Information processing device

Abstract

To provide an information processing device capable of easily creating a development of a building using point cloud data.SOLUTION: An information processing device 10 includes: an acquisition unit 11A that acquires point cloud data that is obtained by 3D imaging of an area including a wall in the interior of a building that has internal walls; and a configuring unit 11B that configures the wall on a drawing using a point cloud that is constituted of the furthest points in an outward direction from a predetermined position within the point cloud represented by the point cloud data in the point cloud data acquired by the acquisition unit 11A.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an information processing device. [Background technology]

[0002] Traditionally, 3D photography in the construction industry using 3D scanners (hereinafter referred to as "3D scanners") has been conducted outdoors, similar to the civil engineering field, targeting the building framework, exterior, and equipment. Furthermore, 3D photography is also conducted semi-outdoors (rooftops hidden by privacy walls, dry areas, pilotis, etc.) and indoors, targeting the building framework, interior, and equipment.

[0003] The point cloud data obtained by 3D photography using this 3D scanner is used to check the site and current situation using a personal computer, etc.

[0004] The following technologies are available that utilize point cloud data obtained by such 3D scanners.

[0005] Patent Document 1 discloses a CAD data creation device that creates CAD data for drawing a CAD drawing from a set of points.

[0006] This CAD data creation device includes a point cloud data acquisition unit that acquires the position and shape of an object as point cloud data and displays a point cloud on a display unit based on the point cloud data.The CAD data creation device also includes a point cloud designation unit that designates a point cloud that represents components that constitute the object from the acquired point cloud that represents the object, and a point cloud division unit that distinguishes the point cloud data that is the source of the point cloud that represents the designated components from other point cloud data.

[0007] Furthermore, Patent Document 2 discloses a floor plan creation method that aims to make it possible to easily create floor plans.

[0008] This floor plan creation method includes the steps of: acquiring measurement data including three-dimensional point cloud data of the interior of a room using a measuring device; acquiring a three-dimensional model of the interior of the room based on the three-dimensional point cloud data; and creating a floor plan of the interior of the room based on the three-dimensional model. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-323461 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-151744 Summary of the Invention [Problem to be solved by the invention]

[0010] Incidentally, there is a demand for creating a development drawing of a building using point cloud data obtained by three-dimensionally photographing an area including an interior wall of the building using a 3D scanner.

[0011] However, when the technology described in Patent Document 1 is applied to create the development diagram, it is necessary to specify a point group indicating a wall surface or the like as the object, which is a time-consuming process.

[0012] Furthermore, although the technology described in Patent Document 2 describes how to obtain a three-dimensional model of the interior of a room, it does not describe how to construct the walls of a building, etc., and this technology also has the problem that it is not necessarily easy to create an unfolded view of a building.

[0013] The present disclosure has been made in consideration of the above circumstances, and aims to provide an information processing device that can easily create a development diagram of a building using point cloud data. [Means for solving the problem]

[0014] The information processing device according to the present invention as set forth in claim 1 includes an acquisition unit that acquires point cloud data obtained by three-dimensionally capturing an area including a wall surface inside a building having the wall surface inside, and a configuration unit that configures the wall surface on a drawing using a point cloud that is configured by a point in the point cloud data acquired by the acquisition unit that is the farthest point outward from a predetermined position inside the point cloud indicated by the point cloud data. The predetermined internal position is the center position in a three-dimensional coordinate system of the point cloud indicated by the point cloud data. .

[0015] According to the information processing device of the present invention as set forth in claim 1, point cloud data is obtained by taking 3D images of an area including a wall inside a building having the wall, and the wall on the drawing is constructed using a point cloud formed by the point farthest outward from a predetermined position inside the point cloud indicated by the point cloud data in the acquired point cloud data. As a result, the wall on the drawing of the building can be constructed without human intervention, and it is easy to create an unfolded drawing of the building using point cloud data.

[0016] The information processing device according to the present invention as set forth in claim 2 is the information processing device as set forth in claim 1, further comprising a rotation unit that rotates the point cloud data so that, when the point cloud represented by the point cloud data is viewed from above, the perimeter of a rectangular frame that circumscribes the point cloud and has one side horizontal in a planar view is minimized.

