Three-dimensional model creation support system, three-dimensional model creation support method, and three-dimensional model creation support program

Abstract

This invention provides a 3D model creation support system, a 3D model creation support method, and a 3D model creation support program that can accurately create a 3D CAD model from an oblique view and 3D data, even when dimensional information is not included in the oblique view. [Solution] A three-dimensional model creation support system comprising: a partial CAD model creation unit 1 having a partial CAD model creation means 14 that creates multiple partial CAD models 15 having attribute data at different scales using perspective view data showing a part of an asset; a matching unit 2 having a first matching means 22 that selects one from the partial CAD models 15 by matching the partial CAD models 15 with the three-dimensional data of the asset, and a second matching means 26 that creates an attributed partial CAD model that specifies the position and dimensions of the partial CAD model 15 by matching the characteristic parts 24 of the selected partial CAD model 15 with the three-dimensional data of the asset.

Description

Technical Field

[0001] The present invention relates to a three-dimensional model creation support system, a three-dimensional model creation support method, and a three-dimensional model creation support program. In particular, the present invention relates to a three-dimensional model creation support system and the like that can be suitably used to create a three-dimensional CAD (Computer Aided Design) model from a perspective view showing a part of an asset.

Background Art

[0002] In recent years, for example, in power plants and chemical plants, assets are managed using three-dimensional CAD models. On the other hand, some of these plants do not have a three-dimensional CAD model because they are old in terms of construction time. Therefore, in recent years, attempts have been made to acquire three-dimensional data by laser measurement and create a three-dimensional CAD model of the plant from the data. Current laser measurement devices can acquire, for example, high-precision three-dimensional point cloud data as three-dimensional data. In addition, devices that acquire color information by a camera simultaneously with the three-dimensional point cloud data have also been developed. Therefore, since colored three-dimensional point cloud data can be displayed, it becomes possible to easily identify piping, equipment, etc. with the human eye. However, since those three-dimensional point cloud data are not three-dimensional CAD models having attributes, in order to use them for asset management using tag information of equipment and piping, it is necessary to convert the point cloud data into a three-dimensional CAD model having attributes. For such conversion work into a three-dimensional CAD model having attributes, a method in which an operator manually converts it into a three-dimensional CAD model while displaying the three-dimensional point cloud data on the screen is generally used, and a great deal of labor is required for the conversion. On the other hand, in order to reduce the user's work and efficiently create a three-dimensional CAD model with attributes, a system for supporting the creation of a three-dimensional CAD model has been proposed.

[0003] Patent Document 1 describes a three-dimensional model creation support system. This three-dimensional model creation support system includes a partial asset CAD model creation device that creates a partial asset CAD model having attribute data using data from a perspective view showing a part of an asset, and a three-dimensional pattern matching device that identifies the position of the partial asset CAD model by pattern matching between the partial asset CAD model and a three-dimensional image of the asset, and creates an attributed asset CAD model by arranging the partial asset CAD model in three-dimensional space. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-182362 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, with conventional technology, for example, when used to create a three-dimensional CAD model of a plant, it may not be possible to determine the location of a partial asset CAD model. This is because, for example, isometric drawings (hereinafter referred to as "isometric drawings") of piping are created for inspection purposes and therefore do not contain dimensional information. In other words, because dimensional information is not included in the isometric drawings, the correct dimensions of the partial asset CAD model cannot be determined. As a result, it becomes difficult to create a partial asset CAD model with the correct dimensions and to determine the location of the partial asset CAD model. The present invention aims to provide a three-dimensional model creation support system, a three-dimensional model creation support method, and a three-dimensional model creation support program that can accurately create a three-dimensional CAD model from an oblique view and three-dimensional data, even when dimensional information is not included in the oblique view. [Means for solving the problem]

[0006] To solve the above problems, the present invention provides a three-dimensional model creation support system comprising: a partial CAD model creation unit that creates a partial CAD model of an asset; and a matching unit that matches the partial CAD model with the three-dimensional data of the asset and identifies the position of the partial CAD model and the dimensions of each part of the partial CAD model. The partial CAD model creation unit has a partial CAD model creation means that creates multiple partial CAD models with attribute data at different scales using perspective view data showing a part of the asset; and the matching unit has a first matching means that selects one partial CAD model from the multiple partial CAD models created by matching the partial CAD model with the three-dimensional data of the asset; and a second matching means that creates an attributed partial CAD model that identifies the position and dimensions of the partial CAD model by matching the characteristic parts of the selected partial CAD model with the three-dimensional data of the asset. In this case, even if dimensional information is not described in the perspective view, a three-dimensional model creation support system can be provided that can accurately create a three-dimensional CAD model from the perspective view and the three-dimensional data.

