JP6734806B2 - Data integration device, method and program - Google Patents

Description

The present invention relates to a data integration device, a method, and a program, and is suitable for application to, for example, a data integration device that integrates three-dimensional measurement point cloud data acquired at a plurality of locations in an elevator hoistway.

When repairing an elevator, the dimensions of each part in the hoistway are collected in order to compare with the dimensions of a new car. Conventionally, the size of each part in the hoistway has been manually performed.

JP 2012-63866 A

By the way, in recent years, a method of using a three-dimensional laser measuring instrument to measure the size of each part in the hoistway has been considered. This method uses a three-dimensional laser measuring device at a plurality of height positions in the hoistway to perform three-dimensional measurement of a plurality of positions on the surface of a structure (hoistway inner wall surface, beams, columns, rails, etc.) in the hoistway. A coordinate is measured, and the measurement data obtained by each measurement is integrated to acquire a three-dimensional model in the hoistway, and the dimensions of each part in the hoistway are acquired based on the generated three-dimensional model. Is.

In order to realize such a method, it is necessary to position and integrate the measurement data acquired by measurement at a plurality of height positions in the hoistway. It is considered that the method disclosed in Patent Document 1 can be used as a method for integrating such measurement data.

Practically, in Patent Document 1, a three-dimensional point obtained from two viewpoints in a measurement object viewed from a first viewpoint and a measurement object viewed from a second viewpoint different from the first viewpoint. A method of calculating an overlap portion including a characteristic portion suitable for alignment between group position data and aligning the point cloud position data is disclosed.

In this case, in Patent Document 1, the alignment of the three-dimensional point cloud position data of the measurement object viewed from the first viewpoint and the three-dimensional point cloud position data of the measurement object viewed from the second viewpoint is performed. Although the characteristic portion suitable for the alignment is extracted, for example, when the alignment is performed with the wall of the hoistway, which is one of the common parts in the hoistway, as a reference, horizontal alignment such as x-axis and y-axis is performed. Although the alignment can be performed in the direction, there is a problem in that the positional deviation occurs in the z-axis direction (height direction) and the accuracy of the data integration cannot be reduced.

The present invention has been made in consideration of the above points, and it is an object of the present invention to propose a highly reliable data integration device, method, and program capable of accurately integrating three-dimensional data in a hoistway measured at a plurality of positions. Is.

In order to solve such a problem, in the present invention, in a data integration device that integrates respective measurement data obtained by measurement using a three-dimensional measuring instrument at a plurality of positions in a hoistway of an elevator, the measurement is performed by the elevator. Performed on the lower side of the car and on the upper side of the car, and the measurement data is composed of three-dimensional coordinates of a plurality of measurement points in the hoistway obtained in the measurement. For each of the measurement data obtained in step S1, the three-dimensional model of each of the measurement points based on the measurement data is used to guide at least the ceiling of the hoistway and the hoisting of the car installed in the hoistway. An extraction unit that extracts a rail and a predetermined common part for which three-dimensional coordinates of the surface are commonly obtained in the measurement on the upper side of the car and the measurement on the lower side of the car; A positioning unit that positions and integrates the measurement data respectively acquired in the measurement, the positioning unit, for the measurement data obtained by the measurement performed on the upper side of the car, , The height direction is aligned with the ceiling of the hoistway extracted by the extraction unit as a reference, and the horizontal alignment is performed with the rail extracted by the extraction unit as a reference, For the measurement data obtained by the measurement performed on the upper side of the and the measurement data obtained by the measurement performed on the lower side of the car, the common component extracted by the extraction unit In addition to performing the alignment in the height direction with reference to, the horizontal alignment is performed with the rail extracted by the extraction unit as the reference.

Further, in the present invention, in the data integration method executed by the data integration device that integrates each measurement data obtained by the measurement using the three-dimensional measurement device at a plurality of positions in the elevator hoistway, the measurement includes: The measurement data is performed on the lower side of the elevator car and on the upper side of the car, and the measurement data includes three-dimensional coordinates of a plurality of measurement points in the hoistway, which are obtained in the measurement. For each of the measurement data obtained in the measurement, at least the ceiling of the hoistway and the elevation of the car installed in the hoistway are determined from the three-dimensional model of each measurement point based on the measurement data. A first step of extracting a guiding rail and a predetermined common part for which the three-dimensional coordinates of the surface are commonly obtained in the measurement on the upper side of the car and the measurement on the lower side of the car. And a second step of aligning and integrating the measurement data obtained in each of the measurements, wherein the second step is obtained by the measurement performed on the upper side of the car. Regarding the measurement data, the alignment in the height direction is performed with the ceiling of the hoistway as a reference, and the alignment in the horizontal direction is performed with the rail as a reference, and the measurement performed on the upper side of the car. With respect to the measurement data obtained by the above and the measurement data obtained by the measurement performed on the lower side of the car, the rails are aligned in the height direction with the common component as a reference. The horizontal alignment is performed with reference to.

