JP2019152533A - Building structure shape calculating system and building structure imaging device - Google Patents

Abstract

To precisely measure the layout of protrusions and recesses on the surface of a building structure, even when there are no workers experienced in measurement methods at the site.SOLUTION: A building structure shape calculating system of the present invention comprises: a building structure image acquisition unit for acquiring a plurality of images derived by repeatedly imaging a building structure having protrusions and recesses on the surface by a camera moving in such a way that the imaging ranges overlap; a building structure shape calculation unit for performing point group measurement by a multi-viewpoint image measurement method on the basis of the plurality of acquired images and thereby calculating the three-dimensional shape and three-dimensional position of the protrusions and recesses on the surface of the building structure; and a building structure shape output unit for outputting information that indicates the calculated three-dimensional shape and three-dimensional position of the protrusions and recesses.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a position measuring method and a structure photographing apparatus.

  The position of the unevenness (structure) existing on the surface of a building structure is accurately measured. For example, in the construction method in which anchor bolts are driven into concrete columns for seismic reinforcement and steel plates with holes through which the anchor bolts pass are tightened with nuts (one-surface seismic reinforcement method), the position of the anchor bolts that are driven into the columns is accurately measured. The measurement results are used for drilling steel plates. Since it is not possible to determine in advance where the anchor bolt is to be driven in order to avoid steel frames and reinforcing bars in the concrete, it is indispensable to accurately measure the state after being driven in place.

  Patent Document 1 discloses that the position of an anchor bolt is measured using a surveying instrument called a total station in a seismic reinforcement method on one side.

Japanese Patent Laid-Open No. 10-82295

  It is not easy to accurately measure the layout of unevenness and the like existing on the surface of a building structure. Therefore, it is necessary for an engineer skilled in the measurement method to perform measurement at a place where there is a building structure to be measured. For example, when measuring using a measure or the like, an expert engineer who knows a method of measuring with high accuracy by using a measure is necessary. When measuring using a total station as shown in Patent Document 1, A skilled technician is required to operate the equipment.

  In addition, when measuring using the total station, it takes space for equipment installation and measurement, but the seismic reinforcement method on one side is often used to reinforce structures in narrower places than the characteristics of the method, In many cases, sufficient space for measurement cannot be secured.

  The present invention has been made in view of the above problems, and even if there is no worker who is skilled in the measurement technique at the site where the building structure is located, even if it is a place where a sufficient measurement space cannot be secured. An object of the present invention is to provide a technique capable of accurately measuring the layout of unevenness or the like existing on the surface of a structure.

(1) A building structure image acquisition unit that acquires a plurality of images in which a building structure having irregularities on its surface is repeatedly shot by a camera that moves so that the shooting ranges overlap, and the plurality of acquired images The building structure shape calculation unit that calculates the three-dimensional shape and the three-dimensional position of the unevenness on the surface of the building structure by performing point cloud measurement using a multi-viewpoint image measurement method based on A building structure shape calculation system including a building structure shape output unit that outputs information indicating a three-dimensional shape and a three-dimensional position of the unevenness.

(2) In (1), the building structure image acquisition unit is arranged along a plurality of first images in which the building structure is repeatedly photographed by the moving camera and a central axis of the lens after the photographing. At least one of a plurality of second images repeatedly photographed by the camera moving in a rotated state of 180 degrees and a plurality of third images repeatedly photographed by a camera that is set and moved in a different shooting direction from the photographing A building structure shape calculation system that acquires a plurality of images.

(3) In (1) or (2), it further includes means for acquiring measured positions of a plurality of reference points that are set in the building structure and can be identified in appearance, and the building structure image acquisition unit includes at least A building structure shape calculation system, a part of which acquires a plurality of images including an image of the reference point.

(4) In any one of (1) to (3), the unevenness is a rod-like protrusion protruding from the surface of the building structure, and on the surface of the building structure based on the three-dimensional position of the unevenness. A building structure shape calculation system further including a protrusion position specifying part for specifying the base position of the rod-like protrusion.

(5) In (4), the position where the position of the tip of the rod-shaped protrusion is projected onto the surface of the building structure is specified, and the root position of the specified rod-shaped protrusion and the tip of the rod-shaped protrusion are A warning unit that outputs a warning when the distance to the position exceeds a predetermined value;
Building structure shape calculation system.

