JP4855547B1 - Method for analyzing the configuration of stereotyped bodies - Google Patents

Abstract

Provided is a method for analyzing the configuration of a fixed body group, which can accurately determine the three-dimensional layout of the fixed body group, and thereby perform cross-sectional analysis and time difference comparison analysis of the fixed body group with high accuracy. To do.
A measurement wave is emitted to a fixed form group, a three-dimensional multipoint group and a large number of three-dimensional point data are acquired, and then a fixed form is selected from the three-dimensional point data constituting the three-dimensional multipoint group. Are sequentially extracted, and thereafter, a three-dimensional fixed object model acquired in advance is sequentially inserted into the estimated area of the extracted fixed object so that the image size and position match three-dimensionally. Since the 3D CG of the fixed form group is displayed in a 3D display or 2D display after the entire insertion, the three-dimensional arrangement of the fixed form group can be grasped with high accuracy by reducing the influence of measurement errors. Cross-section analysis and time difference comparison analysis can be performed with high accuracy.
[Selection] Figure 1

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional arrangement state analysis method for a fixed body group, and more particularly to a three-dimensional arrangement state analysis method for a fixed body group that can three-dimensionally understand the arrangement state of a plurality of fixed bodies constituting the fixed body group.

In harbors, a number of wave-dissipating blocks (regular bodies) such as quadruped blocks and hexapod blocks are installed along the breakwaters to build a wave-dissipating block group (regular body group), and the wave energy is attenuated to protect the breakwater. Things have been done. The state of deterioration of the harbor facilities where such revetment work was done is inspected in detail, and the construction site of the wave-dissipating block group is being investigated as a basic study material for evaluating its soundness.
As a technique for simplifying this investigation and facilitating the evaluation of the soundness level of a construction site of a wave-dissipating block group, for example, “State measurement method for wave-dissipating blocks” in Patent Document 1 is known.

  In the measurement method of Patent Document 1, first, two-dimensional photographic image data obtained by capturing a group of wave-dissipating blocks with a camera from an upper position is stored in a first recording device, and the dimensions of the wave-dissipating blocks are stored in the second recording device in advance. Shape image data is stored. Thereafter, the image data read from the second recording device is deformed by the data deformation control unit, and the deformation data and the image data read from the first recording device are compared by the comparison and collation device to determine whether or not they match. If they do not match, the feedback signal is sent to the data transformation control unit so as to perform the next data transformation control, and the comparison and collation process of comparing and collating the result is repeated. Then, the distance from the camera to the center of the wave-dissipating block and the direction in which the ridge line is directed are obtained for each wave-dissipating block based on the deformation data of the data deformation control unit when they match. Thus, it is described that accurate measured values can be obtained not only for the built-up wave-dissipating block group but also for individual wave-dissipating blocks.

  As described in the example of Patent Document 1, the image data of the wave-dissipating block stored in the second recording apparatus is the image data of the modeled three-dimensional wave-dissipating block (three-dimensional fixed body model). In order to facilitate the deformation calculation by the data deformation control unit, data in accordance with the wire frame data format is stored. This means that a three-dimensional wave-dissipating block is displayed with three points (three-dimensional point data) on the X, Y, and Z axes that are the tips of the legs appearing in the photographic image.

Japanese Patent Publication No. 6-87008

  However, in the method for measuring a state of a wave-dissipating block described in Patent Document 1, a number of two-dimensional wave-dissipating blocks and a model of a three-dimensional wave-dissipating block constituting the wave-dissipating block group as described above are used. , Substantially storing each of the three points, and then deforming the three-dimensional wave-dissipating block by the data deformation control unit, and comparing the deformation data with the extracted two-dimensional image data of the wave-dissipating block Is used for comparison on a two-dimensional plane to determine whether or not they match. However, the reliability of positioning of both wave-dissipating blocks by a method that should be called such a three-point matching method is low, and a large matching error has occurred.