Further, in the present invention, the program is a program executed by a computer device that integrates respective measurement data obtained by measurement using a three-dimensional measuring instrument at a plurality of positions in an elevator hoistway, wherein the measurement is The measurement data is performed on the lower side of the elevator car and on the upper side of the car, and the measurement data includes three-dimensional coordinates of a plurality of measurement points in the hoistway obtained in the measurement. For each of the measurement data obtained in the measurement, a guide is provided for at least the ceiling of the hoistway and the lifting of the car installed in the hoistway from the three-dimensional model of each of the measurement points based on the measurement data. A first step of extracting a rail to be used and a predetermined common part for which three-dimensional coordinates of the surface are commonly obtained in the measurement on the upper side of the car and the measurement on the lower side of the car. , A second step of aligning and integrating the measurement data respectively acquired in each of the measurements, wherein in the second step, the measurement obtained on the upper side of the car is performed. Regarding the measurement data, while aligning in the height direction with the ceiling of the hoistway as a reference, aligning in the horizontal direction with the rail as a reference, and by the measurement performed on the upper side of the car. Regarding the obtained measurement data and the measurement data obtained by the measurement performed on the lower side of the car, the rails are aligned with each other in the height direction with reference to the common component. As a reference, horizontal alignment was performed.

As described above, in the data integration device, method, and program of the present invention, for each measurement data obtained by the measurement performed on the upper side of the car, the three-dimensional coordinates on the surface are commonly measured in these measurements. By aligning the height and the horizontal direction with reference to the ceiling and rails of the hoistway, the measurement data obtained from the measurement performed on the upper side of the car and the measurement performed on the lower side of the car With respect to the obtained measurement data, in order to perform the alignment in the height direction and the horizontal direction with reference to the common component and the rail that commonly measure the three-dimensional coordinates on the surface in these measurements, It is possible to accurately align and integrate the measurement data obtained at a plurality of positions in the hoistway without causing a horizontal displacement.

According to the present invention, it is possible to realize a highly reliable data integration device, method, and program that can accurately integrate three-dimensional data in a hoistway measured at a plurality of positions.

It is a block diagram which shows the whole structure of the data integration device by this Embodiment. It is a chart showing an example of composition of measurement point cloud data. It is a figure which shows an example at the time of plotting each measurement point on a three-dimensional coordinate. (A)-(C) is a schematic diagram for explaining the measurement position of the measurement using the three-dimensional laser measuring instrument performed a plurality of times. It is an approximate line sectional view provided for explanation of a sill. It is a chart showing an example of composition of a measuring instrument installation place management table. It is a figure where it uses for description of the method of extracting the inner wall surface of a hoistway from the measurement point group of FIG. It is a figure where it uses for description of the method of extracting a rail from the measurement point group of FIG. FIG. 4 is a diagram provided for explaining a method of extracting a sill from the measurement point group in FIG. 3. It is a flow chart which shows a flow of processing in data integration processing. It is a figure with which explanation of a pop-up is provided.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

(1) Configuration of Data Consolidation Device According to this Embodiment In FIG. 1, reference numeral 1 indicates the data integration device according to this embodiment as a whole. The data integration device 1 includes a general-purpose computer device including a CPU (Central Processing Unit) 2, a memory 3, an external storage device 4, an input device 5, an output device 6, a communication device 7, and a storage medium drive device 8. ..

The CPU 2 is a processor that controls the operation of the entire data integration device 1. The memory 3 is composed of, for example, a volatile semiconductor memory and is used to store and hold various programs. An object extraction program 10, a ceiling extraction program 11, a rail reference alignment program 12, a ceiling reference alignment program 13, a common component reference alignment program 14, an alignment reference acquisition program 15, a polygon generation program 16 and a BIM model generation program, which will be described later. 17 is also stored and held in this memory 3.

The external storage device 4 is composed of a large-capacity, non-volatile storage device such as a hard disk device or an SSD (Solid State Drive), and is used for holding programs and data for a long time. The measurement point group data 20 described later, the measuring instrument installation location management table 21, and the object recognition rule information 22 are stored and held in the external storage device 4.

The input device 5 is a device used by a user to operate the data integration device 1 and input various kinds of information, and includes a keyboard, a mouse, and/or a microphone. The output device 6 is a device that outputs necessary information, and includes a display device, a printer, and/or a speaker. In the following, the output device 6 includes at least a display device such as a display device.

The communication device 7 is composed of, for example, a NIC (Network Interface Card), and performs protocol control when communicating with an external device via a network (not shown). The storage medium drive 8 is a read/write device (reader/reader) capable of reading/writing data from/to a portable storage medium 9 such as a CD (Compact Disk), a DVD (Digital Versatile Disk), a USB (Universal Serial Bus) memory or the like. Writer).

Note that the programs such as the object extraction program 10 described above and information such as the measurement point cloud data 20 may be downloaded from an external device via the communication device 7 and stored in the memory 3 or the external storage device 4, or may be stored. The medium driving device 8 may read the data from the portable storage medium 9 and store it in the memory 3 or the external storage device 4.

(2) Data Integration Function Next, the data integration function according to the present embodiment installed in the data integration device 1 will be described. The data integration device 1 is equipped with a data integration function that integrates the measurement data of the three-dimensional shape inside the hoistway measured by using the three-dimensional laser measuring device at a plurality of points in the hoistway of the elevator.

