JP2020165748A - Inspection support device - Google Patents

Abstract

To accurately measure the intervals of a plurality of reinforcements according to an embodiment.SOLUTION: The inspection support device according to an embodiment includes: an acquisition unit for acquiring three-dimensional data including a plurality of reinforcements to be inspected; an extraction unit for extracting information on a group of reinforcements nearly parallel to each other along a flat surface including the group of reinforcements from the three-dimensional data; a determination unit for determining the angle of a measurement line so that the longer direction of each reinforcement specified by the information on the reinforcement group and the measurement line will form an angle which is close to the right angle; and a measurement unit for measuring the interval between the reinforcements of the reinforcement group from the intersection between the measurement light and each reinforcement specified by the information of the reinforcement group.SELECTED DRAWING: Figure 4

Description

The present invention relates to an inspection support device.

Images taken with a photographing device are used for construction inspection of structures such as buildings and civil engineering structures. For example, in the construction of a reinforced concrete building or the like, the bar arrangement is inspected according to the bar arrangement diagram before the concrete is placed. In the bar arrangement inspection, for example, from an image of the bar arrangement,
The diameter and number of used reinforcing bars, the spacing between the reinforcing bars, etc. are specified, and inspection is performed to see if the reinforcing bars are installed according to the reinforcing bar arrangement diagram.

In this regard, techniques related to bar arrangement inspection are known (for example, Patent Document 1 and Patent Document 2).

Japanese Patent Application Laid-Open No. 09-189518 Japanese Unexamined Patent Publication No. 2014-062778

Even if the reinforcing bars installed during construction are arranged parallel to each other in design, they may not be strictly parallel due to errors during installation and the influence of gravity. Therefore, when measuring the distance between the reinforcing bars, the operator visually adjusts the scale so that the scale is as perpendicular as possible to all the reinforcing bars to be measured. However, in the method of visually adjusting the angle and position of applying the scale in this way, individual differences may occur and there may be a problem in reproducibility. Therefore, when measuring the distance between reinforcing bars, it is required to provide a technique capable of appropriately determining the measurement position and angle for a plurality of reinforcing bars and measuring the distance more accurately.

In one aspect, the present invention aims to accurately measure the spacing between reinforcing bars.

The inspection support device according to one aspect of the present invention includes an acquisition unit that acquires three-dimensional data including a plurality of reinforcing bars to be inspected, and information on the reinforcing bars along a plane including substantially parallel reinforcing bars from the three-dimensional data. The extraction unit that extracts the data, the determination unit that determines the angle of the measurement line so that the angle formed by the longitudinal direction of each reinforcing bar specified from the information of the reinforcing bar group and the measurement line approaches the right angle, the measurement line, and It includes a measuring unit that measures the distance between the reinforcing bars of the reinforcing bar group from the intersection with each reinforcing bar specified from the information of the reinforcing bar group.

Reinforcing bar spacing can be measured accurately.

It is a figure which illustrates the photograph | photograph of the already constructed reinforcing bar which concerns on embodiment. It is a figure which illustrates the bar arrangement inspection system which concerns on embodiment. It is a figure which illustrates the block structure of the inspection support apparatus which concerns on embodiment. It is a figure which illustrates the operation flow of the measurement process of the interval of the inspection object which concerns on embodiment. It is a figure which illustrates the acquisition of 3D data from a stereo image. It is a figure which shows the exemplary face-to-face transformation. It is a figure which illustrates the determination of the measurement target area which concerns on embodiment. It is a figure which illustrates the determination of the orientation of the reinforcing bar based on the histogram which concerns on embodiment. It is a figure which further illustrates the determination of the orientation of the reinforcing bar based on the histogram which concerns on embodiment. It is a figure which illustrates the extraction of the data of each reinforcing bar of the reinforcing bar group extending substantially parallel which concerns on embodiment. It is a figure which illustrates the straight line which shows the longitudinal direction of the rebar specified for each rebar. It is a figure which illustrates the determination of the angle of the measurement line which concerns on embodiment. It is a figure which illustrates the determination of the position of the measurement line which concerns on embodiment. It is a figure which shows the example which determines the line segment which shows the position where the data point of a reinforcing bar exists in the straight line which shows the longitudinal direction of a reinforcing bar. It is another figure which illustrates the determination of the position of the measurement line which concerns on embodiment. It is a figure which shows another example of the measurement target area. It is a figure which shows yet another example of the measurement target area. It is another figure which illustrates the identification of the straight line which represents the longitudinal direction with respect to each reinforcing bar. It is a figure which illustrates the hardware configuration of the computer for realizing the inspection support apparatus which concerns on embodiment.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. The same reference numerals are given to the corresponding elements in the plurality of drawings.

