JP2020134393A - System and method for inspecting layout of reinforcement - Google Patents

Abstract

To provide a system for easily inspecting the layout of reinforcement.SOLUTION: A reinforcement layout inspection system 1 inspects a plurality of cylindrical reinforcing bars 2_1, extending in a first direction and arranged in a second direction 2_5 perpendicular to the first direction. The reinforcement layout inspection system 1 includes: a three-dimensional laser scanner 3, separate from the reinforcing bars 2_1 and measuring the surface of the reinforcing bars; and a processing unit 5 for calculating the center point 2_2 and the radius of the reinforcing bars 2_1 from the curving shape of the surface of the reinforcing bars measured by the three-dimensional laser scanner 3.SELECTED DRAWING: Figure 1

Description

The present invention relates to a bar arrangement inspection system and a bar arrangement inspection method, and more particularly to a bar arrangement inspection system and a bar arrangement inspection method using a laser scanner.

In the rebar arrangement work at the construction site, the inspection to confirm whether the thickness, number of rebars, pitch between the rebars, etc., which are arranged is as designed in advance, that is, the rebar arrangement construction state of the rebar A rebar inspection to confirm is performed. Reinforcing bar arrangement inspection is important for construction management because if the arranged reinforcing bars are not as designed, there is a risk of collapse.

Examples of the technique related to the bar arrangement inspection include the techniques described in Patent Documents 1 to 3.

Japanese Unexamined Patent Publication No. 2017-09546 Japanese Unexamined Patent Publication No. 2010-151577 Japanese Unexamined Patent Publication No. 2010-261772

As a bar arrangement inspection system for performing a bar arrangement inspection, a system using a stereo camera for photographing the arranged reinforcing bars is known. In such a bar arrangement inspection system, lighting for illuminating the reinforcing bar is required in order to photograph the reinforcing bar. Further, when the reinforcing bars are arranged with a depth, it is difficult to photograph the reinforcing bars arranged in the back, and it is difficult to inspect them.

Patent Documents 1 to 3 disclose a reinforcing bar inspection system that photographs reinforcing bars using a three-dimensional laser scanner instead of a stereo camera. By using a three-dimensional laser scanner, lighting is not required, and it is possible to measure the reinforcing bars arranged in the back. Patent Document 1 describes that the reinforcing bar is measured while moving the three-dimensional laser scanner, and Patent Documents 2 and 3 describe that the three-dimensional laser scanner is fixed and measured. Patent Documents 1 to 3 show that the state of the reinforcing bar is grasped based on the data acquired by the measurement by the three-dimensional laser scanner, but the specific configuration is not described.

An object of the present invention is to provide a bar arrangement inspection system capable of easily inspecting bar arrangement.

The above and other objects and novel features of the present invention will become apparent from the description and accompanying drawings herein.

A brief outline of the typical inventions disclosed in the present application is as follows.

The bar arrangement inspection system inspects a plurality of columnar reinforcing bars extending in the first direction and arranged in the second direction intersecting the first direction. Here, the bar arrangement inspection system calculates the center point and radius of the reinforcing bar from the laser scanner that is arranged away from the reinforcing bar and measures the surface of the reinforcing bar and the curved surface shape on the surface of the reinforcing bar measured by the laser scanner. It is equipped with a processing unit.

Among the inventions disclosed in the present application, the effects obtained by typical ones will be briefly described as follows.

It is possible to provide a bar arrangement inspection system capable of easily inspecting the bar arrangement.

It is a block diagram which shows the structure of the bar arrangement inspection system which concerns on Embodiment 1. FIG. It is a perspective view which shows the relationship between the 3D laser scanner and the reinforcing bar which concerns on Embodiment 1. FIG. (A) to (C) are diagrams for explaining the calculation in the processing unit according to the first embodiment. It is a figure for demonstrating the bar arrangement inspection system which concerns on Embodiment 1. FIG. It is a flow chart which shows the bar arrangement inspection method which concerns on Embodiment 1. FIG.

In the following embodiments, when necessary for convenience, the description will be divided into a plurality of sections or embodiments, but unless otherwise specified, they are not unrelated to each other, and one is the other. There is a relationship of some or all modifications, details, supplementary explanations, etc. In addition, in the following embodiments, when the number of elements (including the number, numerical value, quantity, range, etc.) is referred to, when it is clearly stated and when it is clearly limited to a specific number in principle, etc. Except, the number is not limited to the specific number, and may be more than or less than the specific number.