[0007] Here, for example, the partial CAD model creation means creates multiple partial CAD models with attribute data at different scales, using data that includes a perspective view showing a part of an asset and information about the installation area of ​​the asset. In this case, even if dimensional information is not included in the perspective view, a three-dimensional CAD model can be accurately created from the perspective view and three-dimensional data, further improving the accuracy of identifying the position and dimensions of the three-dimensional CAD model. Furthermore, for example, the partial CAD model creation means in the partial CAD model creation unit creates multiple partial CAD models with attribute data at different scales using data from a perspective view showing a part of the asset and data including two-dimensional placement information of the asset. The matching unit further includes a three-dimensional data extraction means that extracts three-dimensional data of the surrounding area of ​​the asset using the placement information. In this case, even if dimensional information is not included in the perspective view, a three-dimensional CAD model can be accurately created from the perspective view and three-dimensional data, further improving the accuracy of identifying the position and dimensions of the three-dimensional CAD model. For example, if the asset is a pipe, and the feature part of the partial CAD model includes at least one of a bend, a branch pipe, or a pipe end point, the location of the feature part is determined by information on the pipe's outer diameter and orientation. In this case, the location of the feature part can be defined more clearly. Furthermore, for example, the data constituting a partial CAD model is managed for each connected pipe, including information on the parent-child relationships of the pipes. In the second matching means, based on the parent-child relationship information of the pipes, the characteristic parts of the main pipe are matched sequentially from the endpoints of the pipe, and then the characteristic parts of the branch pipes are matched sequentially from the endpoints of the branch pipes. In this case, the position and dimensions of each connected pipe can be determined. Furthermore, for example, an asset may further include at least one of a valve and equipment connected to a piping system. In this case, the objects used in the plant can be considered assets, and a three-dimensional CAD model of the entire plant can be created. Furthermore, if, for example, the second matching means cannot identify the location and dimensions of a partial CAD model, a means is provided to accept external input of dimension values ​​from the user. In this case, it is possible to create a three-dimensional CAD model of piping, which is an asset that is more difficult to create a three-dimensional CAD model of. In this case, even if there are parts of the partial CAD model where the location and dimensions could not be identified, this information can be added. For example, a partial CAD model creation method involves connecting multiple perspective views and using the resulting perspective view to create a partial CAD model. In this case, even if the asset being represented by the perspective view has a simple shape, it becomes easier to determine the position and dimensions of the three-dimensional CAD model. Furthermore, for example, a partial CAD model creation method connects multiple perspective views based on the asset's management number. In this case, the management number can be used to integrate the perspective views.

[0008] Furthermore, the present invention provides a three-dimensional model creation support method for a three-dimensional model creation support system, characterized in that, in a partial CAD model creation means, multiple partial CAD models having attribute data are created at different scales using perspective view data showing a part of an asset; in a first matching means, one partial CAD model is selected from the multiple created partial CAD models by matching the partial CAD model with the three-dimensional data of the asset; and in a second matching means, the characteristic parts of the selected partial CAD model are matched with the three-dimensional data of the asset to create an attributed partial CAD model that specifies the position and dimensions of the partial CAD model, thereby operating the three-dimensional model creation support system by having the processor execute a program stored in memory. In this case, even if dimensional information is not described in the perspective view, a three-dimensional model creation support method can be provided that can accurately create a three-dimensional CAD model from the perspective view and three-dimensional data.

[0009] Furthermore, the present invention is a three-dimensional model creation support program that enables the following functions by computer: a function to create multiple partial CAD models with attribute data at different scales using perspective view data showing a part of an asset; a function to select one partial CAD model from the multiple created partial CAD models by matching the partial CAD model with the three-dimensional data of the asset; and a function to create an attributed partial CAD model that specifies the position and dimensions of the selected partial CAD model by matching the characteristic parts of the selected partial CAD model with the three-dimensional data of the asset. In this case, even if dimensional information is not included in the perspective view, the computer can realize a function that can accurately create a three-dimensional CAD model from the perspective view and three-dimensional data. [Effects of the Invention]

[0010] According to the present invention, a three-dimensional model creation support system, a three-dimensional model creation support method, and a three-dimensional model creation support program can be provided that can accurately create a three-dimensional CAD model from an oblique view and three-dimensional data, even when dimensional information is not included in the oblique view. [Brief explanation of the drawing]

[0011] [Figure 1] This block diagram shows the overall configuration of the plant three-dimensional CAD model creation system according to this embodiment. [Figure 2] This diagram shows an example of an isometric drawing of piping. [Figure 3] This is a diagram showing an example of an attribute database. [Figure 4] This figure shows an example of obtaining the two-dimensional coordinates of the endpoints of a pipe. [Figure 5] This is a magnified view of the layout information. [Figure 6] This figure shows a partial CAD model created based on the piping isometric drawing in Figure 2. [Figure 7] This figure shows an example of three-dimensional point cloud data. [Figure 8]This is a diagram showing an example of cutting out a characteristic part of a pipe. [Figure 9] This is a diagram showing a specific processing method of the second matching part. [Figure 10] This is a diagram showing the three-dimensional point cloud of the valve located at the position of point G in FIG. 8. [Figure 11] (a) is a diagram showing a pipe having a simple shape. (b) is a diagram showing a pipe isometric view connected to the pipe isometric view shown in (a). (c) is a diagram showing the isometric view after integration by connecting the pipe isometric view and the pipe isometric view. [Figure 12] This is a block diagram showing the overall configuration of a plant three-dimensional CAD model creation system according to a modification example.

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. <Overall Description of Plant Three-Dimensional CAD Model Creation System S> FIG. 1 is a block diagram showing the overall configuration of a plant three-dimensional CAD model creation system S according to the present embodiment. The plant three-dimensional CAD model creation system S is an example of a three-dimensional model creation support system and creates a three-dimensional CAD model of a plant. The plant in the present embodiment is not particularly limited, and examples include industrial plants such as steel plants and chemical plants. In addition, examples of plants include power generation plants that generate electricity by thermal power, hydraulic power, nuclear power, solar power, wind power, etc. Furthermore, examples of plants include water supply plants such as water and sewage facilities. Still further, examples of plants include oil production plants that extract crude oil from oil wells, LNG plants that extract liquefied natural gas (LNG) from gas fields, and oil refining plants that refine crude oil.