As described above, for example, in the construction of a reinforced concrete building or the like, the bar arrangement is inspected according to the bar arrangement diagram before the concrete is placed. In the bar arrangement inspection, for example, the diameter, pitch, number, and the like of the used reinforcing bars are specified, and whether or not the reinforcing bars are installed according to the reinforcing bar diagram is inspected.

When measuring the spacing between reinforcing bars, even if the reinforcing bars installed during construction are arranged parallel to each other by design, they are not strictly parallel due to errors during installation and the influence of gravity. Sometimes. Therefore, when measuring the distance between the reinforcing bars, the operator visually adjusts the scale so that the scale is as perpendicular as possible to all the reinforcing bars to be measured.
However, in the method of visually adjusting the angle and position of applying the scale in this way, individual differences may occur and there may be a problem in reproducibility. Therefore, when measuring the distance between reinforcing bars, it is required to provide a technique capable of appropriately determining the measurement position and angle for a plurality of reinforcing bars and measuring the distance more accurately.

In the embodiment described below, plane data including substantially parallel reinforcing bar groups is extracted from three-dimensional data including a plurality of reinforcing bars. Then, the angle of the measurement line is determined so as to intersect at a right angle as much as possible with respect to the longitudinal direction of each reinforcing bar of the substantially parallel reinforcing bar group included in the plane data, and the distance between the reinforcing bars is measured along the measurement line. Therefore, it is possible to measure the rebar spacing with high reproducibility. In addition, it becomes possible to measure the rebar spacing, which is unlikely to cause individual differences. Hereinafter, embodiments will be described in more detail.

FIG. 1 is a diagram illustrating photography of a rebar that has already been constructed according to the embodiment. As shown in FIG.
At the construction site, the user photographs the reinforcing bar 101 to be inspected by using the photographing device 102. The photographing device 102 may be, for example, a stereo camera.

FIG. 2 is a diagram illustrating the bar arrangement inspection system 200 according to the embodiment. The bar arrangement inspection system 200 includes, for example, an imaging device 102 and an inspection support device 201. The photographing device 102 and the inspection support device 201 may be connected via, for example, the network 205. The network 205 is, for example, a LAN (Local Area Network) and the Internet.

The inspection support device 201 acquires, for example, an image of the bar arrangement taken by the photographing device 102 and measures the state of the bar arrangement. The inspection support device 201 is, for example, a computer having a calculation function, for example, a personal computer (PC), a notebook PC, and a tablet terminal.

FIG. 3 is a diagram illustrating a block configuration of the inspection support device 201 according to the embodiment. The inspection support device 201 is, for example, a control unit 301, a storage unit 302, a display unit 303, and an input unit 304.
, And the communication unit 305. The control unit 301 controls, for example, each unit of the inspection support device 201. For example, the control unit 301 operates as an acquisition unit 311, an extraction unit 312, a determination unit 313, and a measurement unit 314. The storage unit 302 may store, for example, a stereo image taken by the photographing device 102, three-dimensional data acquired from the stereo image, facing data, and the like. The display unit 303 is, for example, a display device such as a liquid crystal display. The display unit 303 displays information on the display screen according to the instruction of the control unit 301. The input unit 304 is, for example, an input device such as a touch panel and a keyboard that accepts input from the user, and notifies the control unit 301 of the input operation. The communication unit 305 is, for example, the control unit 301.
Communicates with the photographing apparatus 102 according to the instruction of. Details of each of these units and details of the information stored in the storage unit 302 will be described later.

FIG. 4 is a diagram illustrating an operation flow of the measurement process of the interval of the inspection target according to the embodiment.
For example, the control unit 301 may start the measurement process of the interval of the inspection target shown in FIG. 4 when the measurement instruction of the interval of the inspection target is input.

In step 401 (hereinafter, step is described as "S", for example, S401), the control unit 301 acquires the three-dimensional data to be inspected. In one example, the control unit 301 may generate three-dimensional data from the stereo image to be inspected taken by the photographing device 102. In another embodiment, the control unit 301 may acquire three-dimensional data by scanning the bar arrangement with a laser scanner instead of the stereo image. Hereinafter, an example in which three-dimensional data is acquired from a stereo image will be described.

FIG. 5 is a diagram illustrating acquisition of three-dimensional data from a stereo image. First, control unit 3
As shown in FIG. 5A, 01 acquires a stereo image of the constructed bar arrangement with a stereo camera. For example, the control unit 301 may receive the stereo image to be inspected taken by the photographing device 102 via the communication unit 305, or may read it from the storage unit 302.