Furthermore, in the following embodiments, the components (including element steps, etc.) are not necessarily essential unless otherwise specified or clearly considered to be essential in principle. Needless to say. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of a component or the like, the shape is substantially the same unless otherwise specified or when it is considered that it is not apparent in principle. Etc., etc. shall be included. This also applies to the above numerical values and ranges.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration of a bar arrangement inspection system according to the first embodiment. FIG. 1 depicts a state in which the constructed reinforcing bars are inspected at a construction site. In FIG. 1, 2_1 indicates the constructed reinforcing bar. The reinforcing bar 2_1 has a columnar outer shape extending in the first direction 2_1 (FIG. 3) from the back to the front of the paper surface. In FIG. 1, a state in which the reinforcing bar 2_1 is viewed from above is drawn, and reference numeral 2_2 indicates the center point of the reinforcing bar 2_1.

A plurality of reinforcing bars 2_1 are arranged so as to form the outer shape of the column, and although not particularly limited, the plurality of reinforcing bars 2_1 are fixed by the fixing bracket 2d to form the reinforcing bar group 2. In the example shown in FIG. 1, four reinforcing bars 2_1 are arranged along the second direction 2_1 along the outer surface of the column, and four reinforcing bars 2_1 are arranged along the third direction 2_6 along the outer surface of the column. Has been done. The first direction 2_4 intersects the second direction 2_5, and the second direction 2_5 intersects the third direction 2_6.

In FIG. 1, 1 indicates a bar arrangement inspection system. The bar arrangement inspection system 1 includes a mobile three-dimensional laser scanner 3, a processing unit 5, and a display unit 6. The three-dimensional laser scanner 3 is arranged at a predetermined distance from the reinforcing bars 2_1 arranged in the second direction 2_1, and automatically or manually moves so as to be parallel to the reinforcing bars 2_1 arranged in the second direction 2_1. .. In the example of FIG. 1, the three-dimensional laser scanner 3 moves in the same direction 4 as the second direction 2_5. As a result, the three-dimensional laser scanner 3 sequentially faces the side surface 2_3 of the plurality of reinforcing bars 2_1 arranged along the second direction 2_1, and measures the curved surface shape of the surface on the side surface 2_3 of the facing reinforcing bars 2_1.

The processing unit 5 includes a processing unit 5_1 and a storage unit 5_2. The processing unit 5-1 is supplied with the curved surface shape data of the reinforcing bar 2_1 obtained by the measurement by the three-dimensional laser scanner 3. The processing unit 5_1 calculates the measured center point 2_2 and radius of the reinforcing bar 2_1 based on the supplied curved surface shape data, and determines the distance between the center points 2_2 of the adjacent reinforcing bars 2_1 in the second direction 2_1. Calculated as pitch. A pre-designed bar arrangement model is stored in the storage unit 5_2. The bar arrangement model includes, for example, the center point of the reinforcing bar, the radius of the reinforcing bar, the diameter of the reinforcing bar, the pitch between adjacent reinforcing bars in the second direction 2_5, and the like.

The processing unit 5_1 displays the arrangement of the reinforcing bars based on the reinforcing bar arrangement model from the storage unit 5_2 on the display unit 6, and the reinforcing bars obtained by measurement based on the calculated center point, radius and pitch of the reinforcing bars 2_1. The arrangement of 2_1 is displayed on the display unit 6. On the display unit 6 of FIG. 1, as an example, the reinforcing bars 2_1 obtained by the inspection are shown by broken lines, and the arrangement of the reinforcing bars based on the reinforcing bar arrangement model is drawn by solid lines. The inspector determines whether or not the reinforcing bars are constructed as designed by comparing both the reinforcing bars displayed on the display unit 6. That is, the inspector determines whether or not there are missing reinforcing bars, reinforcing bars having different diameters, and reinforcing bars having different arrangements based on the reinforcing bar arrangement model. In FIG. 1, reinforcing bars having different diameters and reinforcing bars having different arrangements are shown as an example.

In FIG. 1, the arrangement of the reinforcing bars based on the designed reinforcing bar arrangement model and the arrangement of the reinforcing bars 2_1 obtained by the measurement are displayed vertically on the display unit 6, but the present invention is not limited to this. .. For example, the reinforcing bars based on the reinforcing bar arrangement model and the reinforcing bars 2_1 obtained by the measurement may be represented by different colors and displayed so as to overlap each other. Further, in the processing unit 5_1, the reinforcing bars based on the reinforcing bar arrangement model and the reinforcing bars 2_1 obtained by the measurement may be compared, and only the different parts may be displayed on the display unit 6.

