JP2021067700A - Reinforcing bar inspection device and reinforcement bar inspection method - Google Patents

Abstract

To provide a reinforcing bar inspection device and a reinforcement bar inspection method improved in efficiency of inspection.SOLUTION: In a reinforcement bar inspection device: position information in a three dimensional space of a plurality of reinforcing bars R relative to a photographing reference point 20 is acquired by a stereo photographing unit 4 for the plurality of reinforcing bars R arranged in a plane P1 in the three dimensional space; by an arrangement plane specifying unit 5, the plane P1 is specified in which the plurality of reinforcing bars R are arranged on the basis of the position information of the reinforcing bars R acquired by the stereo photographing unit 4; and by an inspection unit 6, by inspecting the reinforcing bars R employing, as an inspection target, the plurality of reinforcing bars R arranged on the plane P1 identified by the arrangement plane specifying unit 5, the reinforcing bar R serving as the inspection target can be easily identified without inserting a background bar or the like, thereby, work efficiency of inspection can be improved.SELECTED DRAWING: Figure 1

Description

The present invention relates to a bar arrangement inspection device and a bar arrangement inspection method.

At the construction site of a reinforced concrete structure, the diameter of the arranged reinforcing bars, to confirm and prove that the arranged reinforcing bars are correctly arranged before being buried inside the placed concrete. The pitch and number are inspected. For example, in Patent Document 1, design information such as the diameter, pitch, and number of arranged reinforcing bars is acquired from a server, and a white background bar with a plurality of circular markers is placed behind the reinforcing bars to be inspected. The reinforcing bars to be inserted and inspected are identified, the reinforcing bars to be inspected are photographed with a digital camera, and the diameter, pitch, number, etc. of the reinforcing bars measured from the area between the markers in the photographed image, and design information. A bar arrangement inspection system for comparing the diameter, pitch, number, etc. of the reinforcing bars of the above is disclosed.

Japanese Unexamined Patent Publication No. 2014-002536

By the way, the work of inserting the background bar to which the marker is attached to the back side of the reinforcing bar to be inspected every time the reinforcing bar is photographed requires a great deal of labor and time, and has a drawback that the inspection work efficiency is low. Instead of inserting the background bar, it is conceivable to apply or attach the marker to the reinforcing bar to be inspected, but it still requires a lot of labor and time to apply and attach the marker, so it has the same drawbacks. Yes, improvement is desired.

Therefore, an object of the present invention is to provide a bar arrangement inspection device and a bar arrangement inspection method with improved inspection work efficiency.

The present invention includes a first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space taken from the first viewpoint, and a plurality of reinforcing bars arranged on a plane taken from a second viewpoint different from the first viewpoint. The stereo imaging unit that acquires the position information of the plurality of reinforcements in the three-dimensional space with respect to the imaging reference point by the second image of the reinforcements of the above, and the plurality of reinforcements based on the position information of the reinforcements acquired by the stereo imaging unit. A bar arrangement inspection device including an arrangement plane specifying part that specifies an arranged plane and an inspection part that inspects a plurality of reinforcing bars arranged on the plane specified by the arrangement plane specifying part as an inspection target. is there.

According to this configuration, for a plurality of reinforcing bars arranged on a plane in a three-dimensional space, the stereo photographing unit acquires the position information of the plurality of reinforcing bars with respect to the photographing reference point in the three-dimensional space, and specifies the arrangement plane. The section identifies a plane in which a plurality of reinforcing bars are arranged based on the position information of the reinforcing bars acquired by the stereo imaging section, and the inspection section identifies a plurality of reinforcing bars arranged in the plane specified by the array plane specifying section. By inspecting the reinforcing bar as an inspection target, the reinforcing bar to be inspected can be easily identified without inserting a background bar or the like, so that the work efficiency of the inspection can be improved.

In this case, the array plane specifying part specifies a plane based on the distance from the photographing reference point of the plurality of planes when a plurality of planes in which a plurality of reinforcing bars are arranged are included in the three-dimensional space. Is preferable.

According to this configuration, when a plurality of planes in which a plurality of reinforcing bars are arranged are included in the three-dimensional space, the arrangement plane identification part determines the planes based on the distances from the photographing reference points of the plurality of planes. For identification, it is possible to prevent erroneous inclusion of reinforcing bars that should not be inspected in the planned construction area of the reinforced concrete structure.

In addition, when a plurality of planes in which a plurality of reinforcing bars are arranged are included in the three-dimensional space, the array plane specifying unit specifies the plane based on the angle of the plurality of planes with respect to the line of sight from the imaging reference point. Is preferable.

According to this configuration, when a plurality of planes in which a plurality of reinforcing bars are arranged are included in the three-dimensional space, the arrangement plane identification part is based on the angle with respect to the line of sight from the photographing reference point of the plurality of planes. Since the plane is specified, it is possible to prevent the inspection target from accidentally including the reinforcing bar that should not be the inspection target in the planned construction area of the reinforced concrete structure.