[0017] According to the information processing device of the present invention as set forth in claim 2, when the point cloud represented by the point cloud data is viewed from above, the point cloud data is rotated so that the perimeter of a rectangular frame that circumscribes the point cloud and has one side horizontal in a plan view is minimized. This makes it possible to adjust the horizontal direction of the point cloud in a plan view without manual intervention, thereby making it easier to create an unfolded drawing of a building using point cloud data.

[0018] The information processing device of the present invention as set forth in claim 3 is the information processing device as set forth in claim 1 or claim 2, further comprising a creation unit that creates an unfolded view by unfolding an elevation projected orthogonally from a predetermined position inside the device toward the wall surface formed by the component unit.

[0019] According to the information processing device of the present invention as set forth in claim 3, an unfolded drawing can be created by unfolding an elevation projected orthogonally from a predetermined position inside the building toward the wall surface formed by the component, thereby making it easier to create an unfolded drawing of a building using point cloud data. [Effects of the Invention]

[0020] As described above, according to the present invention, it is possible to easily create a development drawing of a building using point cloud data. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a block diagram illustrating an example of a hardware configuration of an information processing system according to an embodiment. [Figure 2] FIG. 1 is a perspective view showing an example of the configuration of a 3D scanner according to an embodiment. [Figure 3] FIG. 2 is a block diagram illustrating an example of a functional configuration of the information processing device according to the embodiment. [Figure 4] FIG. 2 is a schematic diagram illustrating an example of a configuration of a scan information database according to the embodiment. [Figure 5] 10 is a flowchart illustrating an example of information processing according to the embodiment. [Figure 6] FIG. 1 is a diagram for explaining information processing according to an embodiment, and is a perspective view showing an example of a point cloud. [Figure 7A] FIG. 10 is a diagram for explaining information processing according to the embodiment, and is a plan view showing an example of a state of rotation processing of point cloud data. [Figure 7B] FIG. 10 is a diagram for explaining information processing according to the embodiment, and is a plan view showing an example of a state of rotation processing of point cloud data. [Figure 8] FIG. 10 is a diagram provided for explaining information processing according to the embodiment, and is a plan view showing an example of a state of wall surface configuration processing. [Figure 9] FIG. 10 is a diagram provided for explaining information processing according to the embodiment, and is a plan view showing an example of a state of wall surface smoothing processing. [Figure 10] FIG. 10 is a diagram for explaining information processing according to the embodiment, and is a plan view showing an example of a state of development drawing creation processing. [Figure 11] FIG. 10 is a front view showing an example of a development view presentation screen according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0023] First, the configuration of an information processing system 90 according to this embodiment will be described with reference to Figs. 1 to 3. Fig. 1 is a block diagram showing an example of the hardware configuration of the information processing system 90 according to this embodiment. Fig. 2 is a perspective view showing an example of the configuration of a 3D scanner 50 according to this embodiment. Furthermore, Fig. 3 is a block diagram showing an example of the functional configuration of an information processing device 10 according to this embodiment.

[0024] 1, an information processing system 90 according to this embodiment includes an information processing device 10 and a 3D scanner 50. Examples of the information processing device 10 include general-purpose or dedicated information processing devices such as a personal computer and a server computer.

[0025] An information processing device 10 according to this embodiment includes a CPU (Central Processing Unit) 11, a memory 12 as a temporary storage area, a non-volatile storage unit 13, an input unit 14 such as a keyboard and a mouse, a display unit 15 such as a liquid crystal display, a medium read / write device (R / W) 16, and a communication interface (I / F) unit 18. The CPU 11, memory 12, storage unit 13, input unit 14, display unit 15, medium read / write device 16, and communication I / F unit 18 are connected to one another via a bus B. The medium read / write device 16 reads information written in a recording medium 17 and writes information to the recording medium 17.