FIG. 2 is a perspective view showing the relationship between the three-dimensional laser scanner and the reinforcing bar according to the first embodiment. As shown in FIG. 2, the reinforcing bar 2_1 has a columnar outer shape extending in the first direction 2_1. The three-dimensional laser scanner 3 scans the side surface 2_3 of the reinforcing bar 2_1 while moving in the direction 4 along the second direction 2_5, and measures the curved surface shape of the surface on the side surface 2_3.

<Calculation of center point and radius from curved surface shape>
FIG. 3 is a diagram for explaining the calculation in the processing unit according to the first embodiment. FIG. 3A is a diagram showing a curved surface shape portion of the side surface 2_3 of the rebar 2_1 measured by moving the three-dimensional laser scanner 3 as shown in FIG. Only a part of the side surface 2_3 to be irradiated with the laser can be measured by the three-dimensional laser scanner 3. FIG. 3B is a cross-sectional view showing a cross section of the reinforcing bar 2_1. In FIG. 3B, the solid arc portion indicated by reference numeral 2_3_1 indicates the curved surface shape portion of the side surface 2_3 measured by the three-dimensional laser scanner 3, and the wavy arc portion indicated by reference numeral 2_3_2 is a three-dimensional laser. The curved surface shape portion of the side surface 2_3 which was not measured by the scanner 3 is shown.

From the three-dimensional laser scanner 3, a plurality of coordinate data representing the curved surface shape portion 2_3_1 are supplied to the processing unit 5-1 as image data. The shape of the curved surface shape portion 2_3_1 is represented by a point cloud which is a set of a plurality of points. In the first embodiment, each point has the moving direction (second direction) 4 of the three-dimensional laser scanner 3 as the X coordinate, the depth direction (third direction) as the Y coordinate, and the extending direction (first) of the reinforcing bar. A point cloud representing the shape of the curved surface shape portion 2_3_1, which is represented by coordinate data with the direction) as the Z coordinate, is supplied to the processing unit 5-1 as a plurality of coordinate data.

The processing unit 5-1 calculates the center point 2_2 and the radius of the reinforcing bar 2_1 by using the coordinate data at the same height position on the reinforcing bar 2_1, that is, the same Z coordinate among the plurality of supplied coordinate data. That is, the processing unit 5_1 calculates the center point 2_2 and the radius of the reinforcing bar 2_1 by using the coordinate data of the arc in the cross section of the reinforcing bar 2_1 cut at the same Z coordinate. In FIG. 3B, coordinate data representing three points in the curved surface shape portion 2_3_1 which is an arc is shown as A (x1, y1), B (x2, y2), and C (x3, y3). Since the Z coordinate is the same at the three points, it is omitted from the coordinate data representing the three points. Using these three coordinate data, the processing unit 5_1 executes the following calculation to calculate the center point P (−l ′ / 2, −m ′ / 2) and the radius r. In the following calculation, ∧2 indicates the square.

The general system of the equation of the circle is equation (1).

x∧2 + y∧2 + lx + my + n = 0 ・ ・ ・ Equation (1)
Substituting the three coordinate data of the arcs into the equation (1) gives equations (2) to (4).

(X1) ∧2 + (y1) ∧2 + l (x1) + m (y1) + n = 0 ・ ・ ・ Equation (2)
(X2) ∧2 + (y2) ∧2 + l (x2) + m (y2) + n = 0 ・ ・ ・ Equation (3)
(X3) ∧2 + (y3) ∧2 + l (x3) + m (y3) + n = 0 ・ ・ ・ Equation (2)
Find the solutions of the three-dimensional simultaneous equations of equations (2) to (4), and let the obtained solutions be l', m', and n'. Substitute in equation (1) to obtain equation (5).

x∧2 + y∧2 + l'x + m'y + n'= 0 ・ ・ ・ Equation (5)
This is transformed into equations (6) and (7).

(X + l'/ 2) ∧2 + (y + m'/2) ∧2 + n'-(l' / 2) ∧2- (m'/2) ∧2 = 0 ... (Equation 6)
(X + l'/ 2) ∧2 + (y + m') ∧2 = {(m' / 2) ∧2 + (l'/2) ∧2-n'}
... (Equation 7)
As a result, the coordinates of the center point 2_2 of the circle are (-l'/ 2, -m' / 2), and the radius r of the circle is √ {(m' / 2) ∧2 + (l'/2). ∧2-n'}.