(6) In any one of (1) to (5), based on the information indicating the three-dimensional shape and three-dimensional position of the unevenness, a plan view showing the position of the unevenness on the surface of the building structure is output The building structure shape calculation system further includes a plan view output unit.

(7) A camera for photographing a building structure, a camera base to which the camera is fixed and moving along a building structure to be measured, and a camera base arranged to extend in a certain direction along the building structure, A guide member that guides the camera base to move along the fixed direction, a moving rope that has one end attached to the camera base and the other end is pulled, and is fixed above the base and the rope is hung A building structure photographing apparatus, further comprising a pulley, wherein at least one of the moving rope and the guide member is provided with a mark at an interval corresponding to a moving interval for each photographing.

(8) The building structure photographing apparatus according to (7), wherein the guide member is a rope or a rail.

It is a figure which shows an example of the building structure and structure imaging | photography apparatus concerning embodiment of this invention. It is a front view which shows an example of a camera stand. It is a rear view which shows an example of a camera stand. It is a flowchart which shows roughly procedures, such as a position measurement of the anchor bolt concerning embodiment of this invention. It is a flowchart which shows an example of the procedure which image | photographs a building structure. It is a figure explaining an overlap. It is a figure explaining the imaging | photography from the diagonal. It is a flowchart which shows the detail of the process which pinpoints the position of an anchor bolt from an image, and produces a design drawing. It is a figure explaining the position specified by an anchor bolt. It is a figure which shows another example of a structure imaging device. It is a figure which shows the apparatus etc. relevant to an image processing service. It is a block diagram which shows the function implement | achieved by the structure shape calculation server.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Of the constituent elements that appear, those having the same function are given the same reference numerals, and the description thereof is omitted. Below, the method to measure the position of the anchor bolt nailed in the concrete pillar used as the object of the one-surface seismic reinforcement construction method is demonstrated. The concrete pillar is an example of a building structure, and the anchor bolt is an example of unevenness (structure) arranged on the surface of the building structure. The anchor bolt is a bar-shaped protrusion protruding from the surface of the building structure 30. The following measurement techniques can be used for other types of building structures and structures.

  FIG. 1 is a diagram illustrating an example of a building structure 30 and a structure photographing apparatus 10 according to an embodiment of the present invention. Here, the building structure 30 is a concrete pillar used for an overhead or the like, and an anchor bolt 31 is driven into one of its four side surfaces. The anchor bolt 31 is tightened to a steel plate (not shown) with a nut (not shown), thereby strengthening the earthquake resistance of the building structure 30 together with the steel plate. The method for driving the anchor bolts 31 into the steel plate is well known as a one-surface seismic reinforcement method, and thus the description thereof is omitted.

  In addition, on the side of the building structure 30 where the anchor bolts 31 are driven, a marking line 33 is drawn by a worker on site. The marking line 33 is drawn in the vertical direction outside the anchor bolts 31 at the left and right ends, and also drawn in the left and right directions outside the anchor bolts 31 at the upper and lower ends. In addition, the inking line 33 also has an inking line 33 extending in the left-right direction between the upper and lower inking lines 33, and the interval between the inking lines 33 drawn in the left-right direction is 2 m. The following is desirable. An intersection point of the inking line 33 drawn in the up and down direction and the inking line 33 drawn in the left and right direction is used as a reference point 35 in the processing described later. Instead of the ink marking line 33, a scale seal with scales and marks attached to the side surfaces of the pillars may be stretched. In this case, the mark attached to the scale seal is used as the reference point 35. The reference point 35 may be a part of the building structure 30 itself where the position is measured. For example, it may be an anchor bolt 31 whose position has been measured, or an end of a building structure 35 such as a left or right end or upper end of a pillar.