Further, it is preferable that the inspection unit inspects a plurality of reinforcing bars whose longitudinal direction is within a predetermined range as an inspection target.

According to this configuration, since the inspection unit inspects the reinforcing bars for a plurality of reinforcing bars whose longitudinal directions are within a predetermined range, the reinforcing bars arranged in completely different longitudinal directions are erroneously inspected. It can be prevented from being included in the target.

Further, it is preferable that the inspection unit inspects the reinforcing bars by targeting a plurality of reinforcing bars whose diameters are within a predetermined range.

According to this configuration, the inspection unit inspects a plurality of reinforcing bars whose diameters are within a predetermined range as inspection targets, so that reinforcing bars having completely different diameters are prevented from being accidentally included in the inspection target. can do.

Further, it is preferable that the inspection unit inspects the reinforcing bars by targeting a plurality of reinforcing bars whose distance from the imaging reference point is within a predetermined range.

According to this configuration, the inspection unit inspects the reinforcing bars for a plurality of reinforcing bars whose distance from the imaging reference point is within a predetermined range, so that the reinforcing bars far from the imaging reference point are erroneously inspected. It is possible to prevent it from being included in the target.

In addition, a display image based on at least one of the first image and the second image is displayed on the display screen, and a plurality of reinforcing bars targeted by the inspection unit in the display image are marked and displayed on the display screen. It is preferable to further provide a display control unit for the operation.

According to this configuration, the display control unit displays a display image based on at least the first image and the second image on the display screen, and marks are placed on a plurality of reinforcing bars targeted by the inspection unit in the display image. Since it is attached and displayed on the display screen, it is easy to visually recognize the reinforcing bar to be inspected from the display screen.

In this case, by selecting, adding, or deleting the reinforcing bars that are marked as being inspected by the inspection department in the displayed image and displayed on the display screen, the inspection department makes the inspection target. It is preferable to further include an input operation receiving unit that accepts an input operation for selecting, adding, or deleting at least one of the reinforcing bars.

According to this configuration, the input operation reception unit selects, adds, or deletes at least one of the reinforcing bars to be inspected by the inspection unit and displayed on the display screen in the display image. As a result, the inspection unit accepts an input operation for selecting, adding, or deleting the reinforcing bar to be inspected, so that the work efficiency of the inspection can be further improved.

In addition, a display image based on at least one of the first image and the second image is displayed on the display screen, and the inspection range in which a plurality of reinforcing bars to be inspected by the inspection unit are arranged in the display screen is displayed on the display screen. By expanding, reducing, moving, and specifying at least one of the display control unit displayed on the display screen and the inspection range displayed on the display screen, the inspection range in which the reinforcing bars to be inspected by the inspection unit are arranged. It is preferable to further include an input operation receiving unit that receives an input operation that performs at least one of enlargement, reduction, movement, and designation.

According to this configuration, the display control unit displays a display image based on at least the first image and the second image on the display screen, and a plurality of reinforcing bars to be inspected by the inspection unit are arranged in the display image. Since the inspection range is displayed on the display screen, it is easy to visually recognize the reinforcing bar and the inspection range to be inspected from the display screen. In addition, the input operation reception unit expands, reduces, moves, and specifies at least one of the inspection ranges displayed on the display screen, so that the inspection range in which the reinforcing bars to be inspected by the inspection unit are arranged. Since the input operation for enlarging, reducing, moving, and at least specifying is accepted, the work efficiency of the inspection can be further improved.

Further, it is preferable that the inspection unit detects at least one of the diameter, pitch and number of the plurality of reinforcing bars to be inspected.

According to this configuration, the inspection unit detects at least one of the diameter, pitch, and number of the plurality of reinforcing bars to be inspected, and therefore detects information that matches the purpose of inspection at the construction site of the reinforced concrete structure. can do.

On the other hand, the present invention relates to a first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space taken from the first viewpoint and the plane taken from a second viewpoint different from the first viewpoint. With the second images of the plurality of the reinforcing bars arranged, the stereo imaging step of acquiring the position information of the plurality of the reinforcing bars in the three-dimensional space with respect to the imaging reference point and the position information of the reinforcing bars acquired by the stereo imaging step can be obtained. Based on this, an arrangement plane specifying step for specifying a plane in which a plurality of reinforcing bars are arranged and an inspection step for inspecting the reinforcing bars for a plurality of reinforcing bars arranged on the plane specified by the arrangement plane specifying step are performed. It is a prepared bar arrangement inspection method.

According to the bar arrangement inspection device and the bar arrangement inspection method of the present invention, the work efficiency of the inspection can be improved.

It is a block diagram which shows the structure of the bar arrangement inspection apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process of the bar arrangement inspection method which concerns on 1st Embodiment. It is a figure which shows the positional relationship of a stereo camera, a photographing reference point, and a reinforcing bar to be inspected. It is a figure which shows the example of the display screen which concerns on 1st Embodiment. It is a block diagram which shows the structure of the bar arrangement inspection apparatus which concerns on 2nd Embodiment. It is a table which shows the example of the diameter, the interval and the number of the planned construction area of the reinforced concrete structure stored in the reinforcing bar design specification storage part of FIG. It is a figure which shows the example of the display screen which concerns on 3rd Embodiment.

