JP2015001146A - Reinforcement bar inspection assisting device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reinforcement bar inspection assisting device and a program, enabling specifying of diameter of a reinforcement bar which is to be inspected at a high precision with ease.SOLUTION: In a reinforcement bar inspection assisting device 20, an image of a plurality of knots of a reinforcement bar which is to be inspected is detected from an image obtained by photographing using an imaging device 30 which images a reinforcement bar that is to be inspected. Based on the image of the plurality of detected knots, a distance between adjoining knots is derived. The diameter of a reinforcement bar which is to be inspected is specified by reading a diameter of reinforcement bar corresponding to a derived distance, out of a secondary memory part 20D in which, for reinforcement bars of a plurality of predetermined kinds of diameters, a distance between adjoining knots and a diameter of a corresponding reinforcement bar are associated and stored in advance.

Description

  The present invention relates to a reinforcing bar inspection support apparatus and program, and more particularly, to a reinforcing bar inspection support apparatus and program that supports inspection of the construction status of reinforcing bars.

  Conventionally, in the bar arrangement inspection of buildings, before placing concrete, it is visually inspected on site that the construction status of the reinforcing bars is in accordance with the design specifications. At that time, refer to the design drawing, check the part and code of the corresponding inspection position, examine the cross-sectional view corresponding to the code, and compare the actual product with the number, diameter, rebar spacing, etc., and record the inspection result That is done.

  As described above, in the conventional bar arrangement inspection, since the collation work between the inspection object and the cross-sectional view corresponding to the corresponding code in the design drawing is manually performed on site, the work requires a great deal of time and effort. In some cases, erroneous verification may be caused.

  In particular, because there are many types of reinforcing bars and slightly different diameters, it takes an enormous amount of time and time to manually check whether the diameter of the installed reinforcing bars meets the design specifications. In addition to the time and effort, there was concern about the occurrence of incorrect verification.

  As a technique that can be applied to solve this problem, Patent Literature 1 discloses a bar arrangement information acquisition device that acquires bar arrangement information including the diameter length (diameter) of a deformed reinforcing bar. Means for acquiring image data; means for specifying one pixel length which is a length per pixel in the image data; means for counting the number of pixels of the diameter length of the deformed reinforcing bar in the image data; There is disclosed a bar arrangement information acquisition apparatus comprising: means for calculating the diameter length by multiplying the number of long pixels by the one pixel length.

  According to this arrangement information acquisition apparatus, a marker is provided to two of both ends of a plurality of deformed reinforcing bars to be inspected, and an image is taken using a digital camera. And the image data of the deformed reinforcement image | photographed with respect to the portable terminal from the digital camera is transferred, and image processing is performed using a portable terminal. In this image processing, 1 pixel length which is the length per pixel in the image data is specified, the number of pixels of the diameter length of the deformed reinforcing bar in the image data is counted, and the number of pixels of the diameter length and 1 pixel length are calculated. The length is calculated by multiplying.

JP 2010-122008

  However, the technique disclosed in Patent Document 1 requires the use of a marker, which requires a relatively large number of work steps, and depending on the accuracy of marker attachment, affects the recognition accuracy by diameter and is not necessarily accurate. There was a problem that the diameter of a reinforcing bar could not be specified well.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a reinforcing bar inspection support device and a program that can specify the diameter of a reinforcing bar to be inspected easily and with high accuracy.

  In order to achieve the above object, the reinforcing bar inspection support device according to the present invention stores in advance a storage means that associates the distance between adjacent nodes and the diameter of the corresponding reinforcing bar with respect to reinforcing bars having a plurality of predetermined diameters. An imaging means for imaging a reinforcing bar to be inspected, a detecting means for detecting images of a plurality of adjacent nodes of the reinforcing bar to be inspected from an image obtained by imaging by the imaging means, and the detection means Deriving means for deriving the distance between the adjacent nodes based on the detected images of the plurality of nodes, and reading out the diameter of the reinforcing bar corresponding to the distance derived by the deriving means from the storage means And specifying means for specifying the diameter of the reinforcing bar to be inspected.

  According to the reinforcing bar inspection support apparatus of the present invention, the distance between adjacent nodes and the diameter of the corresponding reinforcing bars are associated with each other and stored in advance by the storage unit for the reinforcing bars having a plurality of predetermined diameters. The reinforcing bar to be inspected is photographed by the means. The storage means includes a semiconductor storage element such as a RAM (Random Access Memory), a ROM (Read Only Memory), an EEPROM (Electrically Erasable and Programmable ROM), a flash EEPROM (Flash EEPROM), and a portable disk such as a flexible disk. It includes a recording medium, a fixed recording medium such as a hard disk, or an external storage device provided in a server computer connected to a network. The photographing means includes a photographing device for photographing a monochrome image in addition to a photographing device for photographing a color image.

  Here, in the present invention, an image of a plurality of adjacent nodes of the reinforcing bar to be inspected is detected from an image obtained by photographing by the photographing means by the detecting means, and detected by the detecting means by the deriving means. The distance between the adjacent nodes is derived based on the images of the plurality of nodes.

  In the present invention, the diameter of the reinforcing bar to be inspected is specified by reading the diameter of the reinforcing bar corresponding to the distance derived by the deriving means from the storage means by the identifying means.

  That is, normally, a reinforcing bar has a node with periodicity at a position in the axial direction, and the distance between adjacent nodes differs depending on the diameter. By utilizing this, in the present invention, images of a plurality of adjacent nodes of a reinforcing bar to be inspected are detected from an image obtained by imaging, and between adjacent nodes are detected based on the detected images of the plurality of nodes. The distance of the reinforcing bar is derived, and the diameter of the reinforcing bar to be inspected is specified based on the distance. Thus, compared to the case where the marker is used, the reinforcing bar has a simpler and higher accuracy. The diameter can be specified.