Subsequently, as shown in FIG. 5B, the control unit 301 performs stereo matching between the left viewpoint image and the right viewpoint image of the stereo image to be inspected, and three-dimensionally includes the three-dimensional information corresponding to the pixels. Generate data.

In S402, as shown in FIG. 5C, the control unit 301 identifies a plane with reinforcing bars to be measured from the generated three-dimensional data. In one example, the control unit 301 may specify a plane including the reinforcing bar group arranged in the foreground in the three-dimensional data. In the example shown in FIG. 1, the foremost reinforcing bar group is a plane including the foremost reinforcing bar group: HA with respect to the photographing apparatus 102. In one embodiment, the control unit 301 may specify the plane on which the reinforcing bar to be measured is located by causing the user to specify three pixels in which the reinforcing bar to be measured is captured. In another embodiment, the control unit 301 may specify, for example, a plane in which the most three-dimensional data exists in the three-dimensional space as a plane having reinforcing bars to be measured.

As shown in FIG. 5D, S403 and the control unit 301 extract a group of data points existing on the specified plane from the three-dimensional data as three-dimensional data indicating the reinforcing bars. Data point clouds that do not exist on the plane are excluded. Therefore, for example, the data of the non-inspection object 550 that is not the inspection target shown in FIGS. 5 (b) and 5 (c), which is reflected in the stereo image, is shown in FIG.
It can be excluded from the three-dimensional data of the plane of d).

In S404, the control unit 301 rotates the three-dimensional data of the extracted plane so as to face each other. FIG. 6 is a diagram showing an exemplary face-to-face transformation. FIG. 6A illustrates a state in which a plane including the reinforcing bar is tilted with respect to the photographing direction of the photographing device 102, and the reinforcing bar is photographed in an oblique direction in the image. In the face-to-face conversion, as shown in FIG. 6B, the plane including the reinforcing bars is rotated so that the plane containing the reinforcing bars is substantially perpendicular to the photographing direction of the photographing device 102.
In one example, the control unit 301 has a normal vector of a plane including a group of reinforcing bars to be measured when the vertical direction of the imaging surface of the imaging device 102 is the Y axis, the horizontal direction is the X axis, and the imaging direction is the Z axis. However, the 3D data of the plane including the reinforcing bar may be rotated so as to coincide with the Z axis.

Subsequently, the control unit 301 converts the face-to-face converted three-dimensional data into two-dimensional data. For example, the control unit 301 projects each data point in the face-to-face converted three-dimensional data on the plane specified by S402 in the Z-axis direction and converts it into two-dimensional data. In the following description, the data obtained by converting the data into two-dimensional data after the face-to-face conversion may be referred to as the face-to-face data.

In S405, the control unit 301 determines the region including the reinforcing bar to be measured as the measurement target region 701.

FIG. 7 is a diagram illustrating the determination of the measurement target area 701 according to the embodiment. As shown in FIG. 7, in one example, the control unit 301 may determine a rectangular region circumscribing the point cloud of the reinforcing bar as the measurement target region 701 in the facing data. The sides of the rectangle may be, for example, parallel to the X and Y axes of the facing data. The determination of the measurement target area 701 is not limited to this, and may be determined by another method. For example, in another embodiment, the control unit 301
May cause the user to specify the measurement target area 701 in the facing data. A further modification of the determination of the measurement target area 701 will be described later.

In S406, the control unit 301 determines the direction of the reinforcing bar included in the measurement target area 701. In one embodiment, the control unit 301 may determine the orientation of substantially parallel reinforcing bars based on the histogram of the facing data. 8 and 9 are diagrams illustrating the determination of the orientation of substantially parallel reinforcing bars based on the histogram according to the embodiment.

For example, as shown in FIG. 8, the X-axis is set in an arbitrary direction on the plane of the facing data from which the data point group of the reinforcing bar is extracted, and the Y-axis is set in the direction on the plane orthogonal to the X-axis. To do. In this case, A to C shown in the upper part of FIG. 8 are rotated on the XY plane in which the facing data is defined.
Further, in the lower part of FIG. 8, a histogram corresponding to A to C plotted with the number of pixels in the Y-axis direction of the facing data on the vertical axis and the X coordinate on the horizontal axis is shown. In this case, since a plurality of reinforcing bars are assembled substantially in parallel in the construction work, when the direction of the Y-axis and the longitudinal direction of the reinforcing bars match, a peak corresponding to the position of the reinforcing bars appears. For example, in A of FIG. 8, since the direction of the Y-axis is aligned with one of the two substantially parallel reinforcing bar groups arranged in a grid pattern, a peak appears depending on the position of the reinforcing bar. There is. Further, in FIG. 8, since the direction of the Y-axis is aligned with the other reinforcing bar group of the two substantially parallel reinforcing bar groups assembled in a grid pattern, a peak appears depending on the position of the reinforcing bar. .. However, for example, as shown in B of FIG. 8, both of the two substantially parallel reinforcing bar groups arranged in a grid pattern are Y.
If it extends diagonally with respect to the axis, the peak tends to be small.