[0026] The storage unit 13 is realized by an HDD (Hard Disk Drive), an SSD (Solid State Drive), a flash memory, or the like. An information processing program 13A is stored in the storage unit 13 as a storage medium. The information processing program 13A is stored in the storage unit 13 when a recording medium 17 on which the information processing program 13A is written is set in the medium reading and writing device 16 and the medium reading and writing device 16 reads the information processing program 13A from the recording medium 17. The CPU 11 reads the information processing program 13A from the storage unit 13, expands it in the memory 12, and sequentially executes the processes of the information processing program 13A.

[0027] Furthermore, a scan information database 13B is stored in the storage unit 13. The scan information database 13B will be described in detail later.

[0028] 1, the 3D scanner 50 according to this embodiment is configured to include a scanner main body 52 and a storage unit 58. Although not shown, the 3D scanner 50 according to this embodiment also includes a motor for changing the imaging direction of the scanner main body 52 when performing 3D imaging with the scanner main body 52, a control unit for controlling the operation of each unit such as the motor and the scanner main body 52, etc.

[0029] 2, the 3D scanner 50 according to this embodiment has a scanner body 52 provided on the top of tripod legs 60, and the imaging direction of the scanner body 52 can be changed by driving the motor described above at the top of the legs 60. It goes without saying that the legs 60 are not limited to tripods.

[0030] The 3D scanner 50 according to this embodiment employs a so-called time-of-flight system in which a laser beam is emitted from the scanner body 52, the distance is calculated from the time it takes for the laser beam to reflect off the object and return, and the emission angle of the laser beam is calculated from the direction of movement of the scanner body 52, and the three-dimensional position is determined using these calculated values. However, the method for determining the three-dimensional position using the 3D scanner 50 is not limited to this. For example, the 3D scanner 50 may employ a so-called phase-shift system in which a laser beam modulated in multiple ways is emitted from the scanner body 52, the distance to the object is determined based on the phase difference of the diffuse reflection component that hits the object and returns, and the three-dimensional position is determined based on the distance and the emission angle of the laser beam.

[0031] Furthermore, in the 3D scanner 50 according to this embodiment, in addition to coordinate information indicating the coordinates of the three-dimensional position of each point, reflection intensity information indicating the reflection intensity of the laser light at the corresponding point and color information indicating the color of the corresponding point are acquired as point cloud data. Then, in the 3D scanner 50 according to this embodiment, the acquired coordinate information, reflection intensity information, and color information are associated with each point in the point cloud data and stored in the storage unit 58. However, this is not limited to this form, and for example, the point cloud data may store only coordinate information, a combination of coordinate information and reflection intensity information, or a combination of coordinate information and color information.

[0032] Note that, in the information processing system 90 according to the present embodiment, the various pieces of information stored in the storage unit 58 of the 3D scanner 50 are transmitted to the information processing device 10 by wired communication, but the present invention is not limited to this. For example, the various pieces of information stored in the storage unit 58 of the 3D scanner 50 may be transmitted to the information processing device 10 by wireless communication. Alternatively, the storage unit 58 may be a portable storage medium that is detachable from the 3D scanner 50, and the various pieces of information stored in the storage unit 58 of the 3D scanner 50 may be transferred to the information processing device 10 via the storage medium. Furthermore, the various pieces of information stored in the storage unit 58 of the 3D scanner 50 are not limited to being transmitted directly to the information processing device 10, and may be transmitted to the information processing device 10 via a cloud server, for example.

[0033] Next, the functional configuration of the information processing device 10 according to this embodiment will be described with reference to Fig. 3. As shown in Fig. 3, the information processing device 10 according to this embodiment includes an acquisition unit 11A, a configuration unit 11B, a rotation unit 11C, and a creation unit 11D. When the CPU 11 of the information processing device 10 executes an information processing program 13A, it functions as the acquisition unit 11A, the configuration unit 11B, the rotation unit 11C, and the creation unit 11D.

[0034] The acquisition unit 11A according to this embodiment acquires point cloud data obtained by three-dimensionally capturing an area including a wall surface inside a building with the wall surface using a 3D scanner 50.

