Point cloud data drawing system, server, point cloud data drawing device, and point cloud data drawing method

Abstract

The purpose of the present disclosure is to provide a point group data drawing system that can, with a simple operation, narrow down point group data to an area corresponding to a portion to be checked, transfer the point group data, and perform drawing. A point group data drawing system according to the present disclosure is provided with a server and a terminal device. The server is provided with: a server storage unit for storing model data, which includes element shape information and element identifying information, and point group data regarding measured subjects; a model processing unit for acquiring element shape information corresponding to received element identifying information; a point group extraction unit for extracting points based on the element shape information; and a server communication unit that receives the element identifying information from the terminal device and transmits identified point group data to the terminal device. The terminal device is provided with: a terminal storage unit for storing subject data including element identifying information and shape information about each element; an input unit for acquiring element identifying information corresponding to a specified element; a terminal communication unit that transmits the element identifying information to the server and receives the identified point group data from the server; and a drawing unit for drawing an image based on the identified point group data.

Description

[Technical Field]

[0001] The present disclosure relates to a point cloud data drawing system, a server, a point cloud data drawing device, and a point cloud data drawing method for drawing point cloud data of an object. [Background technology]

[0002] Technologies for acquiring high-density three-dimensional point cloud data of structures, urban landscapes, and the like (hereinafter also referred to as "objects") by image measurement or laser measurement are becoming widespread. Conventionally, there are technologies for using three-dimensional point cloud data to perform maintenance such as inspections of objects. Because point cloud data is high-density, the amount of data becomes enormous when attempting to handle wide-area facilities or areas. Therefore, devices that use point cloud data to render projection images impose a heavy processing load on the rendering. Furthermore, when point cloud data is managed on a server, the point cloud data must be transmitted from the server to a terminal device, resulting in a heavy communication load between the server and the terminal device. Thus, there is a demand for reducing the amount of point cloud data transmitted and the amount of point cloud data rendered.

[0003] For example, Patent Document 1 discloses a technology for reducing the amount of point cloud data measured by a three-dimensional sensor attached to a robot and transferred from the robot to a terminal device while ensuring visibility on the terminal device that remotely controls the robot. In Patent Document 1, a predetermined area is set around the three-dimensional sensor by the terminal device, and an upper limit on the amount of data to be transferred within the set area is determined. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-197329 Summary of the Invention [Problem to be solved by the invention]

[0005] When checking for abnormalities such as deformation of an object, detailed point cloud data of a limited area (check area) that needs to be checked is transferred from a server to a terminal device, and the transferred point cloud data is then rendered and displayed on the terminal device. However, when using the technology disclosed in Patent Document 1 to transfer point cloud data by limiting the area of ​​the check area, it is necessary to specify the area corresponding to the check area. The area corresponding to the check area may not have the same shape each time it is checked, and may have a complex shape. Therefore, specifying the area corresponding to the check area is cumbersome.

[0006] As described above, conventionally, there has been a problem in that it is not possible to narrow down the area corresponding to the confirmation portion with a simple operation and transfer and draw the point cloud data.

[0007] The present disclosure has been made to solve such problems, and aims to provide a point cloud data drawing system, server, point cloud data drawing device, and point cloud data drawing method that are capable of transferring and drawing point cloud data by narrowing down the area corresponding to the confirmation part with a simple operation. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the point cloud data drawing system according to the present disclosure includes a server and a terminal device communicably connected to the server, the server including a server storage unit that stores model data including element shape information that expresses a plurality of elements constituting an object as a set of three-dimensional figures and element identification information that identifies each element, and three-dimensional point cloud data of the measured object, a model processing unit that acquires element shape information corresponding to the element identification information received from the terminal device from the model data stored in the server storage unit, and a plurality of points based on the element shape information acquired by the model processing unit from the point cloud data stored in the server storage unit. The device comprises a point cloud extraction unit, and a server communication unit that receives element identification information from a terminal device and transmits specific point cloud data, which is point cloud data composed of a plurality of points extracted by the point cloud extraction unit, to the terminal device. The terminal device comprises a terminal memory unit that stores object data including at least shape information of each element that constitutes the object and element identification information that identifies each element, an input unit that accepts the designation of an element and acquires element identification information corresponding to the designated element from the terminal memory unit, a terminal communication unit that transmits the element identification information acquired by the input unit to a server and receives the specific point cloud data from the server, and a drawing unit that draws an image based on the specific point cloud data received by the terminal communication unit. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to transfer and draw point cloud data by narrowing down the area corresponding to the confirmation portion with a simple operation.

[0010] The objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing an example of the configuration of a point cloud data drawing system according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing an example of point cloud data according to the first embodiment. [Figure 3] 5 is a flowchart showing an example of the operation of the terminal device according to the first embodiment. [Figure 4] FIG. 2 is a diagram showing how an element of an object is selected according to the first embodiment. [Figure 5] FIG. 2 is a diagram showing an example of display of point cloud data according to the first embodiment. [Figure 6] 5 is a flowchart showing an example of the operation of the server according to the first embodiment. [Figure 7] FIG. 10 is a block diagram showing an example of the configuration of a point cloud data drawing system according to a second embodiment. [Figure 8] 10 is a flowchart showing an example of the operation of the server according to the second embodiment. [Figure 9] FIG. 10 is a diagram showing an example of point cloud data according to the second embodiment. [Figure 10] FIG. 11 is a block diagram showing an example of the configuration of a point cloud data drawing device according to a third embodiment. [Figure 11] 11 is a flowchart showing an example of the operation of the point cloud data drawing device according to the third embodiment. [Figure 12] 10 is a flowchart showing an example of the operation of the terminal device according to the fourth embodiment. [Figure 13] FIG. 13 is a diagram showing how an element of an object is selected according to the fourth embodiment. [Figure 14] FIG. 13 is a diagram showing an example of display of point cloud data according to the fourth embodiment. [Figure 15] 13 is a flowchart showing an example of the operation of the terminal device according to the fifth embodiment. [Figure 16] FIG. 13 is a diagram showing how an element of an object is selected according to the fifth embodiment. [Figure 17] FIG. 13 is a diagram showing an example of display of point cloud data according to the fifth embodiment. [Figure 18] 13 is a flowchart showing an example of the operation of the terminal device according to the sixth embodiment. [Figure 19] FIG. 20 is a diagram showing how an element of an object is selected according to the sixth embodiment. [Figure 20] FIG. 20 is a diagram showing an example of display of point cloud data according to the sixth embodiment. [Figure 21]13 is a flowchart showing an example of the operation of the terminal device according to the seventh embodiment. [Figure 22] 13 is a flowchart showing an example of the operation of the server according to the seventh embodiment. [Figure 23] FIG. 20 is a diagram showing how an element of an object is selected according to the seventh embodiment. [Figure 24] FIG. 20 is a diagram showing an example of display of point cloud data according to the seventh embodiment. [Figure 25] FIG. 1 is a diagram illustrating an example of a hardware configuration of a point cloud data drawing system according to the first to seventh embodiments. [Figure 26] FIG. 1 is a diagram illustrating an example of a hardware configuration of a point cloud data drawing system according to the first to seventh embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0012] <First Embodiment> <Configuration> FIG. 1 is a block diagram showing an example of the configuration of a point cloud data drawing system according to the first embodiment.

