JPH0410070A - 3D design data creation method and device - Google Patents

Abstract

PURPOSE:To make three-dimensional design information exactly correspondent to a real condition by providing a means to obtain real observed pictures, means to obtain dummy observed pictures by generating the three-dimensional design information from two-dimensional design information, and means to change the design information after collating the observed pictures and the dummy observed pictures. CONSTITUTION:The first means is provided to obtain the real observed pictures by picking-up images for the three-dimensional shapes and fitting positions of components under a real execution state by an image pickup system 5, and a second means 1 is provided to generate the three-dimensional design information from the two-dimensional design information of the components on a design stage before the real execution. Then, a third means 2B is provided to obtain the dummy observed pictures by processing the three-dimensional design information as a data observed by the image pickup system 5. On the other hand, a fourth means 2 is provided to change the design information according to the coincident shape and position after collating the really observed pictures and the dummy observed pictures and making them coincident by changing the shape and position of the dummy observed picture. Thus, the design information reflecting the real execution state can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method and apparatus for creating three-dimensional design data for existing factory equipment, buildings, etc.

[Conventional technology]

When constructing factory equipment, buildings, etc., we provide solutions for mutual interference between piping equipment, cable trays, ducts, etc. within the building, various errors occurring as construction progresses, and problems discovered as construction progresses. , there are examples of design changes. Furthermore, the shapes and dimensions of the parts to be installed are often determined based on the status of the construction work after the building construction work has progressed to a certain extent.

The actual layout data of the facility where this construction was performed cannot be determined from the design values.

Conventionally, in order to eliminate mutual interference between piping equipment, equipment, etc. at the design stage, it is known to create scale models of piping equipment, cable trays, and ducts, and consider the mutual spacing, arrangement direction, and position of the parts. .

A technique for designing based on this scale model is disclosed in Japanese Patent Application Laid-open No. 60-37073. In this conventional example, a sensor is provided to read coordinates and shape from a model, and information from this sensor is directly input into a computer.

[Problem to be solved by the invention]

When making design changes during construction or finalizing the design after construction progresses, related information is individually transmitted through various routes manually, which obstructs the flow of design information and parts in the design-manufacturing-assembly sequence. In many cases, the design drawings are only useful as reference drawings during the construction stage.

The above conventional example described in JP-A No. 60-37073 is as follows:
Preventing mutual interference between piping and equipment at the initial design stage,
Although it is useful for converting the created scale model into design information, it does not take into consideration the direct conversion of information on the constructed on-site facilities into design information, and the actual construction finish differs from the design value. It is also not considered to obtain as-built data on the equipment in its condition. Here, as-built data is data on finished equipment.

Furthermore, it has not been considered to generate three-dimensional design information at the as-built stage of equipment based on two-dimensional hand-drawn design information.

Further, it is possible to create three-dimensional design information from two-dimensional design information by using three-dimensional CAD. However, it has been impossible to obtain three-dimensional design information that reflects the actual state of construction.

An object of the present invention is to provide a three-dimensional design data creation method and apparatus that obtain three-dimensional design information based on the actual construction status from two-dimensional design information.

[Means to solve the problem]

The present invention consists of a first step of generating the three-dimensional shape and mounting position of the component in the actual construction state, and the generation of three-dimensional design information from the two-dimensional design information of the component at the design stage before implementation. a second step in which the three-dimensional design information and the first
The three-dimensional shape and mounting position obtained by the first method are compared, the three-dimensional design information is matched with the three-dimensional shape and mounting position obtained by the first method, and the component parts are changed according to the changed parameters at the time of matching. and a third step of changing the design information.

Furthermore, the present invention provides a first means for obtaining an actual observation image by capturing an image of the three-dimensional shape and mounting position of the original component in the state of construction using an imaging system, and a configuration at the design stage before construction. a second means for generating three-dimensional design information from two-dimensional design information of the part; a third means for processing the three-dimensional design information as if it were observed by the imaging system to obtain a pseudo observed image; The fourth step is to compare the actual observation image and the pseudo observation image, change the shape and position of the pseudo observation image to find a match between the two, and change the design information based on the shape and position at the time of the match.
consisting of a means of

[For production]

According to the present invention, the three-dimensional shape and attachment of the component parts in the actual construction state are changed depending on the position of the design information before implementation. As a result, design information reflecting the actual construction status is obtained.