In addition, in the case of the present embodiment, the three-dimensional laser measuring instrument has a measurement range in almost the entire circumference except directly below, emits laser light in a plurality of directions of the measurement range, and determines the irradiation wave of the laser light and the laser light. As shown in FIG. 2, the three-dimensional coordinates (x coordinate, y coordinate, and z coordinate) of each of the plurality of points on the surface of the measurement target are measured based on the phase difference from the reflected wave on the surface of the measurement target. FIG. 3 shows plots of the respective locations inside the hoistway, on which the three-dimensional coordinates are obtained, on the three-dimensional coordinates.

In the following, each location in the hoistway for which the three-dimensional coordinates have been acquired in this way will be referred to as a "measurement point", and an aggregate of these "measurement points" will be referred to as a "measurement point group". Also, the three-dimensional coordinates of the individual "measurement points" obtained by such measurement are referred to as "measurement point data", and the measurement point data of the three-dimensional coordinates of a plurality of "measurement points" obtained by one measurement. The aggregate of is referred to as "measurement point cloud data".

Further, in the following, measurement using such a three-dimensional laser measuring instrument will be shown at each position in FIGS. 4(A) to 4(C). 4A shows the case where the three-dimensional laser measuring device 30 is installed on the bottom surface of the pit of the hoistway 31 for measurement, and FIG. 4B shows the elevator that hoists in the hoistway 31. This is a case where the car 32 is stopped on the middle floor, and the three-dimensional laser measuring instrument 30 is installed on the car 32 for measurement. Further, FIG. 4C shows a case where the car 32 is stopped at the top floor and the three-dimensional laser measuring instrument 30 is installed on the car 32 to perform measurement.

The data integration function is performed by the measurement of FIG. 4B among the measurement point group data acquired respectively by the measurement performed at the three places of FIG. 4A to FIG. 4C as described above. Regarding the obtained measurement point cloud data and the measurement point cloud data obtained by the measurement of FIG. 4C, three-dimensional on the surface common to the measurement of FIGS. 4B and 4C. Positioning is performed in the height direction (z-axis direction) with the ceiling 31A of the hoistway 31 whose coordinates are measured as a reference, and in the horizontal direction (x-axis direction and y-axis direction) with the rail 33 in the hoistway 31 as a reference. This is a function to perform the alignment of. The "rails" referred to here refer to a pair of guide members that are vertically fixed in the hoistway 31 to guide the car 32 to move in the vertical direction.

In addition, the data integration function uses the measurement point cloud data obtained by the measurement of FIG. 4A and each measurement point cloud data obtained by the measurement of FIGS. 4B and 4C. Positioning in the height direction is performed with reference to a component (hereinafter, referred to as a common component) whose three-dimensional coordinates on the surface are commonly measured during the measurement of FIGS. 4A to 4C, This is a function of performing horizontal alignment with the rail 33 in the hoistway 31 as a reference. In the case of the present embodiment, as the common component, as shown in FIG. 5, a sill 36 that is a groove for opening and closing the hall door 35 provided in the elevator hall 34 is applied.

Note that this data integration function is a case where the data integration of each measurement point group data 20 obtained by each measurement in FIGS. 4A to 4C has failed, and is used as a reference for alignment by the user. When the object (ceiling 31A, rail 33, and/or sill) to be specified is designated and the re-execution of the alignment is instructed, the function of performing the alignment again with the designated object as a reference, and the integrated measurement point group A function to generate a BIM (Building Information Modeling) of the hoistway 31 by generating a polygon representing a three-dimensional shape in the hoistway 31 based on the data and adding an attribute to each object represented by the polygon. Also includes.

As a means for realizing the data integration function according to the present embodiment as described above, in the memory 3 of the data integration device 1, as described above, the object extraction program 10, the ceiling extraction program 11, the rail reference alignment program 12 are provided. A ceiling reference alignment program 13, a common component reference alignment program 14, an alignment reference acquisition program 15, a polygon generation program 16 and a BIM model generation program 17 are stored. In addition, in the external storage device 4 of the data integration device 1, in addition to the above-described respective measurement point group data 20 obtained by the respective measurements of FIGS. 4A to 4C, a measuring instrument installation location management table 21 and object recognition rule information 22 are stored.

The object extraction program 10 uses the measurement point group data 20 obtained in the measurement of FIG. 4A to FIG. The “surface” is extracted, and the inner wall surface of the hoistway 31 (FIG. 4), the rail 33 (FIG. 4) and the sill 36 are measured from the measurement point group based on the extracted “surface” and the object recognition rule information 22 described later. This program has a function of recognizing and extracting structures such as (FIG. 5) as objects.

Further, the ceiling extraction program 11 is a measurement obtained by each measurement of FIGS. 4B and 4C in which the three-dimensional laser measuring device 30 (FIG. 4) is placed on the car 32 (FIG. 4). It is a program having a function of recognizing and extracting the ceiling 31A of the hoistway 31 in the above-described three-dimensional model 25 based on the point cloud data 20 similarly to the object extraction program 10.

The rail reference alignment program 12 sets each measurement point cloud data 20 obtained by the measurement in FIGS. 4A to 4C in the horizontal direction (based on the rail 33 extracted by the object extraction program 10). It is a program having a function of aligning in the x-axis direction and the y-axis direction).