Therefore, for example, it is assumed that the value of the maximum peak of the histogram is plotted at each rotation angle. FIG. 9 is a graph in which the vertical axis represents the value of the largest peak among the peaks included in the histogram, and the horizontal axis represents the rotation angle. In this case, the direction of the Y-axis at the rotation angle at which the maximum peak value of the histogram is the highest is specified as the extending direction of one of the two substantially parallel reinforcing bar groups arranged in a grid pattern. be able to. Further, for example, the direction of the Y-axis at the rotation angle at which the maximum peak value of the histogram becomes the next highest can be specified as the direction in which the other of the two substantially parallel reinforcing bar groups arranged in a grid pattern extends. .. For example, in FIG. 9, the maximum peak value of the histogram becomes the maximum when the rotation angle θ is in the direction of A in FIG. 8, and the maximum peak value of the histogram is the next largest value when the rotation angle θ is in the direction of C in FIG. It has become. Therefore, the control unit 301 is a group of two substantially parallel reinforcing bars in which the direction of the Y-axis when the rotation angle θ is A and the direction of the Y-axis when the rotation angle θ is C are assembled in a grid pattern. Can be specified as the longitudinal direction of.

Subsequently, in S407, the control unit 301 determines the longitudinal direction of each reinforcing bar of the reinforcing bar group extending substantially in parallel. First, the control unit 301 extracts the data of each reinforcing bar of the reinforcing bar group extending substantially in parallel from the plane data including the information of the reinforcing bar of the measurement target area 701 determined in the facing data in S405.

FIG. 10 is a diagram illustrating data extraction of each reinforcing bar of a group of reinforcing bars extending substantially in parallel according to the embodiment. For example, suppose that the value of the maximum peak of the histogram becomes the maximum at the rotation angle θ1. In this case, the control unit 301 specifies, for example, a range of X coordinates showing a peak value equal to or higher than a predetermined threshold value in the histogram of the rotation angle θ1, and the data included in the range is the data point of each reinforcing bar. Extract as.

In FIG. 10A, six peaks showing a value equal to or higher than the threshold value are specified, and data of a region having a value equal to or higher than the threshold value of the six peaks can be obtained from each reinforcing bar (for example, reinforcing bars 1 to 6).
) Data can be extracted. FIG. 10B illustrates the extraction of data for individual rebars. By extracting the data from the peak of FIG. 10 (a), as shown in FIG. 10 (b), the data of each reinforcing bar of the reinforcing bar group substantially parallel in the facing data (for example, reinforcing bar 1).
~ Reinforcing bar 6) can be obtained.

Actually, the data of the reinforcing bars extracted from the peak includes not only the data points of the vertical reinforcing bars (rebars shown in white in FIG. 10) but also the data of the horizontal reinforcing bars (rebar shown in black in FIG. 10). Points may also be included. However, in executing the process of specifying the longitudinal direction of the reinforcing bar in the XY plane described below, even if the data points of the lateral reinforcing bar (rebar shown in black in FIG. 10) are mixed to some extent, the influence is ignored. It is possible to do. As described above, the control unit 301 can extract the data point group of each reinforcing bar of the substantially parallel reinforcing bar group from the facing data.

In S408, the control unit 301 identifies a straight line indicating the longitudinal direction of the reinforcing bar on the XY plane of the facing data by using the data point cloud of the extracted individual reinforcing bars. For example, the control unit 301
For each data point cloud of each reinforcing bar extracted in S407, a straight line is drawn on the XY plane so that the distance from the data point cloud of the reinforcing bar is minimized. Thereby, the control unit 301 can determine a straight line indicating the longitudinal direction of each reinforcing bar.

The method for determining the straight line indicating the longitudinal direction of each reinforcing bar in S408 is not limited to this, and may be determined by another method. For example, in another embodiment, the control unit 301 rotates the facing data at a plurality of angles within a predetermined angle range including the rotation angle θ1 calculated in S407, and generates a histogram at each rotation angle. The peak of each reinforcing bar data in the histogram is calculated, and the rotation angle that becomes the maximum peak value is specified for each individual reinforcing bar data. As a result, the angle at which the maximum peak value is obtained can be determined for each straight line indicating the longitudinal direction of each reinforcing bar.