  Therefore, as a result of diligent research, the inventor has recently developed a three-dimensional measuring machine that has been spreading rapidly with the reduction in price and accuracy of measuring instruments, in particular, a 3D profiler that three-dimensionally measures ground objects, We focused on a multi-beam sounding instrument that measures three-dimensional underwater objects. These measuring devices emit a laser beam or a sound wave toward the object to be measured, and three-dimensionally display the object to be measured by a three-dimensional multipoint group (point group on the X, Y, and Z axes). Therefore, if the three-dimensional multipoint cloud data of the wave-dissipating block group obtained using a three-dimensional measuring device is compared with the three-dimensional image data of the wave-dissipating block having a three-dimensional shape, the image of the photograph adopted by the conventional method is used. Compared with the three-point matching method, which compares the data with the 3D image data of the modeled 3D-shaped wave-dissipating block, the image data collation accuracy is improved, and finally the 3D-shaped wave-dissipating block is built. The present invention was completed by discovering that a highly accurate three-dimensional CG of the wave-dissipating block group can be obtained.

  This invention can grasp the three-dimensional arrangement of the fixed body group with high accuracy, and thereby the three-dimensional arrangement state of the fixed body group that can perform cross-sectional analysis, time difference comparison analysis, etc. of the fixed body group with high accuracy The purpose is to provide an analysis method.

The invention according to claim 1, by measuring a three-dimensional shape of the fixed body group by emitting a measurement wave to a fixed body group composed of a plurality of fixed bodies and collecting a three-dimensional multipoint group, A process of acquiring three-dimensional point data on the X-axis, Y-axis, and Z-axis of a large number of points constituting a three-dimensional multipoint group, and displaying the fixed form group on a 3D display using the three-dimensional point data Three-dimensional CG data of a three-dimensional fixed body model obtained by modeling the fixed body obtained in advance and three-dimensionally displaying on this 3D display, and then using the automatic extraction control of CG processing, In the displayed fixed form group, an extraction step of sequentially extracting a fixed form estimation area estimated as the fixed form from a large number of three-dimensional point data constituting the three-dimensional multipoint group, and then a CG process Automatic insertion 3D CG data of the 3D morphological model, 3D CG data of the 3D morphological model, and 3D CG data of the 3D morphological model in all the extracted 3D morphologically estimated regions in the 3D dimensional body group displayed on the 3D display. The step of inserting the three-dimensional CG data of the three- dimensional fixed-form model into the three-dimensional CG data of the three- dimensional fixed-form model into all of the fixed-form object estimation regions. Based on the three- dimensional arrangement state analysis method for a fixed-form body group for analyzing the three-dimensional arrangement state of the fixed-form body group, the insertion step determines the insertion position of the three-dimensional fixed-body model for the extracted fixed-form object estimation region. Designating and indicating the position and orientation of the three-dimensional fixed form model by the coordinate positions of the X, Y, and Z axes, and the rotation angles around these axes, and the X and Y axes of the three-dimensional fixed form model Movement on the axis and Z-axis A step of setting a range including a range and a rotation angle range around the X, Y, and Z axes, a coordinate position on the X, Y, and Z axes of this three-dimensional shaped body model, an X axis rotation angle , Y-axis rotation angle, and Z-axis rotation angle, a calculation step for calculating the number of points from the three-dimensional point data within the set range, and the insertion of the three-dimensional fixed object model into the extracted fixed object estimation area A step of setting the three-dimensional position and orientation of the three-dimensional fixed form model having the maximum number of points within the set range as an insertion position in the extracted fixed form estimation area, and in the calculation step, The distance is calculated in the vertical direction with respect to the 3D point data constituting the 3D multipoint group for each polygon at the specified insertion position of the 3D fixed form model, and the distance is set in advance. Within the error range This is a method of analyzing the configuration of a stereotyped body group that detects the number of points .

As the fixed form, for example, a wave-dissipating block such as a quadruped block, a hexapod block, or an octapod block can be adopted. In addition, slope covering blocks, automobiles, containers, irregular blocks, fishing reefs, buildings, piping, tiles, bricks, cardboard boxes and the like may be used.
As the fixed body group, for example, a wave-dissipating block group for sea or river revetment can be adopted. In addition, it may be a slope protection covering, car parking, container arrangement, building construction, fishing reef installation, factory piping installation, roof shape, brick wall, and the like.
As the measurement wave, for example, a laser beam such as an infrared laser or a near infrared laser, an ultrasonic wave, or the like can be used.
The three-dimensional multipoint group may be represented by only a large number of points, or may be subjected to polygon transformation that represents these points by a triangular or quadrangular lattice connecting virtual lines.