An example of calculating the center point 2_2 and the radius r of the reinforcing bar 2_1 by using the coordinate data of the curved surface shape portion 2_1 which is an arc has been described, but the calculation method is not limited to this.

The processing unit 5_1 calculates the center points 2_2 of the plurality of reinforcing bars 2_1 arranged in the second direction 2_1, and then calculates the distance between the center points 2_2 of the adjacent reinforcing bars. In FIG. 3C, the calculated distances are indicated by reference numerals L1 to L3. This calculated distance is the pitch between the reinforcing bars. Further, the diameter of the reinforcing bar 2_1 can be calculated by doubling the calculated radius r.

Although FIGS. 1 to 3 show an example in which the three-dimensional laser scanner 3 is moved during the inspection, the center point and radius of the reinforcing bar can be calculated without moving the three-dimensional laser scanner 3. Is. However, by moving the three-dimensional laser scanner 3, it is possible to improve the accuracy in calculating the center point and radius of the reinforcing bar 2_1, which is desirable. Next, it will be described with reference to the figure that the accuracy is improved by moving the three-dimensional laser scanner 3. FIG. 4 is a diagram for explaining a bar arrangement inspection system according to the first embodiment.

The three-dimensional laser scanner 3 moves over time. In FIG. 4, the three-dimensional laser scanner 3 moves from the position indicated by the solid line to the position indicated by the broken line with the passage of time, and further moves to the position indicated by the alternate long and short dash line. As it moves, the scan 7 also changes as shown by the solid line, broken line, and alternate long and short dash line. As a result, the range of irradiation with the laser is widened, and the curved surface shape portion 2_3_1 to be measured is also widened. As a result, it is possible to improve the accuracy of calculating the coordinates of the center point 2_2 and the radius r.

The coordinate data supplied from the 3D laser scanner 3 to the processing unit 5-1 depends on the position where the 3D laser scanner 3 is installed. In order to match the reinforcing bar represented by the supplied coordinate data with the reinforcing bar represented by the bar arrangement model, the processing unit 5-1 transforms the supplied coordinate data. For example, a specific reinforcing bar in the reinforcing bar group 2 shown in FIG. 1 is targeted, and the coordinate data of the target is set in the processing unit 5-1 as absolute coordinate data. The processing unit 5-1 identifies the reinforcing bar corresponding to the target among the plurality of reinforcing bars measured by the three-dimensional laser scanner 3, converts the coordinate data of the specified reinforcing bar into the set absolute coordinate data, and sets the target. The coordinate data of the other reinforcing bars excluding the corresponding reinforcing bar is converted into the relative coordinate data based on the absolute coordinate data. As a result, it is possible to match the coordinates of the reinforcing bar represented by the bar arrangement model with the measured coordinates of the reinforcing bar with the target as a reference, and perform collation.

<Reinforcement inspection method>
The bar arrangement inspection method executed by the bar arrangement inspection system shown in FIG. 1 will be described with reference to the drawings. FIG. 5 is a flow chart showing a bar arrangement inspection method according to the first embodiment.

The inspector starts the bar arrangement inspection in step S0 and ends the bar arrangement inspection in step S9. In the first embodiment, between steps S0 to S9, a measurement step S10 for measuring the reinforcing bar by the three-dimensional laser scanner 3 and a calculation step for calculating and displaying the center point, radius, pitch between the reinforcing bars, and the like of the reinforcing bar. S11 is carried out.

First, steps S1 to S6 executed in step S10 will be described. In step S1, the inspector selects a measurement target area to be inspected. In this step S1, the inspector selects an arbitrary rebar group 2 from, for example, a plurality of rebar groups 2 at the construction site, and places the three-dimensional laser scanner 3 at a position facing the selected rebar group 2. Install. In step S2, the target is set as described above. As a result, the absolute coordinate data of the target is set in the processing unit 5-1.

In step S3, the measurement of a plurality of reinforcing bars is performed while moving the three-dimensional laser scanner 3. By measuring the reinforcing bar, data of a point cloud representing the shape of the curved surface shape portion 2_1 of the reinforcing bar is supplied to the processing unit 5-1. In step S4, the processing unit 5-1 converts the coordinate data of the reinforcing bar excluding the target into the relative coordinate data based on the absolute coordinate data of the target. In step S5, the processing unit 5-1 integrates the coordinate data of the point cloud obtained by the conversion in step S4 to generate shape data of the measurement target area. Next, in step S6, the processing unit 5-1 extracts the shape data of the reinforcing bar from the shape data of the measurement target area generated in step S5. The extracted shape data includes a plurality of coordinate data representing the curved surface shape portion 2_3_1 of the reinforcing bar described with reference to FIG. 3, and the plurality of coordinate data are used for the calculation in step S11 described below.

