Apparatus and method for reducing the amount of 3D data

Abstract

The purpose of the present disclosure is to reduce the volume of three-dimensional data in a real environment.　The present disclosure is for a computation processing device comprising: a positional relationship setting unit that sets the number and the positional relationships of utility poles; and a shape data generation unit that identifies, from real environment data, utility poles matching the number and positional relationships of the utility poles set by the positional relationship setting unit, identifies, from the real environment data, lines connected to the utility poles identified in the real environment data, and transforms data about the utility poles and the lines identified in the real environment data into primitive shape data.

Description

[Technical Field]

[0001] The present disclosure relates to an apparatus and a method for reducing the data volume of three-dimensional data. [Background Art]

[0002] A method using a point cloud sensor has been proposed for obstacle avoidance by robots. [Non-Patent Document 1] In Non-Patent Document 1, when operating a robot using a simulator, surrounding environment information in a real environment such as obstacles is captured as three-dimensional data. Accordingly, Non-Patent Document 1 makes it possible to create a virtual environment on a computer and perform motion simulation.

[0003] Three-dimensional data in a real environment can be captured using a point cloud measurement device, a stereo camera, 3D CAD, or the like, but has the problem of large capacity and long measurement time. [Non-Patent Document 2] Therefore, when capturing a real environment as three-dimensional data, the capacity is large, and if the raw data is used as it is, the simulation processing becomes heavy, and there is a risk that a target motion cannot be performed. [Prior Art Literature] [Non-Patent Literature]

[0004] [Non-Patent Document 1] Daisuke Inada et al., "Generation of Online Avoidance Motion Based on Real-time Interference Determination with Measurement Point Cloud by High-speed Three-dimensional Distance Sensor", The 33rd Annual Conference of the Robotics Society of Japan, RSJ2015AC2B2-05 (2015) [Non-Patent Document 2] About Measurement Work - How long is the measurement time per measurement? https: / / www.kankou.co.jp / technology / faq / [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] This disclosure aims to reduce the volume of 3D data in real-world environments. [Means for solving the problem]

[0006] To achieve the above objective, the arithmetic processing unit and arithmetic processing method of this disclosure reduce the amount of data in the real environment data by converting the data of the fictitious equipment in the 3D data measured in the real environment (hereinafter referred to as real environment data) into primitive shapes.

[0007] Specifically, the arithmetic processing unit of this disclosure is A positional relationship setting unit that sets the number and relative positions of utility poles, The system identifies utility poles that match the number and positional relationship of utility poles set in the aforementioned positional relationship setting unit, using real-world data. The lines connected to the utility poles identified in the aforementioned real-world data are identified from the aforementioned real-world data, A shape data generation unit converts the data of utility poles and railway lines identified in the aforementioned real-world data into primitive shape data. It is equipped with.

[0008] The arithmetic processing method of this disclosure is a method executed by the arithmetic processing unit of this disclosure, The positional relationship setting unit sets the number and positional relationship of utility poles, The shape data generation unit identifies utility poles from the actual environment data that match the number and positional relationship of utility poles set by the positional relationship setting unit, The shape data generation unit performs a procedure to identify the railway line connected to the utility pole identified in the actual environment data from the actual environment data, The shape data generation unit performs a procedure to convert the data of utility poles and railway lines identified in the actual environment data into primitive shape data, It is equipped with.

[0009] The arithmetic processing unit of this disclosure may include a shape parameter input unit for acquiring the type of utility pole set in the position relationship setting unit. In this case, the shape data generation unit is Based on the type of utility pole acquired by the shape parameter input unit, the height of the utility pole from the ground as identified in the actual environment data is determined. Based on the height of the utility pole from the ground identified in the aforementioned real-world data, the ground clearance of the railway line identified in the aforementioned real-world data is determined. The data of the utility poles identified in the aforementioned real-world data is converted into columnar bodies of a length corresponding to the height obtained in the determination, The track data identified in the aforementioned real-world data may be converted into lines located at the ground level obtained in the determination.