  As described above, according to the reinforcing bar inspection support apparatus of the present invention, images of a plurality of adjacent nodes of the reinforcing bar to be inspected are detected from an image obtained by imaging by the imaging unit that images the reinforcing bar to be inspected. The distance between the adjacent nodes is derived based on the detected images of the plurality of nodes, and the distance between the adjacent nodes and the diameter of the corresponding reinforcing bars are determined for a plurality of predetermined diameters of the reinforcing bars. Since the diameter of the reinforcing bar corresponding to the derived distance is read from the storage means that is associated and stored in advance, the diameter of the reinforcing bar to be inspected is specified, so the reinforcing bar to be inspected simply and with high accuracy. The diameter can be specified.

  According to the present invention, the reinforcing bar to be inspected is a reinforcing bar group composed of a plurality of reinforcing bars installed at predetermined installation target positions, and the imaging unit determines the reinforcing bar group in advance. 3D image is taken from the selected direction, and the detection unit acquires the 3D point cloud coordinates of the reinforcing bar group based on the 3D image obtained by performing the 3D image capture by the image capture unit, and acquires 3 Based on the three-dimensional point group coordinates, an image of the reinforcing bar located at a position close in a predetermined order from the imaging position by the imaging means in the reinforcing bar group is extracted, and the image of the node is extracted from the extracted reinforcing bar image. It may be detected. Thereby, compared with the case where a three-dimensional point group coordinate is not used, the diameter of the reinforcing bar to be examined can be specified with higher accuracy.

  In the present invention, the detecting means may detect the image of the node based on the periodicity of the arrangement position of the nodes. Thereby, the diameter of the reinforcing bar to be inspected can be identified more easily.

  The present invention may further include a presentation unit that collates the diameter of the reinforcing bar identified by the identifying unit with predetermined design information and presents information indicating a verification result. Thereby, the convenience for the user can be improved.

  In particular, the presenting means of the present invention may further collate at least one of the number of reinforcing bars and the interval between the reinforcing bars with the design information in addition to the diameter of the reinforcing bars. Thereby, the convenience for a user can be improved more.

  On the other hand, in order to achieve the above-described object, the program of the present invention is a program for a plurality of adjacent nodes of a reinforcing bar to be inspected from an image obtained by photographing with a photographing means for photographing a reinforcing bar to be examined. Detection means for detecting an image, deriving means for deriving a distance between the adjacent nodes based on images of a plurality of nodes detected by the detection means, and reinforcing bars having a plurality of predetermined diameters The diameter of the reinforcing bar corresponding to the distance derived by the deriving unit is read out from the storage unit that stores the distance between adjacent nodes and the corresponding reinforcing bar diameter in advance, and is set as the inspection object. This is intended to function as a specific means for specifying the diameter of the reinforcing bar.

  Therefore, according to the program of the present invention, it is possible to cause the computer to act in the same manner as the reinforcing bar inspection support device of the present invention. The diameter can be specified.

  According to the present invention, an image of a plurality of adjacent nodes of the reinforcing bar to be inspected is detected from an image obtained by imaging by an imaging unit that images the reinforcing bar to be inspected, and the detected images of the plurality of nodes are detected. On the basis of the distance between the adjacent nodes, for the reinforcing bars of a plurality of predetermined diameters, from the storage means previously stored in association with the distance between the adjacent nodes and the diameter of the corresponding reinforcing bar, By reading the diameter of the reinforcing bar corresponding to the derived distance, the diameter of the reinforcing bar to be inspected is specified, so the diameter of the reinforcing bar to be inspected can be specified easily and with high accuracy. The effect is obtained.

It is a mimetic diagram showing the whole rebar inspection support system composition concerning an embodiment. It is a block diagram which shows the principal part structure of the electric system of the reinforcing bar inspection assistance apparatus which concerns on embodiment. It is a functional block diagram which shows the functional structure of the reinforcing bar inspection assistance apparatus which concerns on embodiment. It is a schematic diagram which shows the main memory content of the secondary storage part with which the reinforcing bar inspection assistance apparatus which concerns on embodiment was equipped. It is a schematic diagram which shows the structure of the reinforcing bar information database which concerns on embodiment. It is a schematic diagram which shows the structure of the 3D CAD information database which concerns on embodiment. It is a flowchart which shows the flow of a process of the reinforcing bar inspection assistance program which concerns on embodiment. It is a front view which shows the structure of the test object input screen which concerns on embodiment. It is a figure with which it uses for description of the reinforcing bar inspection support program which concerns on embodiment, and is a perspective view which shows an example of the gaze vector by an imaging device, and the normal vector of a front reinforcing bar group. It is a figure with which it uses for description of the reinforcing bar inspection support program which concerns on embodiment, and is a graph which shows an example of the histogram of the number of points with respect to the direction of a normal vector. It is a figure with which it uses for description of the reinforcing bar inspection support program which concerns on embodiment, and is a perspective view which shows the state of the three-dimensional point group shown by the extracted front surface coordinate information. It is a figure with which it uses for description of the reinforcing bar inspection assistance program which concerns on embodiment, and is a figure which shows an example of each of a two-dimensional image and a histogram with respect to an X-axis direction and a Y-axis direction. It is a figure with which it uses for description of the reinforcing bar inspection assistance program which concerns on embodiment, and is a figure which shows an example of the cutting-out result of a main muscle image and a band reinforcement image. It is a figure with which it uses for description of the reinforcing bar inspection support program which concerns on embodiment, and is a figure which shows an example of the rectangular area | region of a main reinforcement and a band. It is a figure with which it uses for description of the reinforcing bar inspection assistance program which concerns on embodiment, and is a figure which shows an example of the specific result of the image area of a stirrup. It is a figure with which it uses for description of the reinforcing bar test | inspection support program which concerns on embodiment, and is a graph with which it uses for description of the specific method of the number of nodes from the image area of a stirrup. It is a front view which shows the structure of the collation result display screen which concerns on embodiment. It is a perspective view (partial side view) which shows the structure of the modification of embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.

  First, the configuration of a reinforcing bar inspection support system 10 to which the present invention is applied will be described with reference to FIG.