[0013] 1, the point cloud data drawing system includes a server 1 and a terminal device 8. The server 1 and the terminal device 8 are connected via a network 16 so as to be able to communicate with each other.

[0014] <Server configuration> The server 1 includes a server storage unit 2, a model processing unit 5, a point cloud extraction unit 6, and a server communication unit .

[0015] The server storage unit 2 stores model data 3 and point cloud data 4. The model data 3 is three-dimensional data that represents an object in a CAD (Computer Aided Design) format or as a collection of figures such as polygons. Specifically, the model data 3 includes, for multiple elements that make up the object, ID information (element identification information) that identifies each element and shape information that expresses the shape of each element using coordinate values ​​(element shape information that expresses each element as a collection of three-dimensional figures). The ID information may be, for example, a number or a character string including a number and a symbol. The coordinate values ​​are, for example, a sequence of coordinate values ​​of the vertices of a polygon. Note that the model data (data of a three-dimensional model) may be data at the time the object is designed, or may be data obtained by modeling the point cloud data 4.

[0016] Point cloud data 4 is a collection of points with three-dimensional coordinate values ​​of the measured object. Figure 2 shows an example of point cloud data 4 with three-dimensional coordinates of x, y, and z. In addition, other information may be added, such as information indicating the color of each point or, if acquired by laser measurement, the laser reflection intensity value at the time of measurement. The coordinate system may be, for example, a coordinate system consisting of latitude, longitude, and height, a plane rectangular coordinate system notified by the Ministry of Land, Infrastructure, Transport and Tourism, or an arbitrarily set coordinate system. The unit of coordinate values ​​is, for example, "m." Note that the coordinate system described here can also be applied to a coordinate system of coordinate values ​​representing the shape of each element included in model data 3.

[0017] The model processing unit 5 acquires, from the model data 3 stored in the server storage unit 2, shape information of the element corresponding to the ID information received from the terminal device 8.

[0018] The point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2. The value indicating the range of the vicinity may be fixed, for example, 10 cm, or may be changeable from the terminal device 8.

[0019] The server communication unit 7 communicates with the terminal device 8 via the network 16. Specifically, the server communication unit 7 receives ID information from the terminal device 8, and transmits point cloud data (specific point cloud data) composed of a plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8.

[0020] <Configuration of terminal device> The terminal device 8 includes a terminal storage unit 9, an input unit 11, a drawing unit 12, and a terminal communication unit 13. The input unit 11 is connected to an input device 14, and the drawing unit 12 is connected to a monitor 15. Examples of the terminal device 8 include a personal computer and a mobile terminal.

[0021] The terminal storage unit 9 stores object data 10 including component data or shape information (shape information of each element that constitutes the object) that constitutes the object, and ID information (element identification information) that identifies each element. Here, "component" refers to a component of the object, such as a pier that constitutes a bridge. In the first embodiment, the object data 10 is assumed to be the same data as the model data 3 stored in the server storage unit 2 of the server 1. In other words, the object data 10 includes a three-dimensional model that represents multiple elements that constitute the object as a collection of three-dimensional figures.

[0022] The input unit 11 receives a designation of an element of an object (designation of a part of the object to be checked) from an input device 14 such as a pointing device. The input unit 11 also acquires ID information corresponding to the designated element from the object data 10 stored in the terminal storage unit 9.

[0023] The drawing unit 12 draws an image based on the point cloud data received by the terminal communication unit 13 and displays the image on the monitor 15.

[0024] The terminal communication unit 13 communicates with the server 1 via the network 16. Specifically, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1, and receives from the server 1 point cloud data of the element corresponding to the ID information (specific point cloud data).

[0025] <Operation> <Operation of terminal device> FIG. 3 is a flowchart showing an example of the operation of the terminal device 8.

[0026] In step S11, the drawing unit 12 draws an image of the object based on the shape information included in the object data 10 stored in the terminal storage unit 9 so that the image has a predetermined viewpoint position and line of sight direction, and displays the image on the monitor 15. To draw the object, for example, a wireframe model that draws the edges of a figure, or a polygon model that draws polygons by filling them in, is used. Note that information regarding the predetermined viewpoint position and line of sight direction is set by the user of the terminal device 8 using the input device 14.

[0027] In step S12, the input unit 11 determines whether or not an element of the object has been designated. The process of step S12 is repeated until an element of the object has been designated, and once an element of the object has been designated, the process proceeds to step S13.

[0028] For example, as shown in Fig. 4, when an image of a bridge, which is an object, is displayed on the monitor 15, the user designates an element (figure) constituting the bridge with a cursor (arrow in the figure) using the input device 14. As a result, the input unit 11 determines that an element of the object has been designated.