[0010] The shape data generation unit, The spacing of utility poles identified in the aforementioned real-world data is calculated, The track angles between the tracks identified in the aforementioned real-world data are calculated, The primitive shapes corresponding to the utility poles identified in the actual environment data may be connected using the intervals and track angles obtained in the above calculation.

[0011] The arithmetic processing unit of this disclosure may include a guy wire and support pole determination unit that determines whether or not a guy wire or support pole is connected to a utility pole identified in the actual environment data. The guy wire and support column determination unit determines if a guy wire or support column is connected. (i) The height from the ground at the point where the guy wire or support pole is connected to the utility pole, (ii) The angle between the utility pole and the guy wire or support pole, (iii) The distance from the point where the guy wire or support pole is fixed to the ground to the utility pole, Calculate at least two of them. Furthermore, the shape data generation unit may use the calculation results of the guy wire and support pole determination unit to convert the data of the guy wire or support pole connected to the utility pole identified in the actual environment data into primitive shape data.

[0012] The arithmetic processing device of the present disclosure may further comprise a power line determination unit that determines whether a power line is connected to the utility pole identified in the real environment data. When a power line is connected, the power line determination unit calculates the ground clearance at which the power line is connected to the utility pole. Then, the shape data generation unit may use the calculation result of the power line determination unit to convert data of the power line connected to the utility pole identified in the real environment data into primitive shape data.

[0013] When a power line is connected, the power line determination unit may determine equipment attached to the power line in the real environment data. In this case, the shape data generation unit may convert data of the equipment attached to the power line in the real environment data into a primitive shape corresponding to the equipment.

[0014] The device of the present invention can also be implemented by a computer and a program, and the program can be recorded on a recording medium or provided through a network. The program of the present disclosure is a program for causing a computer to implement each function included in the device according to the present disclosure, and is a program for causing a computer to execute each procedure included in a method executed by the device according to the present disclosure.

[0015] Note that the above disclosures can be combined as much as possible.

Effects of the Invention

[0016] The present disclosure can reduce the data amount of real environment data.

Brief Description of Drawings

[0017] [Figure 1] 1 shows an example of the system configuration of the present disclosure. [Figure 2] 1 shows an example of a primitive shape. [Figure 3] 1 shows an example of overhead equipment. [Figure 4] 1 shows an example of the configuration of an arithmetic processing device. [Figure 5] This shows an example of the operation of the arithmetic processing unit. [Figure 6A] An example of the relative positions of the support posts is shown. [Figure 6B] This shows an example of the relative positions of branch lines. [Figure 7] An example of the equipment in question is shown below. [Figure 8] An example of a completed primitive shape is shown. [Figure 9] An example of a diagram showing the relative positions of the equipment is shown. [Figure 10] An example of an overall diagram of the target equipment is shown. [Modes for carrying out the invention]

[0018] Embodiments of this disclosure will be described in detail below with reference to the drawings. However, this disclosure is not limited to the embodiments shown below. These examples are illustrative, and this disclosure can be implemented in various modified and improved forms based on the knowledge of those skilled in the art. In this specification and in the drawings, components with the same reference numerals refer to the same components.

[0019] Figure 1 shows an example of the system configuration of the present disclosure. The system of the present disclosure comprises a measuring device 11 and a processing unit 12. The measuring device 11 is any device capable of acquiring real-world data, such as a point cloud measuring instrument, a stereo camera, or 3D CAD. The processing unit 12 functions as the device of the present disclosure and generates primitive shapes using the real-world data and equipment information acquired by the measuring device 11.

[0020] Thus, the arithmetic processing unit 12 of this disclosure automatically converts real-world data into primitive shapes. Here, this disclosure shows an example in which primitive shapes of fictional equipment are automatically generated from real-world data, thereby reducing the amount of data in the real-world data.

[0021] The arithmetic processing unit 12 can also be implemented using a computer and a program, and the program can be recorded on a recording medium or provided via a network.