  As shown in FIG. 1, a reinforcing bar inspection support system 10 according to the present embodiment includes a reinforcing bar inspection support device 20 that plays a central role in the system 10, and an imaging device 30 that images a reinforcing bar 50 to be inspected. ,have.

  The photographing apparatus 30 according to the present embodiment can perform three-dimensional photographing of a color image and a monochrome image, and also includes left viewpoint image information and right viewpoint image information (hereinafter referred to as “the three-dimensional image obtained by photographing”). 3D image information ”)) to the external device. On the other hand, the reinforcing bar inspection support device 20 has a function of receiving the three-dimensional image information transmitted by the imaging device 30. In addition, although this Embodiment demonstrates the case where communication between the reinforcing bar inspection assistance apparatus 20 and the imaging device 30 is performed by wireless communication, the present invention is not limited thereto, and may be performed by wired communication.

  Next, with reference to FIG. 2, the structure of the main part of the electrical system of the reinforcing bar inspection support device 20 having a particularly important role in the reinforcing bar inspection support system 10 will be described.

  As shown in the figure, a reinforcing bar inspection support apparatus 20 according to the present embodiment is connected to a system bus BUS, and a CPU (Central Processing Unit) 20A that controls the operation of the entire reinforcing bar inspection support apparatus 20 is provided. Is provided.

  Connected to the system bus BUS are a RAM (Random Access Memory) 20B used as a work area when the CPU 20A executes various programs, and a ROM (Read Only Memory) 20C in which various control programs, various parameters, and the like are stored in advance. ing. Also connected to the system bus BUS is a secondary storage unit (here, a hard disk device) 20D as storage means used for storing various types of information and a keyboard 20E used for inputting various types of information. Has been. Furthermore, the system bus BUS is connected to a display 20F used for displaying various information and a wireless communication unit 20H that controls a wireless communication operation between an external device such as the photographing device 30. .

  Therefore, the CPU 20A can access the RAM 20B, the ROM 20C, and the secondary storage unit 20D, obtain various input information via the keyboard 20E, and display various information on the display 20F. Further, the CPU 20A can exchange various information with an external device via the wireless communication unit 20H.

  In addition, although illustration is abbreviate | omitted, the reinforcing bar test | inspection assistance apparatus 20 which concerns on this Embodiment is provided with other input devices, such as a mouse | mouth, a touch pad, and a touch display other than the keyboard 20E.

  FIG. 3 is a functional block diagram showing a functional configuration of the reinforcing bar inspection support device 20 according to the present embodiment. As shown in the figure, the reinforcing bar inspection support device 20 according to the present embodiment includes a detection unit 20A1, a derivation unit 20A2, a specification unit 20A3, and a presentation unit 20A4.

  Note that the detection unit 20A1 according to the present embodiment detects images of a plurality of adjacent nodes of the reinforcing bar 50 from an image showing the reinforcing bar 50 to be inspected, obtained by imaging with the imaging device 30. In addition, the deriving unit 20A2 according to the present embodiment derives the distance between adjacent nodes based on the images of the plurality of nodes detected by the detecting unit 20A1.

  In addition, the specifying unit 20A3 according to the present embodiment, from the secondary storage unit 20D that stores in advance the distance between adjacent nodes and the diameter of the corresponding reinforcing bar with respect to reinforcing bars having a plurality of types of diameters that are determined in advance. The diameter of the reinforcing bar 50 to be inspected is specified by reading the diameter of the reinforcing bar corresponding to the distance derived by the deriving unit 20A2. Then, the presentation unit 20A4 according to the present embodiment includes the diameter of the reinforcing bar 50 specified by the specifying unit 20A3 and design information stored in advance in the secondary storage unit 20D (information stored in a 3D CAD information database DB2 described later). ) And information indicating the matching result is presented via the display 20F.

  In addition to the diameter of the reinforcing bar 50, the presentation unit 20A4 according to the present embodiment checks the number of reinforcing bars 50 and the interval between the reinforcing bars 50 with the design information, and the matching result is also displayed via the display 20F. Present.

  On the other hand, FIG. 4 schematically shows main storage contents of the secondary storage unit 20D provided in the reinforcing bar inspection support device 20 according to the present embodiment.

  As shown in the figure, the secondary storage unit 20D is provided with a database area DB for storing various databases and a program area PG for storing various applications and programs. The database area DB includes a reinforcing bar information database DB1 and a 3D CAD information database DB2. Hereinafter, the configuration of each database will be described in detail.

  The reinforcing bar information database DB1 according to the present embodiment is configured to store information on manufacturers and specifications as schematically shown in FIG.

  The manufacturer is information indicating the name of the manufacturer of the reinforcing bar to be handled by the reinforcing bar inspection support system 10 according to the present embodiment, and the specification is information indicating the specification of the reinforcing bar. In the reinforcing bar information database DB1 according to the present embodiment, each piece of information on the diameter indicating the diameter of each reinforcing bar and the inter-node distance that is the distance between adjacent nodes is included as the above specification. For example, in the example shown in the figure, the reinforcing bars manufactured by the manufacturer A and handled by the reinforcing bar inspection support system 10 include those having a diameter of D10, D25, and the like. Reinforcing bars with a distance of 5.0 mm to 7.0 mm and a diameter of D25 indicate that the internode distance is 14.0 mm to 16.0 mm.

  On the other hand, the 3D CAD information database DB2 is a three-dimensional CAD of a building (hereinafter referred to as “inspection target building”) constructed using a three-dimensional CAD (Computer Aided Design) system and provided with reinforcing bars to be inspected. It is a database of information. As shown in FIG. 6 as an example, the 3D CAD information database DB2 according to the present embodiment configures the building to be inspected with information on type, part ID (Identification), reinforcing bar ID, reinforcing bar type, coordinates, and attributes. , Columns, beams, floors, etc., which are stored in a database for each part requiring reinforcement (hereinafter referred to as “reinforcement part”). In the following, in order to avoid complications, the above-described bar arrangement portion will be described as only three types of portions: a column, a beam, and a floor.