  The structure photographing apparatus 10 includes a camera 11, a camera base 12, two guide ropes 14, a clamp 16 for fixing the guide rope 14, and a moving rope 18. The camera 11 may be a so-called digital camera, and preferably generates image data of a captured image in an uncompressed image data format. The guide rope 14 is disposed so as to extend in the vertical direction along the building structure 30. The upper end of the guide rope 14 is fixed to the upper clamp 16 of the camera base 12, and the upper clamp 16 is fixed to a single pipe 21 installed beside the building structure 30. The lower end of the guide rope 14 is fixed to a lower clamp 16 of the camera base 12, and the lower clamp 16 is fixed to a single pipe 22 installed near the building structure 30. The pulley 17 is attached to a single pipe 21 located above the camera base 12.

  FIG. 2 is a front view showing an example of the camera base 12, and FIG. 3 is a rear view of the camera base 12. The camera base 12 has an annular frame 121, a rope fixture 122 to which the moving rope 18 is attached, a ring member 123 fixed to the frame 121, a rotating plate 126 having a notch on the inside in plan view, and a rotation. A rotation stopper 127 for fixing the position of the plate 126 and a camera fixture 128 for fixing the camera 11 to the camera base 12 are included. The ring member 123 has a ring-shaped region, and the guide rope 14 is passed through the ring. The camera fixing unit 128 is attached to the rotating plate 126. The lens 111 of the camera 11 passes through the notch of the rotating plate 126. The outer shape of the rotating plate 126 is a circle and is sandwiched between the frames 121. The rotation stopper 127 is a kind of screw. By loosening the rotation stopper 127, the rotating plate 126 rotates, and the direction of the camera 11 can be freely changed by the rotation. The central axis of rotation is adjusted to be along the central axis of the lens 111 of the camera 11, but the axis may be slightly deviated.

  The guide rope 14 is disposed so as to extend in a predetermined movement direction (vertical direction) by the upper and lower clamps 16. The guide rope 14 guides the camera base 12 so as to move along the moving direction.

  The moving rope 18 is attached to the camera base 12 and hangs downward through a pulley 17 above the camera base 12. The end of the moving rope 18 that is not attached to the camera base 12 is pulled by an operator or a winch. The camera base 12 moves in the moving direction when the moving rope 18 is pulled.

  By moving the camera base 12 with the moving rope 18 and guiding the moving direction of the camera base 12 with the guide rope 14, it is possible to reliably take a photograph even at a height that cannot be reached by human hands. Further, when the guide rope 14 is used as a guide, transportation to the site becomes easier than when a rail or the like is used as a guide. Moreover, the guide rope 14 can be easily installed on the site simply by fixing the upper and lower ends by applying tension. In addition, since the single pipes 21 and 22 are used for scaffolding etc. in a construction site, they can be easily installed.

  Next, the procedure of the position measuring method of the anchor bolt 31 using the structure photographing apparatus 10 will be described. FIG. 4 is a flowchart schematically showing procedures such as position measurement of the anchor bolt 31 according to the embodiment of the present invention. Before executing this procedure, it is assumed that a site worker has provided a marking line 33 or the like on the building structure 30 so that the reference point 35 can be identified on the appearance.

  First, the worker measures the position of the reference point 35 on the side surface of the building structure 30 (step S101). Next, the worker photographs the building structure 30 in which the anchor bolt 31 is driven by the structure photographing apparatus 10 (step S102). In this photographing, photographing is performed so that all the anchor bolts 31 are included in any one of the plurality of images and all the reference points 35 are included in any of the plurality of images.

  FIG. 5 is a flowchart showing an example of a procedure for photographing the building structure 30. This figure explains step S102 in more detail.

  When photographing, first, the structure photographing apparatus 10 is installed (step S201). In particular, a guide rope 14 is installed. The guide rope 14 is installed so that the distance from the side surface to be measured of the building structure 30 is constant. The distance is determined according to the installation location, but is approximately 1 m. If the installation location cannot be secured, the distance may be shortened to some extent. Further, the focal length of the lens used in the camera 11 is adjusted according to the distance, but one pixel corresponds to a 0.2 mm square on the surface of the building structure 30, and the required positional accuracy is almost the same. A distance of about 1/10 corresponds to a distance per pixel. Further, when the guide rope 14 is installed, the guide rope 14 is passed through the ring member 123 of the camera base 12.

  Next, the worker sets parameters relating to shooting by the camera 11 (step S202). The parameters are, for example, resolution, exposure (shutter speed, aperture), focus, and the like.