[0035] Furthermore, the construction unit 11B according to this embodiment constructs the wall surface on the drawing using a point cloud formed by the point cloud data acquired by the acquisition unit 11A, the point being the farthest point outward from a predetermined position within the point cloud indicated by the point cloud data. In this embodiment, the predetermined position within the interior is the center position in a three-dimensional coordinate system of the point cloud indicated by the point cloud data, but this is not limiting. For example, each position on the vertical central axis of the point cloud may be used as the predetermined position within the interior. Furthermore, the predetermined position within the interior is not limited to these center positions or positions on the central axis, and any position within the building may be used.

[0036] Furthermore, the component 11B according to this embodiment smoothes the wall surfaces on the drawing obtained by the above processing using the least squares method.

[0037] Furthermore, the rotation unit 11C according to this embodiment rotates the point cloud data so that, when the point cloud indicated by the point cloud data is viewed from above, the perimeter of a rectangular frame that circumscribes the point cloud and has one side horizontal in a plan view is minimized.The creation unit 11D according to this embodiment then creates a development view by developing an elevation that is orthographically projected from a predetermined position inside the point cloud toward the wall surface constructed by the construction unit 11B.

[0038] To avoid confusion, the following description will be given assuming that the interior of the building to be processed (hereinafter referred to as the "target building") is rectangular parallelepiped-shaped, but this is not limiting. For example, the target building may be a building with other interior shapes, such as a shape with uneven walls, a triangular prism, a polygonal prism with five or more sides, a circular cylinder in a plan view, or an elliptical cylinder in a plan view.

[0039] Next, the scan information database 13B according to this embodiment will be described with reference to Fig. 4. Fig. 4 is a schematic diagram showing an example of the configuration of the scan information database 13B according to this embodiment.

[0040] As shown in FIG. 4, the scan information database 13B according to this embodiment stores information on coordinates, reflection intensity, and color in association with each other.

[0041] The coordinates are the above-mentioned coordinate information indicating the coordinates of the positions of the points obtained by three-dimensional imaging using the 3D scanner 50, the reflection intensity is the above-mentioned reflection intensity information at the corresponding points, and the color is the above-mentioned color information at the corresponding points. That is, the scan information database 13B according to this embodiment is a database in which point cloud data of coordinate information, reflection intensity information, and color information obtained by three-dimensional imaging using the 3D scanner 50 is registered.

[0042] Next, the operation of the information processing system 90 according to this embodiment will be described with reference to FIGS. 5 to 11. FIG. 5 is a flowchart showing an example of information processing according to this embodiment. FIG. 6 is a diagram for explaining information processing according to this embodiment, and is a perspective view showing an example of a point cloud. FIGS. 7A and 7B are diagrams for explaining information processing according to this embodiment, and are plan views showing an example of a state of rotation processing of point cloud data. FIG. 8 is a diagram for explaining information processing according to this embodiment, and is a plan view showing an example of a state of wall surface configuration processing. FIG. 9 is a diagram for explaining information processing according to this embodiment, and is a plan view showing an example of a state of wall surface smoothing processing. FIG. 10 is a diagram for explaining information processing according to this embodiment, and is a plan view showing an example of a state of development drawing creation processing. FIG. 11 is a front view showing an example of a development drawing presentation screen according to this embodiment.

[0043] A photographer performing 3D photography takes 3D images of an area including a wall inside a target building using a 3D scanner 50. To avoid confusion, the following describes a case where the area to be photographed can be covered with a single 3D photograph using the 3D scanner 50, but this is not limiting. If the area to be photographed cannot be covered with a single 3D photograph using the 3D scanner 50, 3D photography can be performed multiple times, and the point cloud data obtained from each 3D photograph can be synthesized.

[0044] By this three-dimensional imaging, the above-mentioned coordinate information, reflection intensity information, and color information of the imaging target area are obtained and temporarily stored in the storage unit 58.

[0045] Thereafter, the photographer performs an operation to transmit the coordinate information, reflection intensity information, and color information stored in the 3D scanner 50 to the information processing device 10.

[0046] When the above-mentioned information is received from the 3D scanner 50, the information processing device 10 registers the received information in the scan information database 13B. By registering this information, the scan information database 13B shown in Fig. 4 as an example is constructed.

[0047] In this state, the user of the information processing device 10 inputs an instruction to start execution of the information processing program 13A via the input unit 14. In response to this instruction input, the CPU 11 of the information processing device 10 executes the information processing program 13A, thereby executing the information processing shown in FIG.