  The type is information indicating the type of the bar arrangement part, and the part ID is individually assigned to all the bar arrangement parts in the inspection target building in order to specify the corresponding bar arrangement part. Information. The reinforcing bar ID is information individually assigned to each reinforcing bar to be applied in the reinforcing bar inspection support system 10 in order to specify the reinforcing bar used in the corresponding reinforcing bar arrangement portion. The reinforcing bar type is information indicating the type of a corresponding reinforcing bar such as a main reinforcing bar or a band.

  The above coordinates are the start and end positions when the corresponding reinforcing bar is placed (constructed) in the inspection target building, and the bending points when the reinforcing bar is a strip. In the reinforcing bar inspection support system 10 according to the present embodiment, the coordinates of the predetermined home position of the building to be inspected are set as the origin (0, 0). , 0), the coordinate information of the three-dimensional coordinate system is applied.

  Further, the attribute is information indicating the attribute of the corresponding reinforcing bar, and the reinforcing bar inspection support system 10 according to the present embodiment includes two pieces of information of the steel type and the diameter. Here, the steel type is information indicating the type of material of the corresponding reinforcing bar, and the diameter is information indicating the diameter of the corresponding reinforcing bar.

  The processing by each component (detection unit 20A1, derivation unit 20A2, identification unit 20A3, presentation unit 20A4) of the reinforcing bar inspection support device 20 configured as described above uses a computer by executing a program. It may be realized by a software configuration. In this case, the program according to the present embodiment is included in the program. However, it is not limited to realization by software configuration, and it goes without saying that it may be realized by hardware configuration or a combination of hardware configuration and software configuration.

  Hereinafter, a case will be described in which the reinforcing bar inspection support device 20 according to the present embodiment realizes processing by each of the above constituent elements by executing the above program. In this case, a form in which the program is installed in the reinforcing bar inspection support device 20 in advance, a form provided in a state stored in a computer-readable recording medium, a form distributed via wired or wireless communication means Etc. may be applied.

  Next, the operation of the reinforcing bar inspection support system 10 according to the present embodiment will be described. Here, a portable computer (for example, a notebook personal computer) is adopted as the reinforcing bar inspection support device 20, and a reinforcing bar to be inspected (hereinafter referred to as "inspected reinforcing bar") is inspected. A case will be described in which an inspector brings the reinforcing bar inspection support device 20 and the imaging device 30 and goes to a building (inspection target building) where the inspection target reinforcing bar is constructed to inspect the inspection target reinforcing bar. Here, a case will be described in which the reinforcing bar information database DB1 and the 3D CAD information database DB2 have already been constructed in order to avoid complications.

  Hereinafter, with reference to FIG. 7, an operation of the reinforcing bar inspection support device 20 at the time of executing the reinforcing bar inspection support process will be described. FIG. 7 is a flowchart showing a flow of processing of a reinforcing bar inspection support program executed by the CPU 20A of the reinforcing bar inspection support device 20 when an execution instruction of the reinforcing bar inspection support process is input via the keyboard 20E or the like. The program is stored in advance in the program area PG of the secondary storage unit 20D.

  In step 100 of the figure, the display 20F is controlled so as to display an inspection object input screen having a predetermined format, and in the next step 102, input of predetermined information is awaited.

  FIG. 8 shows an example of the display state of the inspection object input screen. As shown in the figure, in the inspection object input screen according to the present embodiment, information indicating the reinforcing bar part where the inspection target reinforcing bar is provided (in this embodiment, “parts similar to the 3D CAD information database DB2”). ID ”), and an input area of information indicating the surface of the reinforcing bar in which the reinforcing bar to be examined is provided (in this embodiment, information indicating the direction of the surface), The input area of the manufacturer of the reinforcing bar to be inspected is displayed.

  At this time, first, the inspector uses the imaging device 30 to three-dimensionally image one surface of the inspection target reinforcing bar from the front, and transmits the three-dimensional image information obtained by the imaging to the reinforcing bar inspection support device 20. In this case, the photographing may be either a color image photographing or a monochrome image photographing. However, the capacity of the three-dimensional image information obtained by the photographing and the image processing for the three-dimensional image information are reduced. From the viewpoint of simplification, it is assumed that the reinforcing bar inspection support system 10 according to the present embodiment captures a monochrome image. Note that the three-dimensional image information transmitted from the imaging device 30 to the reinforcing bar inspection support device 20 is stored in a predetermined area of the secondary storage unit 20D.

  When the transmission of the three-dimensional image information of the inspection target reinforcing bar to the reinforcing bar inspection support device 20 is completed, the inspector uses the keyboard 20E of the reinforcing bar inspection support device 20 to correspond to each input area of the inspection target input screen. After inputting the information, an end button displayed near the lower end of the inspection target input screen is designated via the keyboard 20E or the like. When the end button of the inspection target input screen is designated, the above step 102 is affirmative and the process proceeds to step 104. In FIG. 8, the reinforcing bar part to be inspected is assigned with “1-1-1” as the part ID, and the reinforcing bar provided on the surface facing the north direction in the reinforcing bar part. Is a rebar to be inspected, and the manufacturer is “A manufacturer”.

  In step 104, the three-dimensional image information received from the imaging device 30 (hereinafter referred to as “processing target image information”) is read from the secondary storage unit 20D, and in the next step 106, based on the read processing target image information. Then, coordinate information indicating the three-dimensional position of each point of the object included in the image indicated by the processing target image information (hereinafter referred to as “three-dimensional point group coordinate information”) is created. In the reinforcing bar inspection support program according to the present embodiment, the coordinate information of the three-dimensional coordinate system similar to the coordinates of each reinforcing bar in the 3D CAD information database DB2 is applied as the three-dimensional point group coordinate information. Note that the creation of 3D point cloud coordinate information of an object photographed from a plurality of viewpoints can be executed by using a 3D measurement method or the like based on a conventionally known stereo matching technique. The detailed description of is omitted.