[0013] The illustrated plant 3D CAD model creation system S includes a partial CAD model creation unit 1 that creates CAD models of pipes and valves drawn on a piping isometric drawing (hereinafter referred to as partial CAD models), and a matching unit 2 that matches the created partial CAD models with 3D point cloud data to identify the position of the partial CAD models in the 3D point cloud and the dimensions of each part of the partial CAD models. Here, a partial CAD model is so named because it is a CAD model that constitutes a part of the CAD model of the entire plant. 3D point cloud data is an example of 3D data and is acquired by devices such as laser scanners like LiDAR or mobile mapping systems (MMS). The 3D data used in this embodiment does not necessarily have to be 3D point cloud data, but it must include information indicating the actual position of pipes and valves in 3D space. Therefore, in this respect, the data format differs from that of a CAD model.

[0014] The partial CAD model creation unit 1, as will be described in more detail later, creates partial CAD models of assets. The partial CAD model creation unit 1 includes a piping isometric drawing 11, an attribute database 12, a drawing recognition means 13, a partial CAD model creation means 14, a partial CAD model 15, and a full-scale partial CAD model 16. Furthermore, the matching unit 2, as will be described in more detail later, matches the partial CAD model with the three-dimensional data of the asset to identify the position of the partial CAD model and the dimensions of each part of the partial CAD model. The matching unit 2 includes two-dimensional image / three-dimensional point cloud data 21, a first matching means 22, a feature part extraction means 23, a feature part 24, a valve / equipment recognition means 25, a second matching means 26, and dimension data 27. The following is an overview of these components.

[0015] First, let's explain the components of the partial CAD model creation unit 1. The piping isometric drawing 11 is an example of a perspective view showing a part of an asset, and is a drawing that represents the asset in three dimensions as viewed from diagonally above. An isometric projection drawing is an example of a perspective view. Assets are various pieces of equipment that make up a plant, and in addition to the piping and valves mentioned above, examples include reactors, distillation columns, drums, tanks, heating furnaces, heat exchangers, compressors, fans, blowers, pumps, boilers, sensors, and other equipment. However, the following explanation will focus on the case where the assets are piping and valves. In this case, the piping isometric drawing 11 shows the piping shape and valve positions, and the piping and valves are assigned management numbers, the piping number and valve number, respectively. However, since the piping isometric drawing 11 in this embodiment is for inspection purposes, it does not include dimensional information of the piping. On the other hand, the piping isometric drawing 11 is accompanied by two-dimensional placement information indicating the approximate location of the piping within the plant.

[0016] Attribute Database 12 is a database in which attribute information of piping and valves is stored along with their management numbers. Attribute information refers to information about the physical properties of an asset. For example, in the case of piping, the management number is the piping number, and attribute information such as the outer diameter, wall thickness, material, size, and connection method of the piping is recorded in association with the piping number.

[0017] The drawing recognition means 13 reads information such as pipe shape, valve position, and layout information described in the piping isometric drawing 11. It also acquires attribute information of pipes and valves by linking it with the information in the attribute database 12.

[0018] The partial CAD model creation means 14 creates a partial CAD model 15 of the piping shown in the piping isometric drawing 11 based on the information read by the drawing recognition means 13. Although the piping isometric drawing 11 does not include piping dimensions, multiple partial CAD models 15 with different scales are created from the scale and layout information of the piping isometric drawing 11. The partial CAD model 15 is a CAD model with attributes. The specific method for creating the partial CAD model 15 and the actual-size partial CAD model 16 will be described later.

[0019] Next, I will explain the matching unit 2. The two-dimensional image / three-dimensional point cloud data 21 consists of a large number of two-dimensional images taken of the plant and three-dimensional point cloud data created from the two-dimensional images. The first matching means 22 matches the shape of the three-dimensional point cloud data with the shape of the partial CAD model 15, selecting the partial CAD model 15 with the smallest error from among multiple partial CAD models 15 with different scales. This allows the approximate location of the partial CAD model 15 within the plant to be determined. However, the dimensions of the piping are determined based on the dimensions shown in the piping isometric drawing 11 and are not necessarily accurate. The accurate dimensions are determined by the second matching means 26, which will be described later.

[0020] The feature region extraction means 23 determines the feature regions 24 to be used by the second matching means 26. Specifically, it extracts the curved pipes, branch pipes, and pipe end points necessary for determining the dimensions of the piping from the partial CAD model 15 that best matches the three-dimensional point cloud data. The regions and order in which the feature region extraction means 23 extracts will be described later.

[0021] The valve / device recognition means 25 recognizes valves / devices from a two-dimensional image and creates a three-dimensional point cloud model of only the valves / devices. This makes it possible to identify their positions within the three-dimensional point cloud.

[0022] The second matching means 26 identifies the positions of curved pipes, branch pipes, and pipe end points that define the dimensions of the piping through a matching process. Furthermore, the valve / equipment recognition means 25 can also identify the positions of valves and equipment, allowing their dimensions within the actual plant to be determined. This data is saved as dimension data 27. By importing the saved dimension data 27 and executing the partial CAD model creation means 14, a full-scale partial CAD model 16 can be created. The full-scale partial CAD model, like the partial CAD model 15, is a CAD model with attributes.

[0023] By performing the above process on all isometric drawings 11 of the target plant's piping, an attributed CAD model can be efficiently created for the entire target plant.

[0024] <Application Examples of Plant 3D CAD Model Creation System S> Next, we will describe in detail an example of applying the plant three-dimensional CAD model creation system S of this embodiment to an actual plant. Figure 2 shows an example of a piping isometric diagram 11. This figure is a drawing created with CAD software, and it shows the shape of pipe 111 and the position of valve 112. Pipe 111 and valve 112 are also assigned pipe and valve numbers, respectively. However, the isometric piping drawing 11 used in this embodiment is for inspection purposes and therefore does not include dimension lines indicating the length of pipe 111 or the position of valve 112. Meanwhile, in the upper left of Figure 2, there is placement information 110, indicated by diagonal lines, showing the approximate location of pipe 111 within the plant as depicted in the overall plant plan and the isometric piping drawing 11. Note that pipe 111, valve 112, pipe / valve numbers, and placement information 110 are all drawn on separate layers. For explanatory purposes, coordinate axes xyz are drawn in Figure 2, but these are not actually drawn in the isometric piping drawing 11.