Hereinafter, the bar arrangement inspection device and the bar arrangement inspection method according to the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the bar arrangement inspection device 1a of the present embodiment includes a stereo camera 2, a personal computer main body 3, and a keyboard 10 connected as needed. The bar arrangement inspection device 1a of the present embodiment is composed of, for example, an existing stereo camera 2 and a personal computer main body such as a tablet terminal provided with a touch panel display 9.

The personal computer main body 3 includes a stereo photographing unit 4, an array plane specifying unit 5, an inspection unit 6, a display control unit 7, and an input operation receiving unit 8. The personal computer main body 3 has a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. In the personal computer main body 3, the program stored in the ROM is loaded into the RAM and executed by the CPU to control each unit such as the stereo photographing unit 4 described above.

The stereo camera 2 includes a first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space taken by the stereo camera 2 from the first viewpoint, and a stereo camera 2 from a second viewpoint different from the first viewpoint. The position information of the plurality of reinforcing bars in the three-dimensional space with respect to the photographing reference point is acquired by the second image of the plurality of reinforcing bars arranged on the plane photographed by. For example, the first viewpoint and the second viewpoint are viewpoints located at predetermined intervals in the horizontal direction. The photographing reference point is, for example, a reference point located between the first viewpoint and the second viewpoint. The position information of the reinforcing bar is indicated by, for example, spherical coordinates with the photographing reference point as the origin or orthogonal coordinates obtained by converting the spherical coordinates.

The arrangement plane specifying unit 5 automatically identifies a plane in which a plurality of reinforcing bars are arranged based on the position information of the reinforcing bars acquired by the stereo photographing unit 4. The inspection unit 6 inspects the reinforcing bars with a plurality of reinforcing bars arranged on the plane specified by the arrangement plane specifying unit 5 as inspection targets. The inspection unit 6 may inspect the reinforcing bar based on only one of the first image and the second image, for example, or the reinforcing bar may be inspected based on the first image and the second image synthesized while considering the parallax. May be inspected.

The display control unit 7 displays a display image based on at least one of the first image and the second image on the display screen, and marks a plurality of reinforcing bars to be inspected by the inspection unit 6 in the display image. And display it on the display screen. The input operation reception unit 8 is a touch panel display 9 that selects, adds, or deletes at least one of the reinforcing bars to be inspected by the inspection unit 6 in the display image and displayed on the display screen. Accepts input operations to the keyboard 10.

Hereinafter, the bar arrangement inspection method of the present embodiment will be described. As shown in FIG. 2, the first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space taken from the first viewpoint by the stereo photographing unit 4 of the bar arrangement inspection device 1a, and the first viewpoint. Is a stereo photographing step of acquiring the position information of the plurality of reinforcing bars in the three-dimensional space with respect to the photographing reference point by the second images of the plurality of reinforcing bars arranged on the planes taken from different second viewpoints (S1). .. As shown in FIG. 3, a plurality of reinforcing bars R serving as reinforced concrete structures are arranged in front of the line of sight S from the photographing reference point 20 of the stereo camera 2. The plurality of reinforcing bars R are arranged in a plane P1, a plane P2, a plane P3, a plane P4, and the like.

In the stereo photographing process, the stereo camera 2 is separated from the reinforcing bar to be inspected by, for example, 2 to 3 m, and the line of sight from the stereo camera 2 is at an angle of, for example, 45 ° to 90 ° with respect to the plane on which the reinforcing bar is arranged. It is only necessary to arrange the stereo cameras 2 at positions where they intersect with each other for shooting, and it is not necessary to insert a background bar or apply or attach a marker to the reinforcing bar.

As shown in FIG. 2, the arrangement plane specifying unit 5 of the bar arrangement inspection device 1a identifies the plane in which the plurality of reinforcing bars are arranged based on the position information of the plurality of reinforcing bars R acquired in the stereo imaging step. The plane specifying step is performed (S2). The array plane specifying unit 5 includes, for example, two or more reinforcing bars R that are close to each other within a predetermined distance in a three-dimensional space based on the position information of a plurality of reinforcing bars R acquired by the stereo photographing unit 4. The plane P1 and the like are automatically specified. To automatically identify the plane P1 and the like means that, for example, when there are a plurality of reinforcing bars R arranged in a predetermined numerical range with respect to the virtual plane P1 by computer processing of a personal computer, the plurality of reinforcing bars R are virtual. Assuming that they are arranged on the plane P1, it means that a plurality of reinforcing bars R are detected as the arranged plane P1 to specify the arrangement plane. In the example of FIG. 3, planes P1, P2, P3, P4 and the like including two or more reinforcing bars R that are close to each other within a predetermined distance are specified in the three-dimensional space. The predetermined distance in this case can be set based on, for example, the distance between the reinforcing bars in the design or standard of the reinforced concrete structure.