The ceiling reference alignment program 13 uses each measurement point cloud data 20 obtained by the measurement in FIGS. 4B and 4C as the reference, with the ceiling 31A of the hoistway 31 extracted by the ceiling extraction program 11 as a reference. Is a program having a function of performing alignment in the height direction (z-axis direction).

Further, the common component reference alignment program 14 sets the height of each measurement point group data 20 obtained by the measurement of FIGS. 4A to 4C with the sill 36 recognized by the object extraction program 10 as a reference. It is a program having a function of performing alignment in the direction (z-axis direction).

The alignment reference acquisition program 15 is a case where the alignment of each measurement point group data 20 obtained by the measurement in FIGS. 4A to 4C fails, and the 3D model 25 is stored by the user. Is a program having a function of acquiring information about the specified object when an object to be used as the reference for the registration is specified and the re-execution of the registration is instructed. The alignment reference acquisition program 15 controls the rail reference alignment program 12, the ceiling reference alignment program 13 or the common component reference alignment program 14 based on the acquired information to determine the position in the horizontal direction or the height direction. Make the match again.

In addition, the polygon generation program 16 completes the alignment of the measurement point group data 20 respectively obtained by the measurement in FIGS. 4A to 4C, and then, based on these measurement point group data 20, the hoistway. This program has a function of generating polygons representing the structure inside 31. The BIM model generation program 17 is a program having a function of generating a BIM of the hoistway 31 by adding an attribute to each object in the hoistway 31 represented by a polygon.

On the other hand, the measuring instrument installation location management table 21 is a table used to manage the installation location of the three-dimensional laser measuring instrument 30 (FIG. 4) at the time of measurement in FIGS. 4(A) to 4(C). As shown in FIG. 6, the measurement point group data ID column 21A and the measurement position column 21B are provided.

Then, the measurement point group data ID column 21A stores the identifiers of the measurement point group data 20 respectively obtained by the measurement of FIGS. 4A to 4C, and the measurement position column 21B corresponds to the corresponding measurement. The installation position (measurement position) of the three-dimensional laser measuring instrument 30 at the time of measurement when the point cloud data 20 is obtained is stored.

The object recognition rule information 22 is obtained from the measurement point cloud based on the measurement point cloud data 20 stored in the external storage device 4 (FIG. 1) by the object extraction program 10 (FIG. 1) and the ceiling extraction program 11 (FIG. 1). This is information composed of rules for recognizing and extracting objects such as the inner wall surface of the hoistway 31, the ceiling 31A, the rails 33, and the sill 36.

For example, as a rule for recognizing the inner wall surface of the hoistway 31, when the planes adjacent to each other are orthogonal or substantially orthogonal to each other and the plane of another structure is included inside the plane, the four A rule that a flat surface is the inner wall surface of the hoistway 31 is prepared. In this case, for example, the following conditions can be considered as conditions for determining whether or not the planes of other objects are included in the four planes.

(I) The four planes are located on the outermost side among the planes forming at least a part of the three-dimensional model 25.
(Ii) Among the areas of all the planes, the areas of the four planes are in the higher order (for example, four or more) in descending order.
(Iii) Among the diagonal lines of all the planes, the lengths of the diagonal lines of the four planes are not higher than the top in order from the longest.
(Iv) A combination of at least two of the above (i) to (iii).

As another rule for recognizing the inner wall surface of the hoistway 31, a plurality (for example, four or more) of all the planes forming the three-dimensional model 25 is extracted in advance according to the above conditions and the extracted planes are The inner wall surface of the hoistway 31 may be recognized based on whether it is orthogonal or substantially orthogonal to the adjacent plane.

FIG. 7 shows an example of the three-dimensional model 40 of the object recognized as the inner wall surface of the hoistway 31. The three-dimensional model 40 includes planes 40A to 40D that are orthogonal or substantially orthogonal to the adjacent planes. Here, the longitudinal direction (arrow 40Z) of the flat surface 40A to the flat surface 40D recognized as the inner wall surface of the hoistway 31 is taken as the vertical direction of the car 32 (FIG. 4). The term "longitudinal direction" used herein means a direction along the longest one of the sides of the plane.

As a rule for recognizing the ceiling 31A of the hoistway 31, a rule is prepared in which a horizontal plane located at the top of the hoistway 31 corresponds to the ceiling of the hoistway 31.

Further, as a rule for recognizing the rail 33 (FIG. 4) in the hoistway 31, a rule that an object including the plane corresponds to the rail 33 when the following conditions are satisfied is prepared.
(I) The plane is parallel or substantially parallel to any plane of the inner wall surface of the hoistway 31, and its longitudinal direction is parallel or substantially parallel to the hoisting direction of the car 32. Do not touch any of the walls.
(Ii) The plane which is not the plane of (i) is orthogonal or substantially orthogonal to the plane of (i), and the sides parallel or substantially parallel to the longitudinal direction are in contact with or almost in contact with the plane of (i). ..
(Iii) Each of the four planes including the plane of (ii) above is orthogonal or substantially orthogonal to the adjacent planes.
(Iv) None of the four planes of (iii) above contacts any of the inner wall surfaces of the hoistway 31.