  Then, the worker sets the shooting mode of the camera 11 to a time lapse mode with a shooting interval of about 2 to 3 seconds (step S203). The time lapse mode is a mode in which once the shutter is pressed, the camera 11 continues to take pictures at a specified shooting interval.

  When the shooting mode is set, the worker fixes the camera 11 to the camera base 12 (step S204). More specifically, the camera 11 is fixed by the screw of the camera fixture 128. At this time, a level is installed on the camera 11 and the rotating plate 126 of the camera base 12 is adjusted so that the horizontal direction of the camera 11 is horizontal.

  Then, shooting is started. More specifically, first, the camera base 12 is moved to the vicinity of the upper end or the lower end of the guide rope 14, and the shutter button of the camera 11 is pressed to start time-lapse shooting at a shooting interval of 2 seconds, for example. Then, in synchronization with the shooting interval, the state in which the moving rope 18 is pulled is adjusted to repeatedly move and stop the camera base 12 by a predetermined interval (step S205). Further, when photographing is repeatedly performed from the vicinity of the upper end or lower end of the guide rope 14 to the end near the opposite side, the worker presses the shutter button again to interrupt the photographing.

  When the camera base 12 is repeatedly moved, the timing is adjusted so that shooting is performed at the timing when the camera base 12 is stopped. The moving rope 18 is marked with a predetermined interval, which is the same as the distance to move the camera base 12 at a time. Therefore, the operator adjusts the position of the camera stand 12 by moving the moving rope 18 so that the next mark after a certain mark is at the same position. The guide rope 14 may be marked with a predetermined interval. In this case, the camera base 12 is moved so that any position of the camera base 12 is aligned with the next mark of the guide rope 14.

  The predetermined interval at which the mark is provided on the moving rope 18 or the guide rope 14 is set so that the overlap ratio of the captured images is 80 to 90% or more. FIG. 6 is a diagram for explaining the overlap. The area included in the image captured by the camera 11 at the camera position C1 is the imaging area R1, and similarly, the area included in the image captured by the camera 11 at the camera positions C2 to C4 is the imaging area R2 to R4. The overlap ratio is a ratio of having an area in common with one of the adjacent imaging areas (for example, R2) in a certain imaging area (for example, R1). The overlap rate is determined so that the three-dimensional position calculated by the subsequent SfM process satisfies the required system, and the predetermined interval for moving the camera base 12 is determined so as to satisfy the overlap rate condition. ing. Note that the overlap ratio between the imaging region R1 and the imaging region R4 arranged in the horizontal direction may be lower.

  When the photograph is repeatedly taken from the vicinity of the upper end or the lower end of the guide rope 14 to the end near the opposite side, and the anchor bolts 31 at the upper and lower ends and the reference points 35 above and below the photographs are taken, 12 rotation plates 126 are rotated, and the camera 11 is rotated 180 degrees along the central axis of the lens 111 (step S206). Then, the worker presses the shutter to start time-lapse photography, and repeatedly moves and stops the camera base 12 by a predetermined interval as in step S205 while moving the camera base 12 toward the opposite end (step S205). S207). Then, the time-lapse shooting is interrupted by pressing the shutter again. Thereby, one round-trip photographing is performed at the same horizontal position. By photographing by rotating the camera 11 by 180 degrees, it is possible to prevent a decrease in accuracy due to distortion of the lens 111 and deviation of the center.

  When the photographing in step S207 is performed, the worker shifts the position of the camera base 12 in the lateral direction or changes the position where the guide rope 14 is attached in order to change the photographing direction of the camera base 12 (step S208). The reason why the horizontal position of the camera base 12 is shifted is to cover all of the lateral direction of the side surface of the building structure 30 and to capture the shape of the anchor bolt 31 described later from more directions.

  The change of the shooting direction is for, for example, shooting from an oblique direction in addition to shooting from the direction facing the measurement target surface of the building structure 30. FIG. 7 is a diagram illustrating photographing from an oblique direction. FIG. 7 is a view of the building structure 30 as viewed from above. The camera position C5 indicates an example of a shooting direction that faces the measurement target surface of the building structure 30, and the camera position C6 is a shooting direction that is shifted to the right from the direction that faces the measurement target surface of the building structure 30. It is an example. A part of each imaging area overlaps. By photographing from an oblique direction, occurrence of occlusion can be reduced and the position of the anchor bolt 31 can be detected more reliably. Further, not only photographing from an oblique direction but also photographing by tilting the camera 11 in the vertical direction may be performed.