  In the next step 108, from the created three-dimensional point group coordinate information, an image region of a reinforcing bar group located at a position close in a predetermined order from the photographing position by the photographing device 30 in the image indicated by the processing target image information. Extract the corresponding coordinate information. In the reinforcing bar inspection support program according to the present embodiment, No. 1 is applied as the predetermined order, and in this step 108, the reinforcing bar group located in the position closest to the imaging position (see FIG. 1). In the example shown, the coordinate information corresponding to the image area of the black reinforcing bar group) is extracted. The region where the reinforcing bar group is provided is located on the most front side when viewed from the imaging position by the imaging device 30. Therefore, hereinafter, the region of the reinforcing bar portion where the reinforcing bar group is provided is referred to as “front surface”. This is called “region”.

Hereinafter, the procedure for extracting the coordinate information of the front region in the reinforcing bar inspection support program according to the present embodiment will be described in detail with reference to FIGS. 9 to 11.
(1) First, as shown in FIG. 9, from the three-dimensional point group coordinate information, the coordinates are not on the same straight line as the line-of-sight vector a indicating the shooting direction by the shooting device 30, and are closest to the shooting direction. The coordinate information of a plurality of predetermined points (three points in the present embodiment) located on the surface (hereinafter referred to as “front surface”) is extracted. Note that in the reinforcing bar inspection support program according to the present embodiment, the coordinate information of the three points located on the front surface is extracted, and the two-dimensional image indicated by the coordinate group on the front surface is displayed in the upper left portion, the upper right portion, and the lower portion of the front view. This is done by dividing into three areas and extracting coordinate information of a total of three points, one point from the center of each divided area.
(2) Next, a normal vector b of a plane including three points located on the extracted front surface is derived.
(3) Next, when the three-dimensional point groups indicated by the three-dimensional point group coordinate information are arranged in order from the photographing device 30 side along the direction of the derived normal vector b, the points located at the same position As an example, a histogram shown in FIG. 10 is created by accumulating the numbers.
(4) Next, in the created histogram, an area including the peak (maximum value) closest to the photographing apparatus 30 is regarded as a front area, and coordinate information included in the front area is extracted from the three-dimensional point group coordinate information. .

In the reinforcing bar inspection support program according to the present embodiment, as shown in FIG. 10 as an example, an area including the maximum value of the histogram and not less than the average value of the histogram (the masked area in the figure) is the front surface. Although it is an area, it is not limited to this. For example, instead of the average value, other values such as a value of a predetermined ratio (for example, 50%) with respect to the maximum value may be applied.
(5) Next, using the three-dimensional point cloud coordinate information (hereinafter referred to as “front surface coordinate information”) included in the extracted front region, an accurate front normal vector b is derived by the least square method or the like. .

That is, as an example, as shown in FIG. 11, the three-dimensional point group (three-dimensional point group indicating the front of the black reinforcing bar group in the figure) indicated by the extracted front surface coordinate information is the front surface direction (in FIG. 11). There is a large variation in the direction indicated by the arrow c), and the variation is the smallest in the direction perpendicular to the front surface (the direction indicated by the arrow d in the figure). A direction perpendicular to the front surface is derived as a normal vector b by the least square method or the like. Here, since all of the front surface coordinate information is a calculation target, it is less susceptible to errors than the front surface normal vector b calculated at the above three points, and a more accurate normal vector b can be obtained.
(6) Using the normal vector b obtained by the above processing, the front coordinate information is extracted by the same processing as the above (3) and (4).

  In the next step 110, based on the front coordinate information extracted by the processing in step 108, a rectangular region that is a part of the reinforcing bar region in the image indicated by the front coordinate information is set. Hereinafter, the rectangular area setting procedure by the reinforcing bar inspection support program according to the present embodiment will be described in detail with reference to FIGS.

  First, the front surface coordinate information is arranged in a two-dimensional coordinate system (XY coordinate system). Thereby, as shown in FIG. 12 as an example, a point group corresponding to the main bar 50A, the band 50B, and the bottom surface 50C such as a floor surface in the front region is arranged in the two-dimensional coordinate system. Hereinafter, an image obtained by arranging point groups in the two-dimensional coordinate system is referred to as a “two-dimensional image”.

  Next, by counting the number of points in the two-dimensional image in the X-axis direction and the Y-axis direction, a histogram shown at the lower end (hereinafter referred to as “X-axis histogram”) and a right end are shown. A histogram (hereinafter referred to as “Y-axis histogram”) is obtained.

  Next, the X-axis histogram and the Y-axis histogram are each divided by a predetermined threshold value (in this embodiment, the median value of the maximum value and the average value of the corresponding histogram). Thereby, it can distinguish roughly into a reinforcing bar part and a non-reinforcing bar part.

  Here, since the end of the two-dimensional image often includes a non-rebar portion such as the bottom surface 50C, as shown in FIG. 12, as an example, near the center of the two-dimensional image, Reinforcing bars which will be described later on the images of the main muscle 50A and the strap 50B that are adjacent to the intersection and continuous to the intersection with the intersection of coordinates corresponding to the maximum values of the axis histogram and the Y-axis histogram as the reference position. The rectangular areas 52A and 52B for starting the identification of the image area are set.

  Therefore, in the reinforcing bar inspection support program according to the present embodiment, when setting the rectangular regions 52A and 52B, the image regions of the main muscle 50A and the band 50B are cut out from the two-dimensional image. For each of the X-axis histogram and the Y-axis histogram, an area that is greater than or equal to a predetermined threshold value with the maximum coordinate position as the center is cut out as an image area of the main muscle 50A and the tie-bar 50B that are continuous to the intersection point.

  However, the images are not always taken so that the axial directions of the images of the main muscle 50A and the band 50B included in the two-dimensional image are the vertical direction and the horizontal direction. For this reason, as shown in FIGS. 13A and 13B, the image regions of the main bars 50A and the tie bars 50B that are cut out often include not a few portions that are not reinforcing bars.