[0025] Figure 3 shows an example of attribute database 12. The attribute database 12 shown in the diagram manages the attribute information of pipe 111, linking it to the pipe number. Here, the attribute information of pipe 111 includes its outer diameter, wall thickness, and material. By linking it with the attribute database 12, the outer diameter, wall thickness, material, etc. of pipe 111 shown in Figure 2 can be identified.

[0026] The drawing recognition means 13 reads information such as the shape of the piping 111 and the position of the valve 112, as well as arrangement information 110, as shown in the piping isometric drawing 11. As described above, in this embodiment, since these shapes and information are drawn on different layers, it is possible to distinguish and recognize each of them. For example, since the piping 111 is drawn as a line segment or polyline, the two-dimensional coordinates of the endpoints of the piping 111 can be obtained by obtaining the two-dimensional coordinates of the endpoints of the line segments.

[0027] Figure 4 shows an example of obtaining the two-dimensional coordinates of the endpoints of pipe 111. As shown in Figure 4, the two-dimensional coordinates of points A-D, F, and H can be obtained as endpoints of the piping 111. In addition, the drawing recognition means 13 can obtain the two-dimensional coordinates of points E and G by recognizing the valve 112.

[0028] Figure 5 is an enlarged view of the layout information 110. Since the placement information 110 is also drawn on a separate layer, the hatched area (pipe isometric area) indicating the region of pipe 111 drawn on the pipe isometric drawing 11 can be recognized from the placement information 110, and the coordinates of points a and b, which are its endpoints, can be obtained. In this case, the hatched area indicating the region of pipe 111 is rectangular in shape, and points a and b, which are the positions of diagonally opposite vertices, have been defined as representative positions that define this rectangular shape.

[0029] Next, the processing of the partial CAD model creation means 14 will be described. Here, a three-dimensional partial CAD model 15 is created from the two-dimensional coordinates and placement information 110 of the piping 111 and valve 112 acquired by the drawing recognition means 13. This process is divided into three main steps. In Step 1, the two-dimensional coordinates of pipe 111 and valve 112 are converted to three-dimensional coordinates based on the isometric piping diagram 11. In step 2, the dimensions are corrected based on the placement information 110. In step 3, multiple partial CAD models 15 with different scales are created based on the corrected dimensions. It should be noted that the isometric drawing of the piping (11) is assumed to be the most basic drawing method. That is, the vertical z-axis direction is also vertical in the drawing, and the x-axis and y-axis directions are each tilted 30 degrees from the horizontal, resulting in an angle of 120 degrees between them. In addition, the curved sections of the piping (111), as shown at point B in Figure 4, are schematically drawn at right angles. The detailed processing of each step is shown below.

[0030] Step 1: First, the partial CAD model creation means 14 selects one endpoint of pipe 111 from the pipe isometric drawing 11. Here, for example, point A in Figure 4 is selected. Its coordinates are set to (0,0,0). Next, the three-dimensional coordinates of the other points (points B to H in Figure 4) are determined from the inclination and length of the line segment representing pipe 111 on the drawing. For example, if the horizontal right direction of the paper is 0 degrees, point B of line segment AB is 210 degrees from point A and has a length of, for example, 50 mm. The 210-degree direction is the negative (x-) direction of the x-axis in three-dimensional coordinates, so the coordinates of point B are (-50,0,0). Next, line segment BC is 150 degrees on the paper and has a length of, for example, 30 mm. The 150-degree direction is the positive (y+) direction of the y-axis in three-dimensional coordinates, so the coordinates of point C are (-50,30,0). Similarly, the coordinates of points B to H can be determined. Also, in this embodiment, since the scale of the drawing is, for example, 1 / 100, if point A is (0,0,0), the actual coordinates will be as follows: point B (-5000,0,0), point C (-5000,3000,0), and point D (-5000,5000,0).

[0031] Step 2: The partial CAD model creation means 14 determines the lengths in the x-axis and y-axis directions from the coordinates of points a and b in the arrangement information 110 in Figure 5. In this embodiment, for example, the x-axis direction is 6000 mm and the y-axis direction is 4000 mm. Next, the longest lengths in the x-axis and y-axis directions are determined from the three-dimensional coordinates of the pipe 111 obtained in Step 1. In this embodiment, the longest length in the x-axis direction is the line segment AB, for example, 5000 mm. The longest length in the y-axis direction is the line segment BD, for example, 5000 mm. That is, it can be seen that the ratio of the lengths in the x-axis and y-axis directions is different between the shape of the pipe 111 in the pipe isometric drawing 11 and the arrangement information 110. In this embodiment, assuming that the arrangement information 110 is correct, the three-dimensional coordinates of the pipe 111 and valve 112 are corrected so that the x-axis direction is 6000 mm and the y-axis direction is 4000 mm. In other words, the x-axis coordinate is corrected by multiplying it by 1.2 and the y-axis coordinate by 0.8. Since the placement information 110 does not contain dimension information for the z-axis, the z-axis was corrected using the average value (1x) of the x and y axes. As a result, the three-dimensional coordinates are point A(0,0,0), point B(-6000,0,0), point C(-6000,2400,0), and point D(-6000,4000,0). In this case, it can be said that the partial CAD model creation means 14 corrects the dimensions of the partial CAD model 15 using the placement information 110 which indicates the position of the pipe 111 within the whole. In this case, the coordinates of points a and b in the placement information 110 were used, but the dimensions of the partial CAD model 15 could also be corrected using information on the endpoint coordinates of the polygon indicating the installation area.