As a three-dimensional measuring machine that acquires a three-dimensional multipoint group (three-dimensional point data group), for example, a three-dimensional laser scanner, a three-dimensional sonar, or the like can be employed. In addition, an aviation laser scanner, a moving body precision three-dimensional measurement system, etc. may be used.
The number of measurement points (density of measurement points) of the three-dimensional multipoint group differs depending on the size, shape, etc. of the measured fixed form or fixed form group.
“Region presumed to be a fixed form” is determined from the distribution of the points that make up the 3D multipoint group (spots) in the 3D multipoint group that forms the fixed form group. This is an area that can be considered.
As a method of extracting a region estimated to be a fixed form, for example, a method of extracting only data by automatic extraction control of computer graphics processing is adopted.

Here, “matching the image size three-dimensionally” means a region estimated as a fixed form extracted from a large number of three-dimensional point data constituting the three-dimensional multipoint group, and a three-dimensional When comparing the three-dimensional CG data of the fixed body model, the image size of the three-dimensional fixed body model is three-dimensionally (X, Y, Z axes) To match (on the coordinates).
“Matching the position three-dimensionally” as used herein means that the extracted fixed form is used when the region estimated to be the extracted fixed form is compared with the three-dimensional CG data of the three-dimensional fixed form model. The position on the X, Y, and Z axis coordinates of the estimated region and the position on the X, Y, and Z axis coordinates of the three-dimensional CG data of the three-dimensional shaped object model are (substantially) matched. That means.

Here, “inserting the 3D CG data of the 3D fixed form model into the region estimated to be the extracted fixed form” employs , for example, insertion by automatic insertion (insertion) control of computer graphics processing. .
Such an insertion operation is sequentially performed with respect to “regions estimated to be all fixed objects” extracted from a large number of three-dimensional point data constituting the three-dimensional multipoint group of the fixed object groups.
The type of 3D display is arbitrary. For example, a frame sequential method that requires liquid crystal shutter glasses, a polarizing film method that does not require liquid crystal shutter glasses, or a lenticular lens method that can be handled with the naked eye can be employed. If a 3D display is used, a 3D image will appear on the screen of the monitor, and the comprehension at the time of analysis of the shaped body group will be enhanced compared to the case where a 2D display is used.
The analysis of the three-dimensional arrangement status of the shaped body group includes, for example, construction management, inspection of the deformation state over the years of inspection, cross-sectional analysis of the shaped body group for understanding the deformation state at the time of disaster, time difference comparison analysis, etc. Can be adopted.

Further, a three-dimensional measuring instrument capable of acquiring the three-dimensional multipoint group data is used for measuring the fixed body group.
Examples of the three-dimensional measuring machine include a three-dimensional laser scanner (for land use) and a three-dimensional sonar (for underwater or underwater use). In addition, a measuring device that can display a fixed form as a three-dimensional multipoint group may be used.
As the three-dimensional laser scanner, for example, a 3D image scanner manufactured by Legle of Austria can be used. In addition, as the three-dimensional sonar, for example, a wideband multi-beam measuring machine manufactured by Reson or R2sonic can be used.

Further, the three-dimensional CG data of the fixed form group and the three-dimensional CG data of the three-dimensional fixed form model are obtained by performing polygon conversion using each point constituting the three-dimensional multipoint group as a base point.

In addition, after obtaining the 3D point data of the 3D multipoint group, based on the 3D point data, the CG of the fixed form group is stereoscopically displayed on the screen of the 3D display, and the region estimated as the fixed form is displayed. The extraction and the insertion of the three-dimensional fixed form model into the region estimated as the fixed form can also be performed by a manual operation in computer graphics processing on the screen of the 3D display.