[0029] In step S13, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the device storage unit 9. Specifically, the input unit 11 identifies the selected element (figure) and acquires ID information corresponding to the identified element from the object data 10. The identified element (figure) may be, for example, the figure drawn closest to the position specified by the cursor on the screen of the monitor 15. Note that the user may specify multiple elements.

[0030] In step S14, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1. If the user has specified multiple elements, the terminal communication unit 13 transmits the ID information corresponding to each element to the server 1.

[0031] In step S15, the terminal communication unit 13 receives the point cloud data (specific point cloud data) of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S14.

[0032] In step S16, the drawing unit 12 draws an image in the line of sight direction starting from a predetermined viewpoint position based on the point cloud data received by the terminal communication unit 13, and displays the image on the monitor 15. FIG. 5 shows the point cloud data superimposed on the element selected in FIG. 4. The figure indicated by the thick frame on which the cursor is placed represents the selected element (figure). The filled-in circles drawn on top of it represent the points of the point cloud data (specific point cloud data). The point cloud data 4 obtained by measuring the object stored in the server storage unit 2 includes points not limited to the selected element, but only the points of the selected element are drawn from that.

[0033] In step S17, the terminal device 8 determines whether or not to end each process shown in Fig. 3. If it is to be ended, the operation shown in Fig. 3 is ended. On the other hand, if it is not to be ended, the process returns to step S12.

[0034] <Server operation> FIG. 6 is a flowchart showing an example of the operation of the server 1.

[0035] In step S21, the server communication unit 7 receives ID information from the terminal device 8.

[0036] In step S22, the model processing unit 5 acquires, from the model data 3 stored in the server storage unit 2, shape information of the element corresponding to the ID information received by the server communication unit .

[0037] In step S23, the point cloud extraction unit 6 extracts, from the point cloud data 4 stored in the server storage unit 2, a plurality of points that exist in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5. For example, the point cloud extraction unit 6 extracts a plurality of points that exist at a distance from the surface of the figure that represents the shape of the element that is equal to or less than a predetermined value.

[0038] In step S24, the server communication unit 7 transmits point cloud data composed of the plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8.

[0039] <Effects> In the point cloud data drawing system according to the first embodiment, the server 1 and the terminal device 8 share ID information, and use the ID information to display point cloud data of elements of an object on the monitor 15. In this way, the terminal device 8 transmits only the ID information to the server 1 with a simple operation by the user, and the server 1 narrows down the point cloud data corresponding to the confirmation portion (element specified by the user) from the entire point cloud data based on the ID information and transmits the narrowed down point cloud data to the terminal device 8. Therefore, the communication load between the server 1 and the terminal device 8 and the drawing processing load on the terminal device 8 can be reduced.

[0040] <Embodiment 2> <Configuration> FIG. 7 is a block diagram showing an example of the configuration of a point cloud data drawing system according to the second embodiment.

[0041] As shown in Fig. 7, the point cloud data drawing system according to the second embodiment is characterized in that a server 17 includes a server storage unit 18, a model processing unit 20, and a point cloud extraction unit 21. The other configurations are the same as those of the point cloud data drawing system shown in Fig. 1 and described in the first embodiment, and therefore detailed description thereof will be omitted here.

[0042] The model processing unit 20 (element identification information assigning unit) assigns ID information to each point included in the point cloud data 19 in advance.

[0043] The point cloud extraction unit 21 extracts a plurality of points corresponding to the ID information received by the server communication unit 7 from the terminal device 8 from the point cloud data 19 stored in the server storage unit 18.

[0044] <Operation> The operation of the terminal device 8 is the same as that shown in Fig. 3 and explained in the first embodiment, and therefore the explanation will be omitted here. The operation of the server 17 will be explained below.

[0045] <Server operation> FIG. 8 is a flowchart showing an example of the operation of the server 17.

[0046] In step S31, the model processing unit 20 assigns ID information to each point included in the point cloud data. Specifically, the model processing unit 20 assigns ID information corresponding to the element closest to each point. Note that points that are not within the vicinity range of any element may be treated as noise points and no ID information may be assigned. FIG. 9 is a diagram showing an example of point cloud data to which ID information has been assigned. Note that if ID information has already been assigned to each point, the operation of step S31 may be omitted.

[0047] In step S32, the server communication unit 7 receives the ID information from the terminal device 8.

[0048] In step S33, the point cloud extraction unit 21 extracts, from the point cloud data 19 stored in the server storage unit 18, a plurality of points to which the same ID information as the ID information received by the server communication unit 7 has been assigned.

[0049] In step S34, the server communication unit 7 transmits point cloud data composed of the plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8.

[0050] <Effects> In the point cloud data drawing system according to the second embodiment, the extraction process can be executed in a short time because the calculations in the point cloud extraction unit 21 are simple. Other effects are the same as those of the first embodiment.

[0051] <Third Embodiment> <Configuration> FIG. 10 is a block diagram showing an example of the configuration of a point cloud data drawing device 22 according to the third embodiment.

[0052] 10, point cloud data drawing device 22 includes storage unit 23, input unit 11, model processing unit 5, point cloud extraction unit 6, and drawing unit 12. Input unit 11 is connected to input device 14, and drawing unit 12 is connected to monitor 15. Note that model data 3 and point cloud data 4 stored in storage unit 23 are the same as the model data 3 and point cloud data 4 stored in server storage unit 2 shown in FIG. 1 described in the first embodiment.

[0053] The input unit 11 receives a designation of an element of an object (designation of a part of the object to be checked) from an input device 14 such as a pointing device. The input unit 11 also acquires ID information corresponding to the designated element from the model data 3 stored in the storage unit 23.

[0054] The model processing unit 5 acquires, from the model data 3 stored in the storage unit 23, shape information of the element corresponding to the ID information acquired by the input unit 11.

