JP6805351B2 - Damage data editing equipment, damage data editing methods, and programs - Google Patents

Description

The present invention relates to a damage data editing device, a damage data editing method, and a program, and more particularly to a technique for editing damage data generated from a photographed image of a building to be inspected.

Buildings such as bridges and tunnels are more likely to be damaged over time. Therefore, it is required to regularly check the occurrence of damage and the progress of damage.

An investigator who inspects a building needs to prepare an inspection record in a predetermined format as a form showing the result of the inspection. As one of the inspection records, there is a damage diagram showing the damage state of the building. Even if you are an expert different from the investigator who actually inspected, you can grasp the occurrence and progress of damage to the building by looking at the damage diagram created in the prescribed format, and make a maintenance plan for the building. It will be possible to formulate.

In recent years, inspections of buildings may be performed using captured images. That is, the investigator inspects the damage to the building by acquiring a photographed image of the building to be inspected and detecting damage (for example, a crack) from the photographed image.

Patent Document 1 describes a technique for creating an inspection drawing (corresponding to a damage drawing) using a photographed image of a building. Specifically, it describes a technique for creating a damaged object of lines, surfaces, and characters from the characteristics of damage in a photographed image of a building to be inspected and arranging it on drawing data read by a scanner.

Japanese Unexamined Patent Publication No. 2004-318790

Here, when the damage is detected from the captured image by image processing, if the damage detection processing is performed before the captured image is subjected to processing such as projective transformation, the damage can be detected with higher accuracy. That is, when processing such as projective transformation is applied to the captured image, the data of the captured image may be affected by the effect of the processing, and damage may not be detected with high accuracy.

However, the technique described in Patent Document 1 does not mention that a damaged object is generated based on a captured image before projective transformation.

In addition, when damage is detected from a captured image by image processing, the damage is not always detected with high accuracy, and the user confirms the damage after detecting the damage by image processing, and detects the damage if necessary. It may be necessary to edit (correct and modify) the results.

However, the technique described in Patent Document 1 does not mention an editing function for matching the damage of the captured image with the object data when the object data which is the detection result of the damage is generated. That is, the technique described in Patent Document 1 does not mention a function for the user to confirm and edit whether the generated object data accurately expresses the damage of the captured image.

The present invention has been made in view of such circumstances, and an object of the present invention is a damage data editing device, a damage data editing method, and a damage data editing method capable of obtaining damage data in which the damage captured in a captured image is accurately expressed. To provide a program.

The damage data editing device, which is one aspect of the present invention for achieving the above object, is damaged by an image acquisition unit that acquires a photographed image of a building to be inspected and an image analysis of the photographed image. A damage data generation unit that generates data, a display unit, a display control unit that displays a captured image on the display unit and overlays the damaged data on the captured image, and a command for editing the damage data displayed on the display unit. In the editorial department that accepts and edits damage data based on the editing command, the drawing data acquisition unit that acquires the drawing data of the building to be inspected, and the photographed image and drawing data acquisition unit displayed on the display unit. Damage data generated by the damage data generation unit or damage edited by the editorial department based on the projection relationship reception unit that accepts the input of the projection relationship with the acquired drawing data and the projection relationship reception unit. It includes a projection conversion unit that projects data and an output unit that outputs damage data that has been projected and converted by the projection conversion unit.

According to this aspect, damage data is generated by image analysis of the captured image in the damage data generation unit, and the generated damage data is projected and transformed based on the projective relationship between the captured image and the drawing data. .. That is, the damage data of this aspect is generated based on the detection of damage in the captured image before the projective transformation, and then the projective transformation is performed. As a result, in this embodiment, it is possible to generate damage data that accurately reproduces the damage captured in the captured image without being affected by the deterioration of the image quality due to the projective transformation in the captured image that detects the damage.

Further, according to this aspect, the display control unit displays the captured image on the display unit and overlays the damaged data on the captured image. Therefore, the user confirms the overlay display and the generated damage data. Can be edited. That is, the user can confirm whether or not the generated damage data accurately represents the damage shown in the captured image. For example, if there is a difference between the damage in the captured image and the damage data, the user can edit the damage data by referring to the damage in the captured image. As a result, this aspect can generate damage data that accurately represents the damage captured in the captured image.

Preferably, the display control unit displays the drawing data on the display unit, and the projection-related reception unit shows the projection relationship between the captured image displayed on the display unit and the drawing data acquired by the drawing data acquisition unit. Accepts 4 points of images and 4 points of drawing data.