  If the camera base 12 is moved and photographed several times in steps S205 to S207 and a necessary image can be acquired in the lateral direction, the photographing is terminated.

  When photographing of the building structure 30 is completed, the operator sends the plurality of photographed images and the measured position of the reference point 35 to the image processing service (step S103). More specifically, a plurality of images and position data of the reference point 35 are uploaded via the Internet. Instead of uploading, data may be recorded as a file transfer service or an attached file of an e-mail, or recorded in a USB memory or the like and sent to the image processing service by mail.

  FIG. 11 is a diagram illustrating devices and the like related to the image processing service. The image processing service includes a data collection server 4 and a structure shape calculation server 5. The data collection server 4 is a server computer arranged on the Internet, and receives a plurality of images and data of the positions of the reference points 35 from the transmission terminal 3 operated by an operator. The structure shape calculation server 5 is a server computer, for example, and includes a processor 51, a storage unit 52, a communication unit 53, and an input / output unit 54. The structure shape calculation server 5 acquires a plurality of images and data on the positions of the reference points 35, executes the processes of steps S104 and S105 described later, and outputs the results.

  The processor 51 operates according to a program stored in the storage unit 52. Further, the processor 51 controls the communication unit 53 and controls a device connected to the input / output unit 54. The program may be provided by being stored in a computer-readable storage medium such as a flash memory or a DVD-ROM, or may be provided via the Internet or the like. .

  The storage unit 52 includes a memory element such as a RAM and a flash memory, and a hard disk drive. The storage unit 52 stores the program. The storage unit 52 stores information and calculation results input from each unit.

  The communication unit 53 realizes a function of communicating with other devices, and is configured by, for example, a wired LAN integrated circuit. The communication unit 53 transmits and receives information to and from other devices based on the control of the processor 51. The communication unit 53 inputs the received information to the processor 51 and the storage unit 52.

  The input / output unit 54 includes a video controller that controls the display output device, a controller that acquires data from the input device, and the like. Examples of input devices include a keyboard, a mouse, and a touch panel. Based on the control of the processor 51, the input / output unit 54 acquires data input by the user operating the input device, and outputs the display data to the display output device. The display output device is, for example, a display device or a printer connected to the outside.

  When the data is uploaded to the image processing service, the structure shape calculation server 5 acquires the data of the uploaded plurality of images and the data of the reference points, and acquires the positions of the plurality of images and the measured reference points 35. Based on the above, the position of the anchor bolt 31 on the surface of the photographed building structure 30 is specified by creating the three-dimensional point cloud data of the building structure 30 (step S104). Further, the structure shape calculation server 5 creates a design drawing showing the drilling position of the steel plate used for the one-surface seismic reinforcement method based on the specified position of the anchor bolt 31 (step S105).

  Hereinafter, functions and processes performed by the structure shape calculation server 5 will be described in more detail. FIG. 12 is a block diagram illustrating functions realized by the structure shape calculation server 5. The structure shape calculation server 5 functionally includes an image acquisition unit 61, a shape calculation unit 62, a shape output unit 63, a position specifying unit 64, a plan view output unit 65, and a warning unit 66. These functions are realized by the processor 51 executing a program stored in the storage unit 52 and controlling the communication unit 23 and the input / output unit 24 as necessary. Here, the functions and processes realized by the structure shape calculation server 5 may be realized by a system including a plurality of server computers.

  The image acquisition unit 61 acquires data of a plurality of uploaded images and reference point data. The shape calculation unit 62 calculates the three-dimensional shape and the three-dimensional position of the unevenness on the surface of the building structure 30 by performing point group measurement using a multi-viewpoint image measurement method based on the plurality of acquired images. The shape output unit 63 outputs information indicating the calculated three-dimensional shape and three-dimensional position of the unevenness.