[0032] Step 3: The partial CAD model creation means 14 creates a partial CAD model 15 based on the dimensions (standard dimensions) obtained in Step 2. The piping model included in the partial CAD model 15 can be created by utilizing the API (Application Programming Interface) of the CAD software by providing the three-dimensional coordinates obtained in Step 2, the pipe number (e.g., PAS-01-100), and the outer diameter (nominal diameter). Similarly, the valve model can be placed on the pipe 111 by providing the position where the valve 112 will be placed and the type of valve 112. In the example in Figure 2, VG ​​represents a gate valve, so a gate valve model was placed. Through these processes, the partial CAD model 15 can be created. Furthermore, if the attribute information of pipe 111 includes the thickness of the insulation material, a partial CAD model 15 of the pipe including the insulation material can be created.

[0033] Figure 6 shows a partial CAD model 15 created based on the piping isometric drawing 11 in Figure 2. As shown in the diagram, it can be seen that partial CAD models 15 have been created in which the pipes 111 and valves 112 in the piping isometric drawing 11 have been replaced with pipe models and valve models, respectively. This can also be described as the partial CAD model creation means 14 adding attribute data, including at least one of the management number and dimensions of the assets, such as the pipe 111 and valve 112, to create the partial CAD model 15.

[0034] At this time, the partial CAD model creation means 14 also creates multiple partial CAD models 15 with attribute data at different scales. Specifically, the partial CAD model creation means 14 creates partial CAD models 15 with scales changed in 10% increments from +20% to -50%, based on standard dimensions. Multiple partial CAD models 15 can be created from the piping isometric drawing 11 through these steps. In this case, the partial CAD model creation means 14 creates eight partial CAD models 15.

[0035] In this embodiment, since the pipes 111 and valves 112 in the piping isometric drawing 11 are all drawn on different layers, they are separated by layer. However, if they are drawn on the same layer, the pipes 111 and valves 112 are separated based on the line segment features and shape. Similarly, if the piping isometric drawing 11 is not an electronic file but a drawing on paper, the pipes 111 and valves 112 are separated and recognized based on their shape. These drawing recognition processes can be carried out using existing methods.

[0036] Next, we will explain the matching unit 2 in detail. The two-dimensional image / three-dimensional point cloud data 21 consists of two-dimensional images of the plant and three-dimensional point cloud data created from the two-dimensional images. The two-dimensional images were taken by gradually moving through parts of the plant, ensuring that the entire plant was connected. Three-dimensional point cloud data can be created by using two-dimensional images taken from different locations of the same part of the plant.

[0037] Figure 7 shows an example of three-dimensional point cloud data 210. Figure 7 shows the three-dimensional point cloud data 210 of the piping 111, as well as the valve 112, tank 212a, and pump 212b. The first matching means 22 matches the three-dimensional point cloud data 210 of the piping 111 with the multiple (eight in this case) partial CAD models 15 created by the partial CAD model creation means 14. In the matching process, the error between the three-dimensional point cloud data and the CAD model is evaluated, and the position where the error is smallest and the error at that point are output. In this embodiment, it is assumed that the partial CAD model 15 with a scale of 0.8 times has the smallest error, and the feature part extraction means 23 uses this partial CAD model 15. In this case, the first matching means 22 selects one partial CAD model 15 from the multiple partial CAD models 15 created through matching.

[0038] The feature area extraction means 23 extracts feature areas 24 from the partial CAD model 15 selected by the first matching means 22. Here, the feature area extraction means 23 extracts feature areas of the piping 111. Specifically, feature areas are locations within the piping 111 that are bends, branch pipes, or pipe ends.

[0039] Figure 8 shows an example of a characteristic section of pipe 111. In Figure 8, sections B and D are curved pipes, and section C is a branch pipe. Section A is the pipe end point. The specific cutting process is described below. To extract feature areas, two processes are required from the partial CAD model 15: identifying the feature areas and determining the region to be extracted. The process of identifying feature areas utilizes the piping creation data.

[0040] In the example in Figure 8, the piping creation data includes coordinate data for two pipes: pipe 1: main pipe ABDF, and pipe 2: branch pipe CH. The relationship between pipes 1 and 2 is also stored, indicating that pipe 2 connects to pipe 1 (parent-child relationship of pipe 111). The coordinates of the branch pipe are stored as the data for the point where it connects to the main pipe (point C in the example in Figure 8). Therefore, in the process of identifying feature areas, the branch pipe (pipe CH) connected to the main pipe is first identified, and its connection coordinates (coordinates of point C) are used to determine its position on the main pipe. In the example in Figure 8, the coordinates of point C on pipe CH indicate that point C is between points B and D. Next, the coordinates of the bends or branch pipes are identified sequentially, starting from the pipe end point (point A) of the main pipe. In the example in Figure 8, points B, C, and D are identified in that order. In this case, the feature area can also be said to be extracted as pipe 111 based on the piping creation data, which includes information about the relationship between the main pipe and the branch pipe. Furthermore, it can be said that the piping creation data is managed for each connected pipe 111, and includes information on the parent-child relationships of the pipes 111, which constitute the partial CAD model 15.