Further, when the array plane specifying unit 5 specifies the plane P1 or the like including three or more reinforcing bars R in the three-dimensional space, the plane P1 or the like can be specified regardless of the distance between the reinforcing bars R. For example, the array plane specifying unit 5 can specify the plane P1 or the like by a known V-disparity. In V-disparity, the parallax image taken by the stereo camera 2 is converted into a V-disparity image. The V-disparity image is an image showing the frequency of appearance of parallax in the vertical direction of the image plane in the parallax image. In the V-disparity image, the vertical axis is the image in the vertical direction common to the parallax image, and the horizontal axis is the image consisting of parallax (disparity), and represents the number of appearances of a certain parallax value in a certain vertical coordinate. In the V-disparity image, the plane P1 and the like can be specified by connecting each of the parallax values due to the presence of the reinforcing bar R with an approximate straight line.

Further, the arrangement plane specifying portion 5 includes a plurality of planes P1, P2, P3, P4, etc. in which a plurality of reinforcing bars R are arranged in the three-dimensional space, and the plurality of planes P1 and the like. The plane P1 and the like are specified based on the angle with respect to the line of sight S from the photographing reference point 20. In the example of FIG. 3, among a plurality of planes P1, P2, P3, P4, etc., planes P1, P2, P3 forming an angle θ of 45 ° or more with respect to the line of sight S from the photographing reference point 20 are specified, and the line of sight is specified. Planes P4 that form an angle of less than 45 ° with respect to S are excluded. For example, when the array plane specifying unit 5 specifies a plane having an angle closest to perpendicular to the line of sight S from the photographing reference point 20, the plane P3 is specified. The array plane specifying unit 5 may specify planes P1, P2, P3, etc. that sequentially form an angle close to vertical with respect to the line of sight S from the photographing reference point 20.

Further, in the arrangement plane specifying unit 5, when a plurality of planes in which a plurality of reinforcing bars R are arranged are included in the three-dimensional space such as planes P1, P2, P3, P4, the plurality of planes P1 and the like are included. The plane is specified based on the distance from the photographing reference point 20. In the example of FIG. 3, among a plurality of planes P1, P2, P3, P4 and the like, the plane P1 having the closest distance D from the photographing reference point 20 is specified. The array plane specifying unit 5 may specify planes that are close to each other within a predetermined distance in order from the photographing reference point 20. As described above, in the arrangement plane specifying step, the arrangement plane specifying portion 5 specifies the plane on which a plurality of reinforcing bars are arranged.

As shown in FIG. 2, an inspection step of inspecting the reinforcing bars R by the inspection unit 6 of the bar arrangement inspection device 1a is performed on a plurality of reinforcing bars R arranged on the plane P1 specified by the arrangement plane specifying step. It is done (S3). As shown in FIGS. 3 and 4, the inspection unit 6 inspects a plurality of reinforcing bars R whose longitudinal direction l is within a predetermined range as an inspection target. The inspection unit 6 can, for example, inspect a plurality of reinforcing bars R whose longitudinal direction l is within ± 5 °.

Further, the inspection unit 6 has, for example, a plurality of reinforcing bars R in a range in which the longitudinal direction l is within ± 5 ° with respect to the longitudinal direction of the main reinforcing bar (vertical bar) in the reinforcing bar R in the design or standard of the reinforced concrete structure. Can be inspected. Further, the inspection unit 6 inspects a plurality of reinforcing bars R in a range in which the longitudinal direction l is within 90 ° ± 5 ° with respect to the longitudinal direction of the main reinforcing bar R in the design or standard of the reinforced concrete structure, for example. Can be targeted. Specifically, when the longitudinal direction l is within ± 5 ° with respect to the longitudinal direction of the main reinforcing bar R in the design or standard of the reinforced concrete structure, the reinforcing bar D22 which is the main reinforcing bar is inspected. Can be done. Further, when the longitudinal direction 1 is within 90 ° ± 5 ° with respect to the longitudinal direction of the main reinforcing bar R in the design or standard of the reinforced concrete structure, the reinforcing bar D19 which is a force distribution bar (horizontal bar). Can be inspected.

Further, as shown in FIGS. 3 and 4, the inspection unit 6 inspects the reinforcing bars R with a plurality of reinforcing bars R having a diameter d within a predetermined range as inspection targets. The inspection unit 6 can, for example, inspect a plurality of reinforcing bars R having a diameter d within a range of 38 mm ± 3.8 mm (± 10%). Further, as shown in FIGS. 3 and 4, the inspection unit 6 inspects the reinforcing bars R with a plurality of reinforcing bars R whose distance D from the photographing reference point 20 is within a predetermined range as an inspection target. The inspection unit 6 can, for example, inspect a plurality of reinforcing bars R in a range in which the distance D between the photographing reference point 20 and the plane P1 is within 2.0 to 3.0 m. Further, the inspection unit 6 is, for example, a plurality of inspection units within a range of 2.0 to 3.0 m from the intersection of the plane P1 specified by the array plane identification unit 5 in the array plane identification step 5 and the line of sight S from the imaging reference point 20. Reinforcing bar R can be inspected.