FIG. 8 shows an example of the three-dimensional model 41 of the object recognized as the rail 33. In FIG. 8, each plane recognized as the inner wall surface of the hoistway 31 is indicated by a chain line. The three-dimensional model 41 includes a plane 41A and planes 41B to 41E. The plane 41A is parallel or substantially parallel to the plane 40B, and its longitudinal direction is parallel or substantially parallel to the ascending/descending direction (arrow 41Z) of the car 32 (FIG. 4), and the plane 41A is the hoistway 31. It does not touch any flat surface on the inner wall surface of. Further, each of the plane 41B and the plane 41E is orthogonal or substantially orthogonal to the plane 41A, and the sides parallel or substantially parallel to the longitudinal direction thereof are in contact with or substantially in contact with the plane 41A. Each of the planes 41B to 41E is orthogonal or substantially orthogonal to the adjacent plane, and does not contact any of the planes of the three-dimensional model 40 (planes 40A to 40D).

Further, as a rule for recognizing the sill 36 (FIG. 5), a rule is prepared such that an object including the plane corresponds to the sill 36 when the following conditions are satisfied.
(I) The side of the plane contacts or almost contacts the inner wall surface of the hoistway.
(Ii) The side facing the side of the plane of (i) is located outside the four planes of the inner wall surface of the hoistway 31.
(Iii) The longitudinal direction of the plane of (i) is orthogonal or substantially orthogonal to the ascending/descending direction of the car 32.

FIG. 9 shows an example of the three-dimensional model 42 of the object recognized as the sill 36. In FIG. 9, the flat surfaces 40A to 40D recognized as the inner wall surface of the hoistway 31 are indicated by alternate long and short dash lines. The three-dimensional model 42 is composed of a plane 42A. The side 42AA of the plane 42A is in contact with or almost in contact with the plane 40D recognized as the inner wall surface of the hoistway 31. The side 42AB facing the side 42AA is located outside the plane 40A to the plane 40D recognized as the inner wall surface of the hoistway 31. Further, the longitudinal direction of the plane 42A is orthogonal or substantially orthogonal to the ascending/descending direction (arrow 42Z) of the car 32.

(3) Data Integration Processing Next, a series of aligning and integrating the respective measurement point group data 20 obtained by the measurement in FIGS. 4A to 4C, which is executed in the data integration device 1. The flow of the process (hereinafter, this is a data integration process) will be described with reference to FIG. Note that, in the following, the processing main body of various processes is described as a "program", but in reality, it goes without saying that the CPU 2 (FIG. 1) executes the processes based on the program.

The data integration process shown in FIG. 10 is started by the user performing a predetermined operation input via the input device 5 (FIG. 1). When such an operation is input, first, the object extraction program 10 transmits the respective measurement point group data 20 respectively acquired by the measurement of FIGS. 4A to 4C via the communication device 7 (FIG. 1). Data from the portable storage medium 9 (FIG. 1) to the external storage device 4 (FIG. 4) from the external device or via the storage medium driving device 8 (FIG. 1).

Then, the object extraction program 10 selects one unprocessed measurement point group data 20 from each measurement point group data 20 fetched in step S1 (S2). Further, the object extraction program 10 extracts a “face” from the measurement point cloud of FIG. 3 based on the selected measurement point cloud data 20, and based on the extracted “face” and the object recognition rule information 22 (FIG. 1). From the measurement point group, structures (except at least the inner wall surface of the hoistway 31, the rail 33, and the sill 36) other than the ceiling 31A of the hoistway 31 are recognized and extracted as objects (S3).

As a technique for extracting a plane or a cylinder from the measurement point group, for example, a RANSAC (RANdom Sample Consensus) algorithm that estimates the shape parameters of the point group and the plane/cylinder that match the plane or the cylinder by the least square method is used. be able to. Moreover, you may make it utilize a technique other than this.

Subsequently, the object extraction program 10 refers to the measuring instrument installation location management table 21 (FIG. 6), and the three-dimensional laser measuring instrument 30 (FIG. 4) when the measurement point group data 20 selected in step S2 is acquired. It is determined whether the installation position of is on the car 32 (FIG. 4) (S4). Then, if the object extraction program 10 obtains a negative result in this determination, it proceeds to step S6.

On the other hand, when the object extraction program 10 obtains a positive result in the determination in step S4, it passes the measurement point cloud data 20 selected in step S2 to the ceiling extraction program 11 (FIG. 1), and the ceiling extraction program 11 The ceiling 31A of the hoistway 31 is recognized and extracted from the measurement point group based on the measurement point group data 20 (S5).

After that, the object extraction program 10 determines whether or not the processes of steps S2 to S5 have been completed for all the measurement point group data 20 captured in step S1 (S6). When the object extraction program 10 obtains a negative result in this determination, it returns to step S2, and thereafter repeats the processing of step S2 and thereafter.

Then, when the object extraction program 10 eventually obtains a positive result in step S6 by completing the processing in steps S2 to S5 for all the measurement point cloud data 20 captured in step S1, it calls the rail reference alignment program 12. ..

When the rail reference alignment program 12 is called by the object extraction program 10, the measurement point group data 20 acquired by the measurement in FIGS. 4A to 4C is extracted by the object extraction program 10 in step S3. Positioning is performed in the horizontal direction (x-axis direction and y-axis direction) with reference to the rails 33 thus formed (S7).