According to this aspect, four points of the photographed image and four points of the drawing data showing the projection relationship between the photographed image displayed on the display unit and the drawing data acquired by the drawing data acquisition unit by the projection-related reception unit. Will be accepted. As a result, in this aspect, the projective relationship is properly accepted, and accurate projective transformation of the damage data is performed.

Preferably, the projective transformation unit calculates a projective transformation matrix that matches the four points of the captured image with the four points of the drawing data, and the damage data generated by the damage data generation unit or edited by the editorial unit using the calculated projective transformation matrix. Homographic transformation of damage data.

According to this aspect, the projective transformation unit calculates a projective transformation matrix that matches the four points of the captured image with the four points of the drawing data, and the damage data or the editorial unit generated by the damage data generation unit using the calculated projective transformation matrix. The edited damage data is projected and transformed. Thereby, this aspect can accurately perform the projective transformation of the damage data.

Preferably, the damage data editing device is received by the mirroring-related reception unit and the mirroring-related reception unit that accept the mirroring-related input between the captured image displayed on the display unit and the drawing data acquired by the drawing data acquisition unit. A mirroring unit for mirroring the damage data based on the mirroring relationship is provided, and the output unit outputs the mirrored and projected damage data.

According to this aspect, the mirroring-related reception unit receives the mirroring-related input between the captured image displayed on the display unit and the drawing data acquired by the drawing data acquisition unit, and the mirroring unit receives the mirroring-related input at the mirroring-related reception unit. Damage data is mirrored based on the accepted mirroring relationships. Thereby, in this aspect, mirrored damage data can be obtained, and damage data illustrating the damage state as seen from the side opposite to the photographing side of the building can be obtained.

Preferably, the damage data editing device includes a captured image compositing unit that synthesizes a plurality of captured images obtained by dividing and photographing a section of the building, and the damage data generating unit is for each of the plurality of captured images. Generate damage data.

According to this aspect, since the photographed image synthesizing unit synthesizes a plurality of photographed images obtained by dividing and photographing a section of the building, the combined photographed images can be acquired and combined. The captured image can be displayed. Further, according to this aspect, the damage data generation unit generates damage data for each of the plurality of captured images. That is, in this aspect, since the damage data is generated in each captured image before being combined, the damage data generation unit can accurately generate the damage data without being affected by the composition of the captured images. it can.

Preferably, the captured image synthesizing unit synthesizes a plurality of captured images taken corresponding to one section represented in the drawing data for each section.

According to this aspect, the captured image synthesizing unit synthesizes a plurality of captured images taken corresponding to one section represented in the drawing data for each section. Thereby, in this aspect, the composite image for each section can be obtained, and the composite image for each section can be displayed.

Preferably, the damage data editing device includes a damage data synthesizing unit that synthesizes damage data based on the composite information of a plurality of captured images synthesized by the captured image synthesizing unit.

According to this aspect, the damage data synthesizing unit synthesizes damage data based on the composite information of a plurality of captured images synthesized by the captured image synthesizing unit. This aspect allows the synthesized damage data to be obtained.

Preferably, the damage data synthesizing unit synthesizes each section.

According to this aspect, the damage data synthesizing unit synthesizes each section. Thereby, this aspect can obtain the damage data synthesized for each section.

Preferably, the damage data editing device includes a damage drawing data creation unit that creates damage drawing data in which the damage data projected by the projection conversion unit and the drawing data corresponding to the damage data are superimposed, and the output unit is provided with a damage drawing data creation unit. Output damage drawing data.

According to this aspect, the damage drawing data creation unit creates damage drawing data in which the damage data projected by the projective conversion unit and the drawing data corresponding to the damage data are superimposed, and the output unit creates the damage drawing data. Is output. Thereby, in this aspect, it is possible to obtain the damage drawing data having the damage data expressing the damage of the photographed image with high accuracy.

Preferably, the building is a bridge or tunnel.