[0055] The point cloud extraction unit 6 extracts, from the point cloud data 4 stored in the storage unit 23, a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5.

[0056] The drawing unit 12 draws an image based on the point cloud data made up of a plurality of points extracted by the point cloud extraction unit 6, and displays the image on the monitor 15.

[0057] <Operation> FIG. 11 is a flowchart showing an example of the operation of the point cloud data drawing device 22.

[0058] In step S41, the drawing unit 12 draws an image of the object based on the shape information contained in the model data 3 stored in the memory unit 23 so that the image is at a predetermined viewpoint position and line of sight direction, and displays the image on the monitor 15.

[0059] In step S42, the input unit 11 determines whether or not an element of the object has been designated. The process of step S42 is repeated until an element of the object has been designated, and once an element of the object has been designated, the process proceeds to step S43.

[0060] In step S43, the input unit 11 acquires ID information corresponding to the specified element from the model data 3 stored in the storage unit 23. Specifically, the input unit 11 identifies the selected element (shape) and acquires ID information corresponding to the identified element from the model data 3.

[0061] In step S44, the model processing unit 5 acquires, from the model data 3 stored in the storage unit 23, shape information of the element corresponding to the ID information acquired by the input unit 11.

[0062] In step S45, the point cloud extraction unit 6 extracts a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the storage unit .

[0063] In step S46, the drawing unit 12 draws an image based on the point cloud data made up of the plurality of points extracted by the point cloud extraction unit 6, and displays the image on the monitor 15.

[0064] In step S47, the point cloud data drawing device 22 determines whether or not to end each process shown in Fig. 11. If it is to be ended, the operation shown in Fig. 11 is ended. On the other hand, if it is not to be ended, the process returns to step S42.

[0065] <Effects> The point cloud data drawing device 22 according to the third embodiment narrows down the point cloud data corresponding to the confirmation portion (element designated by the user) from the entire point cloud data based on the ID information and draws it. Therefore, the drawing processing load on the point cloud data drawing device 22 can be reduced.

[0066] <Fourth Embodiment> <Configuration> In the fourth embodiment, a case where the object is a tunnel will be described. In the following, a case where the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in the first embodiment will be described as an example, but the present invention can also be applied to the second and third embodiments.

[0067] The object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes a tunnel development model that represents the tunnel in a tunnel development diagram. The tunnel development model includes coordinate values ​​(tunnel shape information) used when drawing the tunnel development diagram. The coordinate system of the tunnel development diagram is a coordinate system in which the central axis of the tunnel is taken as the horizontal axis and the position along the contour of the tunnel's cross section is taken as the vertical axis. Note that the distance from the cross-sectional surface may be added to the coordinate system of the tunnel development diagram to treat it as a three-dimensional coordinate system.

[0068] The elements of a tunnel development diagram are, for example, a span, which is the area that serves as the basis for tunnel construction and management.

[0069] The point cloud data 4 stored in the server storage unit 2 of the server 1 is data of points measured from inside the tunnel, including the tunnel inner wall and, in addition, the road surface.

[0070] <Operation> The operation of the server 1 is the same as that shown in Fig. 6 and explained in the first embodiment, and therefore the explanation will be omitted here. The operation of the terminal device 8 will be explained below.

[0071] <Operation of terminal device> FIG. 12 is a flowchart showing an example of the operation of the terminal device 8.

[0072] In step S51, the drawing unit 12 draws a tunnel development based on the tunnel development model included in the object data 10 stored in the device storage unit 9, and displays the image on the monitor 15. To draw the tunnel development, for example, a wireframe model that draws the edges of a figure, or a polygon model that draws polygons by filling them in, may be used. Alternatively, a photographic image of the tunnel inner wall may be texture-mapped and drawn.

[0073] In step S52, the input unit 11 determines whether or not an element of the tunnel development plan has been designated. The processing of step S52 is repeated until an element of the tunnel development plan has been designated, and once an element of the tunnel development plan has been designated, the process proceeds to step S53.

[0074] For example, as shown in Fig. 13, when a tunnel development plan is drawn on the monitor 15, the user uses the input device 14 to specify an element (shape) of the tunnel development plan with the cursor (arrow in the figure). As a result, the input unit 11 determines that an element of the tunnel development plan has been specified. As shown in Fig. 13, the tunnel development plan may be supplemented with information on the installation status of equipment and abnormalities such as cracks.

[0075] In step S53, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 identifies the selected element (shape), and acquires ID information corresponding to the identified element from the object data 10.

[0076] In step S54, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.

[0077] In step S55, the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S54.

[0078] In step S56, the drawing unit 12 draws an image in the line of sight direction starting from a predetermined viewpoint position based on the point cloud data received by the device communication unit 13, and displays the image on the monitor 15. FIG. 14 shows how the element on which the cursor is placed in FIG. 13 is selected and the point cloud data of the selected element is displayed. As shown in FIG. 14, the drawing unit 12 may display the point cloud data alongside the tunnel development view. Alternatively, the point cloud data received by the device communication unit 13 may be converted into the coordinate system of the tunnel development view and superimposed on the elements of the tunnel development view. Furthermore, the point cloud data may be superimposed on an image of the tunnel drawn using a wireframe model or a polygon model drawn by filling polygons.

[0079] In step S57, the terminal device 8 determines whether or not to end each process shown in Fig. 12. If it is to be ended, the operation shown in Fig. 12 is ended. On the other hand, if it is not to be ended, the process returns to step S52.

[0080] The tunnel development plan model may also be included in the model data 3 stored in the server storage unit 2 of the server 1, the point cloud data 4 stored in the server storage unit 2 of the server 1 may have development plan coordinates, and the point cloud extraction unit 6 may extract multiple points that exist near the shape of the elements in the development plan coordinates based on the shape information of the tunnel development plan model. Also, the server communication unit 7 may transmit point cloud data (specific point cloud data) having the development plan coordinates as coordinate values ​​to the terminal device 8.

