Information processing apparatus and information processing method

Abstract

Provided is an information processing apparatus that enables generation of an isometric view without previously preparing a three-dimensional model of a plant. 【Solution means】The information processing apparatus 4 is an apparatus that supports management of a plant including pipes and pipe members attached to the pipes as components. The information processing apparatus 4 includes a data acquisition unit 400 that acquires point cloud data 11 obtained by measuring the plant with a three-dimensional measuring device, an object data processing unit 401 that specifies the three-dimensional position of a pipe from the point cloud data 11 and generates a pipe object 14A including pipe position information indicating the three-dimensional position of the pipe, and based on the pipe position information included in the pipe object 14A, specifies the three-dimensional position of a pipe node indicating a bending point or a kinking point of the pipe and the connection relationship of pipe line segments connecting between the pipe nodes, and generates an isometric view 15B of the pipe by connecting between the pipe nodes with drawing line segments according to the connection relationship.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus and an information processing method.

Background Art

[0002] For various purposes such as plant construction and maintenance, three-dimensional models capable of reproducing the three-dimensional shapes of the respective components of a plant are used. For example, Patent Document 1 discloses a system that grasps the position information of each facility from a captured image of the plant facilities and displays a virtual site in which a three-dimensional model drawing of each facility is superimposed on the captured image based on the grasped position information.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The 3D modeling database used in the system disclosed in Patent Document 1 is a three-dimensional model created by 3D CAD at the time of plant design. Therefore, a three-dimensional model is required as a premise of the system. However, for example, in an existing plant, a three-dimensional model may not have been created at the time of design, or even if a three-dimensional model has been created, the renovation work of the plant may not be reflected in the three-dimensional model, resulting in a situation where it does not match the actual site of the plant. In such a situation, it has been difficult to generate accurate drawings even when trying to generate various drawings such as isometric drawings from the three-dimensional model of the plant.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide an information processing apparatus and an information processing method that enable generation of an isometric view without previously preparing a three-dimensional model of a plant.

Means for Solving the Problems

[0006] In order to achieve the above object, an information processing apparatus according to an aspect of the present invention is an information processing apparatus that supports management of a plant including pipes and pipe members attached to the pipes as components, a data acquisition unit that acquires point cloud data obtained by measuring the plant with a three-dimensional measuring device, an object data processing unit that specifies a three-dimensional position of the pipe from the point cloud data and generates a pipe object including pipe position information indicating the three-dimensional position of the pipe, a drawing generation unit that specifies a three-dimensional position of a pipe node indicating a bending point or a buckling point of the pipe and a connection relationship of pipe line segments connecting between the pipe nodes based on the pipe position information included in the pipe object, and generates an isometric view of the pipe by connecting the pipe nodes with drawing line segments according to the connection relationship.

Effects of the Invention

[0007] According to the information processing apparatus according to an aspect of the present invention, an isometric view can be generated without previously preparing a three-dimensional model of a plant.

[0008] Problems, configurations, and effects other than the above will be clarified in the mode for carrying out the invention described later.

Brief Description of the Drawings

[0009]

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Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments for implementing the present invention will be described with reference to the drawings. In the following, the scope necessary for explaining the present invention is schematically shown, and mainly the scope necessary for explaining the relevant part of the present invention will be described, and the parts where the explanation is omitted shall be based on known techniques.

[0011] (Configuration of the Plant Management Support System 1) FIG. 1 is an overall view showing an example of the plant management support system 1 and the plant 10. The plant management support system 1 functions as a system for supporting the management of the plant 10. The plant 10 is, for example, any plant such as a natural gas plant, an oil refining plant, a chemical treatment plant, a power generation plant, an ironmaking plant, etc., and is not limited to these examples.

[0012] The plant 10 is composed of a plurality of components, and each component performs a predetermined process. In the plant 10, as a plurality of components, for example, various devices 100 for processing any fluid such as gas, liquid, and fluidized granular materials, pipes 101 that connect between the devices 100 and serve as fluid flow paths, piping members 102 attached to the pipes 101, various instruments (not shown) composed of a flow rate sensor, a pressure sensor, a temperature sensor, etc., and various controllers (not shown) composed of a pump, a compressor, a controller, etc. are installed. The devices 100 include, for example, but are not limited to, tower tanks and heat exchangers for performing reactions, distillations, extractions, absorptions, washings, temperature adjustments, etc. The pipes 101 are three-dimensionally arranged within the site of the plant 10. The piping members 102 include, for example, but are not limited to, valves for controlling the flow rate and pressure of the fluid flowing through the pipes 101, flanges, supports, etc. for connecting and supporting the pipes 101.

[0013] The plant management support system 1 includes, as its main components, a three-dimensional measuring device 2, a two-dimensional imaging device 3, an information processing device 4 that supports the management of the plant 10, and a terminal device 5 used by the administrator of the plant 10. Each of the devices 2 to 5 is configured by, for example, a general-purpose or dedicated computer (see FIG. 5 described later), and is connected to a wired or wireless network 6 so as to be able to transmit and receive various data to and from each other. Note that the number of each of the devices 2 to 5 and the connection configuration of the network 6 are not limited to the example in FIG. 1 and may be changed as appropriate.

[0014] The three-dimensional measuring device 2 is a device that measures the three-dimensional shape of the plant 10. The three-dimensional measuring device 2 is composed of, for example, a distance measuring sensor using laser or ultrasonic waves, a stereo camera, etc. The three-dimensional measuring device 2 measures the three-dimensional shape of the plant 10 and outputs point cloud data 11 as the measurement result. The point cloud data 11 is sent to the information processing device 4 via the network 6 or a recording medium, etc.