Further, in S408, instead of calculating the peak of each reinforcing bar data in the histogram, the control unit 301 may obtain the maximum value of the absolute value of the gradient of the histogram within a predetermined range centered on each peak position. ..

FIG. 11 is a diagram illustrating a straight line representing the longitudinal direction of the rebar specified for each rebar. As shown in FIG. 11, the control unit 301 with respect to the data point group 1101 of each reinforcing bar.
The straight line 1102 is specified for each reinforcing bar. In addition, the reinforcing bars installed in parallel during construction are
Actually, it may not be strictly parallel due to the error at the time of installation and the influence of gravity. As described above, by specifying a straight line representing the longitudinal direction of the reinforcing bar for each data point group of the reinforcing bar, information on the longitudinal direction of each reinforcing bar can be acquired.

In S409, the control unit 301 determines the angle of the measurement line. For example, the control unit 301 may determine the angle of the measurement line 1201 so that the angle formed by each of the plurality of straight lines 1102 representing the longitudinal direction of the reinforcing bar obtained in S408 approaches a right angle.

FIG. 12 is a diagram illustrating determination of the angle of the measurement line 1201 according to the embodiment. Control unit 3
For 01, for example, the angle of the measurement line 1201 may be determined so that the angle formed by the measurement line 1201 and the straight line 1102 corresponding to each of the reinforcing bars approaches a right angle. In one example, control unit 301
First, the angle θi formed by the measurement line 1201 drawn in an arbitrary direction and the respective straight lines 1102.
(Θ1 to θ6 in FIG. 12) are averaged by the following equation 1, and the measurement line 1201 and the respective straight lines 1102 are averaged.
The representative angle θ of the angle θi formed by the joint is specified.

Then, the control unit 301 may determine an angle for drawing the measurement line 1201 in the direction in which the obtained representative angle θ becomes 90 °. The determination of the representative angle θ is not limited to this. For example, in the above, the average of the angles θi formed by the measurement line 1201 and the respective straight lines 1102 is used as the representative angle, but in another embodiment, the angle θi formed by the measurement line 1201 and the respective straight lines 1102 is used.
The representative angle θ may be determined using the median value, the mode value, and the like. As a result, for example, even when only one reinforcing bar that is largely deviated from parallel is included, it is possible to measure the interval between the reinforcing bars while suppressing the adverse effect of the reinforcing bar.

In S410, the control unit 301 determines the position of the measurement line 1201. For example, the control unit 301 passes through the center of the measurement target area 701 determined in S405, and the measurement line 1201
The position of may be determined. In S405, the control unit 301 determines the measurement target area 701 according to the arrangement of the data points of the reinforcing bars to be measured. Therefore, the control unit 301 determines the position of the measurement line 1201 so as to pass through the center of the measurement target area 701, for example.
The position of the measurement line 1201 can be determined so that the measurement line 1201 intersects the plurality of reinforcing bars.

FIG. 13 is a diagram illustrating determination of the position of the measurement line 1201 according to the embodiment. As shown in FIG. 13, the control unit 301 determines the position of the measurement line 1201 so as to pass through the center 1301 of the measurement target area 701. In another embodiment, the control unit 301 determines the measurement target area 7.
The position of the measurement line 1201 may be determined so as to pass through the center of gravity of 01.

Then, in S411, the control unit 301 measures the distance between the reinforcing bars from the intersection of the measurement line 1201 and the straight line 1102 of each reinforcing bar to be measured, and this operation flow ends.

As described above, according to the embodiment, it is possible to measure the distance between the reinforcing bars by applying the measurement line 1201 so as to intersect the plurality of straight lines 1102 representing the direction of the reinforcing bar group at right angles as much as possible. Therefore, for example, it is possible to automate the adjustment of the angle of the scale manually performed by the worker and always measure the interval between the reinforcing bars under the optimum conditions. The control unit 301 can record, for example, the measured reinforcing bar spacing in the storage unit 302 together with the reinforcing bar position and the reinforcing bar diameter, and information on the reinforcing bar spacing for each reinforcing bar displayed on the display screen of the display unit 303. Can also be added and displayed.