According to the first aspect of the present invention, a measurement wave is emitted toward a fixed body group to obtain a three-dimensional multipoint group and a large number of three-dimensional point data constituting the group, and then 3 Extract the region estimated to be a fixed form sequentially from the three-dimensional point data constituting the multidimensional point group, and then convert the 3D fixed form model acquired in advance to the region estimated to be the extracted fixed form respectively. The image size and position are sequentially inserted in a three-dimensional manner. After all the insertions are completed, the three-dimensional CG of the fixed body group composed of a plurality of three-dimensional fixed models is stereoscopically displayed on the screen of the 3D display. As a result, the three-dimensional arrangement of the shaped object group can be grasped with high accuracy by reducing the influence of the measurement error, and based on the grasped state of the shaped object group, for example, cross-sectional analysis of the shaped object group, time difference Comparison analysis and the like can be performed with high accuracy.

Further, at the time of measuring the fixed body group, three-dimensional multipoint group data of the fixed body group is acquired using a three-dimensional measuring machine. For example, when a three-dimensional laser scanner is adopted as a three-dimensional measuring machine, dense point cloud data can be acquired at high speed and high accuracy on the land. In addition, when a three-dimensional sonar is employed as the three-dimensional measuring instrument, three-dimensional measurement in water, which is difficult to measure with a laser survey instrument, can be performed using ultrasonic waves.

In addition, since the three-dimensional CG of the fixed form group is subjected to polygon conversion using each point constituting the three-dimensional multipoint group as a base point, depth processing is performed on the monitor (screen) by appropriately performing hidden line processing on the three-dimensional CG. The position of the direction can be grasped. Thereby, a complicated situation can be accurately reproduced with highly accurate point cloud data.

In addition, after acquiring the three-dimensional point data of the three-dimensional multipoint group, the CG of the fixed form group is stereoscopically displayed on the screen of the 3D display based on the three-dimensional point data. Thereafter, extraction of a region estimated to be a fixed object and insertion of the three-dimensional fixed object model into a region that is estimated to be a fixed object are performed by manual operation in computer graphics processing on the screen of the 3D display. You can also. As a result, even if a dimensional error occurs due to an actual molding error, deformation, or the like, the three-dimensional fixed body model can be inserted. Moreover, even when only a part of the fixed form is measured, it can be inserted.

It is a flow sheet of a three-dimensional arrangement situation analysis method of a fixed form group concerning a reference example of this invention. It is a side view of the use condition of the three-dimensional laser scanner used with the three-dimensional arrangement | positioning condition analysis method of the fixed object group which concerns on the reference example of this invention. It is the three-dimensional CG of the fixed form group which carried out the polygon conversion of the three-dimensional arrangement situation analysis method of the fixed form group which concerns on the reference example of this invention. It is a side view of the use condition of the three-dimensional sonar used with the three-dimensional arrangement | positioning condition analysis method of the fixed object group which concerns on the reference example of this invention. (A) is a top view of the three-dimensional fixed object model used with the three-dimensional arrangement state analysis method of the fixed object group which concerns on the reference example of this invention. (B) is a front view of a three-dimensional shaped object model used in the three-dimensional arrangement state analysis method for a shaped object group according to a reference example of the present invention. In engaging Ru configuration status analyzing method of shaped product groups to a reference example of the present invention is a three-dimensional CG showing a state immediately before insertion of a three-dimensional wave dissipating block model to the area to be estimated to the extracted wave dissipating blocks. FIG. 6 is a three-dimensional CG showing a roughly adjusted insertion state of a three-dimensional wave-dissipating block model in an area estimated to be an extracted wave-dissipating block in the method for analyzing a three-dimensional arrangement state of a fixed body group according to a reference example of the present invention. 3D is a three-dimensional CG showing a state of precise adjustment insertion of a three-dimensional wave-dissipating block model into a region estimated to be an extracted wave-dissipating block in the method for analyzing a three-dimensional arrangement state of a fixed body group according to a reference example of the present invention. In the three-dimensional arrangement state analysis method for a fixed form group according to the reference example of the present invention, it is a three-dimensional CG of a wave-dissipating block group composed of a number of three-dimensional wave-dissipating block models. It is a flow sheet of the first half process of the three-dimensional arrangement situation analysis method of the fixed form group concerning the example of this invention. It is a flow sheet of the latter half process of a three-dimensional arrangement situation analysis method of a fixed form group concerning an example of this invention.

