memory 506, a storage device 508, an input / output interface (I / F) 510, and a network interface (I / F) 512. Bus 502 is a data transmission path for the processor 504, memory 506, storage device 508, input / output interface 510, and network interface 512 to send and receive data to and from each other. However, the method of connecting the processor 504 and other components to each other is not limited to bus connection.

[0086] Processor 504 is various types of processors such as CPUs, GPUs, or FPGAs. Memory 506 is main memory implemented using RAM (Random Access Memory), etc.

[0087] The storage device 508 is an auxiliary storage device implemented using a hard disk, SSD, memory card, or ROM (Read Only Memory). The storage device 508 stores a program for realizing a desired function. The processor 504 reads this program into memory 506 and executes it to realize each functional component of each device.

[0088] The input / output interface 510 is an interface for connecting the computer 500 to input / output devices. For example, input devices such as keyboards and output devices such as display devices are connected to the input / output interface 510. The network interface 512 is an interface for connecting the computer 500 to a network.

[0089] While this disclosure has been described with reference to embodiments, it is not limited to the embodiments described above. Various modifications to the structure and details of this disclosure are possible, as can be understood by those skilled in the art within the scope of this disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0090] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments rather than with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps shown in any of the drawings may be changed as appropriate.

[0091] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) It comprises a point cloud data acquisition unit, a storage unit, a reference object determination unit, a position identification unit, and an output unit. The point cloud data acquisition unit acquires first point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed. The storage unit stores the identification information of the reference object and the installation conditions of the object. The aforementioned reference object determination unit is: Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, The position identification unit identifies the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement of each of the plurality of group data corresponding to the reference object and the installation conditions, The output unit outputs the composite display position. Display position identification system. (Note 2) The identification information includes the shape information of the reference object, The reference object determination unit determines each of the plurality of group data corresponding to the reference object based on the shape information. The display position identification system described in Appendix 1. (Note 3) The shape information is the dimensional information of the reference object, as described in Appendix 2, for the display position identification system. (Note 4) The display position identification system described in Appendix 2, wherein the shape information is information indicating a specific partial shape unique to each of the reference objects. (Note 5) The aforementioned installation environment includes a plurality of the aforementioned reference objects, The identification information includes information on the arrangement of at least one set of reference objects. The reference object determination unit determines each of the plurality of group data corresponding to the reference object based on the arrangement information. A display position identification system as described in any one of the items 1 to 3 in the appendix. (Note 6) The installation conditions include distance information indicating the distance at which the object is separated from the reference object, The position identification unit identifies the composite display position based on each of the plurality of group data corresponding to the reference object and the distance information. A display position identification system as described in any one of the items 1 to 3 in the appendix. (Note 7) The aforementioned installation conditions include information on prohibited placements, which is determined based on the placement of the reference object. The position identification unit identifies the composite display position while avoiding the superposition of the second point cloud data onto the placement prohibition area indicated by the placement prohibition information. A display position identification system as described in any one of the items 1 to 3 in the appendix. (Note 8) The point cloud data acquisition unit acquires a plurality of second point cloud data representing each of the plurality of objects, The position identification unit identifies the composite display position of the second point cloud data representing at least one of the objects based on the composite display position of the second point cloud data representing other objects. A display position identification system as described in any one of the items 1 to 3 in the appendix. (Note 9) It comprises a point cloud data acquisition unit, a drawing reading unit, a storage unit, a reference object determination unit, a position identification unit, an output unit, and a display unit. The point cloud data acquisition unit acquires first point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed. The drawing reading unit obtains the identification information of the reference object and the installation conditions of the target object from the drawing, and outputs the identification information and the installation conditions to the storage unit. The storage unit stores the identification information and the installation conditions. The aforementioned reference object determination unit is: Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, The position identification unit identifies the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement of each of the plurality of group data corresponding to the reference object and the installation conditions, The output unit outputs the composite display position, The display unit acquires the composite display position and displays the first point cloud data and the second point cloud data superimposed on the composite display position. Point cloud data display system. (Note 10) Computers First point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed are acquired. The identification information of the aforementioned reference object and the installation conditions of the aforementioned object are stored. Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, Based on the arrangement of each of the plurality of group data corresponding to the reference object and the installation conditions, the composite display position of the second point cloud data relative to the first point cloud data is determined. Output the composite display position, Display position identification method. (Note 11) On the computer, First point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed are acquired. The identification information of the aforementioned reference object and the installation conditions of the aforementioned object are stored. Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, Based on the arrangement of each of the plurality of group data corresponding to the reference object and the installation conditions, the composite display position of the second point cloud data relative to the first point cloud data is determined. Output the composite display position A program for determining the display position to execute a task.