Further, in the above-described embodiment, the position of the measurement line 1201 is determined so as to pass through the center or the center of gravity of the measurement target area 701. As a result, the distance between the reinforcing bars can be measured near the center of the reinforcing bar group extracted as the measurement target, and the distance between the reinforcing bars can be measured by crossing the measurement line 1201 with many reinforcing bars to be measured. Further, in general, when the user photographs the reinforcing bar to be measured, the user tends to arrange the reinforcing bar to be measured near the center of the angle of view. Therefore, as described in the above-described embodiment, by measuring the interval of the measurement target at the center of the measurement target area 701 determined based on the range of the reinforcing bar of the measurement target, the measurement target is measured when the user takes a picture. The interval between measurement targets can be measured near the position to be measured. Further, for example, when the straight lines 1102 representing the longitudinal directions of the two reinforcing bars for which the distance between the reinforcing bars is to be measured are not parallel, if the measurement position is gradually shifted along the longitudinal direction of the reinforcing bars, the distance between the two straight lines is increased. The distance is gradually increasing or gradually decreasing. Therefore, even if the distance between the straight lines is measured at a position away from the position where the reinforcing bar data of the actual captured image is, there is a possibility that an error in the distance between the reinforcing bars will be large. In the above-described embodiment, the interval between the measurement targets is measured at the center of the measurement target area 701 determined based on the range of the reinforcing bars to be measured. Therefore, for example, when the user takes a picture, the measurement target is measured. It is possible to measure the distance between the reinforcing bars in the vicinity of the designated position.

The determination of the measurement position is not limited to this. For example, in the above-described embodiment, the distance between the straight lines 1102 representing the longitudinal direction of the reinforcing bars is measured as the distance between the reinforcing bars. Therefore, for example, it is possible to estimate the distance between the reinforcing bars even at a position where the data points of the reinforcing bars obtained from the captured image do not exist. However, depending on the embodiment, it may be preferable to measure the distance between the reinforcing bars at the position where the data points of the reinforcing bars actually exist. In this case, the control unit 301 may specify, for example, the position where the measurement line 1201 intersects the most reinforcing bars as the measurement position. Hereinafter, embodiments in this case will be illustrated.

FIG. 14 is a diagram showing an example of determining a line segment 1401 indicating the position where the data point group 1101 of the reinforcing bar exists in the straight line 1102 representing the longitudinal direction of the reinforcing bar. For example, as shown in FIG. 14, the control unit 301 determines the length of the straight line 1102 so as to be the length of the range in which the data point group 1101 of each reinforcing bar exists in S408. In one example, the control unit 301 has a straight line 110.
The length of the straight line may be cut at a position where the data point of the reinforcing bar no longer exists within a predetermined distance from 2. In FIG. 14, the line segment 1401 shown by the solid line portion of the straight line 1102 is a range of the data point group 1101 of the reinforcing bar.

Further, in this case, the control unit 301 may determine in S410 the position where the line segment 1401 indicating the portion where the data of the reinforcing bar exists and the measurement line 1201 intersect most as the position of the measurement line 1201. ..

FIG. 15 is another diagram illustrating the determination of the position of the measurement line 1201. FIG. 15 shows three measurement lines 1201 drawn at an angle determined so that the angle formed by each of the plurality of straight lines 1102 approaches a right angle. In FIG. 15, the measurement line 1201 shown on the upper side intersects the five line segments 1401. The measurement line 1201 shown in the center has six line segments 140.
It intersects with 1. The measurement line 1201 shown on the lower side intersects the three line segments 1401.
In this case, the control unit 301 may determine the position of the measurement line 1201 on the measurement line 1201 shown in the middle, which intersects the line segment 1401 most often. By determining the position of the measurement line 1201 at the position where it intersects with the most reinforcing bars, it is possible to collect the maximum distance information between the reinforcing bars by using the information of the reinforcing bar data points actually obtained from the captured image. Can be done.

Further, in the above-described embodiment, for example, in S405, the control unit 301 determines the rectangular region circumscribing the data point group of the reinforcing bar as the measurement target region 701 as shown in FIG. 7. However, the embodiment is not limited to this. For example, in another embodiment, the control unit 301 may extract a range of other shapes that circumscribes at least a part of the data point group of the reinforcing bar as the measurement target area 701. Alternatively, in another embodiment, the control unit 301 may set the measurement target area 701 in another area such as the inside of the data point group of the reinforcing bar.

FIG. 16 is a diagram showing another example of setting the measurement target area 701. For example, FIG. 16 (a)
), In another embodiment, the control unit 301 may use the area 1601 specified by the user in the facing data as the measurement target area 701. By setting the measurement target area 701 by the user, the user can execute the subsequent processing only on the reinforcing bars that he / she wants to use for measuring the distance between the reinforcing bars. As shown in FIG. 16B, the control unit 301 measures the measurement target area 701 with the area 1602 having a predetermined shape (for example, a rectangle) circumscribing at least a part of the area 1601 designated by the user. It may be set as. Further, as shown in FIG. 16C, the control unit 301 measures the distance between the reinforcing bars in a range of a predetermined shape that is inscribed in at least a part of the data point group of the reinforcing bars included in the facing data. It may be determined as the measurement target area 701 to be measured. In one example, the control unit 301 determines a rectangular area so as to inscribe at least a part of the data point group of the reinforcing bar included in the facing data and to maximize the area, and measures the rectangular area. It may be determined as the target area 701.