[0015] The two-dimensional imaging device 3 is a device that captures a two-dimensional image of the plant 10. The two-dimensional imaging device 3 is composed of, for example, a panoramic camera having an image sensor, an omnidirectional camera, etc., and is equipped with a sensor group such as a positioning sensor capable of receiving positioning signals such as GPS and GNSS, an inclination sensor, and an azimuth sensor. The two-dimensional imaging device 3 captures the plant 10 under predetermined imaging conditions (imaging location, imaging direction, imaging angle of view, etc.) and outputs two-dimensional imaging data 12 as the imaging result. At this time, the two-dimensional imaging device 3 outputs imaging region data 13 indicating the imaging region of the plant 10 when the two-dimensional imaging data 12 is captured, based on the positioning result of the imaging location based on the positioning sensor, the detection result of the imaging direction based on the inclination sensor and the azimuth sensor, and the imaging angle of view determined by the field of view angle of the two-dimensional imaging device 3. The two-dimensional imaging data 12 and the imaging region data 13 are sent to the information processing device 4 via the network 6 or a recording medium, etc.

[0016] The three-dimensional measurement device 2 and the two-dimensional imaging device 3 are attached to, for example, a flying object such as a manned vehicle, an unmanned vehicle, or a drone, and three-dimensional shape measurement and two-dimensional image shooting are performed at various locations of the plant 10. Alternatively, an administrator may use the three-dimensional measurement device 2 and the two-dimensional imaging device 3 to perform three-dimensional shape measurement and two-dimensional image shooting.

[0017] The information processing device 4 is composed of, for example, a server-type computer or a cloud-type computer. The information processing device 4 manages various data related to the plant 10 by means of the plant management database 410, generates three-dimensional model data 14 and drawing data 15 such as isometric drawings, and provides them to the terminal device 5.

[0018] The plant management database 410 stores point cloud data 11 when the plant 10 is measured by the three-dimensional measurement device 2, two-dimensional imaging data 12 and imaging area data 13 when the plant 10 is imaged by the two-dimensional imaging device 3, etc. At the same time, three-dimensional model data 14 and drawing data 15 generated based on the point cloud data 11, two-dimensional imaging data 12, and imaging area data 13 are stored. The plant management database 410 registers and accumulates data 11 to 15 related to a plurality of plants 10 to be managed, and the details of the data configuration will be described later.

[0019] The terminal device 5 is composed of, for example, a stationary computer or a portable computer. Programs such as applications and browsers are installed in the terminal device 5, which accepts various input operations and outputs various information via a display screen or voice. The terminal device 5 transmits and receives various data to and from the information processing device 4, and, for example, displays the content of the plant management database 410 on the display screen, accepts various input operations on the display screen, registers new data in the plant management database 410, or modifies the registered data, thereby assisting in the management of the plant 10.

[0020] (Configuration of the information processing device 4) FIG. 2 is a block diagram showing an example of the information processing apparatus 4. The information processing apparatus 4 includes a control unit 40 configured by a processor or the like, a storage unit 41 configured by an HDD, an SSD, a memory, or the like, a communication unit 42 that is a communication interface with the network 6, an input unit 43 configured by a keyboard, a mouse, or the like, and a display unit 44 configured by a display or the like. Note that the input unit 43 and the display unit 44 may be omitted.

[0021] The storage unit 41 stores a plant management database 410 and an information processing program 411, and also stores an operating system, other programs, various data, and the like.

[0022] FIG. 3 is a data configuration diagram showing an example of the plant management database 410. The plant management database 410 is a database for storing data 11 to 15 related to each plant 10 (in the example of FIG. 3, plants A, B,..., N) for each plant 10.

[0023] The point cloud data 11 is data that records a set of measurement points, which is the measurement result when each part of the plant 10 is measured by the three-dimensional measurement device 2, as a point cloud. The point cloud data 11 is managed as data that records the point cloud of the entire plant 10 by synthesizing the point clouds that are the measurement results when the plant 10 is measured at each part of the plant 10 in an aligned state.

[0024] The two-dimensional imaging data 12 and the imaging area data 13 are data that record a two-dimensional image and an imaging area when each part of the plant 10 is imaged by the two-dimensional imaging device 3. The imaging area is specified by, for example, the imaging location, the imaging direction, and the imaging angle of view. The two-dimensional imaging data 12 and the imaging area data 13 are the imaging results when the plant 10 is imaged at each part of the plant 10 and are managed for each imaging area.

[0025] The three-dimensional model data 14 is data composed of device objects 14A, piping objects 14B, piping component objects 14C, instrument objects 14D, and controller objects 14E corresponding to the devices 100, piping 101, piping components 102, instruments, and controllers that are components of the plant 10, respectively. Each of the objects 14A to 14E includes identification information, type information, position information, etc. as its attributes.

[0026] Also, the three-dimensional model data 14 is data capable of displaying the three-dimensional shapes of the objects 14A to 14E from any viewpoint, scale, transparency, and display color. The three-dimensional model data 14 is generated based on the point cloud data 11, two-dimensional photographed data 12, and photographed area data 13, and is edited through the editing operations of the administrator. The three-dimensional model data 14 can adopt any data format. For example, it may be in the PLY format, the XML format, or a suitable combination of multiple data formats.

[0027] The drawing data 15 is data recording various drawings generated based on the objects 14A to 14E included in the three-dimensional model data 14. The drawing data 15 includes, for example, orthographic views 15A, isometric views 15B, etc. Similar to the three-dimensional model data 14, the drawing data 15 can adopt any data format. For example, it may be in the CAD format, the raster format, or a suitable combination of multiple data formats.