As shown in FIG. 4, the display control unit 7 of the bar arrangement inspection device 1a displays a display image based on at least one of the first image and the second image on the display screen 90 of the touch panel display 9. In the display image, as described above, a mark M is added to a plurality of reinforcing bars R to be inspected by the stereo camera 2, the stereo photographing unit 4, the array plane specifying unit 5, and the inspection unit 6, and the display screen 90 is displayed. indicate. In the example of FIG. 4, in the display image of the display screen 90 of the touch panel type display 9, the longitudinal direction l extends in the substantially horizontal direction, and a linear mark M is displayed over the reinforcing bar R in the inspection range A. There is. A display image based on at least one of the first image and the second image is displayed on the display screen 90, and the mark M is displayed on the reinforcing bar R together with the image of the reinforcing bar R, so that a human can select the reinforcing bar to be inspected. Since it can be visually confirmed on the display screen 90, the accuracy of the inspection can be improved.

The input operation reception unit 8 of the bar arrangement inspection device 1a selects, adds, and deletes at least the reinforcing bars R displayed on the display screen 90 with the mark M as the inspection target by the inspection unit 6 in the displayed image. By performing either of these, the inspection unit 6 accepts an input operation for selecting, adding, or deleting the reinforcing bar R to be inspected. If the image captured by the stereo camera 2 is unclear, an error may occur in the position information of the reinforcing bar by the stereo imaging unit 4. The array plane specifying unit 5 identifies the plane P4 or the like on which the reinforcing bars R that should not be inspected are arranged, and the inspection unit 6 makes an error in the reinforcing bars R to be inspected (reinforcing bars that should be originally inspected). Missing extraction of R or extracting reinforcing bars R that should not be inspected originally) may occur.

For example, if there is an omission in the extraction of the reinforcing bar R to be inspected, for example, by clicking the reinforcing bar R displayed on the display screen 90 of the touch panel display 9 without the mark M, the inspection target can be obtained. Reinforcing bar R is newly selected and added, and the newly selected and added reinforcing bar R on the display screen 90 is newly selected and displayed with a mark M. Further, when deleting a reinforcing bar that is not a reinforcing bar to be inspected, for example, by clicking the reinforcing bar R already attached with the mark M on the display screen 90 of the touch panel display 9, the inspection unit 6 has already been performed. The reinforcing bar R to be inspected is selected and deleted from the reinforcing bars R to be inspected, and the display of the mark M is deleted from the selected and deleted reinforcing bars R on the display screen 90. Since a human can visually confirm the reinforcing bar R to be inspected on the display screen 90 and select and add, or select and delete the reinforcing bar R to be inspected, it is necessary to correct the inspection result after the fact. The efficiency of inspection is improved.

The inspection unit 6 of the bar arrangement inspection device 1a detects at least one of the diameter d, the pitch p, and the number of the plurality of reinforcing bars R to be inspected. In the example of FIG. 4, the inspection unit 6 detects the diameter d of the reinforcing bars R, the pitch p, and the number of the reinforcing bars R in the inspection range A, and the display control unit 7 of the reinforcing bar arrangement inspection device 1a displays the display screen 90. The diameter d, pitch p, and number of reinforcing bars R (numbers of reinforcing bars R) are displayed in the vicinity of the reinforcing bars R in the image.

In the present embodiment, the stereo photographing unit 4 acquires the position information of the plurality of reinforcing bars R with respect to the photographing reference point 20 in the three-dimensional space for the plurality of reinforcing bars R arranged on the plane P1 in the three-dimensional space. , The arrangement plane specifying unit 5 identifies the plane P1 in which a plurality of reinforcing bars R are arranged based on the position information of the reinforcing bars R acquired by the stereo photographing unit 4, and the inspection unit 6 identifies the plane P1 by the arrangement plane specifying unit 5. By inspecting the reinforcing bars R with a plurality of reinforcing bars R arranged on the plane P1 as the inspection target, it is possible to easily identify the reinforcing bars R to be inspected without inserting a background bar or the like. , The work efficiency of inspection can be improved. The inspection of the reinforcing bar R may be performed based on at least one of the first image and the second image taken by the stereo photographing unit 4.

Further, according to the present embodiment, the arrangement plane specifying portion 5 includes a plurality of planes P1, P2, P3, P4 and the like in which a plurality of reinforcing bars R are arranged in the three-dimensional space. Since the plane P1 is specified based on the distance from the imaging reference point 20 such as the planes P1, P2, P3, and P4, the reinforcing bar R, which should not be the inspection target of the planned construction area of the reinforced concrete structure, is erroneously selected as the inspection target. It can be prevented from being included.