  In order to cope with this, in the reinforcing bar inspection support program according to the present embodiment, an image that rotates the two-dimensional image so that the axial directions of the main bar 50A and the band 50B are as vertical and horizontal as possible. Apply processing. As the image processing, the two-dimensional image is rotated by a predetermined rotation angle step size (for example, a step size of 0.2 degrees), and the maximum of the X-axis histogram and the Y-axis histogram at that time is rotated. Conventionally known methods such as a method of adopting a two-dimensional image when the value becomes the largest can be applied.

  In this step 110, the image areas of the main muscle 50A and the band 50B are cut out from the two-dimensional image that has undergone this image processing, and as an example, these image areas are shown in FIGS. 14 (A) and 14 (B). As shown in FIG. 5, rectangular regions 52A and 52B having predetermined dimensions are set in the center with respect to a direction orthogonal to the respective axial directions. In addition, it is preferable that the dimension with respect to the axial direction in each rectangular area at this time is a length including at least a plurality of nodes (2 in the present embodiment) provided in the reinforcing bar 50.

  In the next step 112, one of the left viewpoint image information and the right viewpoint image information in the processing target image information (in this embodiment, it is the left viewpoint image information, hereinafter referred to as “applied image information”). From the image information (hereinafter referred to as “reference rectangular image information”) corresponding to each of the rectangular area 52A and the rectangular area 52B set by the processing of step 110, and then indicated by the extracted basic rectangular image information. Image information (hereinafter referred to as “extracted rectangular image information”) indicating a rectangular image that is the same as or substantially the same as the rectangular image to be extracted is extracted from the applied image information. Then, in this step 112, among the images indicated by each of the extracted reference rectangular image information and extracted rectangular image information, each of the image regions arranged on the same straight line extending in the vertical direction is specified as the image region of each main muscle 50A. Then, each of the image areas arranged on the same straight line extending in the horizontal direction is specified as the image area of each band 50B.

  Note that, in the reinforcing bar inspection support program according to the present embodiment, the determination as to whether or not the images are the same or substantially the same is performed between pixels having the same positional relationship with the image indicated by the reference rectangular image information. It is determined that the image information images whose standard deviation of the pixel value difference is less than a predetermined threshold value are the same or substantially the same image, and the image information images equal to or greater than the threshold value are different images It is done by doing. However, it is needless to say that the determination is not limited to this method, and a conventionally known image recognition technique (pattern matching technique) may be applied.

  FIG. 15 shows an example of the image region (white line rectangular region in the figure) of the streak 50B specified by the processing in this step 112.

  In the next step 114, based on the applied image information of each image area of each main muscle 50A and each band 50B obtained by the above processing, the internode distance in each reinforcing bar of the main muscle 50A and each band 50B is derived. Hereinafter, the procedure for deriving the inter-node distance by the reinforcing bar inspection support program according to the present embodiment will be described in detail with reference to FIG.

  First, since the image of each image region of the main muscle 50A and the band 50B identified by the process of step 112 is an image in which a plurality of nodes are repeated in the axial direction, by performing Fourier transform on them, As an example, as shown in FIG. 16, how many waves are present in the image, in other words, how many clauses exist repeatedly is obtained. Note that the example shown in FIG. 16 indicates that there are 85 nodes in the image area of the streak 50B.

  Next, based on the three-dimensional point group coordinate information, the actual lengths of the identified principal muscles 50A and the respective strip muscles 50B in the axial direction of the respective image regions are derived, and finally, the derived principal muscles 50A and By dividing the number of knots in each band 50B by the length in the axial direction derived for the corresponding reinforcing bar, the internode distance of each main bar 50A and each band 50B is calculated.

  In the next step 116, the diameter of the reinforcing bar corresponding to the maker input via the inspection object input screen and corresponding to the internode distance of each of the main reinforcing bar 50A and the band reinforcing bar 50B obtained by the above processing is set. By reading from the information database DB1, the diameters of the main muscle 50A and the band 50B are specified.

  Further, in step 116, the numbers of the main muscle 50A and the strap 50B are derived based on the image areas of the principal muscle 50A and the strap 50B obtained by the processing in step 112, and the main muscle 50A and the strap 50B. The position of each image area is specified based on the three-dimensional point group coordinate information, and the distance between the adjacent main muscles 50A and the distance between the adjacent band streaks 50B are derived based on the specified position.

  In the next step 118, the part ID input via the inspection object input screen and information relating to the reinforcing bar corresponding to the inspection object surface are read from the 3D CAD information database DB2, and are indicated by the information read in the next step 120. The diameters of the corresponding main muscle 50A and the strap 50B are compared with the diameters of the main muscle 50A and the strap 50B obtained by the above processing.

  In this step 120, the number of each of the main muscle 50A and the band 50B obtained by the processing in step 116 is also compared with the number of the corresponding reinforcing bars obtained from the information read from the 3D CAD information database DB2. To do. Furthermore, in this step 120, the distance between the main muscles 50A and the distance between the band muscles 50B obtained by the processing of step 116 and the corresponding distance obtained from the information read from the 3D CAD information database DB2 are also checked. To do. Note that the CPU 20A stores information indicating the collation result obtained in the process of step 120 in a predetermined area of the secondary storage unit 20D.

  In the next step 122, a collation result display screen having a predetermined format is configured based on the collation result obtained in the process of step 120, and the collation result display screen is controlled to be displayed on the display 20F. .

  FIG. 17 shows an example of a collation result display screen displayed on the display 20F by the process of step 122.

  As shown in the figure, on the collation result display screen according to the present embodiment, the main muscle 50A on the inspection target surface obtained by the processing of step 116, together with information indicating the inspection target input on the inspection target input screen, and The internode distance, the number of bars used, and the diameter of each reinforcing bar of the band 50B are displayed. In the matching result display screen according to the present embodiment, the matching result obtained by the processing of step 120 (in this embodiment, the diameter of each reinforcing bar, the number of reinforcing bars, and the distance between the reinforcing bars are compared. Result.) Is displayed. Therefore, by referring to this collation result display screen, the inspector can easily grasp the collation result, and can easily identify the problem location when there is a problem in the collation result.