Examples of the present invention will be specifically described below. In addition, here, as for the method of analyzing the three-dimensional arrangement of the wave-dissipating blocks built along the coastal breakwater, some manual operations (reference example) and three-dimensional arrangement analysis of the fixed body group by full automation Two cases of the method will be described as an example. For convenience of explanation, the Y direction is the length direction of the breakwater, the X direction is the width direction of the breakwater, and the Z direction is the vertical direction.

First, with reference to FIGS. 1 to 9, a method for analyzing a three-dimensional arrangement state of a fixed body group with manual operation in part according to a reference example of the present invention will be described.
As shown in the flow sheet of FIG. 1, in the three-dimensional arrangement state analysis method for the shaped object group according to the reference example of the present invention, in step S100, first, the sea portion of the wave-dissipating block group built along the breakwater is a three-dimensional laser. Survey with a scanner, and survey the underwater part of the wave-dissipating block group with a three-dimensional sonar. Prior to this, after measuring the reference point on the breakwater with GPS (Global Positioning System), TS (Total Station), etc., a 3D laser scanner is installed on the breakwater, and the reference point is aligned and 3D. A survey ship equipped with a sonar (Lason or R2sonic wideband multi-beam measuring machine) is placed near the breakwater, and the reference points are aligned using the 3D sonar GPS.

Hereinafter, the surveying method of the sea part of the wave-dissipating block group by the three-dimensional laser scanner (three-dimensional measuring machine) 10 shown in FIG. 2 will be described.
Observe in advance so that the reflector installed as an arbitrary point on the breakwater is reflected. Specifically, the position of the reflecting plate is extracted on the program, the installation position of the three-dimensional laser scanner (3D image scanner manufactured by Regal Corporation) 10 is confirmed from the position information, and the coordinate position is written in the observation data. .
Next, in step S101, the observation target of the wave-dissipating block group 11 (FIG. 3) is set, the observation area is narrowed down, and the near-infrared laser beam is extinguished by the three-dimensional laser scanner 10 installed on the breakwater. Irradiate a predetermined range of the sea part of the wave block group 11 and scan. As a result, the three-dimensional multipoint group of the sea part of the wave-dissipating block group 11 and a large number of three-dimensional point data constituting it are acquired, and then polygon conversion is performed using each point constituting the three-dimensional multipoint group as a base point. The wave-dissipating block group 11 is three-dimensionally displayed on the screen of a 3D display (or 2D display is possible).

Next, a method for surveying the underwater portion of the wave-dissipating block group 11 by the three-dimensional sonar (three-dimensional measuring machine) 12 shown in FIG. 4 will be described.
As shown in FIG. 4, the observation ship 16 is arranged near the breakwater, and after aligning the reference point, the observation target of the wave-dissipating block group 11 is set, the observation area is narrowed down, and then the observation ship 16 is arranged. Observation is performed by transmitting ultrasonic waves toward the underwater portion of the wave-dissipating block group 11 by the mounted three-dimensional sonar 12 (S100). Specifically, the underwater portion of the wave-dissipating block group 11 including the seafloor profile is measured, and 3D point data constituting a 3D multipoint group is obtained with a footprint of 120 ° × 0.5 °, Thereafter, in step S102, the wave-dissipating block group 11 subjected to polygon conversion using each point constituting the three-dimensional multipoint group as a base point is stereoscopically displayed on the screen of the 3D display (FIG. 3).

  A large number of beams are formed and high-density data is used to cover the entire area of the seabed by overlap depth measurement, and a detailed three-dimensional shape of the underwater portion of the wave-dissipating block group 11 is acquired. In addition, correction (rolling, pitching, heaving, heading) of the ship 16 of the observation ship 16 is continuously performed by linking each sensor and the high-accuracy position information of the RTK / GPS (interference positioning system) 13. Done. The RTK / GPS 13 is a surveying point where a reference receiver is installed at a reference reference point (known), a phase difference of radio waves received from an electronic reference point is measured by a mobile receiver, and a positioning calculation is performed. The positioning time is 1 minute or less, and the error is several centimeters. Observation conditions at this time are a frequency of 200 to 400 kHz, a beam width (traveling direction × perpendicular direction) of 1.0 ° × 0.5 ° kHz, a beam number of 256, a swath width of 160 °, and a pulse width of 50 μs. .