[0081] <Effects> The point cloud data drawing system according to the fourth embodiment is configured to allow elements to be specified on the screen on which the tunnel development diagram is drawn, so that the confirmation part (element) can be specified without making a mistake on the drawing in the form that is normally managed. Other effects are the same as those of the first embodiment.

[0082] <Fifth Embodiment> <Configuration> In the fifth embodiment, a case where the object is a bridge will be described. In the following, a case where the object is applied to the point cloud data drawing system shown in Fig. 1 described in the first embodiment will be described as an example, but the invention can also be applied to the second and third embodiments.

[0083] The object data 10 stored in the terminal storage unit 9 of the terminal device 8 includes a bridge development model that represents the bridge in a bridge development diagram. The bridge development model includes coordinate values ​​(bridge shape information) for drawing the bridge development diagram. The coordinate system for the bridge development diagram is one in which the bridge is divided into its individual components and each component is expanded and represented.

[0084] <Operation> The operation of the server 1 is the same as that shown in Fig. 6 and explained in the first embodiment, and therefore the explanation will be omitted here. The operation of the terminal device 8 will be explained below.

[0085] <Operation of terminal device> FIG. 15 is a flowchart showing an example of the operation of the terminal device 8.

[0086] In step S61, the drawing unit 12 draws a bridge development diagram based on the bridge development diagram model included in the object data 10 stored in the terminal storage unit 9, and displays the image on the monitor 15. Note that a photographic image of the bridge may be drawn superimposed on the image.

[0087] In step S62, the input unit 11 determines whether or not an element of the bridge development view has been designated. The processing of step S62 is repeated until an element of the bridge development view has been designated, and once an element of the bridge development view has been designated, the process proceeds to step S63.

[0088] For example, as shown in Fig. 16, when a bridge development plan is drawn on the monitor 15, the user designates an element (figure) of the bridge development plan with a cursor (arrow in the figure) using the input device 14. As a result, the input unit 11 determines that an element of the bridge development plan has been designated.

[0089] In step S63, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9. Specifically, the input unit 11 identifies the selected element (shape) and acquires ID information corresponding to the identified element from the object data 10.

[0090] In step S64, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.

[0091] In step S65, the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S64.

[0092] In step S66, the drawing unit 12 draws an image in the line of sight direction starting from a predetermined viewpoint position based on the point cloud data received by the device communication unit 13, and displays the image on the monitor 15. FIG. 17 shows a state in which the side wall element on which the cursor is placed in FIG. 16 is selected and point cloud data of the selected element is displayed. As shown in FIG. 17, the drawing unit 12 may draw the point cloud data alongside the bridge development view. Alternatively, the point cloud data received by the device communication unit 13 may be converted into the coordinate system of the bridge development view and superimposed on the elements of the bridge development view. Furthermore, the point cloud data may be superimposed on an image of the bridge drawn using a wireframe model or a polygon model drawn by filling polygons.

[0093] In step S67, the terminal device 8 determines whether or not to end each process shown in Fig. 15. If it is to be ended, the operation shown in Fig. 15 is ended. On the other hand, if it is not to be ended, the process returns to step S62.

[0094] <Effects> The point cloud data drawing system according to the fifth embodiment is configured so that elements can be specified on the screen on which the bridge development drawing is drawn, so that the confirmation part (element) can be specified without making a mistake on the drawing in the form that is normally managed. Other effects are the same as those of the first embodiment.

[0095] <Sixth Embodiment> <Configuration> The sixth embodiment is characterized by the object data 10 stored in the terminal storage unit 9 of the terminal device 8. In the following, an example in which the sixth embodiment is applied to the point cloud data drawing system shown in FIG. 1 described in the first embodiment will be described, but the sixth embodiment can also be applied to the second and third embodiments.

[0096] The object data 10 stored in the terminal memory unit 9 of the terminal device 8 includes the components or elements that make up the object, ID information for the components or elements, and attribute information such as the dimensions, material, specifications, serial number, manufacturer, installer, and date and time for the components or elements.

[0097] <Operation> The operation of the server 1 is the same as that shown in Fig. 6 and explained in the first embodiment, and therefore the explanation will be omitted here. The operation of the terminal device 8 will be explained below.

[0098] <Operation of terminal device> FIG. 18 is a flowchart showing an example of the operation of the terminal device 8.

[0099] In step S71, the drawing unit 12 displays the members or elements included in the object data 10 stored in the device storage unit 9 together with necessary attribute information in the form of a table on the monitor 15. For example, in the table shown in Fig. 19, each row corresponds to information about a member or element that constitutes the object.

[0100] In step S72, the input unit 11 determines whether or not a row in the table has been designated. The process of step S72 is repeated until a row in the table has been designated, and once a row in the table has been designated, the process proceeds to step S73.

[0101] 19, when a table is drawn on the monitor 15, the user designates a row of the table (information on a member or element that constitutes an object) with a cursor (arrow in the drawing) using the input device 14. As a result, the input unit 11 determines that a row of the table has been designated.

[0102] In step S73, the input unit 11 acquires ID information corresponding to the specified row (element) from the object data 10 stored in the device storage unit 9. The table may include a column for displaying ID information. Also, a link to a component or element included in the object data 10 may be added to each row of the table, and the link may be designated with the cursor.

[0103] In step S74, the terminal communication unit 13 transmits the ID information acquired by the input unit 11 to the server 1.

[0104] In step S75, the terminal communication unit 13 receives the point cloud data of the element corresponding to the ID information transmitted by the terminal communication unit 13 in step S74.

[0105] In step S76, the drawing unit 12 draws an image in the line of sight direction starting from a predetermined viewpoint position based on the point cloud data received by the device communication unit 13, and displays the image on the monitor 15. Fig. 20 shows a state in which, assuming that the row on which the cursor is placed in Fig. 19 is selected, point cloud data of the element corresponding to the selected row is displayed. As shown in Fig. 20, the drawing unit 12 may draw the table and the point cloud data side by side.