[0028] Each of the data 11 to 15 is referenced by the terminal device 5, and editing operations such as addition, deletion, and modification of each of the data 11 to 15 are performed on the display screen of the terminal device 5. Note that the data configurations of each of the data 11 to 15 are not limited to the above examples and may be changed as appropriate. A part of the above data may be omitted, or data other than the above may be added. Also, a part or all of the plant management database 410 may be stored in an external device (which may be plural) connectable to the network 6 or any storage medium. In that case, the information processing device 4 may access the external device or the storage medium via the network 6 and the communication unit 42.

[0029] As shown in FIG. 2, the control unit 40 functions as a data acquisition unit 400, an object data processing unit 401, a drawing generation unit 402, and a display information generation unit 403 by executing the information processing program 411 stored in the storage unit 41. Each of the units 400 to 403 of the control unit 40 transmits display information for causing the terminal device 5 to display various display screens to the terminal device 5, and receives various input operations via the display screens, thereby functioning as a user interface with an administrator who manages the plant 10.

[0030] FIG. 4 is a functional explanatory diagram showing an example of the information processing apparatus 4.

[0031] The data acquisition unit 400 acquires the point cloud data 11 obtained by measuring the plant 10 with the three-dimensional measuring device 2. Further, the data acquisition unit 400 acquires the two-dimensional imaging data 12 obtained by imaging the plant 10 with the two-dimensional imaging device 3 and the imaging area data 13 indicating the imaging area of the plant 10 where the two-dimensional imaging data 12 is imaged. For example, the data acquisition unit 400 refers to the plant management database 410 based on an input operation from the terminal device 5, thereby acquiring the point cloud data 11 of the entire plant 10, and the two-dimensional imaging data 12 and the imaging area data 13 in each imaging area of the plant 10.

[0032] The object data processing unit 401 specifies the three-dimensional position of the pipe 101 from the point cloud data 11 acquired by the data acquisition unit 400, and generates a pipe object 14B including pipe position information indicating the three-dimensional position of the pipe 101. The generated pipe object 14B is registered in the plant management database 410 as a part of the three-dimensional model data 14.

[0033] In addition, the object data processing unit 401 recognizes the two-dimensional position of the piping member 102 from the two-dimensional imaging data 12 acquired by the data acquisition unit 400, and irradiates the three-dimensional position of the piping member 102 onto the point cloud data 11 through the imaging region data 13 acquired by the data acquisition unit 400, thereby specifying the three-dimensional position of the piping member 102 and generating a piping member object 14C including piping member position information indicating the three-dimensional position of the piping member 102. The generated piping member object 14C is registered in the plant management database 410 as part of the three-dimensional model data 14.

[0034] The drawing generation unit 402 generates an isometric view 15B (see FIG. 14 described later) of the pipe 101 and the piping member 102 based on the pipe position information included in the pipe object 14B and the piping member position information included in the piping member object 14C. The isometric view 15B is registered in the plant management database 410 as part of the drawing data 15.

[0035] For example, based on the piping position information included in the piping object 14B, the drawing generation unit 402 identifies the three-dimensional position of the piping node indicating the bending point or the kinking point of the pipe 101 and the connection relationship of the piping line segments connecting between the piping nodes, and based on the piping member position information included in the piping member object 14C, identifies the three-dimensional position of the piping member node indicating the installation point of the piping member 102 and the installation relationship of the piping member node with respect to the piping line segment. Then, the drawing generation unit 402 generates the isometric drawing 15B by connecting the piping nodes with drawing line segments according to the connection relationship and representing the piping member nodes with drawing symbols according to the installation relationship. At this time, the drawing generation unit 402 corrects the inclination of the piping line segment when connecting the piping nodes according to the connection relationship of the piping line segment at predetermined angle intervals, and based on the correction angle at the time of the correction, rotationally transforms the three-dimensional positions of the piping nodes and the piping member nodes, projects the rotationally transformed piping nodes and piping member nodes onto a predetermined two-dimensional plane, connects the projected piping nodes with drawing line segments according to the connection relationship of the piping line segments, and represents the projected piping member nodes with drawing symbols according to the installation relationship of the piping member nodes, thereby generating the isometric drawing 15B.

[0036] Note that the drawing generation unit 402 may generate the isometric drawing 15B with the piping member 102 omitted without referring to the piping member object 14C. In that case, based on the piping position information included in the piping object 14B, the drawing generation unit 402 identifies the three-dimensional position of the piping node indicating the bending point or the kinking point of the pipe 101 and the connection relationship of the piping line segments connecting between the piping nodes. Then, the drawing generation unit 402 generates the isometric drawing 15B by connecting the piping nodes with drawing line segments according to the connection relationship. At this time, the drawing generation unit 402 corrects the inclination of the piping line segment when connecting the piping nodes according to the connection relationship of the piping line segment at predetermined angle intervals, and based on the correction angle at the time of the correction, rotationally transforms the three-dimensional position of the piping node, projects the rotationally transformed piping node onto a predetermined two-dimensional plane, and connects the projected piping nodes with drawing line segments according to the connection relationship of the piping line segments, thereby generating the isometric drawing 15B.

[0037] (Hardware Configuration of Each Device) FIG. 5 is a hardware configuration diagram showing an example of a computer 900 that constitutes each device. Each device 2 to 5 in the plant management support system 1 is constituted by a general-purpose or dedicated computer 900.

[0038] As shown in FIG. 5, the main components of the computer 900 include a bus 910, a processor 912, a memory 914, an input device 916, an output device 917, a display device 918, a storage device 920, a communication I / F (interface) unit 922, an external device I / F unit 924, an I / O (input / output) device I / F unit 926, and a media input / output unit 928. Note that the above components may be appropriately omitted according to the use of the computer 900.