[0048] In step 100 of FIG. 5, the CPU 11 reads all information (hereinafter referred to as "point cloud data") from the scan information database 13B.

[0049] In step 102, the CPU 11 uses the coordinate information in the read point cloud data to identify a predetermined position within the point cloud 82 that indicates the interior of the target building 80, as shown, for example, in FIG. 6, and that is indicated by the coordinate information. In this embodiment, as described above, the center position C (see also FIG. 8) in the three-dimensional coordinate system of the point cloud 82 is used as the predetermined position within the interior. Note that, for convenience, in FIG. 6, each point 82A of the point cloud 82 is illustrated larger than it actually is. Furthermore, to avoid confusion, in FIG. 6, objects such as equipment piping, columns, beams, and tables that are provided within the target building 80, as well as point clouds of the walls on the left and rear sides of the target building 80 in FIG. 6 are not illustrated.

[0050] In step 104, the CPU 11 performs a rotation process to rotate the point cloud data so that the perimeter (= L1 + L2 + L3 + L4) of a rectangular frame 88 that circumscribes the point cloud 82 and has one side in the horizontal direction in a plan view is minimized, as shown in Fig. 7A for example. This rotation process allows the orientation of the target building 80 indicated by the point cloud 82 to be adjusted to the horizontal direction in a plan view, as shown in Fig. 7B for example.

[0051] In step 106, the CPU 11 performs wall surface configuration processing to identify, in the point cloud data that has undergone the rotation processing, a point 82A that is farthest outward from a predetermined position inside the point cloud 82 represented by the point cloud data, as a point that constitutes a wall surface on the drawing of the target building 80, as shown in FIG. 8 as an example. As described above, in this embodiment, the center position C is used as the predetermined position inside the point cloud. Therefore, in this embodiment, positions indicated by the coordinate information of each point cloud 82 are searched for radially outward from the center position C in an area excluding the ceiling and floor surfaces of the target building 80, and point 82A that is farthest from the center position C is identified as a point that constitutes a wall surface on the drawing of the target building 80. By this wall surface configuration processing, as shown in FIG. 8 as an example, it is possible to identify a point cloud 82 that indicates wall surfaces excluding objects 89, such as equipment piping, pillars, and tables, that are installed inside the target building 80.

[0052] In step 108, the CPU 11 stores information indicating the identified point cloud 82 in a predetermined area of ​​the storage unit 13 as points that constitute the wall surface on the drawing of the target building 80. In step 110, the CPU 11 performs wall surface smoothing processing, as shown in Figure 9 as an example, for each of the points 82A that constitute the wall surface on the drawing of the target building 80 obtained by the above processing, in which a set of straight lines 87 in the height direction, drawn so that the difference in the horizontal direction is minimized using the least squares method, represents the wall surface itself on the drawing. In this wall surface smoothing processing, the CPU 11 moves the coordinate information indicating the position of each of the points 82A that constitute the wall surface on the drawing in the point cloud 82 to the position of the closest straight line 87.

[0053] In this embodiment, the wall surface smoothing process is performed by applying the least squares method, but the method is not limited to this. If it is desired to make the wall surface on the drawing of the target building 80 smoother, smoothing may be performed using a spline function, for example.

[0054] In step 112, the CPU 11 uses the point cloud data that has undergone the above processing to create a development drawing by developing an elevation that is orthogonally projected from the center position C toward the direction of wall surfaces 86A to 86D on the drawing indicated by the point cloud data, as shown in Figure 10 as an example.

[0055] In step 114, the CPU 11 controls the display unit 15 to display a development presentation screen having a predetermined configuration using the created development, and in step 116, the CPU 11 waits until predetermined information is input.

[0056] Fig. 11 shows an example of a development plan presentation screen according to this embodiment. As shown in Fig. 11, on the development plan presentation screen according to this embodiment, the development plan of the target building 80 created by the processing of step 112 is displayed so that the floor surface 84 is located in the center. When the development plan presentation screen shown in Fig. 11 as an example is displayed on the display unit 15, the user checks the displayed content and then selects the end button 15A via the input unit 14. When the end button 15A is selected by the user, a positive determination is made in step 116, and this information processing ends.