  The position specifying unit 64 specifies the base position of the rod-shaped protrusion (for example, the anchor bolt 31) on the surface of the building structure 30 based on the three-dimensional shape and the three-dimensional position of the unevenness. The rod-shaped protrusion protrudes from the building structure 30 and is a kind of unevenness. The plan view output unit 65 outputs a plan view showing the position on the surface of the uneven building structure 30 based on the information indicating the three-dimensional shape and the three-dimensional position of the unevenness. The warning unit 66 identifies the position where the position of the tip of the rod-shaped projection is projected onto the surface of the building structure 30, and the distance between the root position of the identified rod-shaped projection and the position of the tip of the rod-shaped projection is predetermined. A warning is output when the value of is exceeded.

  FIG. 8 is a flowchart showing details of processing for specifying a position of the anchor bolt 31 from a plurality of images and creating a design drawing. Details of the processing of each function will be described below together with the processing flow.

  When the image acquisition unit 61 acquires the data of a plurality of uploaded images, the shape calculation unit 62 extracts a plurality of feature points necessary for expressing the shape of the building structure 30 from the plurality of images (step S301). ). Here, the shape calculation unit 62 not only extracts a plurality of feature points, but also acquires the positions of the feature points in each acquired image. In addition, the shape calculation unit 62 acquires the position of the reference point 35 in each image and the position of the reference point 35 in the building structure 30 measured in step S101. The position of the reference point 35 in each image may be specified by the operator looking at each image, or the position of the reference point 35 may be set as a characteristic mark and automatically recognized using an image recognition technique. Furthermore, the shape calculation unit 62 associates the positions of the same feature points and reference points 35 in a plurality of images by a known pattern matching method (step S302), and specifies the position and shooting direction of the camera 11 in each image. (Step S303).

  The shape calculation unit 62 extracts by a so-called stereo photogrammetry method based on the position and shooting direction of the identified camera 11, the position of each feature point in each image, and the position of each reference point 35 in each image. The three-dimensional coordinates of the plurality of feature points are calculated (step S304). Thereby, point cloud data composed of a plurality of feature points in the three-dimensional space is acquired, and the three-dimensional shape of the surface of the building structure 30 and the three-dimensional position of each point are acquired.

  The shape output unit 63 outputs the acquired three-dimensional shape of the surface of the building structure 30 (including the three-dimensional shape and three-dimensional position of the anchor bolt 31) to a storage unit such as a memory or an external storage device (step S305). ). The shape output unit 63 may output the three-dimensional shape of the surface of the building structure 30 as an image.

  The building structure calculation server 5 realizes the processing in steps S301 to S304 when the computer executes a multi-dimensional image measurement method such as an SfM (Structure from Motion) method and a program in which the method is implemented. Since the process is well-known, detailed description is abbreviate | omitted.

  Here, in the processing of steps S301 to S304, the reference point 35 may not be provided in the building structure 30, and the reference point 35 may not be included in the image. In this case, the three-dimensional coordinates calculated in step S304 are relative coordinates in the building structure 30. Further, for example, the site worker separately measures the width of the building structure 30 and the computer calculates the shape by associating the measured width with the width size of the building structure 30 indicated by the three-dimensional point cloud data. The part 62 can specify the size of the building structure 30. Thereby, the shape calculation part 62 can also pinpoint the position of the anchor bolt 31 contained in the building structure 30 correctly. Otherwise, the shape calculation unit 62 may use information indicating the position of the camera at the time of shooting instead of the reference point 35. For example, the accuracy of the shape calculation unit 62 decreases by inputting information on the height of the camera based on the distance between the building structure 30 and the camera 11 and the movement interval of the camera 11 for each photographed image. However, the position of the anchor bolt 31 can be specified. Even when the reference point 35 is used, the reference point 35 may not be explicitly shown. The shape calculation unit 62 may treat specific locations such as the four corners of the building structure 30 (columns) as the reference points 35.

  When the three-dimensional shape of the surface of the building structure 30 is calculated, the position specifying unit 64 acquires a three-dimensional position representing the anchor bolt 31 from the shape of the anchor bolt 31 (step S306). The three-dimensional position representing the anchor bolt 31 is the center Q of the outer circumference circle at the base of the anchor bolt 31 exposed from the building structure 30 and corresponds to the center position where a hole is made in the steel plate.