Further, a three-dimensional wave-dissipating block model (three-dimensional definite body model, FIGS. 5A and 5B) in which the wave-dissipating blocks constituting the wave-dissipating block group 11 are converted into polygons in advance and modeled three-dimensionally. 14 three-dimensional CG data is acquired and displayed in 3D on the screen of the 3D display (S102). Each polygon is displayed with a relationship with point data on computer graphics, and is appropriately subjected to hidden line processing. The same applies to each polygon of the three-dimensional multipoint group acquired using the three-dimensional laser scanner 10 and the three-dimensional sonar 12 described above.
Next, in step S103, with respect to the three-dimensional wave-dissipating block model 14, the center positions of the X, Y, and Z axes and the rotation angles around these axes (α: X axis rotation angle, β: Y axis rotation angle). , Λ; Z axis rotation angle) is arbitrarily specified (here, 0 °).
Next, in step S104, the point data of the region 15 estimated as each of the wave-dissipating blocks constituting the wave-dissipating block group 11 is sequentially extracted with reference to the distance from the center position of the region 15 estimated as the wave-dissipating block. (FIG. 6).

  Thereafter, in step S105, the region 15 estimated as the extracted wave-dissipating block and the three-dimensional wave-dissipating block model 14 are three-dimensionally adjusted in image size and position by manual operation in computer graphics processing. Insert them in sequence. Specifically, the three-dimensional wave-dissipating block model 14 is appropriately enlarged or reduced according to the size of the region 15 estimated to be the extracted wave-dissipating block by operating a mouse or a key. In addition, the three-dimensional wave-dissipating block model 14 is appropriately moved in the X direction, the Y direction, and the Z direction according to the region 15 estimated to be the extracted wave-dissipating block, and the direction about the X-axis as appropriate, the Y-axis Is rotated in a direction centered on the Z axis and a direction centered on the Z axis to perform three-dimensional alignment. In these operations, first, rough alignment is performed (FIG. 7), and then fine adjustment is performed (FIG. 8).

Thereafter, in step S106, the operator visually recognizes whether or not the insertion (insertion) has been completed on the screen of the 3D display, and determines that. When the insertion is completed, the process proceeds to the next step S107, and when there is a deviation in the insertion, the process returns to the previous step S105.
In the next step S107, it is determined whether or not there is a damaged deformation or the like in the region 15 estimated to be the extracted wave-dissipating block. If there is no breakage deformation, the process proceeds to the next step S108, and if there is breakage deformation, the process proceeds to step S109, and the area 15 estimated to be the extracted wave-dissipating block is set to “with breakage deformation”. Make an association.
In the next step S108, the three-dimensional wave-dissipating block model 14 is added, and the work of inserting the three-dimensional wave-dissipating block model 14 into the region 15 estimated as the next extracted wave-dissipating block is performed.

In subsequent step S110, it is determined whether or not the three-dimensional wave-dissipating block model 14 has been inserted for all the extracted wave-dissipating blocks 15 and the program ends when all the areas have been completed. If not, the process returns to step S103.
Based on the wave-dissipating block group 11 composed of a large number of three-dimensional wave-dissipating block models 14 obtained as described above, the three-dimensional arrangement of the wave-dissipating block group 11 can be grasped with high accuracy by reducing the influence of measurement errors. (FIG. 9). In addition, CD data is created from the wave-dissipating block group 11 composed of the large number of three-dimensional wave-dissipating block models 14, and using this CD data, for example, cross-sectional analysis and time-difference comparison analysis of the wave-dissipating block group 11 are enhanced. Can be done with precision.

Next, with reference to FIG. 10 and FIG. 11, a method for analyzing the three-dimensional arrangement state of the fixed body group according to the embodiment of the present invention will be described.
The feature of the three-dimensional configuration analysis method of the fixed body group according to the embodiment of the present invention is that it is fully automated with respect to the three-dimensional configuration situation analysis method of the fixed body group that involves manual operation as a part of the reference example. Features.