Further, according to the present embodiment, the arrangement plane specifying portion 5 includes a plurality of planes P1, P2, P3, P4 and the like in which a plurality of reinforcing bars R are arranged in the three-dimensional space. Reinforcing bars that should not be inspected in the planned construction area of the reinforced concrete structure in order to identify the planes P1, P2, P3 based on the angle with respect to the line of sight S from the imaging reference point 20 such as the planes P1, P2, P3, P4. Can be prevented from being accidentally included in the inspection target.

Further, according to the present embodiment, since the inspection unit 6 inspects the reinforcing bars R for a plurality of reinforcing bars R whose longitudinal direction l is within a predetermined range, the longitudinal direction l is in a completely different direction. It is possible to prevent the arranged reinforcing bars R from being mistakenly included in the inspection target.

Further, according to the present embodiment, since the inspection unit 6 inspects the reinforcing bars R for a plurality of reinforcing bars R whose diameters d are within a predetermined range, the reinforcing bars R having completely different diameters d are erroneously used. It is possible to prevent it from being included in the inspection target.

Further, according to the present embodiment, since the inspection unit 6 inspects the reinforcing bars R with a plurality of reinforcing bars R whose distance D from the photographing reference point 20 is within a predetermined range, the inspection unit 6 inspects the reinforcing bars R from the photographing reference point 20. It is possible to prevent the reinforcing bar R having a long distance D from being accidentally included in the inspection target.

Further, according to the present embodiment, the display control unit 7 displays a display image based on at least one of the first image and the second image on the display screen 90, and the inspection unit 6 inspects the display image. Since the mark M is attached to the plurality of rebars R and displayed on the display screen 90, it is easy to visually recognize the rebar R to be inspected from the display screen 90.

Further, according to the present embodiment, the input operation receiving unit 8 selects and adds the reinforcing bar R to be inspected by the inspection unit 6 in the display image and is marked with the mark M and displayed on the display screen 90. By performing at least one of the deletions, the inspection unit 6 accepts an input operation for selecting, adding, or deleting the reinforcing bars to be inspected, so that the work efficiency of the inspection can be further improved. ..

Further, according to the present embodiment, the inspection unit 6 inspects the reinforced concrete structure at the construction site in order to detect at least one of the diameter d, the pitch p, and the number of the plurality of reinforcing bars R to be inspected. Information that matches the purpose can be detected.

Hereinafter, the second embodiment of the present invention will be described. As shown in FIG. 5, the bar arrangement inspection device 1b of the present embodiment further includes a reinforcing bar design specification storage unit 11 for storing the design specifications of the reinforcing bar arrangement of the reinforced concrete structure. As shown in FIG. 6, the diameter, interval (pitch) and number of reinforcing bars R are input and recorded in the reinforcing bar design specification storage unit 11.

The inspection unit 6 sets the range of the interval of the reinforcing bars R to be inspected with reference to the design specifications recorded in the reinforcing bar design specification storage unit 11. After that, the inspection unit 6 inspects two or more reinforcing bars R that are close to each other within the range of the set interval in the three-dimensional space. For example, when the interval between the reinforcing bars R at the design specification is 200 mm, the inspection unit 6 can inspect a plurality of reinforcing bars R within a range of 200 mm ± 20 mm (± 10%).

In the present embodiment, the inspection unit 6 does not need to inspect by setting the range of the interval of the reinforcing bars R to be inspected by referring to the interval of the reinforcing bars R recorded in the reinforcing bar design specification storage unit 11. Since it is possible to prevent the inspection of the reinforcing bar R, the work efficiency of the reinforcing bar inspection is improved.

Further, the inspection unit 6 sets the diameter range of the reinforcing bar R to be inspected with reference to the design specifications recorded in the reinforcing bar design specification storage unit 11. After that, the inspection unit 6 inspects the reinforcing bars R with a plurality of reinforcing bars R whose diameter d is within the set diameter range as the inspection target. The inspection unit 6 can, for example, inspect a plurality of reinforcing bars R having a diameter d within a range of 38 mm ± 3.8 mm (± 10%).

In the present embodiment, the inspection unit 6 sets the diameter of the reinforcing bar R to be inspected by referring to the diameter of the reinforcing bar R recorded in the reinforcing bar design specification storage unit 11, so that the reinforcing bar that does not need to be inspected is inspected. Since it is possible to prevent R from being inspected, the work efficiency of the reinforcing bar inspection is improved.

Hereinafter, a third embodiment of the present invention will be described. In the present embodiment, the display control unit 7 displays a display image based on at least one of the first image and the second image on the display screen 90, and among the display images, a plurality of display images targeted by the inspection unit 6. The inspection range in which the reinforcing bars R are arranged is displayed on the display screen 90. As shown in FIG. 7, the input operation receiving unit 8 expands, reduces, moves, and specifies at least one of the inspection ranges displayed on the display screen 90, so that the reinforcing bars to be inspected by the inspection unit 6 are inspected. Accepts an input operation that expands, contracts, moves, or specifies at least one of the inspection ranges A in which R is arranged.