〔Example〕

An embodiment of the three-dimensional design data creation device of the present invention is shown in FIG. Here, an outline of how to create three-dimensional design data in this embodiment will be described.

It is assumed that equipment such as piping has already been installed at the site. On the other hand, it is assumed that design data for equipment such as piping has already been created as data. This design data is data obtained by converting a two-dimensional design drawing created on paper, and is two-dimensional design data. That is, it is assumed that two-dimensional design data has already been created, and equipment such as piping has actually been installed based on this two-dimensional design data.

Note that this embodiment also applies to the case where the equipment is constructed based on a design drawing on paper, and after the construction, the design drawing is converted into data to obtain two-dimensional design data.

In such a case, even if the two-dimensional design data is converted into three-dimensional design information using a normal three-dimensional CAD or the like, the actual construction state will not be reflected. This is because even if construction is carried out based on the blueprints, various modifications, changes, rearrangements, etc. will occur as the construction progresses. However, it is preferable if 3D design information obtained using 3D CAD or the like can be used.

Therefore, in this embodiment, a three-dimensional observation image is obtained by capturing an image of the equipment under construction using a TV camera.

On the other hand, the three-dimensional design information obtained by the three-dimensional CAD or the like is coordinate-transformed into three-dimensional design information based on the observation coordinate system of the TV camera as the observation system.

The three-dimensional design information obtained by this coordinate transformation only has a coordinate system that matches the observed coordinate system, and is not necessarily a target to be compared with the observed image. Therefore, it is necessary to cut out the three-dimensional design information so that the observation image has the correct position and orientation based on the observation coordinate system. In order to extract this, three-dimensional design information is extracted from the original observation position and orientation in the ms coordinate system using wtgt.
It is necessary to. As this method, a perspective projection transformation method is used.

The three-dimensional design information obtained using this perspective projection transformation method is *
This is the same wt position and direction as the observed image obtained from the coordinate system. The three-dimensional design information obtained by the perspective projection transformation method is hereinafter referred to as a pseudo observed image or a predicted image.

Next, the pseudo observed image and the actual sub-image are superimposed and displayed on a CRT, and the position and shape of the pseudo observed image are corrected to match the actual observed image (verification). Feedback the position and shape of the pseudo observation image at the time of matching,
Create (correct or change) 3D design information.

The three-dimensional design information obtained in this way becomes information that reflects the state of the actual construction.

A detailed explanation will be given below with reference to FIG.

The three-dimensional design information generation means 1 includes a keyboard IA and a CRT.
IB is used to generate three-dimensional design information from two-dimensional design information regarding component parts using three-dimensional CAD or the like. What is 3D design information?

This is three-dimensional design information for components to be installed on site.

The wA measuring means 5 is a TV camera, which images the components installed at the site to obtain a three-dimensional observation image.

This 11!11 image includes the shape of the component and its mounting position. In order to obtain a three-dimensional observation image, there are two ways to image the same object with two TV cameras installed at different positions, or to move one TV camera and image the same object from two different points. Either is fine.

The matching section 2 includes a matching means 2A, a predicted image generating means 2B, and an output means 2C. The matching unit 2 generates a pseudo M? obtained from the three-dimensional observation image and the generated three-dimensional design information. A comparison is made to see if they match with the tI11 image. Here, the observed image is an actual three-dimensional observed image captured by the i-sub means 5. Pseudo a again? The 11g image is a 3D predicted image that is predicted to be obtained when photographed by the TV camera, based on the generated 3D design information obtained by the generation means and the observation position and orientation regarding the observation means 5. This observation position and orientation are obtained from a sensor installed on the TV camera.

This pseudo Il! The means for generating the measured image is the predicted image generating means 2B.