[0022] Figure 2 shows an example of a primitive shape. For example, in a real environment, multiple railway tracks 92 are stretched between three utility poles 91. In such a real environment, the data is converted into a primitive shape corresponding to the utility poles 91 and a primitive shape composed of multiple railway tracks 92 arranged vertically. The primitive shape corresponding to the utility poles 91 is, for example, a columnar body 81 such as a cylinder. The primitive shape composed of multiple railway tracks 92 is, for example, a plate-like body 82. Thus, this disclosure converts 3D data measured by the measuring device 11 into simple primitive shapes that are fundamental to 3D modeling.

[0023] This disclosure describes how to automatically convert 3D data of overhead equipment, such as utility poles 91 and railway tracks 92, into primitive shapes. Figure 3 shows an example of overhead equipment. The overhead equipment is any equipment placed in the air and includes utility poles 91, any railway tracks 92 stretched on utility poles 91, and guy wires or support poles 93 connecting utility poles 91 to the ground.

[0024] In this embodiment, (1) The number and relative positions of the 91 utility poles to be read, (2) Types of utility poles 91 (sometimes abbreviated as "pole type"), (3) The ground level of track 92 is 92H, (4) The spacing of the utility poles 91 is 91D, (5) The track angle 92A of the track 92 stretched on the utility pole 91, (6) Presence or absence of guy wires or support posts 93, (7) The size and height of the power line extension fittings and transformers in track 92, Based on this, we will explain an example of automatically converting to primitive shapes.

[0025] Figure 4 shows an example of the functional components of the arithmetic processing unit 12. The arithmetic processing unit 12 includes a position relationship setting unit 21, a shape data generation unit 25, and a shape data output unit 26.

[0026] The positional relationship setting unit 21 sets the number and relative positions of the utility poles. The shape data generation unit 25 identifies data for utility poles 91 and railway tracks 92 that match the number and positional relationship of utility poles set by the positional relationship setting unit 21 from the actual environment data, and generates primitive shape data from the identified data for utility poles 91 and railway tracks 92. In this way, the data for utility poles 91 and railway tracks 92 in the actual environment data is converted into primitive shape data. The shape data output unit 26 outputs primitive shape data generated by the shape data generation unit 25. At this time, the shape data output unit 26 may remove the data of utility poles and railway lines that have been converted into primitive shape data from the real environment data and output the real environment data after removal.

[0027] The arithmetic processing unit 12 may include a shape parameter input unit 22. The shape parameter input unit 22 acquires the type of utility pole set in the position relationship setting unit 21. The shape data generation unit 25 is Based on the type of utility pole 91 acquired by the shape parameter input unit 22, the height 91H of the utility pole 91 from the ground, as identified in the actual environment data, is determined. Based on the height 91H of the utility pole 91 from the ground as identified in the real-world data, the ground clearance 92H of the railway track 92 as identified in the real-world data is determined. From the data of the utility pole 91 identified in the actual environment data, a columnar body 81 with a length corresponding to the height 91H obtained in the above determination is generated. From the data of track 92 identified in the actual environment data, a track 82 located at a ground height of 92H obtained in the above determination is generated.

[0028] The arithmetic processing unit 12 may include a guy wire and support pole determination unit 23 and a power line determination unit 24. The guy wire and pole determination unit 23 calculates the parameters of the guy wire or pole 93 if a guy wire or pole 93 is connected to the utility pole 91 identified in the actual environment data. The power line determination unit 24 calculates the power line parameters if a power line is connected to the utility pole 91 identified in the actual environment data. The shape data generation unit 25 generates primitive shapes of the guy wires or support poles 93 and power lines using parameters calculated by the guy wire and support pole determination unit 23 and the power line determination unit 24.

[0029] As shown in Figure 5, the arithmetic processing unit 12 executes steps S11 to S17 in order. Procedure S11: The position relationship setting unit 21 sets the number and positional relationship of the utility poles 91 to be read. Since the measuring device 11 also measures utility poles 91 located far away, the number of utility poles 91 to be acquired and how they are arranged are set. For example, as shown in Figure 3, utility pole 91A is on the left, utility pole 91B is in the center, and utility pole 91C is on the right. This makes it possible to identify utility pole data in the actual environment that matches the set number and positional relationship of utility poles. The position at this time can be the position in the actual environment, such as latitude and longitude.