For example, the inspection range includes a plurality of reinforcing bars R within a range of 2.0 to 3.0 m from the intersection of the plane P1 specified in the arrangement plane specifying step and the line of sight S from the imaging reference point 20 by the inspection unit 6. Even if A is set, if the image captured by the stereo camera 2 is unclear, an error occurs in the position information of the reinforcing bars by the stereo photographing unit 4, and the reinforcing bars that should not be inspected by the array plane specifying unit 5 The plane P4 or the like in which R is arranged may be specified, and an error may occur in the reinforcing bar R to be inspected by the inspection unit 6.

For example, when the inspection range A is too narrow and there is an omission of extraction of the reinforcing bar R to be inspected, for example, the inspection unit is enlarged by clicking and dragging the inspection range A on the display screen 90 of the touch panel display 9. The inspection range A in which the reinforcing bars R to be inspected are arranged is expanded by No. 6, and the reinforcing bars R newly included in the expanded inspection range A are displayed with a mark M. When the inspection range A is too wide and the reinforcing bar R that should not be the inspection target is the inspection target, the inspection unit 6 is reduced by clicking and dragging the inspection range A on the display screen 90 of the touch panel display 9. The inspection range A in which the reinforcing bars R to be inspected are arranged is reduced, and the display of the mark M is erased from the reinforcing bars R that are no longer included in the reduced inspection range A. The same applies when the inspection range A is moved or designated.

In the present embodiment, the display control unit 7 displays a display image based on at least the first image and the second image on the display screen 90, and a plurality of reinforcing bars R to be inspected by the inspection unit 6 in the display image. Since the inspection range A in which is arranged is displayed on the display screen 90, it is easy to visually recognize the reinforcing bar R and the inspection range A to be inspected from the display screen 90. Further, the input operation receiving unit 8 expands, reduces, moves, and specifies at least one of the inspection range A displayed on the display screen 90, so that the reinforcing bars R to be inspected by the inspection unit 6 are arranged. Since the input operation for expanding, reducing, moving, and at least specifying the inspection range A is accepted, the work efficiency of the inspection can be further improved. That is, since a human can visually confirm the reinforcing bar R to be inspected on the display screen 90 and select and add, or select and delete the reinforcing bar R to be inspected, the inspection result is corrected after the fact. There is no need to improve the efficiency of inspection.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and is implemented in various forms.

The claims of Japanese Patent Application No. 2017-116406 are as follows.
[Claim 1]
The first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space taken from the first viewpoint, and the plurality of the above arranged on the plane taken from a second viewpoint different from the first viewpoint. A stereo photographing unit that acquires the position information of a plurality of the reinforcing bars in the three-dimensional space with respect to the photographing reference point by the second image of the reinforcing bar, and
An array plane specifying unit that specifies the plane in which a plurality of the reinforcing bars are arranged based on the position information of the reinforcing bars acquired by the stereo photographing unit.
An inspection unit that inspects the reinforcing bars of a plurality of the reinforcing bars arranged on the plane specified by the arrangement plane specifying unit, and an inspection unit that inspects the reinforcing bars.
Reinforcement inspection device equipped with.
[Claim 2]
When a plurality of the planes in which the plurality of the reinforcing bars are arranged are included in the three-dimensional space, the array plane specifying portion is the plane based on the distances from the photographing reference points of the plurality of the planes. The bar arrangement inspection device according to claim 1.
[Claim 3]
The array plane specifying portion is based on the angle of the plurality of planes with respect to the line of sight from the photographing reference point when a plurality of the planes in which the plurality of the reinforcing bars are arranged are included in the three-dimensional space. The bar arrangement inspection device according to claim 1 or 2, which specifies the plane.
[Claim 4]
The bar arrangement inspection device according to any one of claims 1 to 3, wherein the inspection unit inspects the reinforcing bars with a plurality of the reinforcing bars whose longitudinal direction is within a predetermined range as the inspection target.
[Claim 5]
The bar arrangement inspection device according to any one of claims 1 to 4, wherein the inspection unit inspects the reinforcing bars with a plurality of the reinforcing bars having a diameter within a predetermined range as the inspection target.
[Claim 6]
The arrangement according to any one of claims 1 to 5, wherein the inspection unit inspects the reinforcing bars with a plurality of the reinforcing bars having a distance from the photographing reference point within a predetermined range as the inspection target. Muscle examination device.
[Claim 7]
A display image based on at least one of the first image and the second image is displayed on the display screen, and a plurality of the reinforcing bars targeted by the inspection unit are marked in the display image. The bar arrangement inspection device according to any one of claims 1 to 6, further comprising a display control unit for displaying on the display screen.
[Claim 8]
The inspection unit selects, adds, or deletes the reinforcing bars that are targeted for inspection by the inspection unit in the display image and are marked and displayed on the display screen. The bar arrangement inspection device according to claim 7, further comprising an input operation receiving unit that accepts an input operation that performs at least one of selection, addition, and deletion of the reinforcing bar to be inspected.
[Claim 9]
An inspection in which a display image based on at least one of the first image and the second image is displayed on a display screen, and a plurality of the reinforcing bars targeted by the inspection unit are arranged in the display image. A display control unit that displays the range on the display screen,
By expanding, reducing, moving, or at least specifying the inspection range displayed on the display screen, the inspection range is expanded by the inspection unit in which the reinforcing bars to be inspected are arranged. An input operation reception unit that accepts input operations that perform at least one of reduction, movement, and designation,
The bar arrangement inspection device according to any one of claims 1 to 8, further comprising.
[Claim 10]
The bar arrangement inspection device according to any one of claims 1 to 9, wherein the inspection unit detects at least one of the diameter, pitch, and number of the plurality of reinforcing bars targeted for inspection.
[Claim 11]
The first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space taken from the first viewpoint, and the plurality of the above arranged on the plane taken from a second viewpoint different from the first viewpoint. A stereo photographing step of acquiring the position information of a plurality of the reinforcing bars in the three-dimensional space with respect to the photographing reference point by the second image of the reinforcing bar, and
An array plane specifying step of specifying the plane in which a plurality of the reinforcing bars are arranged based on the position information of the reinforcing bars acquired in the stereo photographing step.
An inspection step of inspecting the reinforcing bars of a plurality of the reinforcing bars arranged on the plane specified by the array plane specifying step as an inspection target.
Reinforcement inspection method equipped with.