Specifically, the rail reference positioning program 12 sets the x-coordinate and the y-coordinate of each measurement point data 20 to 3 for each measurement point group data 20 acquired by the measurement in FIGS. 4(A) to 4(C). The coordinate system based on the three-dimensional laser measuring device 30 (FIG. 4) is converted into the x-coordinate and the y-coordinate of the coordinate system based on the rail 33 extracted in step S3. Align the directions. As such a coordinate conversion method, existing methods can be widely applied. Then, the rail reference positioning program 12 calls the ceiling reference positioning program 13 (FIG. 1) thereafter.

When the ceiling reference alignment program 13 is called by the rail reference alignment program 12, the three-dimensional laser measuring instrument 30 is installed on the car 32 as shown in FIGS. 4(B) and 4(C). For each measurement point group data 20 obtained by the measurement, referring to the measuring instrument installation location management table 21 (FIG. 6 ), the height direction (z is set based on the ceiling 31A of the hoistway 31 extracted in step S5). Positioning is performed in the axial direction (S8).

Specifically, the ceiling reference alignment program 13 sets the z-coordinate of each measurement point data 20 for the measurement point group data 20 acquired in each measurement of FIGS. 4B and 4C to the three-dimensional laser. The ceiling 31A of the hoistway 31 for these measurement point group data 20 is used as a reference by converting the coordinate system using the measuring instrument 30 as a reference to the z coordinate of the coordinate system using the ceiling 31A specified in step S5 as a reference. The horizontal alignment is performed. As such a coordinate conversion method, existing methods can be widely applied. Then, the ceiling reference position alignment program 13 subsequently calls the common component reference position alignment program 14.

When the common component reference position alignment program 14 is called by the ceiling reference position alignment program 13, the measuring point installation location management is performed for the measurement point group data 20 respectively acquired in the respective measurements of FIGS. 4(A) to 4(C). With reference to the table 21, each measurement point data is aligned in the height direction (z coordinate) (S9).

Specifically, the common component reference position alignment program 14 sets the z coordinate of each measurement point data for each measurement point group data 20 obtained by the measurement in FIGS. 4A to 4C to the three-dimensional laser. Aligning these measurement point group data 20 in the height direction by converting the coordinate system based on the measuring device 30 into the z coordinate of the coordinate system based on the predetermined position of the sill 36 extracted in step S3. I do. As such a coordinate conversion method, existing methods can be widely applied.

Through the above processing, the measurement data obtained by unifying the measurement point data of the measurement point group data 20 obtained by the measurement of FIGS. 4A to 4C into one coordinate system (hereinafter, this is integrated. Measurement data) is generated.

After that, the common component reference alignment program 14 performs more accurate alignment by performing convergence calculation using the ICP (Iterative Closest Point) method on the integrated measurement data (S10).

Further, the common component reference alignment program 14 uses the three-dimensional model shown in FIG. 3 in which the measurement point groups of the integrated measurement data subjected to such convergence calculation are plotted on the three-dimensional coordinates, and the alignment result of these measurement point group data 20. Is displayed on the output device 6 (FIG. 1) (S11).

Further, the common component reference alignment program 14 causes the output device 6 to display a pop-up 50 as shown in FIG. 11 that asks the user whether or not to perform the alignment again together with the three-dimensional model of FIG. 3 (S11). ).

The pop-up 50 is provided with a character string 51 such as "Are you sure you want to correct?" which asks the user whether or not to perform the alignment again, and a correction button 52 and an OK button 53.

Then, the common component reference alignment program 14 thereafter determines whether or not the correction button 52 of the popup 50 is clicked. Then, when the correction button 52 of the pop-up 50 is clicked (S12: YES), the common component reference alignment program 14 calls the alignment reference acquisition program 15.

When the alignment reference acquisition program 15 is called by the common component reference alignment program 14, the user operates the input device 5 (FIG. 1) on the three-dimensional model of FIG. 3 displayed on the output device 6 at that time. The three-dimensional model is transitioned to the active state so that a plane (for example, the ceiling 31A, the surface of the rail 33 or the surface of the sill 36) or an object to be used as a reference for alignment can be specified.

Further, when the user specifies a plane or an object to be used as a reference for the alignment, the alignment reference acquisition program 15 takes in the plane or the object, and the plane or the object at the time of the alignment in steps S7 to S9. After giving instructions to the corresponding rail reference alignment program 12, ceiling reference alignment program 13 or common component reference alignment program 14 (S13), the rail reference alignment program 12 is called to execute the steps from step S7. Let the process run.

When the rail reference alignment program 12 is called by the object extraction program 10, the measurement point group data 20 acquired by the measurement in FIGS. 4A to 4C is read by the object extraction program 10 in step S3. Positioning is performed in the horizontal direction (x-axis direction and y-axis direction) with reference to the extracted rail 33 (S7).

On the other hand, the common component reference alignment program 14 calls the polygon generation program 16 (FIG. 1) when the OK button 53 of the popup 50 is clicked (S12: NO).

Then, when the polygon generation program 16 is called by the common component reference alignment program 14, each object extracted by the object extraction program 10 in step S3 based on each measurement point group data 20 whose alignment has been completed, and the step In S4, triangular polygons having three adjacent measurement points on the surface of each structure in the hoistway 31, such as the ceiling 31A of the hoistway 31 extracted by the ceiling extraction program 11, are sequentially generated. Then, a three-dimensional model in which the structure is expressed by meshed polygons is generated (S14). However, the polygon generation program 16 may generate polygons of four or more points. Then, the polygon generation program 16 thereafter calls the BIM model generation program 17.