[0041] Next, the region from which the identified feature part will be extracted is determined. The region to be extracted is defined as the area where the endpoints of a rectangular parallelepiped are (x0-kx1×OD, y0-ky1×OD, z0-kz1×OD) and (x0+kx2×OD, y0+ky2×OD, z0+kz2×OD), where the coordinates of the extracted feature part are (x0, y0, z0). Here, OD is the outer diameter of the target pipe 111; therefore, pipes with a large outer diameter 111 have a large extraction region, and pipes with a small outer diameter 111 have a small extraction region. Furthermore, the coefficients kx1~kx2, ky1~ky2, and kz1~kz2 are constants, but their values ​​are larger in the direction in which the curved pipe and branch pipe extend compared to other directions. In the example of the curved pipe of feature part B, pipe 111 extends in the positive x-axis direction (x+) and the positive y-axis direction (y+). Therefore, in this embodiment, for example, the values ​​of the coefficient kx2 in the x+ direction and the coefficient ky2 in the y+ direction are set to 3, and the value of the remaining coefficient is set to 1.5. Also, in the example of the branch pipe of feature area C, since the branch pipe extends in the negative (z-) direction of the z axis, the value of kz1 is set to 3, and the value of the remaining coefficient is set to 1.5. In this way, by changing the value of the coefficient in the direction in which the pipe 111 extends, the region of the feature area can be appropriately cut out. In this case, it can also be said that the feature area cutting means 23 determines the position of the feature area 24 based on the outer diameter of the pipe 111 and the orientation of the pipe.

[0042] The valve / device recognition means 25 recognizes valves / devices from two-dimensional images and creates a three-dimensional point cloud model of the valve / device. The process of recognizing valves / devices from two-dimensional images is a standard image recognition process, and recognition can be achieved by training a neural network with images of valves / devices in advance.

[0043] The second matching means 26 creates an attributed partial CAD model that identifies the position and dimensions of the partial CAD model 15 by matching the feature parts 24 of the selected partial CAD model 15 with the three-dimensional point cloud data 210 of the pipe 111. In other words, the second matching means 26 identifies the dimensions of the pipe 111 by matching the feature parts 24 extracted by the feature part extraction means 23 with the three-dimensional point cloud.

[0044] Figure 9 shows a diagram illustrating the specific processing method of the second matching means 26. Figure 9 shows the three-dimensional point cloud extracted by the first matching means 22 at the position where the partial CAD model 15 best matched. In this case, the position of point 1 in the three-dimensional point cloud data coincides with feature area A in Figure 8. However, since the length from point 1 to point 2 in the three-dimensional point cloud data and the length between A and B in the partial CAD model 15 are different in both cases, the partial CAD model 15 and the three-dimensional point cloud do not perfectly match. The second matching means 26 matches the partial CAD model 15 so that feature area B is at the position of point 2. Similarly, the partial CAD model 15 is matched so that feature area C is at the position of point 3.

[0045] The matching process in the second matching means 26 can also utilize the three-dimensional point cloud matching software Cloud Compare. In this case, matching can be performed quickly by limiting the search area and search direction during matching. In the example of feature part B, since it is known that the position of feature part A coincides with point 1, the base point is set to the coordinates of point 1, and matching is performed in the direction from point 1 to point 2, i.e., in the x-direction. By matching in this way, the point cloud portion of the curved pipe is matched, and the coordinates of point 2, which is the correct position of feature part B, can be identified. Similarly, by matching feature part C in the y+ direction using the identified coordinates of point 2 as the base point, the coordinates of point 3, which is the correct position of feature part C, can be identified. By repeating the matching of feature parts in this way, the correct dimensions of the pipe 111 can be identified. If the correct position information of the feature part cannot be obtained due to insufficient three-dimensional point cloud data 210 or other reasons, the user may visually confirm and determine appropriate dimensional values. In this case, if the position and dimensions of the partial CAD model 15 cannot be identified by the second matching means 26, it is also possible to accept external input of dimensional values ​​from the user. In this case, it is necessary to provide a means for accepting external input of dimensional values ​​from the user. Specifically, this means can be implemented using input devices such as a keyboard, mouse, or trackpad.

[0046] Furthermore, the second matching means 26 can also use information about the parent-child relationships of the pipes 111. In this case, the second matching means 26 uses the parent-child relationship information of the pipes 111 to perform matching of the characteristic parts of the main pipe sequentially from the endpoints of the pipes 111, and then performs matching of the characteristic parts of the branch pipes sequentially from the endpoints of the branch pipes. That is, first, the characteristic parts of the main pipe are matched with the three-dimensional point cloud data 210 of the pipes 111 to determine the correct dimensions of the main pipe. Then, the characteristic parts of the branch pipes are matched with the three-dimensional point cloud data 210 of the pipes 111 to determine the correct dimensions of the branch pipes.

[0047] Furthermore, the position of the valve 112 can be determined by using a two-dimensional image of the same valve 112 obtained by the valve / device recognition means 25 to create a three-dimensional point cloud of the valve 112.

[0048] Figure 10 shows the three-dimensional point cloud of valve 112 with valve number VG-01-50, located at point G in Figure 8. In this case, since the three-dimensional point cloud data 210 of the valve 112 can be extracted, the position G of the valve 112 can be determined from the created three-dimensional point cloud data of the valve 112. Through the above process, the location of the characteristic part of the piping 111 and the location of the valve 112 can be identified, and the dimensional parameters of the partial CAD model 15 can be adjusted to the actual size. This data is saved as dimensional data 27, and by executing the partial CAD model creation means 14 using the saved dimensional data 27, the actual-size partial CAD model 16 can be created. Furthermore, since the position where the partial CAD model 15 is placed is known to be the base point 1, the actual-size partial CAD model 16 can be created in the correct position with the correct dimensions. By performing these processes on all piping isometric drawings 11 and integrating the partial CAD models 15, a CAD model of the entire plant can be efficiently created.