[0030] Procedure S12: The shape parameter input unit 22 inputs the type of utility pole 91. The shape data generation unit 25 can generate a columnar body representing the utility pole 91 using the diameter and length of the utility pole 91 as defined by the type of utility pole 91. The height 91H from the ground to the top of the utility pole 91 is a value obtained by subtracting a predetermined length, such as 1 / 6, from the length of the utility pole 91. Therefore, as shown in Figure 3, the shape data generation unit 25 sets the height 91H of the utility pole 91 in the actual environment data to a length obtained by subtracting 1 / 6 from the length of the utility pole 91.

[0031] By performing steps S11 and S12, the shape data generation unit 25 can generate a columnar body (reference numeral 81 in Figure 2) such as a cylinder, which corresponds to the utility pole 91. The shape data output unit 26 outputs primitive shape data of the utility pole 91. At this point, the 3D data of the utility pole 91, which has been converted to a primitive shape, can be excluded from the real-world data measured by the measuring device 11. As a result, this disclosure can reduce the amount of real-world data.

[0032] Procedure S13: The shape data generation unit 25 calculates the ground clearance 92H of the line 92. For example, the power line determination unit 24 identifies the line 92 connected to the utility pole 91 in the actual environment data and determines the ground clearance of the line 92 based on the height of the identified utility pole 91 from the ground. At this time, the shape data generation unit 25 can identify the line 92 by extracting structures that are placed between the utility poles 91 and are located at a predetermined height or higher from the ground. The distance to the line 92 closest to the ground and the distance to the line 92 furthest from the ground are calculated. At this time, the ground clearance 92H of each line 92 may also be calculated.

[0033] Step S14: The shape data generation unit 25 calculates the spacing 91D of the utility poles 91, as shown in Figure 3. For example, for utility poles 91 connected by a railway track 92, it calculates the distance from the center of one utility pole to the center of the other utility pole 91. At this time, the spacing of columnar bodies 81 may be calculated instead of the spacing of utility poles 91, or the position information of the utility poles 91 in the actual environment may be used for the calculation.

[0034] By executing steps S13 to S14, the shape data generation unit 25 can generate a plate-like body (reference numeral 82 in Figure 2) composed of multiple tracks 92 arranged vertically. The shape data output unit 26 outputs primitive shape data of the tracks 92. At this point, the 3D data of the tracks 92 converted to primitive shape can be excluded from the data measured by the measuring device 11. This allows the present disclosure to reduce the volume of 3D data of the surrounding environment information.

[0035] Step S15: The shape data generation unit 25 calculates the track angle 92A of the track 92 stretched on the utility pole 91, as shown in Figure 3. At this time, the calculation may be performed using a plate-like body 82 instead of the track 92.

[0036] By executing steps S11 to S15, the shape data generation unit 25 can generate the primitive shapes shown in Figure 2. The shape data output unit 26 outputs the primitive shape data shown in Figure 2. At this point, the 3D data of the utility pole 91 and railway track 92, which have been converted into primitive shapes, can be excluded from the data measured by the measuring device 11. This allows the present disclosure to reduce the amount of data in the real environment.

[0037] Procedure S16: The guy wire and support pole determination unit 23 determines whether a guy wire or support pole 93 is connected to the utility pole 91 in the actual environment data, and if a guy wire or support pole 93 is present, calculates the positional relationship between the utility pole 91 and the guy wire or support pole 93. Whether or not a guy wire or support pole 93 is connected may be determined by obtaining information about the presence or absence of a guy wire or support pole 93 as information associated with the utility pole 91, similar to obtaining the type of utility pole 91 in procedure S12.

[0038] The positional relationship of the guy wire or support pole 93 in procedure S16 is calculated using 3D data measured by the measuring device 11 in the actual environment. Procedure S16 will be explained with reference to Figures 6A and 6B. As shown in Figure 6A, when the support pole 93P is connected to the utility pole 91, the guy wire and support pole determination unit 23 calculates at least two of the following. • The height from the ground at the point where support column 93P is connected to utility pole 91 is 93H. • Angle between utility pole 91 and support pole 93P: 93A • Distance 93D from the point where support post 93P is fixed to the ground to utility pole 91 The same applies to branch line 93L shown in Figure 6B.