Hereinafter, the features of the embodiment will be described in detail with reference to the flow sheets of FIGS. 10 and 11.
10, the three-dimensional measurement of the wave-dissipating block group 11 in step S200, the three-dimensional display of the wave-dissipating block group 11 obtained by polygon conversion of the three-dimensional multipoint group in step 201, and the step 202 The three-dimensional display of the three-dimensional CG data of the three-dimensional wave-dissipating block model 14 on the 3D display is the same as the corresponding processing (steps S100 to S102) in the reference example . Hereinafter, each step will be described.

In step S203, the entire area of the point data of the wave-dissipating block group 11 is divided by a cubic solid lattice in which an actually measured value on one side is several m. However, the lattice size E is arbitrarily changed according to the actually measured size of the three-dimensional three-dimensional wave-dissipating block model 14.
In step S204, the center position of the X, Y and Z axes and the rotation angle (α; X axis rotation angle, β; The initial value of the Y-axis rotation angle, λ; Z-axis rotation angle) is arbitrarily specified (the rotation angles here are all 0 °). At this time, the coordinate value is set to the center coordinate of the first three-dimensional lattice.
In the flow sheet of FIG. 11, in step S <b> 205, point data estimated as each wave-dissipating block constituting the wave-dissipating block group 11 is sequentially extracted based on the distance from the center position of the first three-dimensional lattice. The distance from the center position of the three-dimensional lattice is set in consideration of the size of the three-dimensional lattice.

In step S206, a range in which the three-dimensional wave-dissipating block model 14 is moved on the X-axis, Y-axis, and Z-axis, and the three-dimensional wave-dissipating block model 14 is centered on the X-axis and centered on the Y-axis. Set the range of rotation around each. Specifically, the position range A of the movement is a lattice size E, the division number B of the position range A is 100 (10 cm), the angle range C is 360, and the division number 36 of the angle range C is 36 (10 °). The number of divisions B of the position range A and the number of divisions of the angle range C can be arbitrarily changed. The fact that the number of divisions can be arbitrarily changed is the same in the process of step S210.
In step S207, coordinate positions on the X, Y, and Z axes indicating the position and orientation of the three-dimensional wave-dissipating block model 14 and rotation angles around these axes (X-axis rotation angle α, Y-axis rotation angle). For β and Z-axis rotation angle λ), the number of points within an error range (here, within 1000 points) is detected. Specifically, distance calculation is performed for each polygon in the direction perpendicular to the point cloud data at the specified insertion position (insertion position), and the number of points within the error range (for example, 5 cm) is detected. To do. The number of times the distance is calculated is A / B cubed × C / D cubed.

  In step S208, the three-dimensional wave-dissipating block model that maximizes the number of points within a preset error range when the three-dimensional wave-dissipating block model 14 is inserted (inserted) into the region 15 estimated to be the extracted wave-dissipating block. 14 three-dimensional positions (X-axis, Y-axis, and Z-axis positions, X-axis rotation angle α, Y-axis rotation angle β, and Z-axis rotation angle λ) are estimated as extracted wave-dissipating blocks. 15 is the insertion position.

  In step S209, it is determined whether the process in step S208 has been repeated for the designated number. The “specified number” here is 100, which takes into account the accuracy of insertion and the amount of calculation of repetition. If the specified number has been reached, the process proceeds to step S211. If the specified number has not been reached, the process proceeds to step S210 and then returns to step S207 to repeat steps S207 to S209 until the specified number is reached. In step S210, the position range A is A / B, the division number B is 100, the angle range C is C / D, and the division number is 36. In these processes, the three-dimensional position and angle are roughly calculated at the first time, the outline of the posture of the three-dimensional wave-dissipating block model 14 is grasped, and the calculation is applied to the details in the second and subsequent loops. That is, the insertion of the three-dimensional wave-dissipating block model 14 into the region 15 estimated as the extracted wave-dissipating block is subjected to a fine adjustment (FIG. 8) after rough alignment (FIG. 7).