  In step S306, the position specifying unit 64 uses the three-dimensional shape extraction method to extract the root outer peripheral point of the anchor bolt 31, and calculates the three-dimensional position of the root center position of the anchor bolt 31 from the selected outer peripheral point. To do. For each anchor bolt 31, the operator selects several outer peripheral points that form the outer circumference of the root from the point group, and the position specifying unit 64 acquires the set outer peripheral points, and the three-dimensional position of the outer peripheral points. From the above, the center position of the root of the anchor bolt 31 may be calculated.

  FIG. 9 is a diagram for explaining a position specified by the anchor bolt 31. The position specifying unit 64 selects the outer peripheral points P <b> 1 to P <b> 4 on the outer peripheral circle that becomes the boundary between the surface of the building structure 30 and the anchor bolt 31. When the outer peripheral points P1 to P4 are selected, the computer calculates a circle passing through a position as close as possible to the outer peripheral points P1 to P4, and calculates the center Q of the circle as the three-dimensional position of the anchor bolt 31. Here, the number of outer peripheral points may be three or more, but the center Q can be obtained with high accuracy by designating more outer peripheral points. Also, the center Q can be obtained with higher accuracy by designating the outer peripheral points that are close to each other. Here, it is not possible to acquire an outer peripheral point at a position close to the exact opposite in one photographed image. Therefore, it is possible to improve the accuracy by obtaining the outer peripheral point at a position close to the diametrically more surely by photographing from an oblique direction as shown in FIG.

  Although not shown in FIG. 8, the warning unit 66 acquires the three-dimensional position of the tip of the anchor bolt 31 in addition to the three-dimensional position of the root center Q of the anchor bolt 31. In this case, the warning unit 66 selects three or more outer peripheral points for the tip of the anchor bolt 31, obtains a circle that passes through a position as close as possible to the outer peripheral point, and calculates the center T of the circle. Further, the warning unit 66 calculates the distance between the position where the center Q calculated for the root of the anchor bolt 31 and the center T calculated for the tip are projected on the surface of the building structure 30, and the distance Is output when the value exceeds a predetermined allowable value (for example, 0.5 mm). Thereby, it can be accurately determined whether or not the direction in which the anchor bolt 31 is driven is allowed in the process.

  When the three-dimensional position representing the anchor bolt 31 is measured, the plan view output unit 65 orthographically projects the three-dimensional position of the anchor bolt 31 onto the surface of the building structure 30, and the orthographically projected 2 Based on the dimensional coordinates, a design drawing showing the position where a hole is made in the steel plate is generated (step S306).

  The generated design drawing is transmitted to a steel plate processor, and the processor makes a hole in the steel plate (step S106). More specifically, the processor makes a hole in a position corresponding to the anchor bolt 31 indicated by the design drawing of the steel plate. The design drawing may be printed on paper or electronic data that can directly control a steel plate drilling machine. If it is printed on paper, the position accuracy can be verified by actually matching the surface of the building structure 30 before making a hole.

  Steel plates with holes are transported to the construction site. Then, the operator attaches the steel plate to the building structure 30 so that the anchor bolt 31 passes through the hole, and fastens the nut to the anchor bolt 31 that has passed through the hole in the steel plate to fix the steel plate (step S107).

  In the present invention, the position of the anchor bolt 31 is specified by applying a photogrammetry technique such as a so-called SfM method. With this technique, the layout of the structure on the surface of the building structure can be accurately measured easily even if the movement of the camera 11 is deviated or the brightness of the image is changed. In addition, image processing necessary for improving accuracy can be performed by a person who is not in the field. Thereby, even if the skill level of the worker on site is lower, the layout of the anchor bolt 31 can be specified with high accuracy. Moreover, in this invention, since the structure imaging | photography apparatus 10 can be installed along the building structure 30, if there is a space of about 1 m in width in front of the building structure 30, the layout of the anchor bolt 31 is measured. can do. On the other hand, in the total station, the range in which the sensor can be measured is limited, so that a large space is required in front of the building structure 30 and an installation space for the equipment is also required. In addition, the seismic reinforcement method is often used to reinforce structures in narrower areas than the features of the method. By applying the present invention, it is possible to measure the layout of the anchor bolt 31 with high accuracy even in many sites where space is limited.