The damage data editing method according to another aspect of the present invention includes an image acquisition step of acquiring a photographed image of the building to be inspected, and damage data generation that generates damage data by analyzing the photographed image. The step, the display control step of displaying the captured image on the display unit and overlaying the damage data on the captured image, and the instruction to edit the damage data displayed on the display unit are received, and the damage is damaged based on the editing command. Input of the projection relationship between the edit step to edit the data, the drawing data acquisition step to acquire the drawing data of the building to be inspected, and the photographed image displayed on the display unit and the drawing data acquired in the drawing data acquisition step. Based on the projection relationship received in the projection relationship reception step and the projection relationship reception step, the damage data generated in the damage data generation step or the damage data edited in the editing step is projected and converted. Includes an output step that outputs the damage data projected and transformed in the conversion step.

A program for causing a computer to execute a damage data editing step according to another aspect of the present invention is a program that acquires damage data by acquiring an image acquisition step of acquiring a photographed image of a building to be inspected and analyzing the photographed image. The damage data generation step to generate the damage data, the display control step to display the captured image on the display unit and overlay the damage data on the captured image, and the instruction to edit the damage data displayed on the display unit are accepted and edited. The editing step of editing the damage data based on the command of, the drawing data acquisition step of acquiring the drawing data of the building to be inspected, and the photographed image displayed on the display unit and the drawing data acquired in the drawing data acquisition step. Based on the projection relationship reception step that accepts the input of the projection relationship with and the projection relationship received in the projection relationship reception step, the damage data generated in the damage data generation step or the damage data edited in the editing step is projected and converted. It includes a projection conversion step and an output step that outputs the damage data projected and converted in the projection conversion step.

According to the present invention, the damage data is generated based on the detection of damage in the captured image before the projective conversion, and then the projective conversion is performed. Therefore, the captured image for which the damage is detected is affected by the deterioration of the image quality due to the projective conversion. It is possible to generate damage data that accurately reproduces the damage captured in the captured image. Further, according to the present invention, it is possible to provide the user with a function of confirming and editing whether or not the generated damage data accurately expresses the damage reflected in the captured image, and captures the captured image. It is possible to generate damage data that accurately represents the damage that has been done.

FIG. 1 is a perspective view showing the structure of a bridge, which is an example of a building. FIG. 2 is a block diagram showing a configuration example of the damage data editing device. FIG. 3 is a diagram showing an example of a damaged figure stored in the storage unit. FIG. 4 is a flowchart showing an operation flow of the damage data editing device. FIG. 5 is a diagram illustrating a specific example of the projection relationship accepted by the projection relationship reception unit. FIG. 6 is a block diagram showing a configuration example of the damage data editing device. FIG. 7 is a diagram illustrating mirroring. FIG. 8 is a diagram illustrating mirroring. FIG. 9 is a diagram showing an example of damage drawing data. FIG. 10 is a diagram showing an example of reverse damage drawing data. FIG. 11 is a flowchart showing an operation flow of the damage data editing device. FIG. 12 is a diagram showing an example of a CAD drawing. FIG. 13 is a diagram illustrating a specific example of input related to projection and mirroring. FIG. 14 is a diagram illustrating mirroring. FIG. 15 is a diagram showing damage data obtained by mirroring. FIG. 16 is a diagram illustrating the creation of damage drawing data. FIG. 17 is a diagram showing a display example of an edit screen relating to the coffer of the floor slab. FIG. 18 is a diagram schematically showing an example of a crack progress model in a floor slab. FIG. 19 is a diagram showing a photographed image in which the coffer was photographed. FIG. 20 is a diagram conceptually showing a robot device including a photographing device. FIG. 21 is an explanatory diagram for explaining variations of mirroring.

Hereinafter, preferred embodiments of the damage data editing apparatus, the damage data editing method, and the program according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a structure of a bridge which is an example of a building to which the present invention is applied, and is a perspective view when the bridge 1 is viewed from below. The bridge 1 in this figure has a main girder 2, a cross girder 3, an anti-tilt structure 4, and a horizontal structure 5. A floor slab 6, which is a concrete member, is provided on the upper part of the main girder 2. The main girder 2 is a member that is passed between the piers 7 (or the abutment) and supports the load on the floor slab 6. The cross girder 3 is a member that connects the main girders 2 in order to support the load by the plurality of main girders 2. The anti-tilt structure 4 and the horizontal structure 5 are members for connecting the main girder 2 in order to particularly resist a lateral load. The pier 7 is a column that supports the superstructures of the main girder 2, the cross girder 3, the anti-tilt structure 4, the horizontal structure 5, and the floor slab 6 of the bridge 1, and is a member corresponding to the leg of the bridge 1.