[0049] <Integration of Piping Isometric Diagram 11> As mentioned above, the isometric piping drawing 11 is a drawing that represents an asset in three dimensions by viewing it from an oblique angle above, such as an isometric projection drawing. However, since this is a schematic representation of the shape of the piping 111, if the piping 111 has a simple shape, there may be multiple similar drawings. Figure 11(a) shows a pipe 111a with a simple shape. Figure 11(a) shows an isometric view of the piping including pipe 111a, indicated by pipe number L001, and valve 112, indicated by valve number V001. This pipe 111a has one characteristic curved section. However, since there are many pipes 111a of this shape within the plant, even if their approximate location is known from the layout information 110, it can be difficult to pinpoint their exact location. Therefore, in this embodiment, in such cases, the partial CAD model creation means 14 integrates multiple piping isometric drawings 11. In other words, the partial CAD model creation means 14 connects multiple piping isometric drawings 11 and creates a partial CAD model 15 using the connected piping isometric drawings 11. The partial CAD model creation means 14 performs the process of connecting multiple piping isometric drawings 11 based on the management numbers (pipe number, valve number) of the pipes 111 and valves 112.

[0050] Figure 11(b) shows piping isometric diagram 11b connected to piping isometric diagram 11a shown in Figure 11(a). In Figure 11(a), a dotted line indicates that pipe 111b with pipe number L002 is located beyond valve 112 with valve number V001. Similarly, in Figure 11(b), a dotted line indicates that valve 112 with valve number V001 is located beyond pipe 111b with pipe number L002. Therefore, using this as a clue, piping isometric diagram 11a and piping isometric diagram 11b can be connected.

[0051] Figure 11(c) shows the integrated piping isometric diagram 11c, which is created by connecting piping isometric diagrams 11a and 11b. The isometric piping diagram 11c shown in Figure 11(c) has a more complex shape for pipe 111 than the isometric piping diagram 11a in Figure 11(a), making it easier to pinpoint its exact location within the plant.

[0052] <Variation> Figure 12 is a block diagram showing the overall configuration of the plant three-dimensional CAD model creation system S according to a modified example. The plant 3D CAD model creation system S shown in Figure 12 differs from the plant 3D CAD model creation system S shown in Figure 1 in that it includes a 3D point cloud extraction means 28, but is otherwise the same. The three-dimensional point cloud extraction means 28 is an example of a three-dimensional data extraction means, and uses the arrangement information 110 acquired by the drawing recognition means 13 to extract three-dimensional point cloud data around the pipe 111. The first matching means 22 then selects one partial CAD model 15 from multiple partial CAD models 15 by matching the partial CAD model 15 with the three-dimensional point cloud data of the pipe 111 extracted by the three-dimensional point cloud extraction means 28. In other words, matching is performed using the three-dimensional point cloud data of the area corresponding to the pipe isometric drawing 11, rather than using the three-dimensional point cloud data of the entire plant. This makes it possible to speed up the processing by the first matching means 22.

[0053] According to the plant 3D CAD model creation system S described above, even if dimensional information is not included in the perspective drawings such as the piping isometric drawing 11, a 3D CAD model can be accurately created from the perspective drawings and 3D data.

[0054] In the configuration described above, the partial CAD model creation means 14 created multiple partial CAD models 15 with different scales, but it is also possible to create only one and have the feature area extraction means 23 extract feature areas from it. In this case, the process of selecting one from the multiple created partial CAD models 15 becomes unnecessary, and the first matching means 22 becomes unnecessary. However, creating multiple partial CAD models 15 with different scales and having the first matching means 22 select one of them allows the second matching means 26 to identify the position and dimensions of the partial CAD model 15 with greater accuracy. Furthermore, in the above-described configuration, the placement information 110 was used to determine the approximate position of the piping 111 and to correct the dimensions of the partial CAD model 15, but it is not always necessary to use it. However, using the placement information 110 makes it easier to determine the position and dimensions of the piping 111. Furthermore, while the above-described embodiment uses piping and valves as examples of assets, other equipment may also be used. Also, while the above-described embodiment shows an example applied to a plant, the application does not necessarily have to be to a plant; any equipment with piping, etc., would suffice.

[0055] <Explanation of 3D model creation support methods and 3D model creation support programs> The processing performed by the plant 3D CAD model creation system S is realized through the cooperation of software and hardware resources. Specifically, a processor such as a CPU installed in the plant 3D CAD model creation system S loads programs that realize each function of the plant 3D CAD model creation system S into main memory and executes them, thereby realizing each of these functions. Therefore, the process performed by the plant 3D CAD model creation system S described above can be understood as a 3D model creation support method characterized by the following: in the plant 3D CAD model creation system S, the partial CAD model creation means 1 creates multiple partial CAD models 15 having attribute data using perspective view data showing a part of the asset, at different scales; the first matching means 22 selects one partial CAD model 15 from the multiple created partial CAD models 15 by matching the partial CAD model 15 with the 3D data of the asset; and the second matching means 26 matches the characteristic parts 24 of the selected partial CAD model 15 with the 3D data of the asset, thereby creating an attributed partial CAD model that specifies the position and dimensions of the partial CAD model 15. The processor executes a program stored in memory to operate the plant 3D CAD model creation system S. Furthermore, the program that operates in the plant 3D CAD model creation system S can be understood as a 3D model creation support program that enables the following functions to be implemented by computer: a function to create multiple partial CAD models 15 with attribute data at different scales using perspective view data showing a part of the asset; a function to select one partial CAD model 15 from the multiple created partial CAD models 15 by matching the partial CAD model 15 with the 3D data of the asset; and a function to create an attributed partial CAD model that identifies the position and dimensions of the partial CAD model 15 by matching the characteristic parts 24 of the selected partial CAD model 15 with the 3D data of the asset.