[0039] The processor 912 is composed of one or more arithmetic processing units (such as a CPU (Central Processing Unit), MPU (Micro-Processing Unit), DSP (Digital Signal Processor), GPU (Graphics Processing Unit), NPU (Neural Processing Unit), etc.) and operates as a control unit that controls the entire computer 900. The memory 914 stores various data and programs 930 and is composed of, for example, a volatile memory (such as DRAM, SRAM, etc.) that functions as a main memory, a non-volatile memory (ROM), a flash memory, etc.

[0040] The input device 916 is composed of, for example, a keyboard, a mouse, a numeric keypad, an electronic pen, etc., and functions as an input unit. The output device 917 is composed of, for example, a sound (voice) output device, a vibration device, etc., and functions as an output unit. The display device 918 is composed of, for example, a liquid crystal display, an organic EL display, an electronic paper, a projector, etc., and functions as an output unit. The input device 916 and the display device 918 may be integrally configured like a touch panel display. The storage device 920 is composed of, for example, an HDD, an SSD, etc., and functions as a storage unit. The storage device 920 stores various data necessary for the execution of the operating system and the program 930.

[0041] The communication I / F unit 922 is connected to a network 940 (which may be the same as the network 6 in FIG. 1) such as the Internet or an intranet, either wired or wirelessly, and functions as a communication unit that transmits and receives data to and from other computers according to a predetermined communication standard. The external device I / F unit 924 is connected to an external device 950 such as a camera, a printer, a scanner, a reader / writer, etc., either wired or wirelessly, and functions as a communication unit that transmits and receives data to and from the external device 950 according to a predetermined communication standard. The I / O device I / F unit 926 is connected to an I / O device 960 such as various sensors and actuators, and functions as a communication unit that transmits and receives various signals and data such as detection signals from sensors and control signals to actuators to and from the I / O device 960. The media input / output unit 928 is composed of, for example, a drive device such as a DVD drive and a CD drive, a memory card slot, and a USB connector, and reads and writes data to and from a media (non-volatile storage medium) 970 such as a DVD, a CD, a memory card, and a USB memory.

[0042] In the computer 900 having the above configuration, the processor 912 calls and executes the program 930 stored in the storage device 920 in the memory 914, and controls each part of the computer 900 via the bus 910. Note that the program 930 may be stored in the memory 914 instead of the storage device 920. The program 930 may be recorded on the medium 970 in an installable file format or an executable file format, and provided to the computer 900 via the media input / output unit 928. The program 930 may be provided to the computer 900 by downloading via the network 940 through the communication I / F unit 922. Further, the computer 900 may implement various functions realized when the processor 912 executes the program 930 by hardware such as, for example, an FPGA (Field-Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or the like.

[0043] The computer 900 is composed of, for example, a stationary computer or a portable computer, and is an electronic device in any form. The computer 900 may be a client-type computer, a server-type computer, a cloud-type computer, or, for example, an embedded computer called a control panel, a controller (including a microcomputer, a programmable logic controller, a sequencer), or the like.

[0044] (Operation of the plant management support system 1) Hereinafter, a series of operations by the plant management support system 1 will be described. The series of operations are executed by the cooperation of each part of the information processing apparatus 4 (each step of the information processing method executed by the information processing program 411) and the terminal device 5.

[0045] FIG. 6 is a flowchart showing an example of the operation of the plant management support system 1. Hereinafter, it will be described on the assumption that the point cloud data 11, the two-dimensional imaging data 12, and the imaging area data 13 of the plant 10 to be processed are registered in the plant management database 410.

[0046] In step S10, when the terminal device 5 receives, for example, as an input operation by the administrator on the display screen, a selection instruction for the plant 10 to be processed and a generation instruction for the isometric view 15B, the terminal device 5 transmits instruction information based on the input operation to the information processing device 4.

[0047] In step S20, when the data acquisition unit 400 of the information processing device 4 receives the instruction information from the terminal device 5, the data acquisition unit 400 refers to the plant management database 410 and acquires the point cloud data 11, the two-dimensional imaging data 12, and the imaging area data 13 of the plant 10 to be processed.

[0048] In step S30, the object data processing unit 401 performs a pipe object generation process of specifying the three-dimensional position of the pipe 101 based on the point cloud data 11 acquired in step S20 and generating a pipe object 14B, and registers the generated pipe object 14B in the plant management database 410.

[0049] FIG. 7 is a flowchart showing an example of the operation of the pipe object 14B generation process (step S30). FIG. 8 is a first schematic diagram showing an example of the pipe object 14B generation process (step S30). FIG. 9 is a second schematic diagram showing an example of the pipe object 14B generation process (step S30).

[0050] In step S300, based on the point cloud data 11 acquired in step S20, as shown in FIGS. 8 and 9, a plurality of pipe cross-section candidates 1115 (1115A to 1115G) regarded as the cross-section of the pipe 101 are extracted.

[0051] For example, as shown in FIG. 8, in the point cloud data 11, a set of measurement points 110 included within a predetermined range with respect to a specific measurement point 110 is created as a reference point group 1110. Then, any two candidate points 1111A and 1111B included in the reference point group 1110 are selected, and reverse normals 1112A and 1112B are respectively drawn from the two candidate points 1111A and 1111B, and the distance of the closest tangent segment 1114 connecting between the closest contact points 1113A and 1113B where the two reverse normals 1112A and 1112B are closest is obtained as the closest contact distance L1. Next, when the closest contact distance L1 is equal to or less than a predetermined reference distance, a pipe cross-section candidate 1115 is extracted based on the candidate points 1111A and 1111B and the center point 1116 which is the midpoint of the closest contact points 1113A and 1113B at that time, and for the pipe cross-section candidate 1115, the position coordinates Oc, radius Or, and normal vector Onv of the center point 1116 are obtained.