[0106] In step S77, the terminal device 8 determines whether or not to end each process shown in Fig. 18. If it is to be ended, the operation shown in Fig. 18 is ended. On the other hand, if it is not to be ended, the process returns to step S72.

[0107] <Effects> The point cloud data drawing system according to the sixth embodiment is configured so that a row of a table (information about a component or element) can be specified on a screen that depicts a table showing information about the component or element of an object, so that the confirmation part (element) can be specified without making a mistake in a form managed by a ledger. Other effects are the same as those of the first embodiment.

[0108] <Seventh Embodiment> <Configuration> The seventh embodiment is characterized in that the number of points in the point cloud data transmitted from the server 1 to the terminal device 8 can be specified by the terminal device 8. In the following, an example in which the present invention is applied to the point cloud data drawing system shown in FIG. 1 described in the first embodiment will be described, but the present invention can also be applied to the second to sixth embodiments.

[0109] In the terminal device 8, the input unit 11 accepts a score level input by the user using the input device 14. The terminal communication unit 13 transmits the transfer level together with ID information to the server 1. In the server 1, the point cloud extraction unit 6 extracts thinned point cloud data according to the score level from the point cloud data of the elements.

[0110] The score level is information (transfer point number information) indicating the degree of the number of transfer points of the point cloud data that the server 1 transmits to the terminal device 8. The score level is, for example, a thinning rate, and is the ratio of the point cloud to be transmitted to the terminal device 8 and drawn with respect to the point cloud data of the element specified by the user. For example, score levels ranging from "0" indicating that no transmission is performed to "1" indicating that all transmission is performed are defined, and the initial value is "1". Alternatively, the score level may be the upper limit number of points to be transmitted, or the initial value may be unlimited.

[0111] <Operation> <Operation of terminal device> FIG. 21 is a flowchart showing an example of the operation of the terminal device 8.

[0112] In step S81, the drawing unit 12 draws an image of the object based on the shape information contained in the object data 10 stored in the terminal memory unit 9 so that the image is at a predetermined viewpoint position and line of sight direction, and displays the image on the monitor 15.

[0113] In step S82, the input unit 11 determines whether the input score level has been changed. If the score level has been changed, the process proceeds to step S83. On the other hand, if the score level has not been changed, the process proceeds to step S84.

[0114] In step S83, the input unit 11 sets the input new score level.

[0115] In step S84, the input unit 11 determines whether or not an element of the object has been designated. If an element of the object has been designated, the process proceeds to step S85. On the other hand, if an element of the object has not been designated, the process returns to step S82.

[0116] In step S85, the input unit 11 acquires ID information corresponding to the specified element from the object data 10 stored in the terminal storage unit 9.

[0117] In step S86, the terminal communication unit 13 transmits the ID information and the score level acquired by the input unit 11 to the server 1.

[0118] In step S87, the terminal communication unit 13 receives the point cloud data (specific point cloud data) of the elements based on the ID information and point number data transmitted by the terminal communication unit 13 in step S86.

[0119] In step S88, the drawing unit 12 draws an image in the line of sight direction starting from a predetermined viewpoint position based on the point cloud data received by the device communication unit 13, and displays the image on the monitor 15.

[0120] In step S89, the terminal device 8 determines whether or not to end each process shown in Fig. 21. If it is to be ended, the operation shown in Fig. 21 is ended. On the other hand, if it is not to be ended, the process returns to step S82.

[0121] <Server operation> FIG. 22 is a flowchart showing an example of the operation of the server 1.

[0122] In step S91, the server communication unit 7 receives the ID information and the score level from the terminal device 8.

[0123] In step S92, the model processing unit 5 acquires, from the model data 3 stored in the server storage unit 2, shape information of the element corresponding to the ID information received by the server communication unit .

[0124] In step S93, the point cloud extraction unit 6 extracts, from the point cloud data 4 stored in the server storage unit 2, a plurality of points that exist in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5. For example, the point cloud extraction unit 6 extracts a plurality of points that exist at a distance from the surface of the figure that represents the shape of the element that is equal to or less than a predetermined value.

[0125] In step S94, the point cloud extraction unit 6 reduces the extracted points according to the score level. For example, if the score level is the upper limit of the points to be transmitted, the points are reduced randomly until the upper limit is reached. Points may also be removed using other methods. Furthermore, if the score level is a thinning rate, the upper limit of the points is determined by multiplying the total number of extracted points by the thinning rate, and the points are reduced until the upper limit of the points is reached.

[0126] In step S95, the server communication unit 7 transmits to the terminal device 8 point cloud data composed of the plurality of points extracted and reduced by the point cloud extraction unit 6.

[0127] <Example of operation> For example, in step S81, the terminal device 8 draws an object as shown in Fig. 4. Then, when the user specifies a low score level and specifies all elements of the object, the number of scores is reduced and point cloud data is displayed for the entire object, as shown in Fig. 23. The points of this point cloud data are represented by unfilled circles. Thereafter, when the user specifies a confirmation portion (element) and specifies a score level higher than the previous score level, detailed point cloud data for the specified element is displayed, as shown in Fig. 24. The points of this point cloud data are represented by filled circles.

[0128] <Effects> In the point cloud data drawing system according to the seventh embodiment, when checking a wide area including the confirmation part (element) and its surroundings, the point cloud data can be drawn in accordance with the performance of the network and the drawing unit so as not to impose a heavy load. Also, when it is desired to display the confirmation part (element) and its surroundings in a wide area to see their positional relationship, the load of transmission and drawing can be reduced by limiting the number of points included in the point cloud data transmitted from the server 1 to the terminal device 8.

[0129] <Hardware configuration> 1 are realized by processing circuits. That is, the server 1 includes a processing circuit for acquiring shape information of an element corresponding to ID information received from a terminal device 8 from the model data 3 stored in the server storage unit 2, extracting a plurality of points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2, receiving the ID information from the terminal device 8, and transmitting point cloud data consisting of the plurality of points extracted by the point cloud extraction unit 6 to the terminal device 8. The processing circuit may be dedicated hardware, or may be a processor (also referred to as a CPU, central processing unit, processing device, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in a memory.