[0056] Furthermore, the program that implements this embodiment can be provided not only by means of communication, but also by being stored on a recording medium such as a CD-ROM.

[0057] Although this embodiment has been described above, the technical scope of the present invention is not limited to the scope described in the above embodiment. It is clear from the claims that various modifications or improvements made to the above embodiment are also included in the technical scope of the present invention. [Explanation of Symbols]

[0058] 1...Partial CAD model creation unit, 2...Matching unit, 11...Piping isometric drawing, 12...Attribute database, 13...Drawing recognition means, 14...Partial CAD model creation means, 15...Partial CAD model, 16...Actual-size partial CAD model, 21...Two-dimensional image / three-dimensional point cloud data, 22...First matching means, 23...Feature part extraction means, 24...Feature part, 25...Valve / equipment recognition means, 26...Second matching means, 27...Dimensional data, 28...Three-dimensional point cloud extraction means, 110...Plant information, 111...Piping, 112...Valve, 210...Three-dimensional point cloud data, S...Plant three-dimensional CAD model creation system

Claims

1. A partial CAD model creation unit that creates partial CAD models of assets, A matching unit that matches the partial CAD model with the three-dimensional data of the asset and identifies the position of the partial CAD model and the dimensions of each part of the partial CAD model, A three-dimensional model creation support system including, The aforementioned partial CAD model creation unit is: The system includes a partial CAD model creation means that creates multiple partial CAD models having attribute data at different scales using data from a perspective view showing a part of the aforementioned asset, The matching unit is A first matching means selects one partial CAD model from multiple partial CAD models created by matching the partial CAD model with the three-dimensional data of the asset, The system includes a second matching means that creates an attributed partial CAD model by matching the selected feature parts of the partial CAD model with the three-dimensional data of the asset, thereby specifying the position and dimensions of the partial CAD model. A three-dimensional model creation support system characterized by the following features.

2. A three-dimensional model creation support system according to claim 1, The aforementioned partial CAD model creation means, Using data of a perspective view showing a part of the aforementioned asset, which includes information on the installation area of ​​the asset, multiple partial CAD models having attribute data are created at different scales. A three-dimensional model creation support system characterized by the following features.

3. A three-dimensional model creation support system according to claim 1, The partial CAD model creation means in the partial CAD model creation unit is Using data from a perspective view showing a portion of an asset and data containing two-dimensional placement information of that asset, multiple partial CAD models with attribute data are created at different scales. The matching unit is Furthermore, it includes a three-dimensional data extraction means for extracting three-dimensional data of the surrounding area of ​​the asset using the aforementioned placement information. A three-dimensional model creation support system characterized by the following features.

4. In the three-dimensional model creation support system according to any one of claims 1 to 3, The aforementioned asset is piping, The feature area of ​​the partial CAD model includes at least one of a curved pipe, a branch pipe, or a pipe end point, and the position of the feature area is determined by information on the outer diameter of the pipe and the orientation of the pipe. A three-dimensional model creation support system characterized by the following features.

5. In the three-dimensional model creation support system according to claim 4, The data constituting the aforementioned partial CAD model is managed for each connected pipe, and includes information on the parent-child relationships of the pipes. In the second matching means, Based on the parent-child relationship information of the piping, the characteristic features of the main pipe are matched sequentially from the end of the pipe, and then the characteristic features of the branch pipes are matched sequentially from the end of the branch pipe. A three-dimensional model creation support system characterized by the following features.

6. In the three-dimensional model creation support system according to claim 4, The aforementioned asset is A three-dimensional model creation support system further comprising at least one of a valve and equipment connected to the aforementioned piping.

7. In the three-dimensional model creation support system according to any one of claims 1 to 3, If the second matching means fails to identify the position and dimensions of the partial CAD model, a means for receiving external input of dimension values ​​from the user is provided. A three-dimensional model creation support system characterized by the following features.

8. In the three-dimensional model creation support system according to any one of claims 1 to 3, The aforementioned partial CAD model creation means is A three-dimensional model creation support system characterized by connecting multiple perspective views and creating the partial CAD model using the connected perspective views.

9. In the three-dimensional model creation support system according to claim 8, The partial CAD model creation means connects multiple perspective views based on the asset management number. A three-dimensional model creation support system characterized by the following features.

10. In the three-dimensional model creation support system according to any one of claims 1 to 3, The partial CAD model creation means creates multiple partial CAD models with attribute data using perspective view data showing a part of the asset, with varying scales. In the first matching means, one partial CAD model is selected from the multiple partial CAD models created by matching the partial CAD model with the three-dimensional data of the asset. In the second matching means, in order to create an attributed partial CAD model that specifies the position and dimensions of the partial CAD model by matching the selected feature portion of the partial CAD model with the three-dimensional data of the asset, The processor executes the program stored in memory, The aforementioned three-dimensional model creation support system is put into operation. A method for supporting the creation of a three-dimensional model, characterized by the following features.

11. In the three-dimensional model creation support system according to any one of claims 1 to 3, A function to create multiple partial CAD models with attribute data at different scales using perspective view data that shows a part of an asset, The function includes selecting one partial CAD model from multiple partial CAD models created by matching the partial CAD model with the three-dimensional data of the asset, A function to create an attributed partial CAD model that specifies the position and dimensions of the selected partial CAD model by matching the characteristic parts of the partial CAD model with the three-dimensional data of the asset, A program to support the creation of three-dimensional models using computers.

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