  When the inspector refers to the collation result display screen and moves to the next inspection, the inspector designates the examination continuation button displayed on the collation result display screen with the keyboard 20E or the like, and ends the reinforcing bar inspection support program. In order to do so, the end button is designated by the keyboard 20E or the like.

  Therefore, in the next step 124, it is determined whether or not to end the reinforcing bar inspection support program by determining whether or not the end button is designated on the collation result display screen. While it is considered that the inspection continuation button has been designated, the process returns to step 100. On the other hand, when the determination is affirmative, the reinforcing bar inspection support program is terminated.

  As described in detail above, in the present embodiment, the reinforcing bar to be inspected from the image obtained by the imaging unit (imaging device 30 in the present embodiment) for imaging the reinforcing bar to be inspected. Detecting images of a plurality of adjacent nodes, deriving a distance between the adjacent nodes (internode distance) based on the detected images of the plurality of nodes, and reinforcing bars having a plurality of predetermined diameters Then, the diameter of the reinforcing bar corresponding to the derived distance is read out from storage means (secondary storage unit 20D in the present embodiment) that stores the distance between adjacent nodes and the corresponding reinforcing bar diameter in advance. Thereby, since the diameter of the reinforcing bar to be inspected is specified, the diameter of the reinforcing bar to be inspected can be specified easily and with high accuracy.

  In the present embodiment, the reinforcing bar to be inspected is a reinforcing bar group composed of a plurality of reinforcing bars installed at predetermined installation target positions, and the reinforcing bar group is preliminarily formed by the imaging unit. The three-dimensional point cloud of the reinforcing bar group is acquired based on the three-dimensional image obtained by performing the three-dimensional imaging from the determined direction and performing the three-dimensional imaging by the imaging means, and the acquired three-dimensional point group Based on the coordinates, an image of a reinforcing bar located at a position close in a predetermined order from a photographing position by the photographing means in the reinforcing bar group is extracted, and the image of the node is detected from the extracted reinforcing bar image. Therefore, compared to the case where the three-dimensional point group coordinates are not used, the diameter of the reinforcing bar to be inspected can be specified with higher accuracy.

  Further, in the present embodiment, since the images of the nodes are detected based on the periodicity of the arrangement positions of the nodes, the diameter of the reinforcing bar to be inspected can be specified more easily.

  In the present embodiment, the specified reinforcing bar diameter is collated with predetermined design information (in this embodiment, information stored in the 3D CAD information database DB2), and information indicating the collation result is obtained. Since it presents, the convenience for the user can be improved.

  In particular, in the present embodiment, in addition to the diameter of the reinforcing bar, the number of reinforcing bars and the interval between the reinforcing bars are further collated with the design information, so that the convenience for the user can be further improved. .

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various modifications or improvements can be added to the above-described embodiment without departing from the gist of the invention, and embodiments to which such modifications or improvements are added are also included in the technical scope of the present invention.

  The above embodiments do not limit the invention according to the claims (claims), and all the combinations of features described in the embodiments are essential for the solution means of the invention. Is not limited. The embodiments described above include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. Even if some constituent requirements are deleted from all the constituent requirements shown in the embodiment, as long as an effect is obtained, a configuration from which these some constituent requirements are deleted can be extracted as an invention.

  For example, in the above-described embodiment, the case where the reinforcing bar is imaged from the outside of the reinforcing bar part has been described. However, the present invention is not limited to this. For example, as a mode of imaging the reinforcing bar from the inside of the reinforcing bar part Also good.

  That is, there is a direction in which it is difficult to shoot a reinforcing bar after the formwork has been built. In such a case, as an example, as shown in FIG. 18A and FIG. 18B, the imaging device 30 may be installed on the inner side of the bar arrangement part and imaged. 18A is an example in the case where the reinforcing bars to be inspected constitute a column, and FIG. 18B is an example in which the reinforcing bars to be inspected constitute a beam.

  In this case, if a fish-eye lens or a wide-angle lens is used as the photographing lens of the photographing device 30, it is more preferable because image information of the entire periphery can be acquired by one photographing. However, in this case, the reinforcing bar indicated by the image information obtained by imaging is not a straight line but is curved, and thus it is necessary to perform image processing for making the curved reinforcing bar image linear.

  In these cases, the same effects as in the above embodiment can be obtained.

  In the above embodiment, the case where a portable personal computer is applied as the reinforcing bar inspection support device 20 has been described. However, the present invention is not limited to this, for example, a comparison that is difficult to move. A large computer may be applied as the reinforcing bar inspection support device 20. In this case, the computer is installed in a predetermined inspection center or the like, and image information captured via the Internet or a LAN (Local Area Network) is transmitted from the imaging device 30 to the computer. Can be applied.

  In the above-described embodiment, a case has been described in which a photographing apparatus capable of performing three-dimensional photographing is applied as the photographing means of the present invention. However, the present invention is not limited to this, and for example, a normal 2 A photographing apparatus that performs three-dimensional photographing may be applied. In this case, as a method of extracting the image region of the reinforcing bar located in the front, after extracting a long image region including an image having a periodicity with respect to the axial direction linearly, the extracted image region is previously stored. A mode in which classification is made for each predetermined periodic range and an image region belonging to the longest periodic range is specified as an image region of a reinforcing bar located in front can be exemplified.

  In the above-described embodiment, the case where a monochrome image is shot by the shooting device 30 has been described. However, the present invention is not limited to this, and for example, a color image may be shot. In this case, it is possible to exemplify a form in which image information obtained by photographing is converted into image information of a monochrome image and applied. In this case as well, the same effects as in the above embodiment can be obtained.

  Moreover, although the said embodiment demonstrated the case where the image area | region of the reinforcing bar group located nearest from the imaging position by the imaging device 30 was detected, this invention is not limited to this.