1a, 1b ... Reinforcement inspection device, 2 ... Stereo camera, 3 ... Personal computer body, 4 ... Stereo imaging unit, 5 ... Arrangement plane identification unit, 6 ... Inspection unit, 7 ... Display control unit, 8 ... Input operation reception unit , 9 ... Touch panel display, 10 ... Keyboard, 11 ... Reinforcing bar design specification storage unit, 20 ... Shooting reference point, 90 ... Display screen, P1, P2, P3, P4 ... Plane, S ... Line of sight, D ... Distance, θ ... angle, l ... longitudinal direction, d ... diameter, p ... pitch, A ... inspection range.

Claims (10)

An imaging unit that acquires the position information of the reinforcing bars arranged in the three-dimensional space with respect to the imaging reference point,
An array plane specifying portion that specifies a plane in which a plurality of the reinforcing bars are arranged based on the position information of the reinforcing bars acquired by the photographing unit.
An inspection unit that inspects a plurality of the reinforcing bars arranged on the plane specified by the arrangement plane identification unit, and an inspection unit that inspects the reinforcing bars.
Reinforcement inspection device equipped with. When a plurality of the planes in which the plurality of the reinforcing bars are arranged are included in the three-dimensional space, the array plane specifying portion is the plane based on the distances from the photographing reference points of the plurality of the planes. The bar arrangement inspection device according to claim 1. The array plane specifying portion is based on the angle of the plurality of planes with respect to the line of sight from the photographing reference point when a plurality of the planes in which the plurality of the reinforcing bars are arranged are included in the three-dimensional space. The bar arrangement inspection device according to claim 1 or 2, which specifies the plane. The bar arrangement inspection device according to any one of claims 1 to 3, wherein the inspection unit inspects a plurality of the reinforcing bars whose longitudinal direction is within a predetermined range as the inspection target. The bar arrangement inspection device according to any one of claims 1 to 4, wherein the inspection unit inspects a plurality of the reinforcing bars having a diameter within a predetermined range as the inspection target. The photographing unit acquires an image obtained by photographing the reinforcing bar, displays a display image based on the image on a display screen, and in the displayed image, a plurality of images targeted by the inspection unit for inspection. The bar arrangement inspection device according to any one of claims 1 to 5, further comprising a display control unit that marks the reinforcing bar and displays it on the display screen. The inspection unit selects, adds, or deletes the reinforcing bars that are targeted for inspection by the inspection unit in the display image and are marked and displayed on the display screen. The bar arrangement inspection device according to claim 6, further comprising an input operation receiving unit that accepts an input operation that performs at least one of selection, addition, and deletion of the reinforcing bar to be inspected. The photographing unit acquires an image obtained by photographing the reinforcing bar, displays a display image based on the image on a display screen, and in the displayed image, a plurality of images targeted by the inspection unit for inspection. The bar arrangement inspection device according to any one of claims 1 to 5, further comprising a display control unit that displays an inspection range in which the reinforcing bars are arranged on the display screen. By expanding, reducing, moving, or at least designating the inspection range displayed on the display screen, the inspection range in which a plurality of the reinforcing bars to be inspected by the inspection unit are arranged. The bar arrangement inspection device according to claim 8, further comprising an input operation receiving unit that accepts an input operation that performs at least one of enlargement, reduction, movement, and designation. The shooting process to acquire the position information of the reinforcing bars arranged in the three-dimensional space with respect to the shooting reference point, and
An array plane specifying step for specifying a plane in which a plurality of the reinforcing bars are arranged based on the position information of the reinforcing bars acquired in the photographing step, and
An inspection step of inspecting a plurality of the reinforcing bars arranged on the plane specified by the arrangement plane specifying step as an inspection target.
Reinforcement inspection method equipped with.

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