[0052] As described above, by creating a plurality of reference point groups 1110 from the point cloud data 11 and extracting pipe cross-section candidates 1115 for each reference point group 1110, the position coordinates Oc, radius Or, and normal vector Onv are respectively obtained for each pipe cross-section candidate 1115.

[0053] In step S310, a center line 1117 extending in the normal direction of the pipe cross-section candidate 1115 is generated for each pipe cross-section candidate 1115 passing through the center point 1116 of the pipe cross-section candidate 1115. FIG. 9 shows a case where center lines 1117 are respectively generated for six pipe cross-section candidates 1115A to 1115G.

[0054] In step S320, as shown in FIG. 9, the three-dimensional position of the pipe 101 is specified by connecting center lines 1117 that satisfy a predetermined adjacent condition. At this time, for example, when the positional relationship between the center line 1117 with respect to one pipe cross-section candidate 1115 and the center line 1117 with respect to the other pipe cross-section candidate 1115 is such that the distance between the center lines 1117 is equal to or less than a predetermined reference distance and the angle formed by the center lines 1117 is equal to or less than a predetermined reference angle, it is determined that they are linearly connected. Then, taking one pipe cross-section candidate 1115 as the first pipe end and the other pipe cross-section candidate 1115 as the second pipe end, it is assumed that a linear pipe 101 is installed between the first pipe end and the second pipe end, and the three-dimensional position of the pipe 101 is specified. FIG. 9 shows a case where it is specified that the first pipe 101A, for which four pipe cross-section candidates 1115A to 1115D are determined to be linearly connected as the three-dimensional position of the pipe 101, and the second pipe 101B, for which three pipe cross-section candidates 1115E to 1115F are determined to be linearly connected, are installed so as to intersect.

[0055] In step S330, a pipe object 14B is generated based on the result of specifying the three-dimensional position of the pipe 101. At this time, for example, when it is specified that a linear pipe 101 is installed between the first pipe end (the first pipe cross-section candidate 1115) and the second pipe end (the second pipe cross-section candidate 1115), the pipe position information of the pipe object 14B is set as follows: the first pipe end coordinate = the position coordinate Oc of the first pipe cross-section candidate 1115, the second pipe end coordinate = the position coordinate Oc of the second pipe cross-section candidate 1115, the pipe azimuth angle = the azimuth angle formed by the line segment connecting the position coordinate Oc of the first pipe cross-section candidate 1115 and the position coordinate Oc of the second pipe cross-section candidate 1115, and the pipe radius = the average value of the radius Or of the first pipe cross-section candidate 1115 and the radius Or of the second pipe cross-section candidate 1115, respectively.

[0056] In the example of FIG. 9, the pipe position information of the pipe object 14B corresponding to the first pipe 101A is set as follows: the first pipe end coordinate = the position coordinate Oc of the pipe cross-section candidate 1115A, the second pipe end coordinate = the position coordinate Oc of the pipe cross-section candidate 1115D, the pipe azimuth angle = the azimuth angle formed by the line segment connecting the position coordinate Oc of the pipe cross-section candidate 1115A and the position coordinate Oc of the pipe cross-section candidate 1115D, and the pipe radius = the average value of the radius Or of the pipe cross-section candidate 1115A and the radius Or of the pipe cross-section candidate 1115D, respectively. Also, the pipe position information of the pipe object 14B corresponding to the second pipe 101B is set as follows: the first pipe end coordinate = the position coordinate Oc of the pipe cross-section candidate 1115E, the second pipe end coordinate = the position coordinate Oc of the pipe cross-section candidate 1115G, the pipe azimuth angle = the azimuth angle formed by the line segment connecting the position coordinate Oc of the pipe cross-section candidate 1115E and the position coordinate Oc of the pipe cross-section candidate 1115G, and the pipe radius = the average value of the radius Or of the pipe cross-section candidate 1115E and the radius Or of the pipe cross-section candidate 1115G, respectively.

[0057] Returning to the flowchart of FIG. 6, in step S40, the object data processing unit 401 performs a pipe member object generation process of specifying the three-dimensional position of the pipe member 102 based on the point cloud data 11, the two-dimensional imaging data 12, and the imaging region data 13 acquired in step S20, generating a pipe member object 14C, and registering the generated pipe member object 14C in the plant management database 410.

[0058] FIG. 10 is a flowchart showing an example of the operation of the pipe member object generation process (step S40). FIG. 11 is a schematic diagram showing an example of the pipe member object generation process (step S40).

[0059] In step S400, the two-dimensional position of the piping member 102 is recognized from the two-dimensional imaging data 12 obtained in step S20. For recognizing the piping member 102, for example, a pre-trained learning model can be used. The learning model is one in which machine learning is performed using teacher data with annotations regarding the type of the piping member 102 and the existence region indicating the two-dimensional position where the piping member 102 exists, for existing two-dimensional imaging data 12. When using the learning model, by inputting the two-dimensional imaging data 12 into the learning model, the type of the piping member 102 and the detection region 120 indicating the two-dimensional position of the piping member 102 are output. Note that the learning model may be prepared for each type of the piping member 102.

[0060] In step S410, the two-dimensional position (detection region 120) of the piping member 102 is irradiated onto the point cloud data 11 obtained in step S20 via the imaging region data 13 obtained in step S20. For example, as shown in FIG. 11, based on the two-dimensional imaging data 12, an irradiation line 121 extending from the imaging position 130 of the two-dimensional imaging data 12 is generated, passing through the two-dimensional position (detection point 120a on the frame line of the detection region 120) of the piping member 102.