  That is, the reinforcing bar illustrated in the above embodiment is a so-called first-stage reinforcing bar in which the reinforcing bar group provided on the outer periphery is only one row, as shown in FIGS. Actually, there may be a case where a plurality of reinforcing bar groups are provided on the outer periphery, such as a two-stage reinforcement or a three-stage reinforcement. In this case, in the inspection for only the reinforcing bar group closest to the imaging position, the reinforcing bar group located inside cannot be inspected.

  Therefore, as an example, the reinforcing bar group located at the second closest position from the imaging position, the reinforcing bar group located at the third closest position, or the like may be extracted using the histogram shown in FIG. In this case, for example, when extracting the image region of the second closest reinforcing bar group, the maximum value except for the maximum region (the mountain region including the maximum value in FIG. 10) closest to the imaging position in the histogram is The maximum region is extracted. Similarly, when extracting the image region of the third closest reinforcing bar group, the maximum region having the largest value is extracted except for the maximum region located at the first and second closest positions in the histogram.

  By doing this, it is possible to detect the image area of the reinforcing bar inside the bar arrangement part such as the second row, the third row, etc. from the outer periphery, but as is clear from FIG. 10, the distance from the imaging position As the distance increases, the detection accuracy of the image area of the target reinforcing bar decreases. This is because, as the distance from the shooting position increases, the size of the reinforcing bar in the captured image decreases, and because there is another reinforcing bar closer to the shooting position than the reinforcing bar to be detected, This is because as the distance increases, the region that cannot be seen by the reinforcing bars to be detected increases.

  Moreover, although the said embodiment demonstrated the case where the collation result with design information (information registered into 3D CAD information database DB2) and the information regarding the specified reinforcement was displayed visually by displaying on a display, Instead, permanent visible display by an image forming apparatus or the like, and audible display by a sound generation apparatus or the like may be performed.

  In the above embodiment, a case has been described in which various types of information are exchanged by wireless communication between the reinforcing bar inspection support device 20 and the imaging device 30, but the present invention is not limited to this, and wired communication It is good also as a form which transmits / receives various information by.

  Further, in the above embodiment, in addition to the diameter of the reinforcing bar, the case where the number of reinforcing bars and the interval between the reinforcing bars are both compared with the design information has been described, but the present invention is not limited to this, About these, it is good also as a form which is not collated, or a form which collates only any one of these.

  In addition, the configuration of the reinforcing bar inspection support system 10 described in the above embodiment (see FIGS. 1 to 6) is an example, and unnecessary components may be deleted without departing from the gist of the present invention. Needless to say, new components can be added.

  The processing flow of the reinforcing bar inspection support program shown in the above embodiment (see FIG. 7) is also an example, and unnecessary processing steps can be deleted or new within the scope not departing from the gist of the present invention. It goes without saying that processing steps can be added or the order of processing steps can be changed.

  Further, the configuration of the inspection object input screen and the collation result display screen (see FIGS. 8 and 17) shown in the above embodiment is also an example, and some information is included within the scope not departing from the gist of the present invention. Needless to say, it can be deleted, new information can be added, and the display position can be changed.

  Furthermore, the configuration of various databases shown in the above embodiment (see FIGS. 5 and 6) is also an example, and some information may be deleted or new information may be deleted without departing from the gist of the present invention. Needless to say, can be added or the storage position can be changed.

DESCRIPTION OF SYMBOLS 10 Reinforcement inspection support system 20 Reinforcing bar inspection support device 20A CPU (detection means, derivation means, identification means, presentation means)
20D secondary storage unit (storage means)
20F Display 30 Imaging device (imaging means)
DB1 Reinforcing Bar Information Database DB2 3D CAD Information Database

Claims (6)

For the reinforcing bars of a plurality of predetermined diameters, storage means for storing the distance between adjacent nodes and the diameter of the corresponding reinforcing bars in advance,
Photographing means for photographing the reinforcing bars to be inspected;
Detecting means for detecting images of a plurality of adjacent nodes of the reinforcing bar to be examined from an image obtained by photographing by the photographing means;
Derivation means for deriving a distance between the adjacent nodes based on images of a plurality of nodes detected by the detection means;
A specifying means for specifying the diameter of the reinforcing bar to be inspected by reading out the diameter of the reinforcing bar corresponding to the distance derived by the deriving means from the storage means;
Reinforcing bar inspection support device. The rebar to be inspected is a rebar group composed of a plurality of rebars installed at predetermined installation target positions,
The photographing means three-dimensionally photographs the reinforcing bar group from a predetermined direction,
The detection means acquires a three-dimensional point group coordinate of the reinforcing bar group based on a three-dimensional image obtained by performing three-dimensional imaging by the imaging unit, and based on the acquired three-dimensional point group coordinate, The reinforcing bar according to claim 1, wherein an image of a reinforcing bar located at a position close in a predetermined order from a photographing position by the photographing unit in the reinforcing bar group is extracted, and the image of the node is detected from the extracted reinforcing bar image. Inspection support device. The reinforcing bar inspection support device according to claim 1, wherein the detection unit detects an image of the node based on periodicity of the arrangement position of the nodes. The diameter of the reinforcing bar specified by the specifying means and predetermined design information are collated, and the presentation means for presenting information indicating the collation result is further provided. Reinforcing bar inspection support device. The reinforcing bar inspection support device according to claim 4, wherein the presenting means further collates at least one of the number of reinforcing bars and the interval between the reinforcing bars with the design information in addition to the diameter of the reinforcing bars. Computer
Detecting means for detecting images of a plurality of adjacent nodes of the reinforcing bar to be inspected from an image obtained by photographing by a photographing means for photographing the reinforcing bar to be inspected;
Derivation means for deriving a distance between the adjacent nodes based on images of a plurality of nodes detected by the detection means;
For reinforcing bars having a plurality of predetermined diameters, the distance between adjacent nodes and the diameter of the corresponding reinforcing bars are stored in association with each other, and the reinforcing bars corresponding to the distances derived by the deriving means are stored in advance. By reading out the diameter, a specifying means for specifying the diameter of the reinforcing bar to be inspected,
Program to function as.