[0130] When the processing circuit is dedicated hardware, the processing circuit 24 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof, as shown in Fig. 25. The functions of the model processing unit 5, the point cloud extraction unit 6, and the server communication unit 7 may be realized by the processing circuit 24 individually, or these functions may be realized together by a single processing circuit 24.

[0131] When the processing circuit 24 is the processor 25 shown in FIG. 26 , the functions of the model processing unit 5, the point cloud extraction unit 6, and the server communication unit 7 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 26. The processor 25 realizes each function by reading and executing the program recorded in the memory 26. That is, the server 1 includes the memory 26 for storing a program that ultimately executes the steps of: acquiring shape information of an element corresponding to ID information received from the terminal device 8 from the model data 3 stored in the server storage unit 2; extracting multiple points existing in the vicinity of the shape of the element based on the shape information acquired by the model processing unit 5 from the point cloud data 4 stored in the server storage unit 2; receiving the ID information from the terminal device 8; and transmitting point cloud data consisting of the multiple points extracted by the point cloud extraction unit 6 to the terminal device 8. These programs can also be said to cause a computer to execute the procedures or methods of the model processing unit 5, the point cloud extraction unit 6, and the server communication unit 7. Here, memory may be, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disk, flexible disk, optical disk, compact disk, DVD (Digital Versatile Disc), or any storage medium that will be used in the future.

[0132] It should be noted that some of the functions of the model processing unit 5, point cloud extraction unit 6, and server communication unit 7 may be realized by dedicated hardware, and other functions may be realized by software or firmware.

[0133] Thus, the processing circuitry can implement each of the above-described functions through hardware, software, firmware, or a combination thereof.

[0134] Although the above describes the hardware configuration of the server 1 shown in Fig. 1, the same applies to the hardware configuration of the terminal device shown in Fig. 1. The same also applies to the hardware configuration of the server 17 shown in Fig. 7 and the hardware configuration of the point cloud data drawing device 22 shown in Fig. 10.

[0135] Within the scope of the present disclosure, the embodiments can be freely combined, modified, or omitted as appropriate.

[0136] Although the present disclosure has been described in detail, the above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned. [Explanation of symbols]

[0137] 1 Server, 2 Server storage unit, 3 Model data, 4 Point cloud data, 5 Model processing unit, 6 Point cloud extraction unit, 7 Server communication unit, 8 Terminal device, 9 Terminal storage unit, 10 Object data, 11 Input unit, 12 Drawing unit, 13 Terminal communication unit, 14 Input device, 15 Monitor, 16 Network, 17 Server, 18 Server storage unit, 19 Point cloud data, 20 Model processing unit, 21 Point cloud extraction unit, 22 Point cloud data drawing device, 23 Storage unit, 24 Processing circuit, 25 Processor, 26 Memory.

Claims

1. A point cloud data drawing system comprising a server and a terminal device communicably connected to the server, The server a server storage unit that stores model data including element shape information that represents a plurality of elements constituting an object as a set of three-dimensional figures, element identification information that identifies each of the elements, and three-dimensional point cloud data of the measured object; a model processing unit that acquires, from the model data stored in the server storage unit, the element shape information corresponding to the element identification information received from the terminal device; a point cloud extraction unit that extracts a plurality of points based on the element shape information acquired by the model processing unit from the point cloud data stored in the server storage unit; a server communication unit that receives the element identification information from the terminal device and transmits to the terminal device specific point cloud data that is point cloud data composed of the plurality of points extracted by the point cloud extraction unit; Equipped with The terminal device a terminal storage unit that stores object data including at least shape information of each of the elements that constitute the object and the element identification information that identifies each of the elements; an input unit that receives the designation of the element and acquires the element identification information corresponding to the designated element from the device storage unit; a terminal communication unit that transmits the element identification information acquired by the input unit to the server and receives the specific point cloud data from the server; a drawing unit that draws an image based on the specific point cloud data received by the terminal communication unit; A point cloud data drawing system comprising:

2. A point cloud data drawing system comprising a server and a terminal device communicably connected to the server, The server a server storage unit that stores model data including element shape information that represents a plurality of elements constituting an object as a set of three-dimensional figures, element identification information that identifies each of the elements, and three-dimensional point cloud data of the measured object; an element identification information assigning unit that assigns the element identification information to each point included in the point cloud data stored in the server storage unit; a point cloud extraction unit that extracts a plurality of points corresponding to the element identification information received from the terminal device from the point cloud data stored in the server storage unit; a server communication unit that receives the element identification information from the terminal device and transmits to the terminal device specific point cloud data that is point cloud data composed of the plurality of points extracted by the point cloud extraction unit; Equipped with The terminal device a terminal storage unit that stores object data including at least shape information of each of the elements that constitute the object and the element identification information that identifies each of the elements; an input unit that receives the designation of the element and acquires the element identification information corresponding to the designated element from the device storage unit; a terminal communication unit that transmits the element identification information acquired by the input unit to the server and receives the specific point cloud data from the server; a drawing unit that draws an image based on the specific point cloud data received by the terminal communication unit; A point cloud data drawing system comprising:

3. the object data includes a three-dimensional model in which the plurality of elements constituting the object are expressed as a set of three-dimensional figures; 3. The point cloud data drawing system according to claim 1, wherein the input unit accepts the designation of the element when the element included in the three-dimensional model drawn by the drawing unit is selected with a pointing device.

4. the object is a tunnel, the object data includes a tunnel development model that represents the tunnel in a development view, 3. The point cloud data drawing system according to claim 1, wherein the input unit accepts designation of the element when the element included in the tunnel development model drawn by the drawing unit is selected with a pointing device.