[0061] In step S420, based on the proximity measurement points 1120 that satisfy a predetermined proximity condition with the irradiation line 121 among the respective measurement points 110 included in the point cloud data 11, the three-dimensional position of the piping member 102 is specified. For example, when proximity measurement points 1120 are respectively specified for each detection point 120a, assuming that the piping member 102 is installed at the central point 1121 inside each proximity measurement point 1120, the three-dimensional position of the piping member 102 is specified. FIG. 11 illustrates a case where four proximity measurement points 1120 are specified and it is specified that the piping member 102 is installed at the central point 1121 of those four proximity measurement points 1120.

[0062] In step S430, a piping member object 14C is generated based on the result of specifying the three-dimensional position of the piping member 102. At this time, for example, when it is specified that the piping member 102 is installed inside a plurality of proximity measurement points 1120, the piping member position information of the piping member object 14C is set as the piping member coordinates = the position coordinates Oc of the center point 1121, as shown in FIG. 11.

[0063] Returning to the flowchart of FIG. 6, in step S50, the drawing generation unit 402 performs a drawing generation process of generating an isometric view 15B of the pipe 101 and the piping member 102 based on the pipe object 14B generated in step S30 and the piping member object 14C generated in step S40, and registers the generated isometric view 15B in the plant management database 410.

[0064] FIG. 12 is a flowchart showing an example of the operation of the generation process (step S50) of the isometric view 15B. FIGS. 13A and 13B are schematic diagrams showing an example of the generation process (step S50) of the isometric view 15B.

[0065] In step S500, based on the pipe position information included in the pipe object 14B generated in step S30, the three-dimensional positions of the pipe nodes 140 (140a to 140d) indicating the bending points or kinking points of the pipe 101 and the connection relationship of the pipe line segments 142 (142a to 142c) connecting between the pipe nodes 140 are specified. For example, based on the pipe end coordinates, two pipes 101 whose pipe ends are connected are specified, the pipe azimuth angle of one pipe 101 and the pipe azimuth angle of the other pipe 101 are compared, and when it is considered to be bent or kinked, the midpoint of the pipe end coordinates of the two pipes 101 is specified as the pipe node 140. Then, the connection relationship of the pipe line segments 142 is specified so as to be represented by a graph having the pipe node 140 (the black squares in FIGS. 13A and 13B) as nodes and the pipe line segments 142 (the solid lines in FIGS. 13A and 13B) as links.

[0066] In step S501, based on the piping member position information included in the piping member object 14C generated in step S40, the three-dimensional position of the piping member node 141 (141a, 141b) indicating the installation point of the piping member 102 and the installation relationship of the piping member node 141 with respect to the piping line segment 142 are specified. For example, assuming that the piping member node 141 (black circles in FIGS. 13A and 13B) is located at the piping member coordinates of the piping member 102, the installation relationship of the piping member node 141 is specified by specifying the piping line segment 142 that overlaps or is adjacent to the piping member node 141.

[0067] In step S510, based on the connection relationship of the piping line segment 142 specified in step S500, among the piping nodes 140 specified in step S500, the piping node 140 that is the starting point and the piping node 140 that is connected adjacent to the piping node 140 are selected as a pair of the piping nodes 140 to be processed. FIG. 13A shows a case where the piping nodes 140a and 140b are selected as a pair of the piping nodes 140 to be processed. FIG. 13B shows a case where the piping nodes 140b and 140c are specified as the next pair of the piping nodes 140 to be processed in step S540 described later.

[0068] In step S520, based on the pair of the piping nodes 140 to be processed, the piping line segment 143 to be processed that connects the piping node 140 on the starting point side and the piping node 140 on the opposite side is specified. FIG. 13A shows a case where the piping line segment 142a is specified as the piping line segment 143 to be processed. FIG. 13B shows a case where the piping line segment 142b is specified as the piping line segment 143 to be processed.

[0069] In step S521, the pipeline segment 143 to be processed is projected onto the X-Y plane with the pipeline node 140 on the starting side as the origin, and a correction process is performed to correct the inclination of the X-Y plane line segment 143a projected onto the X-Y plane at predetermined angular intervals. In the correction process, for example, when the inclination is from 0° to 7°, it is corrected to "0°", when the inclination is from "8° to 22°", it is corrected to "15°", and when the inclination is from 23° to 37°, it is corrected in 15° increments such as "30°". At that time, the vector indicating the correction angle when the inclination of the X-Y plane line segment 143a is corrected is referred to as the X-Y plane correction vector 144a, and the corrected X-Y plane line segment is referred to as the X-Y plane corrected line segment 143b.

[0070] In step S522, the X-Y plane corrected line segment 143b is projected onto the Y-Z plane with the pipeline node 140 on the starting side as the origin, and a correction process is performed to correct the inclination of the Y-Z plane line segment 143c projected onto the Y-Z plane at predetermined angular intervals in the same manner as in step S521. At that time, the vector indicating the correction angle when the inclination of the Y-Z plane line segment 143c is corrected is referred to as the Y-Z plane correction vector 144b, and the corrected Y-Z plane line segment is referred to as the Y-Z plane corrected line segment 143d.

[0071] In step S523, the Y-Z plane corrected line segment 143d is projected onto the Z-X plane with the pipeline node 140 on the starting side as the origin, and a correction process is performed to correct the inclination of the Z-X plane line segment 143e projected onto the Z-X plane at predetermined angular intervals in the same manner as in step S521. At that time, the vector indicating the correction angle when the inclination of the Z-X plane line segment 143e is corrected is referred to as the Z-X plane correction vector 144c, and the corrected Z-X plane line segment is referred to as the Z-X plane corrected line segment 143f.