The bridge 1 shown in FIG. 1 is an example of a building introduced for use in the description of the present invention, and the building in the present invention is not limited to such a bridge 1. If the object can be inspected by detecting damage from the captured image, it corresponds to the building of the present invention. For example, the building in the present invention may be a tunnel.

<First Embodiment>
FIG. 2 is a block diagram showing a configuration example of the damage data editing device 20 according to the first embodiment. The damage data editing device 20 acquires a photographed image of the building to be inspected photographed by the photographing device 10.

The photographing device 10 is composed of a photographing device that photographs a building to be inspected. Examples of shooting devices include digital cameras, cameras built into smartphones, and cameras built into tablet terminals. The captured image acquired by the photographing device 10 is input to the damage data editing device 20.

The damage data editing device 20 of this embodiment is provided in, for example, a computer. The damage data editing device 20 mainly includes an image acquisition unit 22, a drawing data acquisition unit 24, a display unit 26, an operation unit 28, a CPU 30, and a storage unit 50.

The image acquisition unit 22 acquires a photographed image of the building to be inspected. Further, the image acquisition unit 22 may acquire a plurality of captured images obtained by separately photographing a section of the building. Here, a section of a building is, for example, a section of a building that is separated for convenience during inspection, and includes a coffer in the floor slab 6 (see FIGS. 1 and 19).

The drawing data acquisition unit 24 acquires drawing data of the building to be inspected. For example, the drawing data acquisition unit 24 acquires a CAD (computer aided design) drawing showing a building to be inspected. Further, the drawing data acquisition unit 24 may acquire the drawing data read by a scanner or the like.

The image acquisition unit 22 and the drawing data acquisition unit 24 can be configured by an input device that inputs a digital signal. As such an input device, for example, a communication device that performs wireless communication or wired communication may be used. An interface device with a storage medium such as a memory card may be used as an input device.

The display unit 26 is composed of a display device such as a liquid crystal display device. For example, the display unit 26 is composed of a computer monitor.

The operation unit 28 accepts the user's operation. It can be configured with a keyboard and mouse. The operation unit 28 may be configured by an operation device other than these, for example, a touch panel provided on the display unit 26.

The CPU 30 is a CPU (central processing unit) 30 that executes a program, and is composed of a single CPU or a plurality of CPUs.

The storage unit 50 stores the program and information necessary for executing the program. The storage unit 50 is composed of a memory device.

The CPU 30 includes a damage data generation unit 32, a projection-related reception unit 34, a projection conversion unit 36, a display control unit 38, an editing unit 40, and an output unit 44.

The damage data generation unit 32 generates damage data by analyzing the captured image. That is, the damage data generation unit 32 detects damage by executing image analysis on the captured image acquired by the image acquisition unit 22, and generates damage data expressing the damage. Here, the damages shown in the captured image include cracks, peeling, exposed reinforcing bars, free lime, and water leakage. The damage data is data that represents the damage shown in the captured image on the display unit 26. For example, the damage data may be image data that traces the damage shown in the captured image, or may be a damage figure (see FIG. 3) previously stored in the storage unit 50 for each type of damage. A known technique is used for the image analysis for detecting the damaged image in the captured image performed by the damage data generation unit 32 and the technique for generating the damage data.

FIG. 3 is a diagram showing an example of a damaged figure stored in the storage unit 50. As shown in FIG. 3, the storage unit 50 stores damage figures according to the type of damage in the storage unit 50, and the damage data generation unit 32 stores the damage figures stored according to the detected damage. It may be used as damage data. FIG. 3 illustrates damage figures of cracks, peeling, exposed rebar, free lime, and water leaks.

The projection-related reception unit 34 receives an input of a projection-related relationship between the captured image displayed on the display unit 26 and the drawing data acquired by the drawing data acquisition unit 24. The projection relationship received by the projection relationship reception unit 34 is accepted in various forms. For example, the projection-related reception unit 34 may accept the projection-related relationship by accepting the designation of four points corresponding to the captured image and the drawing data. Further, for example, the projection-related reception unit 34 detects a portion of the captured image that should be a rectangle by a known image recognition technique, and specifies a portion of drawing data corresponding to the detected portion that should be a rectangle. May be accepted.