  Here, the member that guides the camera base 12 with the structure photographing apparatus 10 may not be the guide rope 14. FIG. 10 is a diagram illustrating another example of the structure photographing apparatus 10. In the example of this figure, a guide rail 44 is used instead of the guide rope 14. A wheel 129 is provided on the camera base 12 instead of the ring member 123, and the camera base 12 can move as the wheel 129 rotates on the guide rail 44. A lower stopper 49 is provided at the lower end of the guide rail 44 to prevent the camera base 12 from colliding. The guide rail 44 is divided into a plurality of shorter members and assembled on site. A clamp 16 is attached to each member constituting the guide rail 44, and is fixed by the single pipe 23 by the clamp 16.

3 Sending terminal, 4 Data collection server, 5 Structure shape calculation server, 10 Structure photographing device, 11 Camera, 12 Camera stand, 14 Guide rope, 16 Clamp, 17 Pulley, 18 Moving rope, 21, 22, 23 Single Pipe pipe, 30 Building structure, 31 Anchor bolt, 33 Marking line, 35 Reference point, 44 Guide rail, 49 Lower stopper, 51 Processor, 52 Storage section, 53 Communication section, 54 Input / output section, 111 Lens, 121 Frame 122 rope fixing tool, 123 ring member, 126 rotating plate, 127 rotation stopper, 128 camera fixing tool, 129 wheel, C1, C2, C3, C4, C5, C6 camera position, P1, P2, P3, P4 outer peripheral point, Q, T center, R1, R2, R3, R4 imaging area.

Claims (7)

A building structure image acquisition unit that acquires a plurality of images in which a building structure having irregularities on the surface is repeatedly shot by a camera that moves so that the shooting ranges overlap;
Building structure shape calculation for calculating a three-dimensional shape and a three-dimensional position of the unevenness on the surface of the building structure by performing point cloud measurement by a multi-viewpoint image measurement method based on the plurality of acquired images And
A building structure shape output unit that outputs information indicating the calculated three-dimensional shape and three-dimensional position of the unevenness;
Building structure shape calculation system. In the building structure shape calculation system according to claim 1,
The building structure image acquisition unit moves in a state rotated by 180 degrees along the central axis of the lens after the plurality of first images obtained by repeatedly shooting the building structure by the moving camera. Obtaining a plurality of images including a plurality of second images repeatedly photographed by the camera and at least one of a plurality of third images repeatedly photographed by a camera that is set and moved in a different shooting direction from the photographing;
Building structure shape calculation system. In the building structure shape calculation system according to claim 1 or 2,
Means for obtaining measured positions of a plurality of reference points set in the building structure and identifiable in appearance;
The building structure image acquisition unit acquires a plurality of images at least partially including an image of the reference point.
Building structure shape calculation system. In the building structure shape calculation system according to any one of claims 1 to 3,
The unevenness is a rod-like protrusion protruding from the surface of the building structure,
Based on the three-dimensional position of the unevenness, further including a protrusion position specifying part that specifies the position of the base of the rod-like protrusion on the surface of the building structure;
Building structure shape calculation system. In the building structure shape calculation system according to claim 4,
A position obtained by projecting the position of the tip of the rod-shaped protrusion onto the surface of the building structure is specified, and a distance between the specified position of the root of the rod-shaped protrusion and the position of the tip of the rod-shaped protrusion is predetermined. It further includes a warning part that outputs a warning when the value is exceeded.
Building structure shape calculation system. In the building structure shape calculation system according to any one of claims 1 to 5,
A plan view output unit that outputs a plan view showing the position of the unevenness on the surface of the building structure based on the information indicating the three-dimensional shape and the three-dimensional position of the unevenness;
Building structure shape calculation system. A camera for photographing the building structure;
A camera base on which the camera is fixed and moves along a building structure to be measured;
A guide member arranged so as to extend in a certain direction along the building structure, and for guiding the camera base to move along the certain direction;
A moving rope with one end attached to the camera base and the other end pulled;
A pulley fixed above the gantry and on which the rope is hung,
At least one of the moving rope and the guide member is provided with marks at an interval corresponding to the moving interval for each photographing.
Building structure photography device.

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