[0039] If there is a guy wire 93L in the real environment data, the shape data generation unit 25 uses the information obtained in step S16 to generate a primitive shape such as a straight line corresponding to the guy wire 93L. If there is a support column 93P in the real environment data, the shape data generation unit 25 uses the information obtained in step S16 to generate a primitive shape such as a straight line or a cylinder corresponding to the support column 93P.

[0040] The shape data output unit 26 outputs primitive shape data of the guy wire or support column 93. At this point, the 3D data of the guy wire or support column 93, which has been converted to primitive shape, can be excluded from the data measured by the measuring device 11. This allows the present disclosure to reduce the amount of data in the real environment.

[0041] Procedure S17: The power line determination unit 24 calculates the ground clearance of the power line if there is a power line in the line 92. For example, since power lines are positioned at a predetermined height or higher, the power line determination unit 24 can determine whether or not it is a power line using the ground clearance of the line 92 calculated in procedure S13. Furthermore, if there is a power line, it determines whether or not equipment such as power line overhangs or transformers are attached, and if such equipment is present, it calculates the ground clearance of that equipment.

[0042] If power lines are present in the real-world data, the shape data generation unit 25 generates primitive shapes such as straight lines that correspond to power lines using the information obtained in step S17. If power line equipment is present in the real-world data, the shape data generation unit 25 generates primitive shapes that correspond to the equipment. For example, the primitive shape corresponding to the equipment can be a primitive shape corresponding to the type of equipment, which is read from the equipment information database.

[0043] The shape data output unit 26 outputs primitive shape data of power lines and their equipment. The 3D data of power lines and their equipment converted to primitive shapes can be excluded from the data measured by the measuring device 11. This allows the present disclosure to reduce the amount of data in the real environment.

[0044] By following the above steps, you can input the number and relative positions of the utility poles 91 to be imported, the type of utility pole 91, the ground clearance of the railway line 92 92H, the spacing between utility poles 91 91D, the track angle of the railway line 92 92A, the presence or absence of guy wires or support poles 93, and the size and height of the power line overhangs and transformers, and complete a figure composed of primitive shapes.

[0045] Figure 8 shows an example of the fictitious equipment shown in Figure 7 being converted into a primitive shape. In this example, in step S11, the number and positional relationship of the utility poles to be read were changed to 3 for utility pole 91, and the positional relationship was set to two spans at 18m700cm and 19m80cm, as shown in Figure 9. In step S12, the overall equipment diagram shown in Figure 10 was referred to, and the pole type identified was "15-7".

[0046] The ground clearance 92H calculated in step S13 was 5300mm, the spacing 91D calculated in step S14 was 18m70cm and 19m80cm, and the track angle 92A calculated in step S15 was 0 degrees. In addition, there were no guy wires as determined in step S16, and regarding the size and height of the power line overhanging hardware and transformer in step S17, it was determined that there was an overhanging hardware on the high-voltage line section. The size of this overhanging hardware was 100mm x 100mm x 1800mm, and its height from the ground was 11000mm.

[0047] The resulting primitive shape is shown in Figure 8. In addition to the columnar body 81 and plate-like body 82, the structure 83 corresponding to the cantilevered metal fitting is also represented by the primitive shape. In the example in Figure 8, the primitive shape was created using Python on Rviz, a general-purpose 3D visualization environment for robots, sensors, and algorithms in the ROS (Robot Operation System).

[0048] (Effects of this disclosure) As described above, in this embodiment, the amount of data in the real environment can be reduced by the arithmetic processing unit 12 executing at least steps S11 and S12. Furthermore, the amount of data in the real environment can be further reduced by the arithmetic processing unit 12 executing steps S11 to S15.