Furthermore, the actual observed image and the pseudo observed image are compared to see if they have the same shape at the same position. This verification is to check whether the design information matches the actual installation situation, and if it does not match, the position and shape of the pseudo observation image are corrected (changed).

Verification and correction continue until the results of verification match.

If the pseudo observation image and the actual observation image match, it is assumed that a pseudo observation image that matches the actual construction state has been obtained, and the process ends.

The part that performs such matching is the two matching means, and the part that outputs the position and shape of the pseudo observation image at the time of matching is the output means 2C. Furthermore, the storage means 3 is a part that stores this position and shape.

Note that the storage means 3 may be omitted and the position and shape at the time of matching may be stored in the generation means 1 instead of or together with the three-dimensional design information before modification.

The drawing means 4 draws a component based on the position and shape read from the generation means 1 or the position and shape read from the storage means 3.

FIG. 2 is a diagram illustrating an example of the processing procedure of the matching unit 2. In this processing procedure example, the processing is continued while updating the position and shape until a match is obtained. First, assumed position information and assumed shape information are provided as change parameters (step FO).

Here, the assumption was made because it is unclear whether a match will be obtained as a result of the verification, and until a match is obtained, it is a matter of trial and error. - Assumed position information and as a change parameter. The assumed shape information is just an initial value, and a change amount is set for this initial value (steps Fl, F6).

Since the assumed position information and assumed shape information are used at the start, the amount of change is set to zero (step Fl).

In step F2, the amount of position change and the amount of shape change (steps Fl, F8) are added to the assumed position information and assumed shape information as a new position and shape. This new position and shape are temporarily stored in the verification information storage means 3 (F3)
.

In step F4, coordinate transformation is performed from the building coordinate system to the wt81Il coordinate system. The building coordinate system refers to the position, shape, etc. of the basic primitives of the components obtained by the generation means 1.
It is the coordinate system of the building for dimensional design information, and as a numerical value, Step I? It is given by 2. Under the building coordinate system given by such temporary coordinate values, if the shape and position are given by a component contour vector, this component axis vector is converted to the 1128I11 coordinate system. l1
12 The coordinate system is a coordinate system formed by the installation position and direction of the TV camera of the observation means 5, and the TV camera may be provided with a mechanism to detect this position and direction and captured together with the image, or the TV camera may be equipped with a mechanism to detect this position and direction. It is also possible to provide a separate position and direction detection mechanism for this.

In step F5, the component contour vector converted into the observation coordinate system is subjected to perspective projection transformation using the focal length of the observation TV camera to generate a component contour image that is a predicted image. This predicted image is an image (pseudo observed image) that is predicted to be obtained when the target part is photographed with an observation TV camera.

In step F6, the predicted image and the actual IiIt81g image taken by the observation TV camera are compared and verified. As a result of this comparison, the position and shape change amount are newly set.

In step F7, it is checked whether the newly set amount of change in position and shape is smaller than the minute value i.

If it is smaller than the minimum value E, it is assumed that both images match, and the process ends. If it is larger than the minimum value ε, steps F2 to F6 are repeated based on the new change amount.

A system diagram for the process of step F6 in FIG. 2 is shown in FIG. The observed image and predicted image (pseudo observed image) are displayed in an overlapping manner on the CRTIB. This predicted image is based on a temporary position. The operator recognizes errors in position and shape by looking at this display, and inputs the amount of change in the predicted image so as to reduce the errors. These change inputs are made from the keyboard IA regarding movement of the image in the vertical, horizontal, and depth directions, and rotation around the three axes. However, it is not necessary to obtain accurate positions and images by changing the number of times, and the operator only needs to input a qualitative change amount. Therefore, calculation of such a change amount is extremely easy.

FIG. 4 shows a specific example of this embodiment. Diagram information 10
is a data version of the two-dimensional design drawing 11 shown on the right side, and this is the CRTIB shown in Fig. 1.
This corresponds to the "2D design information" specified in . FIG. 4 shows a valve lla and SUS pipes connected before and after the valve lla.