The projective conversion unit 36 projects and converts the damage data detected by the damage data generation unit 32 or the damage data edited by the editorial unit 40 based on the projection relationship received by the projective relationship reception unit 34. The projective conversion unit 36 projects and converts the damage data or the damage data edited by the editorial unit 40 by a known technique. For example, the projective transformation unit 36 calculates a projective transformation matrix that matches the four points of the captured image with the four points of the drawing data, and is edited by the damage data generated by the damage data generation unit 32 or the editing unit 40 by the calculated projective transformation matrix. Homography of damaged data.

The display control unit 38 displays the captured image on the display unit 26 and overlays the damaged data on the captured image. That is, the display control unit 38 displays the captured image on the display unit 26, and superimposes and displays the damage data so as to correspond to the damage in the captured image. The display control unit 38 has a function of appropriately displaying the captured image, damage data, drawing data, and damage drawing data on the display unit 26.

The editorial unit 40 receives a command for editing the damage data displayed on the display unit 26, and edits the damage data based on the editing command. For example, the user compares the captured image displayed on the display unit 26 with the damage data automatically generated by the damage data generation unit 32, and if the damage data cannot accurately represent the damage of the captured image, Edit (process) damage data. In this case, the user uses a mouse (operation unit 28) attached to the computer to input a command regarding editing of damage data. Then, the editorial unit 40 edits the damage data based on the editing command. The editorial unit 40 also accepts various editing operations such as addition, deletion, and modification.

The output unit 44 outputs the damage data projected and converted by the projective conversion unit 36. The output form of the output unit 44 is not particularly limited, and any damage data or damage drawing data (FIGS. 9 and 10) may be effectively used. For example, the output unit 44 may output in a DXF (Drawing Exchange Format) file format, or may output in another image data format.

Next, the operation flow of the damage data editing device 20 will be described. FIG. 4 is a flowchart showing an operation flow of the damage data editing device 20 of the first embodiment.

First, the image acquisition unit 22 acquires a captured image captured by the photographing device 10 (step S10: image acquisition step). Then, the damage data generation unit 32 performs image analysis on the acquired captured image, detects the damage appearing in the captured image, and generates damage data based on the detection result (step S11: damage data generation). Step). After that, the display control unit 38 overlays the captured image and the detected damage data on the display unit 26 (step S12: display control step).

While checking the captured image and the damage data displayed on the display unit 26, the user inputs a command for editing the damage data displayed on the display unit 26 with a mouse connected to the personal computer, and the editorial unit 40 inputs the command for editing the damage data. The damage data is edited based on the input command (step S13: editing step).

Next, the drawing data acquisition unit 24 acquires the drawing data (step S14: drawing data acquisition step). The drawing data may be acquired in advance. For example, the drawing data acquisition unit 24 may acquire drawing data of the building to be inspected before the inspection work, and the acquired drawing data may be stored in the storage unit 50.

After that, the projection-related input is received by the projection-related reception unit 34 (step S15: projection-related reception step).

FIG. 5 is a diagram illustrating a specific example of the projection relationship received by the projection relationship reception unit 34.

The display control unit 38 displays a photographed image 100 of the pier 7 to be inspected on the display unit 26, and also displays a CAD drawing 70 (drawing data) of the building. Specifically, the captured image 100 and the CAD drawing 70 are displayed on the monitor of the computer.

The damage data DD1 and DD2 generated by the damage data generation unit 32 are overlaid so as to correspond to the damage in the captured image.

In the captured image 100 and the CAD drawing 70 of the pier 7 displayed on the display unit 26, the user inputs points corresponding to the four rectangular points by the pointing device of the computer. That is, the four points A1, B1, C1, and D1 of the captured image 100 are designated and input, and the corresponding four points A2, B2, C2, and D2 in the CAD drawing 70 are designated and input. Then, the projection-related reception unit 34 receives each of the four points (A1, B1, C1, and D1 of the captured image 100, and A2, B2, C2, and D2) input by the user as a projection relationship.

Returning to FIG. 4, the projection conversion unit 36 projects the damage data DD1 and DD2 of the captured image 100 based on the projection relationship received by the projection relationship reception unit 34 (step S16: projection conversion step). Specifically, the projective conversion unit 36 calculates a projective conversion matrix that aligns the four points A1, B1, C1, and D1 of the captured image 100 with the four points A2, B2, C2, and D2 of the drawing data. The damage data detected by the damage data generation unit 32 or the damage data edited by the editing unit 40 is projected and converted by the calculated projection conversion matrix.