When the BIM model generation program 17 is called by the polygon generation program 16, the BIM model generation program 17 refers to the object recognition rule information 22, and similarly to the object extraction program 10, the inside of the hoistway 31 represented by the polygon generated in step S14. A BIM model is generated by extracting each object, recognizing the attribute (ceiling 31A, rail 33, sill 36, etc.) of this object, and adding the recognition result to each object as the attribute of that object ( S15). Further, the BIM model generation program 17 causes the output device 6 to display the BIM model thus generated in place of the three-dimensional model of FIG. 3 (S16).

With the above, a series of data integration processing of FIG. 10 is completed.

(4) Effects of this Embodiment As described above, in the data integration device 1 of this embodiment, it is obtained by measuring using the three-dimensional laser measuring instrument 30 at a plurality of positions in the elevator hoistway 31. Regarding the measurement point group data 20 obtained by measuring each measurement point group data by placing the three-dimensional laser measuring device 30 on the upper side of the car 32, the measurement points on the surface are common to these measurements. The ceiling 31A of the hoistway 31 and the rail 33 capable of obtaining the three-dimensional coordinates of the vehicle are aligned in the height direction and the horizontal direction, and these measurement point group data and the three-dimensional laser below the car 32 are arranged. Regarding the measurement point group data obtained by the measurement performed by disposing the measuring instrument 30, the sill 36 and the rail 33, which can measure the three-dimensional coordinates of the measurement points on the surface in common in these measurements, are used as a reference. Position in the vertical direction.

Therefore, according to the present data integration device 1, the measurement point cloud data obtained at a plurality of height positions in the elevator hoistway 31 can be accurately aligned without causing displacement in the height direction and the horizontal direction. Therefore, it is possible to realize a reliable data integration device that can accurately integrate three-dimensional data in the hoistway measured at a plurality of positions.

(5) Other Embodiments In the above-described embodiment, the sill 36 is applied as a common component that commonly measures three-dimensional coordinates on the surface in the measurement on the upper side and the lower side of the car 32. However, the present invention is not limited to this, and various other objects (structures of the hoistway 31) can be widely applied.

Further, in the above-described embodiment, for each measurement data acquired in each measurement, at least the ceiling 31A of the hoistway 31 and the inside of the hoistway 31 are determined from the three-dimensional model of each measurement point based on the measurement data. A rail 33 that guides the up and down movement of the installed car 32, and a predetermined common component for which the surface three-dimensional coordinates are acquired commonly in the measurement above the car 32 and the measurement below the car 32. The case where the extraction unit for extracting the (sill 36) is configured by the object extraction program 10, the ceiling extraction program 11 and the CPU 2 has been described, but the present invention is not limited to this, and the object extraction program 10 and the ceiling extraction. The program 11 may be configured by one program, or the extraction unit may be configured as dedicated hardware.

Further, in the above-described embodiment, the rail reference position alignment program 12, the ceiling reference position alignment program 13, the common component reference position alignment program are used as alignment units for aligning and integrating the measurement data obtained in each measurement. However, the present invention is not limited to this, and the rail reference alignment program 12, the ceiling reference alignment program 13, and the common component reference alignment program 14 are configured by one program. Alternatively, the alignment unit may be configured as dedicated hardware.

Further, in the above-described embodiment, the case where the object recognition rule for recognizing the object (structure) in the hoistway 31 is set as described above with reference to FIGS. 7 to 9 has been described. The present invention is not limited to this, and various other rules can be widely applied.

INDUSTRIAL APPLICABILITY The present invention can be widely applied to the case where measurement data obtained by measuring with a three-dimensional measuring device at a plurality of positions in a hoistway of an elevator is integrated.

1... Data integration device, 2... CPU, 3... Memory, 4... External storage device, 5... Input device, 6... Output device, 10... Object extraction program, 11... Ceiling extraction program, 12... Rail reference alignment program, 13... Ceiling reference alignment program, 14... Common component reference alignment program, 15... Registration reference acquisition program, 16... Polygon generation program, 17... BIM model generation Program, 20...Measurement point group data, 21...Measuring instrument installation location management table, 22...Object recognition rule information, 30...Three-dimensional laser measuring instrument, 31...Hoistway, 31A...Ceiling, 32... …Cars, 33……rails, 36……sills, 50……popups.