Various data 13 for three-dimensional generation are input to the drawing information 10. In the figure, the shape data name, reference point coordinates (
An example of inputting data such as temporary coordinates), etc. is shown. In FIG. 1, these various data 13 are displayed on the keyboard I.
You can think of it as input from A.

The three-dimensional basic figure creation system 12 corresponds to the generation means 1 in FIG. 1, and creates three-dimensional design information.

FIG. 4 shows an example in which pipe example 14 of pipe SUS was created.

The position/orientation/coordinate correction system 15 corresponds to the collation unit 2, storage means 3, and plotting means 4 in FIG.
The original three-dimensional design information 17 in the actual construction state is obtained from the data 16 indicating the posture. Here, the data 16 indicating the position and orientation, excluding the object name, is the observation position and direction of the verification unit 2 by the observation means 5.

The database 18 is a part that stores three-dimensional design information that reflects the actual state of construction, and may be any of the means 4.3.1.

The process shown in FIG. 4 is performed one after another for each component. When the process is completed for all the constituent parts, the three-dimensional design information for the whole has been obtained.

Examples of the final data obtained are as follows.

(a), Position and shape when matching in Figure 1.

(b) Three-dimensional design information reconstructed by feeding back this position and shape.

2D design information reconstructed by feeding back the 3D design information obtained in (c) and (b).

A drawing created from the three-dimensional or two-dimensional design information obtained in (d), (b), or (c).

According to the above embodiment, the drawing means is controlled based on the design information generated by the generation means and the design information stored in the collation information storage means, so that the exchange of design information between these subprocesses is possible. This eliminates the need for human intervention and avoids errors during the exchange of design information. Furthermore, the difference between the component in the actual construction state (actual construction state) and its initial design value can be quickly examined by comparing the images, and as a result, the design information generated and stored in the generation means can be changed. , it is possible to generate as-built three-dimensional design information without the need for one-person on-site surveying.

〔Effect of the invention〕

According to the present invention, 3D design information of a component in an actual state where no 3D design information exists and only 2D design information exists is generated without human intervention and outputted by one drawing means. This eliminates the occurrence of errors and saves manpower. In addition, the information on the component mounting location is output as an image, and based on this image, the actual coordinates can be compared and changed with the design information stored in the generation means, so it is possible to accurately respond to the actual situation, and to This also has the effect of requiring less manpower.

[Brief explanation of the drawing]

Figure 1 is an embodiment of the creation device of the present invention, Figure 2 is a flowchart of the collation process of the present invention, Figure 3 is a system diagram of the collation process of the present invention, and Figure 4 is an example of a processing system using specific data. It is a diagram. 1... Generation means, 2... Collation unit.

Claims (1)

[Claims] 1. A first step of generating the three-dimensional shape and mounting position of the component in the state of actual construction, and three-dimensional design from the two-dimensional design information of the component at the design stage before implementation. a second step of generating information; comparing the three-dimensional design information with the three-dimensional shape and mounting position obtained by the first means; A method for creating three-dimensional design data, comprising: a third step of matching the shape and mounting position, and changing the design information of the component according to the changed parameters at the time of matching. 2. Claim 1, wherein the design information changed according to the third step is the three-dimensional design information obtained in the second step.
3D design data creation method. 3. The first means of obtaining an actual observation image by capturing the three-dimensional shape and mounting position of the component under the actual construction state using an imaging system, and the second method of obtaining the actual observation image of the component at the design stage before the actual construction. a second means for generating three-dimensional design information from the dimensional design information; a third means for processing the three-dimensional design information as if it were observed by the imaging system to obtain a pseudo observation image; The image and the pseudo-observation image are compared, and the shape and position of the pseudo-observation image are changed to match the two.
A three-dimensional design data creation device comprising: fourth means for changing design information based on the shape and position at the time of matching. 4. The three-dimensional design information creation apparatus according to claim 3, wherein the design information to be changed by the fourth means is the three-dimensional design information obtained by the second means. 5. The three-dimensional design data creation apparatus according to claim 3, further comprising a fifth means for plotting the design information changed by the fourth means.