Step S11 includes steps S7 and S8. In step S7, the processing unit 5_1 executes the calculation described with reference to FIG. 3B based on the three coordinate data representing the curved surface shape portion 2_3_1. By this calculation, the center point and radius of the cylindrical reinforcing bar 2_1 are calculated. Since the curved surface shape portion 2_3_1 is a part of the cylindrical shape, the shape data used for the calculation in step S7 can be regarded as representing an incomplete cylindrical shape. When considered in this way, step S7 can be regarded as complementing the cylindrical shape and calculating the center point and radius of the cylindrical shape from the incomplete shape data.

In step S8, the processing unit 5-1 calculates the diameter of the reinforcing bar and the pitch between the reinforcing bars from the center point and radius of the reinforcing bar calculated in step S7, creates a reinforcing bar arrangement model by measurement, and displays the display shown in FIG. It is displayed in part 6. At this time, the bar arrangement model designed as described with reference to FIG. 1 is also displayed on the display unit 6. As a result, the reinforcing bars according to the respective bar arrangement models are displayed on the display unit 6 as shown in FIG.

In the first embodiment, the surface of the reinforcing bar is measured, the center point and radius of the reinforcing bar are calculated from the curved surface shape obtained by the measurement, and the reinforcing bar arrangement inspection is performed. Therefore, it is possible to easily inspect the bar arrangement.

Although the invention made by the present inventor has been specifically described above based on the embodiment, the present invention is not limited to the embodiment and can be variously modified without departing from the gist thereof. Needless to say. For example, if only the center point and radius of the reinforcing bar are calculated, a two-dimensional laser scanner can be used instead of the three-dimensional laser scanner.

1 Reinforcing bar inspection system 2 Reinforcing bar group 2_1 Reinforcing bar 2_2 Center point 2_2 1st direction 2_5 2nd direction 2_6 3rd direction 3 3D laser scanner 5 Processing unit 5_1 Processing unit 5_1 Storage unit 6 Display unit

Claims (7)

A bar arrangement inspection system that inspects a plurality of columnar reinforcing bars extending in the first direction and arranged in the second direction intersecting the first direction.
A laser scanner that is placed away from the reinforcing bar and measures the surface of the reinforcing bar,
A processing unit that calculates the center point and radius of the reinforcing bar from the curved surface shape on the surface of the reinforcing bar measured by the laser scanner.
A bar arrangement inspection system equipped with. In the bar arrangement inspection system according to claim 1,
The processing unit is a bar arrangement inspection system that calculates the pitch between the center points of adjacent reinforcing bars in the second direction. In the bar arrangement inspection system according to claim 2,
The laser scanner moves in the second direction and
The processing unit is a bar arrangement inspection system that calculates the center point and radius of the reinforcing bar based on the curved surface shape of the reinforcing bar measured by the movement of the laser scanner. A bar arrangement inspection method for inspecting a plurality of columnar reinforcing bars extending in the first direction and arranged in the second direction intersecting the first direction.
A measurement process for measuring the curved surface of the reinforcing bar with a laser scanner arranged apart from the reinforcing bar,
A calculation step of calculating the center point and radius of the reinforcing bar based on the curved surface shape on the surface of the reinforcing bar measured in the measuring step.
A bar arrangement inspection method. In the bar arrangement inspection method according to claim 4,
The calculation step is a bar arrangement inspection method in which the center points of the adjacent reinforcing bars are calculated based on the curved surface shape of the adjacent reinforcing bars in the second direction, and the pitch between the center points of the adjacent reinforcing bars is calculated. .. In the bar arrangement inspection method according to claim 5,
The laser scanner measures the reinforcing bar while moving in the second direction.
In the calculation step, a bar arrangement inspection method for calculating the center point and radius of the reinforcing bar based on the curved surface shape of the reinforcing bar measured by movement. In the bar arrangement inspection method according to claim 6,
The calculation process is
A bar arrangement model creation step of creating a bar arrangement model using the calculated center point and radius of the reinforcing bar and the pitch.
A display process for displaying the bar arrangement model created in the bar arrangement model creation step and the designed bar arrangement model, and
A bar arrangement inspection method.

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