[0092] Some or all of the elements (e.g., configuration and function) described in Appendices 2 to 8 that are dependent on Appendice 1 may also be dependent on Appendices 9 to 11 in the same way as in Appendices 2 to 8. Some or all of the elements described in any appendice may be applicable to various hardware, software, recording means, systems, and methods for recording software. [Explanation of Symbols]

[0093] 10 Display position identification system 11. Point Cloud Data Display System 20, 26 Field Data 30 Design Data 40 Drawings 101, 111 Point cloud data acquisition unit 102 Storage section 103, 113 Reference object determination section 104, 114 Position identification part 105 Output section 116 Drawing Reading Section 117 Display section 200, 220, 230, 260 Existing equipment 201 Existing Facilities No. 1 202 Existing Facilities No. 2 203 Existing Facilities No. 3 204 Existing Facilities No. 4 210, 240, 250 clusters 211 Cluster 1 212 Second Cluster 213 Third Cluster 214 Cluster 4 221 parts 222 Top 223 Lower 231 Cylindrical section 241 Bounding Box 261 Existing Equipment No. 5 262 Existing Facilities No. 6 263 Existing Equipment No. 7 300, 310 New equipment 301 Center 500 Computers Bus 502 504 Processors 506 memory 508 Storage Devices 510 Input / Output Interfaces 512 Network Interfaces 1111 Field Data Acquisition Department 1112 Design Data Acquisition Unit 1131 Shape Determination Unit 1132 Configuration Determination Unit 1141 Distance to a specific department 1142 Specific Angle Section Distances of L1, L2, L3, and L4 Distances of r1, r2, r3, r4, r5 θ angle

Claims

1. It comprises a point cloud data acquisition unit, a storage unit, a reference object determination unit, a position identification unit, and an output unit. The point cloud data acquisition unit acquires first point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed. The storage unit stores the identification information of the reference object and the installation conditions of the object. The aforementioned reference object determination unit is Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, The position identification unit identifies the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement of each of the plurality of group data corresponding to the reference object and the installation conditions, The output unit outputs the composite display position. Display position identification system.

2. The identification information includes the shape information of the reference object, The reference object determination unit determines each of the plurality of group data corresponding to the reference object based on the shape information. The display position identification system according to claim 1.

3. The display position identification system according to claim 2, wherein the shape information is the dimensional information of the reference object.

4. The aforementioned installation environment includes a plurality of the aforementioned reference objects, The identification information includes information on the arrangement of at least one set of reference objects. The reference object determination unit determines each of the plurality of group data corresponding to the reference object based on the arrangement information. A display position identification system according to any one of claims 1 to 3.

5. The installation conditions include distance information indicating the distance at which the object is separated from the reference object, The position identification unit identifies the composite display position based on each of the plurality of group data corresponding to the reference object and the distance information. A display position identification system according to any one of claims 1 to 3.

6. The aforementioned installation conditions include information on prohibited placements, which is determined based on the placement of the reference object. The position identification unit identifies the composite display position while avoiding the superposition of the second point cloud data onto the placement prohibition area indicated by the placement prohibition information. A display position identification system according to any one of claims 1 to 3.

7. The point cloud data acquisition unit acquires a plurality of second point cloud data representing each of the plurality of objects, The position identification unit identifies the composite display position of the second point cloud data representing at least one of the objects based on the composite display position of the second point cloud data representing other objects. A display position identification system according to any one of claims 1 to 3.

8. It comprises a point cloud data acquisition unit, a drawing reading unit, a storage unit, a reference object determination unit, a position identification unit, an output unit, and a display unit. The point cloud data acquisition unit acquires first point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed. The drawing reading unit obtains the identification information of the reference object and the installation conditions of the target object from the drawing, and outputs the identification information and the installation conditions to the storage unit. The storage unit stores the identification information and the installation conditions. The aforementioned reference object determination unit is Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, The position identification unit identifies the composite display position of the second point cloud data relative to the first point cloud data based on the arrangement of each of the plurality of group data corresponding to the reference object and the installation conditions, The output unit outputs the composite display position, The display unit acquires the composite display position and displays the first point cloud data and the second point cloud data superimposed on the composite display position. Point cloud data display system.

9. Computers First point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed are acquired. The identification information of the aforementioned reference object and the installation conditions of the aforementioned object are stored. Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, Based on the arrangement of each of the multiple group data corresponding to the reference object and the installation conditions, the composite display position of the second point cloud data relative to the first point cloud data is determined. Output the composite display position, Display position identification method.

10. On the computer, First point cloud data showing the installation environment including at least one reference object, and second point cloud data showing the object to be installed are acquired. The identification information of the aforementioned reference object and the installation conditions of the aforementioned object are stored. Multiple group data sets are created by dividing the first point cloud data. Based on the identification information, each of the plurality of group data corresponding to the reference object is determined, Based on the arrangement of each of the multiple group data corresponding to the reference object and the installation conditions, the composite display position of the second point cloud data relative to the first point cloud data is determined. Output the composite display position A program for determining the display position to execute a task.

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