5. the object is a bridge, the object data includes a bridge development model that represents the bridge in a development view, 3. The point cloud data drawing system according to claim 1, wherein the input unit accepts designation of the element when the element included in the bridge development model drawn by the drawing unit is selected with a pointing device.

6. the object data includes information about the components or elements of the object; The point cloud data drawing system according to claim 1 or 2, wherein the input unit accepts the designation of an element when information about the component or element included in a table showing information about the component or element of the object drawn by the drawing unit is selected with a pointing device.

7. the terminal communication unit transmits to the server the element identification information and transfer point number information indicating the degree of the transfer point number of the specific point cloud data transmitted by the server communication unit to the terminal device; the point cloud extraction unit reduces points included in the extracted specific point cloud data based on the transferred point number information; The point cloud data drawing system according to claim 1 , wherein the server communication unit transmits the specific point cloud data from which the points have been reduced by the point cloud extraction unit to the terminal device.

8. the drawing unit draws an image based on the specific point cloud data thinned to a predetermined degree; 3. The point cloud data drawing system according to claim 1, wherein the input unit accepts the designation of the element of the object in the image drawn by the drawing unit when the element is selected with a pointing device.

9. A server communicably connected to a terminal device, a storage unit that stores model data including element shape information that represents a plurality of elements constituting an object as a set of three-dimensional figures, element identification information that identifies each of the elements, and three-dimensional point cloud data of the measured object; a model processing unit that acquires, from the model data stored in the storage unit, the element shape information corresponding to the element identification information received from the terminal device; a point cloud extraction unit that extracts a plurality of points based on the element shape information acquired by the model processing unit from the point cloud data stored in the storage unit; a communication unit that receives the element identification information from the terminal device and transmits to the terminal device specific point cloud data that is point cloud data composed of the plurality of points extracted by the point cloud extraction unit; A server comprising:

10. a storage unit that stores model data including element shape information that represents a plurality of elements constituting an object as a set of three-dimensional figures, element identification information that identifies each of the elements, and three-dimensional point cloud data of the measured object; an input unit that accepts input of the element identification information; a model processing unit that acquires, from the model data stored in the storage unit, the element shape information corresponding to the element identification information received by the input unit; a point cloud extraction unit that extracts a plurality of points based on the element shape information acquired by the model processing unit from the point cloud data stored in the storage unit; a drawing unit that draws an image based on specific point cloud data, which is point cloud data configured with the plurality of points extracted by the point cloud extraction unit; A point cloud data drawing device comprising:

11. the element shape information is a three-dimensional model in which the plurality of elements constituting the object are expressed as a set of three-dimensional figures, The point cloud data drawing device according to claim 10 , wherein the input unit accepts the designation of the element when the element included in the three-dimensional model drawn by the drawing unit is selected with a pointing device.

12. the object is a tunnel, the element shape information is a tunnel development model that represents the tunnel in a development view, The point cloud data drawing device according to claim 10 , wherein the input unit accepts the designation of the element when the element included in the tunnel development model drawn by the drawing unit is selected with a pointing device.

13. the object is a bridge, the element shape information includes a bridge development model that represents the bridge in a development view, The point cloud data drawing device according to claim 10 , wherein the input unit accepts the designation of the element when the element included in the bridge development model drawn by the drawing unit is selected with a pointing device.

14. the element shape information includes information about a member or element of the object; The point cloud data drawing device according to claim 10, wherein the input unit accepts the designation of an element when information about the component or element included in a table showing information about the component or element of the object drawn by the drawing unit is selected with a pointing device.

15. the drawing unit draws an image based on the specific point cloud data thinned to a predetermined degree; The point cloud data drawing device according to claim 10 , wherein the input unit accepts the designation of the element when the element of the object in the image drawn by the drawing unit is selected with a pointing device.

16. A point cloud data drawing method in a point cloud data drawing system including a server and a terminal device communicably connected to the server, The server storing model data including element shape information that represents a plurality of elements constituting an object as a set of three-dimensional figures, element identification information that identifies each of the elements, and three-dimensional point cloud data of the measured object; acquiring, from the stored model data, the element shape information corresponding to the element identification information received from the terminal device; extracting a plurality of points based on the acquired element shape information from the stored point cloud data; receiving the element identification information from the terminal device, and transmitting to the terminal device specific point cloud data that is point cloud data composed of the extracted multiple points; The terminal device storing object data including at least shape information of each of the elements constituting the object and element identification information that identifies each of the elements; Accepting the designation of the element, and acquiring the element identification information corresponding to the designated element; Transmitting the acquired element identification information to the server and receiving the specific point cloud data from the server; A point cloud data drawing method for drawing an image based on the received specific point cloud data.

17. A point cloud data drawing method in a point cloud data drawing system including a server and a terminal device communicably connected to the server, The server storing model data including element shape information that represents a plurality of elements constituting an object as a set of three-dimensional figures, element identification information that identifies each of the elements, and three-dimensional point cloud data of the measured object; assigning the element identification information to each point included in the stored point cloud data; extracting, from the stored point cloud data, a plurality of points corresponding to the element identification information received from the terminal device; receiving the element identification information from the terminal device, and transmitting to the terminal device specific point cloud data that is point cloud data composed of the extracted multiple points; The terminal device storing object data including at least shape information of each of the elements constituting the object and element identification information that identifies each of the elements; Accepting the designation of the element, and acquiring the element identification information corresponding to the designated element; Transmitting the acquired element identification information to the server and receiving the specific point cloud data from the server; A point cloud data drawing method for drawing an image based on the received specific point cloud data.

18. storing model data including element shape information that represents a plurality of elements constituting an object as a set of three-dimensional figures, element identification information that identifies each of the elements, and three-dimensional point cloud data of the measured object; Accepting input of the element identification information; acquiring the element shape information corresponding to the received element identification information from the stored model data; extracting a plurality of points based on the acquired element shape information from the stored point cloud data; A point cloud data drawing method for drawing an image based on specific point cloud data, which is point cloud data made up of the extracted plurality of points.

Images