[0072] In step S530, the composite correction vector 145 is calculated by synthesizing the X-Y plane correction vector 144a, the Y-Z plane correction vector 144b, and the Z-X plane correction vector 144c.

[0073] In step S531, with the piping node 140 on the starting point side as the origin, the three-dimensional positions of each piping node 140 following the piping node 140 on the starting point side and the three-dimensional positions of each piping member node 141 installed on each pipeline segment 142 following the piping node 140 on the starting point side are rotationally transformed by the composite correction vector 145, and the three-dimensional positions of each piping node 140 and each piping member node 141 are updated. FIG. 13A shows a case where, with the piping node 140a as the origin, the piping nodes 140b to 140d following the piping node 140a and the piping member nodes 141a and 141b are rotationally transformed by the composite correction vector 145. FIG. 13B shows a case where, with the piping node 140b as the origin, the piping nodes 140c and 140d following the piping node 140b and the piping member nodes 141a and 141b are rotationally transformed by the composite correction vector 145.

[0074] In step S540, the piping node 140 on the opposite side and the piping node 140 connected adjacent to the piping node 140 are selected as a pair of piping nodes 140 to be the next processing target. FIG. 13B shows a case where, as described above, the piping nodes 140b and 140c are specified as a pair of piping nodes 140 to be the next processing target.

[0075] In step S550, if there is a pair of piping nodes 140 to be the next processing target (step S550: Yes), return to step S520 and repeat each step after step S520 above. On the other hand, in step S550, if there is no pair of piping nodes 140 to be the next processing target (step S550: No), proceed to step S560.

[0076] In step S560, the three-dimensional positions of each piping node 140 and each piping member node 141 updated in step S531 are projected onto a predetermined two-dimensional plane. At this time, the plant nose (PN) may be further rotationally transformed with respect to the three-dimensional positions of each piping node 140 and each piping member node 141 so as to match a predetermined direction on the drawing, and then projected onto the two-dimensional plane.

[0077] In step S561, the projection positions 150 of each piping node 140 projected in step S560 are connected by a drawing line segment 152 according to the connection relationship of the piping line segments 142, and the projection positions 151 of each piping member node 141 projected in step S560 are denoted by a drawing symbol 153 according to the installation relationship of the piping member nodes 141, thereby generating an isometric view 15B (see FIG. 14 described later).

[0078] FIG. 14 is a diagram showing an example of the isometric view 15B. The isometric view 15B is represented by, for example, a drawing line segment 152 connecting the projection positions 150 corresponding to the piping nodes 140 and a drawing symbol 153 denoted at the projection positions 151 corresponding to the piping member nodes 141. The drawing symbol 153 is, for example, a symbol corresponding to the type of the piping member 102 used by recognizing the type of the piping member 102 when recognizing the two-dimensional position of the piping member 102 from the two-dimensional imaging data 12 in step S400. Note that the isometric view 15B in FIG. 14 shows a part of the plant 10, but an isometric view 15B of the entire plant 10 may be generated, or an isometric view 15B of a range designated by, for example, an administrator may be generated.

[0079] Returning to the flowchart of FIG. 6, in step S60, the display information generation unit 403 generates display information for displaying the isometric view 15B generated in step S50 and transmits it to the terminal device 5. In step S70, when the terminal device 5 receives the display information from the information processing device 4, it displays the isometric view 15B based on the display information.

[0080] By performing the above series of processes, the isometric view 15B generated by the information processing device 4 is registered in the plant management database 410 and presented to the administrator. In the above series of processes, step S20 corresponds to a data acquisition process, steps S30 and S40 correspond to an object data processing process, step S50 corresponds to a drawing generation process, and step S60 corresponds to display information generation, respectively.

[0081] As described above, according to the information processing apparatus 4 and the information processing method according to the present embodiment, the object data processing unit 401 generates a pipe object 14B including pipe position information indicating the three-dimensional position of the pipe 101 from the point cloud data 11, and the drawing generation unit 402 generates an isometric view 15B based on the pipe position information included in the pipe object 14B. Thereby, the isometric view 15B of the pipe 101 can be generated from the point cloud data 11 without preparing a three-dimensional model of the plant 10 in advance.

[0082] Further, the object data processing unit 401 recognizes the two-dimensional position of the pipe member 102 from the two-dimensional captured data 12, and irradiates the two-dimensional position of the pipe member 102 to the point cloud data 11 via the captured area data 13, thereby generating a pipe member object 14C including pipe member position information indicating the three-dimensional position of the pipe member 102. The drawing generation unit 402 generates an isometric view 15B based on the pipe position information included in the pipe object 14B and the pipe member position information included in the pipe member object 14C. Thereby, the isometric view 15B of the pipe 101 and the pipe member 102 can be generated from the point cloud data 11, the two-dimensional captured data 12, and the captured area data 13 without preparing a three-dimensional model of the plant 10 in advance.

[0083] (Other Embodiments) The present invention is not limited to the above-described embodiments, and various modifications can be made and implemented without departing from the gist of the present invention. And all of them are included in the technical idea of the present invention.

[0084] In the above embodiment, the functions of each unit included in the information processing apparatus 4 have been described as being realized by one device, but the functions of each unit may be realized by a plurality of devices by being distributed to the plurality of devices. Further, the control unit of the terminal device 5 may function as the information processing apparatus 4 by executing the information processing program 411.