In the next step 211, it is determined whether or not the number of points within the error range is greater than a predetermined value (200 points or more). If it is greater than or equal to a certain number, the process proceeds to step S212, and if the number of points within the error range is less than a certain number, the process proceeds to step S213.
In step S212, the three-dimensional wave-dissipating block model 14 is added. In addition, if point data is densely packed within the 3D wave-dissipating block model 14 (back point) and exists more than a certain level (200 points or more), it is determined that the extracted wave-dissipating block may be damaged. Information is added to the corresponding three-dimensional wave-dissipating block model 14.
In step S213, it is determined whether or not the above calculation has been completed for all the three-dimensional lattices. If completed, the process proceeds to step S213; otherwise, the process proceeds to step S214.
In step S214, the initial position of the center and the rotation angle of the three-dimensional wave-dissipating block model 14 are moved to the coordinates of the next three-dimensional lattice, and then the process returns to step S205, and the subsequent processing is sequentially repeated.

As described above, since the method for analyzing the three-dimensional arrangement of the fixed body group 11 by complete automation is adopted, the three-dimensional arrangement of the fixed body group can be grasped with high accuracy by fully automatic operation without human intervention. In addition, it is possible to perform cross-sectional analysis, time difference comparison analysis, etc. of the shaped object group with higher accuracy by using the obtained high-accuracy data.
Other configurations, operations, and effects are in a range that can be estimated from the reference example, and thus are omitted.

  The present invention is useful, for example, when analyzing a three-dimensional object when a large number of objects having a fixed shape exist in a group.

10 3D laser scanner (3D measuring machine),
11 Wave-dissipating block group (standard body group),
12 3D sonar (3D measuring machine),
14 3D wave-dissipating block model (3D shaped body model),
15 Area estimated as a wave-dissipating block (area estimated as a fixed form).

Claims (1)

By measuring the three-dimensional shape of the fixed-form group by emitting measurement waves to a fixed-form group consisting of a plurality of fixed-form bodies and collecting the three-dimensional multi-point group, a large number constituting the three-dimensional multi-point group is formed. Obtaining three-dimensional point data on the X-axis, Y-axis, and Z-axis of the point, and stereoscopically displaying the fixed form group on the 3D display using the three-dimensional point data;
Three-dimensionally displaying on the 3D display three-dimensional CG data of a three-dimensional fixed form model obtained by modeling the fixed form obtained in advance;
Next, using the automatic extraction control of the CG process, the fixed form group displayed in a three-dimensional manner on the 3D display is estimated as the fixed form from a large number of three-dimensional point data constituting the three-dimensional multipoint group. An extraction process for sequentially extracting the definite body estimation regions;
After that, using the automatic insertion control of CG processing, the three-dimensional CG data of the three-dimensional fixed body model is extracted from the three-dimensional fixed body model extracted in the three-dimensional fixed body group displayed on the 3D display. An insertion step of sequentially inserting the size and position in three dimensions to match,
Based on the three-dimensional CG data of the fixed-form group in which the three-dimensional CG data of the three- dimensional fixed-body model is inserted into all the fixed-form object estimation regions, the three-dimensional arrangement state of the fixed-form group is analyzed. A method for analyzing the configuration of a fixed body group,
The insertion step includes
The insertion position of the three-dimensional fixed object model is specified for the extracted fixed object estimation area, and the position and orientation of the three-dimensional fixed object model are set to the X-axis, Y-axis, and Z-axis coordinate positions, and rotations about these axes. An angle step;
Setting a range including a movement range of the three-dimensional fixed form model on the X, Y, and Z axes and a rotation angle range around the X, Y, and Z axes;
With respect to the coordinate position, X-axis rotation angle, Y-axis rotation angle, and Z-axis rotation angle on the X-axis, Y-axis, and Z-axis of this three-dimensional fixed form model, the number of points from the three-dimensional point data within the set range. A calculation step of calculating
When the three-dimensional fixed object model is inserted into the extracted fixed object estimation region, the three-dimensional position and orientation of the three-dimensional fixed object model having the maximum number of points within the set range are extracted. Including the step of setting the insertion position in the region,
In the calculation step, a distance is calculated in the vertical direction with respect to the three-dimensional point data constituting the three-dimensional multipoint group for each polygon at the specified insertion position of the three-dimensional fixed body model. Is a method for analyzing the arrangement of three-dimensional objects in a fixed form group that detects the number of points within an error range set in advance .

Images