[0057] As described above, the information processing device 10 according to this embodiment includes an acquisition unit 11A that acquires point cloud data obtained by 3D imaging an area including a wall surface inside a building having the wall surface, and a configuration unit 11B that configures the wall surface on a drawing using a point cloud configured from the point indicated by the point cloud data acquired by the acquisition unit 11A that is farthest outward from a predetermined position inside the point cloud. Therefore, the wall surface on the drawing of the building can be configured without human intervention, and as a result, it is easy to create a development drawing of the building using the point cloud data.

[0058] Furthermore, according to the information processing device 10 of this embodiment, when the point cloud represented by the point cloud data is viewed from above, the point cloud data is rotated so that the perimeter of a rectangular frame that circumscribes the point cloud and has one side horizontal in a plan view is minimized. Therefore, the horizontal adjustment of the point cloud in a plan view can be performed without manual intervention, making it easier to create a development drawing of a building using point cloud data.

[0059] Furthermore, according to the information processing device 10 of this embodiment, a development drawing is created by developing an elevation that is orthographically projected from a predetermined position inside the building toward the wall surface configured by the component unit 11B. This makes it easier to create a development drawing of a building using point cloud data.

[0060] In the above embodiment, the case where the wall surface configuration process is performed after the rotation process is described, but the present invention is not limited to this. For example, the rotation process may be performed after the wall surface configuration process.

[0061] Furthermore, in the above embodiment, for example, the following various processors can be used as the hardware structure of the processing units that execute the processes of the acquisition unit 11A, configuration unit 11B, rotation unit 11C, and creation unit 11D. As described above, the various processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as a processing unit, as well as dedicated electrical circuits that are processors having a circuit configuration specifically designed to execute specific processes, such as a programmable logic device (PLD), a processor whose circuit configuration can be changed after manufacture, such as an FPGA (Field-Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit).

[0062] The processing unit may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA).The processing unit may also be configured with a single processor.

[0063] Examples of configuring a processing unit with a single processor include, first, a form in which one processor is configured with a combination of one or more CPUs and software, and this processor functions as the processing unit, as typified by computers such as client and server. Second, a form in which a processor is used to realize the functions of the entire system, including the processing unit, on a single IC (Integrated Circuit) chip, as typified by systems on chips (SoCs). In this way, the processing unit is configured using one or more of the above-mentioned various processors as a hardware structure.

[0064] Furthermore, more specifically, the hardware structure of these various processors can be an electric circuit that combines circuit elements such as semiconductor elements. [Explanation of symbols]

[0065] 10. Information processing equipment 11 CPU 11A Acquisition Department 11B Components 11C Rotating part 11D Creation Department 12 Memory 13 Storage section 13A Information Processing Program 13B Scan Information Database 14 Input section 15 Display 15A Exit button 16 Media reading and writing device 17 Recording Media 18 Communication I / F section 50 3D scanners 52 Scanner body 58 Memory section 60 Legs 80 Target Buildings 82 point cloud 82A point 84 Floor 86A~86D Wall 87 straight line 88 Square Frame 89 Object 90 Information Processing Systems

Claims

1. an acquisition unit that acquires point cloud data obtained by three-dimensionally capturing an area including a wall surface inside a building having the wall surface; a configuration unit that configures the wall surface on the drawing using a point cloud that is configured by a point that is the furthest outward from a predetermined position inside the point cloud indicated by the point cloud data acquired by the acquisition unit; and Equipped with the predetermined internal position is a center position in a three-dimensional coordinate system of the point cloud indicated by the point cloud data. Information processing device.

2. a rotation unit that rotates the point cloud data so that, when the point cloud indicated by the point cloud data is viewed from above, the perimeter of a rectangular frame that circumscribes the point cloud and has one side horizontal in a plan view is minimized; The information processing device according to claim 1 , further comprising:

3. a creating unit that creates a development drawing by developing an elevation that is orthographically projected from a predetermined position inside the building toward the wall surface configured by the component unit; The information processing device according to claim 1 or 2, further comprising:

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