[0049] Therefore, this disclosure provides the following benefits. This reduces the time required for data measurement using point cloud measurement equipment and other methods. Measurement can now be done manually without the need for measuring instruments, which is expected to reduce costs. The size of the 3D data related to obstacles required for construction simulations will be reduced, resulting in lighter software operation. By creating data that is larger than the actual hypothetical equipment (the dimensions of the actual equipment are known, and the figure is created to be a few percent larger than the known size), the level of safety is improved. [Explanation of symbols]

[0050] 11: Measuring device 12: Arithmetic Processing Unit 21: Positional relationship setting section 22: Shape parameter input section 23: Guy wire and support column determination section 24: Power line determination section 25: Shape data generation unit 26: Shape data output unit 81: Column body 82: Plate-like body 83: Structure 91, 91A, 91B, 91C: Utility pole 92: Railroad 93: Guy wire or support pole 93P: Prop 93L: Branch line

Claims

1. A positional relationship setting unit that sets the number and relative positions of utility poles, The system identifies utility poles that match the number and positional relationship of utility poles set in the aforementioned positional relationship setting unit, using real-world data. The lines connected to the utility poles identified in the aforementioned real-world data are identified from the aforementioned real-world data. A shape data generation unit converts the data of utility poles and railway lines identified in the aforementioned real-world data into primitive shape data. A processing unit equipped with the following features.

2. The system includes a shape parameter input unit that acquires the type of utility pole set in the position relationship setting unit, The shape data generation unit, Based on the type of utility pole acquired by the shape parameter input unit, the height of the utility pole from the ground as identified in the actual environment data is determined. Based on the height of the utility pole from the ground identified in the aforementioned real-world data, the ground clearance of the railway line identified in the aforementioned real-world data is determined. The data of the utility poles identified in the aforementioned real-world data is converted into columnar bodies of a length corresponding to the height obtained in the determination, The track data identified in the aforementioned real-world data is converted into a line located at the ground level obtained in the determination. The arithmetic processing device according to claim 1.

3. The shape data generation unit, The spacing of utility poles identified in the aforementioned real-world data is calculated, The track angles between the tracks identified in the aforementioned real-world data are calculated, The primitive shapes corresponding to the utility poles identified in the actual environment data are connected using the intervals and track angles obtained from the above calculation. The arithmetic processing device according to claim 1.

4. In the aforementioned real-world data, it is determined whether or not a guy wire or support pole is connected to the identified utility pole. If a guy wire or support pole is connected, (i) The height from the ground at the point where the guy wire or support pole is connected to the utility pole, (ii) The angle between the utility pole and the guy wire or support pole, (iii) The distance from the point where the guy wire or support pole is fixed to the ground to the utility pole, Calculate at least two of them. It is equipped with a guy wire and support column determination unit, The shape data generation unit uses the calculation results of the guy wire and support pole determination unit to convert the data of the guy wire or support pole connected to the utility pole identified in the actual environment data into primitive shape data. The arithmetic processing device according to claim 1.

5. In the aforementioned real-world data, it is determined whether or not power lines are connected to the identified utility pole. If a power line is connected, the system includes a power line determination unit that calculates the ground clearance at which the power line is connected to the utility pole. The shape data generation unit uses the calculation results of the power line determination unit to convert the data of power lines connected to utility poles identified in the actual environment data into primitive shape data. The arithmetic processing device according to claim 1.

6. The power line determination unit, if a power line is connected, determines the equipment attached to the power line in the actual environment data, The shape data generation unit converts the data of the equipment attached to the power line in the actual environment data into primitive shapes corresponding to the equipment. The arithmetic processing apparatus according to claim 5.

7. The positional relationship setting unit sets the number and positional relationship of utility poles, The shape data generation unit identifies utility poles from real-world data that match the number and positional relationship of utility poles set by the positional relationship setting unit, The shape data generation unit performs a procedure to identify the railway line connected to the utility pole identified in the actual environment data from the actual environment data, The shape data generation unit performs a procedure to convert the data of utility poles and railway lines identified in the actual environment data into primitive shape data, A method of arithmetic processing comprising the following:

8. A program for a computer to implement each of the functional units provided in the arithmetic processing unit according to any one of claims 1 to 6.

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