Claims (6)

In a data integration device that integrates each measurement data obtained by measurement using a three-dimensional measuring device at a plurality of positions in an elevator hoistway,
The measurement is
Performed on the lower side of the elevator car and on the upper side of the car,
The measurement data is
Consisting of three-dimensional coordinates of each of a plurality of measurement points in the hoistway obtained in the measurement,
For each of the measurement data obtained in each of the measurements, from the three-dimensional model of each of the measurement points based on the measurement data, at least the ceiling of the hoistway and the elevation of the car installed in the hoistway An extraction unit that extracts a rail that guides the vehicle, and a predetermined common part for which three-dimensional coordinates of the surface are commonly obtained in the measurement on the upper side of the car and the measurement on the lower side of the car. ,
A registration unit that aligns and integrates the measurement data acquired in each of the measurements,
The alignment section is
Regarding the measurement data obtained by the measurement performed on the upper side of the car, the height direction is aligned with the ceiling of the hoistway extracted by the extraction unit as a reference, and the extraction is performed. Performs horizontal alignment based on the rail extracted by the section,
The measurement data obtained by the measurement performed on the upper side of the car and the measurement data obtained by the measurement performed on the lower side of the car were extracted by the extraction unit. the common part with the performing positioning in the height direction as the reference, have rows aligned in the horizontal direction the rail that has been extracted by the extraction unit as a reference,
The common parts are
It is a sill for opening and closing the hall door on the elevator hall,
The alignment section is
When the integration of the measurement data acquired in each of the measurements fails, and when a plane or an object to be used as a reference for alignment is specified by an external operation, the specified plane or the object is changed. A data integration device, characterized in that the measurement data obtained in each measurement is re-aligned as a reference. A polygon generation unit that generates a three-dimensional model in which the surface of each object in the hoistway is represented by a polygon based on each of the aligned measurement data;
Each object in the hoistway is extracted from the three-dimensional model generated by the polygon generator, the attribute of each extracted object is recognized, and the recognized attribute is added to each extracted object. data integration apparatus according to claim 1, further comprising a BIM model generation unit so as to generate a BIM (Building Information Modeling) model. In a data integration method executed by a data integration device that integrates each measurement data obtained by measurement using a three-dimensional measuring device at a plurality of positions in an elevator hoistway,
The measurement is
Performed on the lower side of the elevator car and on the upper side of the car,
The measurement data is
Consisting of three-dimensional coordinates of each of a plurality of measurement points in the hoistway obtained in the measurement,
For each of the measurement data obtained in each of the measurements, from the three-dimensional model of each of the measurement points based on the measurement data, at least the ceiling of the hoistway and the elevation of the car installed in the hoistway A first rail that guides the vehicle and a predetermined common part from which the three-dimensional coordinates of the surface are commonly obtained in the measurement above the car and the measurement below the car. Steps,
A second step of aligning and integrating the measurement data obtained in each of the measurements,
In the second step,
The measurement data obtained by the measurement performed on the upper side of the car is aligned in the height direction with the ceiling of the hoistway as a reference, and the horizontal position with the rail as a reference. Make a match,
Regarding the measurement data obtained by the measurement performed on the upper side of the car and the measurement data obtained by the measurement performed on the lower side of the car, a high level is set based on the common component. is performs alignment direction, have rows aligned in the horizontal direction the rail as reference,
The common parts are
It is a sill for opening and closing the hall door on the elevator hall,
When the integration of the measurement data acquired in each of the measurements fails, and when a plane or an object to be used as a reference for alignment is specified by an external operation, the specified plane or the object is changed. A data integration method comprising a third step of performing re-registration of the measurement data obtained in each measurement as a reference . A fourth step of generating a three-dimensional model in which the surface of each object in the hoistway is represented by a polygon based on each of the aligned measurement data;
Each object in the hoistway is extracted from the generated three-dimensional model, the attribute of each extracted object is recognized, and the recognized attribute is added to each extracted object. A fifth step of generating a Building Information Modeling model, and the data integration method according to claim 3 . A program executed by a computer device that integrates respective measurement data obtained by measurement using a three-dimensional measuring device at a plurality of positions in an elevator hoistway,
The measurement is
Performed on the lower side of the elevator car and on the upper side of the car,
The measurement data is
Consisting of three-dimensional coordinates of each of a plurality of measurement points in the hoistway obtained in the measurement,
For each of the measurement data obtained in each of the measurements, from the three-dimensional model of each of the measurement points based on the measurement data, at least the ceiling of the hoistway and the elevation of the car installed in the hoistway A first rail that guides the vehicle and a predetermined common part from which the three-dimensional coordinates of the surface are commonly obtained in the measurement above the car and the measurement below the car. Steps,
A second step of aligning and integrating the measurement data obtained in each of the measurements,
In the second step,
The measurement data obtained by the measurement performed on the upper side of the car is aligned in the height direction with the ceiling of the hoistway as a reference, and the horizontal position with the rail as a reference. Make a match,
Regarding the measurement data obtained by the measurement performed on the upper side of the car and the measurement data obtained by the measurement performed on the lower side of the car, a high level is set based on the common component. is performs alignment direction, have rows aligned in the horizontal direction the rail as reference,
The common parts are
It is a sill for opening and closing the hall door on the elevator hall,
When the integration of the measurement data acquired in each of the measurements fails, and when a plane or an object to be used as a reference for alignment is specified by an external operation, the specified plane or the object is changed. A program for causing the computer device to execute a process including a third step of re-aligning the measurement data obtained in each measurement as a reference . A fourth step of generating a three-dimensional model in which the surface of each object in the hoistway is represented by a polygon based on each of the aligned measurement data;
Each object in the hoistway is extracted from the generated three-dimensional model, the attribute of each extracted object is recognized, and the recognized attribute is added to each extracted object. Building Information Modeling) The fifth step of generating a model
Further equipped with
The program according to claim 5, which causes the computer device to execute a process.

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