[0085] In the above-described embodiment, the case where the plant management support system 1 operates according to the flowchart shown in FIG. 6 has been described. However, the execution order of each step may be appropriately changed, or some steps may be omitted. For example, in step S50, when generating only the isometric view 15B of the pipe 101, in step S20, only the point cloud data 11 may be acquired, and step S40 may be omitted. Further, when generating other types of drawing data 15 such as the orthographic view 15A, instead of or in addition to step S50, a step of generating other types of drawing data 15 based on the pipe object 14B and the pipe member object 14C may be performed. Furthermore, in the example of FIG. 6, the case where steps S20 to S50 are performed after step S10 has been described. However, steps S20 to S40 may be performed in advance before step S10, and then proceed to step S50 after step S10. In step S50, based on the pipe object 14B and the pipe member object 14C generated in advance, an isometric view 15B or other types of drawing data 15 may be generated.

Explanation of Signs

[0086] 1... Plant management support system, 2... Three-dimensional measuring device, 3... Two-dimensional imaging device, 4... Information processing device, 5... Terminal device, 6... Network, 10... Plant, 40... Control unit, 41... Storage unit, 42... Communication unit, 43... Input unit, 44... Display unit, 100... Equipment, 101... Pipe, 102... Pipe member, 400... Data acquisition unit, 401... Object data processing unit, 402... Drawing generation unit, 403... Display information generation unit, 410... Plant management database, 411... Information processing program

Claims

1. An information processing device that supports management of a plant including piping and piping members associated with the piping as components, a data acquisition unit that acquires point cloud data obtained by measuring the plant using a three-dimensional measuring device; an object data processing unit that identifies a three-dimensional position of the pipe from the point cloud data and generates a pipe object including pipe position information indicating the three-dimensional position of the pipe; a drawing generating unit that generates an isometric drawing of the piping by identifying three-dimensional positions of piping nodes indicating curved or inflected points of the piping and connection relationships of piping line segments connecting the piping nodes based on the piping position information included in the piping object, and connecting the piping nodes with drawing line segments according to the connection relationships. Information processing device.

2. The object data processing unit includes: Extracting a plurality of pipe cross-section candidates that are regarded as cross-sections of the pipe based on the point cloud data; A center line passing through a center point of the piping cross section candidate and extending in a normal direction of the piping cross section candidate is generated for each of the piping cross section candidates; identifying the three-dimensional position of the pipe by connecting the center lines that satisfy a predetermined adjacency condition; The information processing device according to claim 1 .

3. The drawing generating unit includes: correcting an inclination of the piping line segment when the piping nodes are connected in accordance with the connection relationship in increments of a predetermined angle; The three-dimensional position of the piping node is rotated and transformed based on the correction angle at the time of the correction. The rotationally transformed piping node is projected onto a predetermined two-dimensional plane; The isometric drawing is generated by connecting the projected piping nodes with drawing lines according to the connection relationships.

3. The information processing device according to claim 1 or 2.

4. The data acquisition unit is Acquiring two-dimensional photographing data obtained by photographing the plant with a two-dimensional photographing device and photographing area data indicating a photographing area of ​​the plant where the two-dimensional photographing data was photographed; The object data processing unit includes: A two-dimensional position of the piping member is recognized from the two-dimensional photographing data, and the two-dimensional position of the piping member is projected onto the point cloud data via the photographing region data, thereby specifying a three-dimensional position of the piping member; generating a piping member object including piping member position information indicating the three-dimensional position of the piping member; The drawing generating unit includes: Based on the pipe position information included in the pipe object, a three-dimensional position of a pipe node indicating a curved or inflected point of the pipe and a connection relationship of a pipe line segment connecting the pipe nodes are identified, and based on the pipe member position information included in the pipe member object, a three-dimensional position of a pipe member node indicating an installation point of the pipe member and an installation relationship of the pipe member node with respect to the pipe line segment are identified; generating an isometric drawing of the piping and the piping components by connecting the piping nodes with drawing lines according to the connection relationships and expressing the piping component nodes with drawing symbols according to the installation relationships; The information processing device according to claim 1 .

5. The object data processing unit includes: generating a radiation line passing through a two-dimensional position of the piping member and extending from an imaging position of the two-dimensional imaging data based on the two-dimensional imaging data; identifying the three-dimensional position of the piping member based on the measurement points that satisfy a predetermined proximity condition with respect to the irradiation line, among the measurement points included in the point cloud data; The information processing device according to claim 4.

6. The drawing generating unit includes: correcting an inclination of the piping line segment when the piping nodes are connected in accordance with the connection relationship in increments of a predetermined angle; Rotating and transforming the three-dimensional positions of the piping nodes and the piping member nodes based on the correction angle; The rotationally transformed piping nodes and piping component nodes are projected onto a predetermined two-dimensional plane; The projected piping nodes are connected with drawing lines in accordance with the connection relationships, and the projected piping member nodes are represented by drawing symbols in accordance with the installation relationships, thereby generating the isometric drawing.

6. The information processing device according to claim 4 or 5.

7. 1. An information processing method for supporting management of a plant including, as components, piping and piping members associated with the piping, by a computer, comprising: a data acquisition step of acquiring point cloud data obtained by measuring the plant using a three-dimensional measuring device; an object data processing step of identifying a three-dimensional position of the piping from the point cloud data and generating a piping object including piping position information indicating the three-dimensional position of the piping; a drawing generating process for generating an isometric drawing of the piping by identifying three-dimensional positions of piping nodes indicating curved or inflected points of the piping and connection relationships of piping line segments connecting the piping nodes based on the piping position information included in the piping object, and connecting the piping nodes with drawing line segments according to the connection relationships. Information processing methods.

Images