For example, as shown in FIG. 16, the facing data may include a non-inspected object 1650 other than the reinforcing bar. However, as described above, by setting the measurement target area 701, the measurement target area 701 can be set in a range that does not include the non-inspection target 1650.

By setting the measurement target area 701 to a range that does not include the non-inspected object 1650 in the processing of S405, the influence of the non-inspected object 1650 when determining the longitudinal direction of each reinforcing bar in the subsequent processing of S408. It is preferable because it can remove. However, S408
In the process of, as described in FIG. 10, data points are extracted for each reinforcing bar. Therefore, even if the determination of the longitudinal direction of each reinforcing bar is executed while the non-inspection object 1650 is included, the influence of the data of the non-inspection object 1650 is suppressed and it is possible to tolerate it.

Further, in the example described in FIG. 7, the measurement target area 701 is determined using a rectangle having a side parallel to the XY axis defined on the plane of the facing data, but the embodiment is limited to this. is not. For example, in another embodiment, the determination of the measurement target area 701 of S405 is executed after the orientation of the substantially parallel reinforcing bar group of S406 is determined, and a rectangle having a side parallel to the orientation of the reinforcing bar group and a side perpendicular to the orientation of the reinforcing bar group is formed. It may be used to determine the measurement target area 701 as shown in FIG.

Further, in the above-described embodiment, as described in S408 and FIG. 11, a straight line 11 representing the longitudinal direction of the reinforcing bar on the XY plane of the facing data so that the distance from the data point cloud of the reinforcing bar is minimized.
Although an example of determining 02 has been described, the embodiment is not limited to this. For example, in another embodiment, as shown in FIG. 18, the control unit 301 determines a straight line 1102 representing the longitudinal direction of the reinforcing bar on the XY plane of the facing data along the edge of the data point cloud of the reinforcing bar. May be good. Current,
When a person visually arranges the scale at a construction site, the angle of the scale is adjusted or measured with reference to the edge of each reinforcing bar to be measured while facing the reinforcing bar group to be measured. .. Therefore, by determining the straight line 1102 representing the longitudinal direction of the reinforcing bar along the edge of the data point group of the reinforcing bar, it is possible to automatically perform the measurement with a standard close to the method adopted in the field.

In the above-described embodiment, in the process of S401 in FIG. 4, the control unit 301 operates as, for example, the acquisition unit 311. Further, in the processing of S402 to S404 of FIG. 4, the control unit 3
01 operates as, for example, the extraction unit 312. In the processing of S405 to S410 of FIG. 4,
The control unit 301 operates as, for example, a determination unit 313. In the process of S411 of FIG. 4, the control unit 301 operates as, for example, the measurement unit 314.

Although the embodiments have been illustrated above, the embodiments are not limited thereto. For example, the above-mentioned operation flow is an example, and the embodiment is not limited thereto. When possible, the operation flow may be executed by changing the order of processing, may include additional processing, or may omit some processing. For example, the process of S405 in FIG. 4 may be executed after the process of S406. Further, when the position of the measurement line 1201 is determined to pass through the center or the center of gravity of the measurement target area 701 in S410, S409 and S41
The processing of 0 may be executed by changing the order.

FIG. 19 shows a computer 1900 for realizing the inspection support device 201 according to the embodiment.
It is a figure which illustrates the hardware configuration of. The hardware configuration of FIG. 19 includes, for example, a processor 1901, a memory 1902, a storage device 1903, a communication interface 1904, an external interface 1905, a display device 1906, and an input device 1907. The processor 1901 may be communicably connected to the memory 1902, the storage device 1903, the communication interface 1904, the external interface 1905, the display device 1906, and the input device 1907 via, for example, a bus.

Processor 1901, for example, may be single processor, multiprocessor and multicore. The processor 1901 provides a part or all of the functions of the control unit 301 described above by executing, for example, a program describing the procedure of the operation flow described above using the memory 1902. For example, the processor 1901 is a storage device 1.
By reading the program stored in the 903 into the memory 1902 and executing it, the program operates as the acquisition unit 311, the extraction unit 312, the determination unit 313, and the measurement unit 314.

The memory 1902 is, for example, a semiconductor memory and may include a RAM area and a ROM area. The storage device 1903 is, for example, a semiconductor memory such as a hard disk or a flash memory, or an external storage device. RAM is an abbreviation for Random Access Memory. ROM is an abbreviation for Read Only Memory. The storage unit 302 described above may include, for example, a memory 1902 and a storage device 1903.

The communication interface 1904 is, for example, a communication device that connects to a network according to the instructions of the processor 1901 and transmits / receives data. The external interface 1905 may be, for example, an interface with an external device. In one embodiment, the inspection support device 201 may be connected to the imaging device 102 via the external interface 1905. In another embodiment, the inspection support device 201 is a Wi-Fi (registered trademark) communication device and B.
A communication interface 1904 such as a luetooth (registered trademark) communication device may be provided, and may be connected to the photographing device 102 by wireless communication, for example. The communication interface 1904 and the external interface 1905 are examples of the above-mentioned communication unit 305.

The display device 1906 is a device having a display function such as a liquid crystal display.
The display device 1906 is an example of the display unit 303 described above. The input device 1907 is, for example,
A device that accepts input from users such as keyboards and touch panels. The input device 1907 is an example of the above-mentioned input unit 304.

Further, the hardware configuration for realizing the inspection support device 201 described with reference to FIG. 19 is an example, and the embodiment is not limited thereto. For example, the control unit 30 described above.
Some or all of the functions of 1 may be implemented as hardware such as FPGA and SoC. FPGA is an abbreviation for Field Programmable Gate Array. SoC
Is an abbreviation for System-on-a-chip.

Each program according to the above-described embodiment may be provided to the inspection support device 201, for example, in the following form.
(1) It is pre-installed in the storage unit 302.
(2) Provided from a server such as a program server.

In the above, some embodiments will be described. However, the embodiments are not limited to the above embodiments and should be understood to include various variants and alternatives of the above embodiments. For example, it will be understood that various embodiments can be embodied by modifying the components within a range that does not deviate from the purpose and scope. Further, it will be understood that various embodiments can be implemented by appropriately combining a plurality of components disclosed in the above-described embodiments. Furthermore, various embodiments are implemented by removing or replacing some components from all the components shown in the embodiments, or by adding some components to the components shown in the embodiments. Those skilled in the art will understand that it can be done.

101: Reinforcing bar 102: Imaging device 200: Reinforcing bar inspection system 201: Inspection support device 205: Network 301: Control unit 302: Storage unit 303: Display unit 304: Input unit 305: Communication unit 311: Acquisition unit 312: Extraction unit 313 : Determining unit 314: Measuring unit 1900: Computer 1901: Processor 1902: Memory 1903: Storage device 1904: Communication interface 1905: External interface 1906: Display device 1907: Input device

Claims (8)

An acquisition unit that acquires 3D data including multiple reinforcing bars to be inspected,
An extraction unit that extracts information on the reinforcing bars along a plane including substantially parallel reinforcing bars from the three-dimensional data.
A determination unit that determines the angle of the measurement line so that the angle formed by the longitudinal direction of each reinforcing bar specified from the information of the reinforcing bar group and the measurement line approaches a right angle.
A measuring unit that measures the distance between the reinforcing bars of the reinforcing bar group from the intersection of the measuring line and each reinforcing bar specified from the information of the reinforcing bar group.
Inspection support equipment, including. The inspection support device according to claim 1, wherein the determination unit further determines the position of the measurement line so that the number of intersections with the plurality of reinforcing bars constituting the reinforcing bar group is maximized. The inspection support device according to claim 1, wherein the determination unit further determines a rectangular range circumscribing the reinforcing bar group on the plane as a measurement target area for measuring the distance between the reinforcing bars. Claim 1 further comprises determining a rectangular range in which at least a part of the reinforcing bars is inscribed in the plane as a measurement target area for measuring the distance between the reinforcing bars.
Inspection support device described in. The inspection support device according to claim 1, wherein the determination unit further determines a measurement target area for measuring the distance between the reinforcing bars based on an arbitrary range selected by the user in the plane. The inspection support device according to any one of claims 3 to 5, wherein the determination unit further determines the position of the measurement line so as to pass through the center or the center of gravity of the measurement target area. The decision unit
Based on the information of each reinforcing bar included in the information of the reinforcing bar group, a straight line indicating the longitudinal direction of each of the reinforcing bars is determined.
The angle of the measurement line is determined so that the angle formed by the measurement line and the straight line indicating the longitudinal direction of each of the reinforcing bars approaches a right angle.
The inspection support device according to claim 1, wherein the measuring unit measures the distance between the reinforcing bars from an intersection of the measuring line and a straight line indicating the longitudinal direction of each of the reinforcing bars. The inspection support device according to claim 7, wherein the determination unit determines a straight line indicating the longitudinal direction of each of the reinforcing bars along one edge extending in the longitudinal direction of the corresponding reinforcing bar.