After that, the projected damage data is output by the output unit 44 (step S17: output step).

In the above embodiment, the hardware structure of the processing unit that executes various processes is various processors as shown below. Programmable processors include CPUs, which are general-purpose processors that execute software (programs) and function as various processing units, and FPGAs (Field Programmable Gate Arrays), which can change the circuit configuration after manufacturing. A dedicated electric circuit, which is a processor having a circuit configuration specially designed for executing a specific process such as a logic device (Programmable Logic Device: PLD) and an ASIC (Application Specific Integrated Circuit), is included.

One processing unit may be composed of one of these various processors, or may be composed of two or more processors of the same type or different types (for example, a plurality of FPGAs or a combination of a CPU and an FPGA). You may. Further, a plurality of processing units may be configured by one processor. As an example of configuring a plurality of processing units with one processor, first, one processor is configured by a combination of one or more CPUs and software, as represented by a computer such as a client or a server. There is a form in which a processor functions as a plurality of processing units. Secondly, as typified by System On Chip (SoC), there is a form in which a processor that realizes the functions of the entire system including a plurality of processing units with one IC (Integrated Circuit) chip is used. is there. As described above, the various processing units are configured by using one or more of the above-mentioned various processors as a hardware-like structure.

Further, the hardware structure of these various processors is, more specifically, an electric circuit (circuitry) in which circuit elements such as semiconductor elements are combined.

Each of the above configurations and functions can be appropriately realized by any hardware, software, or a combination of both. For example, for a program that causes a computer to perform the above processing steps, a computer-readable recording medium (non-temporary recording medium) that records such a program, or a computer on which such a program can be installed. However, it is possible to apply the present invention.

<Second embodiment>
Next, a second embodiment of the present invention will be described.

FIG. 6 is a block diagram showing a configuration example of the damage data editing device 20 according to the second embodiment. The parts already described in FIG. 2 are designated by the same reference numerals and the description thereof will be omitted. The damage data editing device 20 mainly includes an image acquisition unit 22, a drawing data acquisition unit 24, a display unit 26, an operation unit 28, a CPU 30, and a storage unit 50.

The CPU 30 includes a damage data generation unit 32, a captured image composition unit 46, a damage data composition unit 48, a mirroring-related reception unit 52, a projection-related reception unit 34, a projection conversion unit 36, a mirroring unit 54, a display control unit 38, and an editorial unit 40. , Damage drawing data creation unit 42, and output unit 44.

The captured image synthesizing unit 46 synthesizes a plurality of captured images obtained by dividing and photographing a section of the building. That is, when a plurality of captured images are input by the image acquisition unit 22, the captured image synthesizing unit 46 synthesizes the input plurality of captured images. The image composition of the captured image synthesizing unit 46 is performed by using a known technique, for example, the captured images are synthesized by detecting the feature points of each captured image. Further, the photographed image synthesizing unit 46 may synthesize a plurality of photographed images photographed corresponding to one section represented by the drawing data for each section. For example, when a plurality of captured images in which coffers are adopted as one section are input, the captured image synthesizing unit 46 may synthesize captured images for each coffer.

The damage data generation unit 32 detects damage and generates damage data for each of the plurality of captured images even when a plurality of captured images are acquired by the image acquisition unit 22. That is, even when a plurality of images are acquired by the image acquisition unit 22, the damage data generation unit 32 performs image processing on each acquired image before being combined to generate damage data. To do. As a result, it is possible to suppress a decrease in damage detection accuracy due to the influence of image composition.

The damage data synthesizing unit 48 synthesizes damage data based on the composite information of a plurality of captured images synthesized by the captured image synthesizing unit 46. That is, the damage data compositing unit 48 is generated in each captured image based on the compositing information (for example, the overlap of the captured images at the time of compositing, the coordinates of the feature points, etc.) when the captured image compositing unit 46 synthesizes. Combine the damage data. Further, the damage data synthesizing unit 48 may synthesize a plurality of captured images for each section. For example, the damage data synthesizing unit 48 synthesizes damage data for each coffer when a coffer is adopted as one section.

The mirroring-related reception unit 52 receives an input related to mirroring between the captured image displayed on the display unit 26 and the drawing data acquired by the drawing data acquisition unit 24. The mirroring-related input is performed by, for example, the user designating each of the four corresponding points of the captured image displayed on the display unit 26 and the drawing data by the pointing device.

The mirroring unit 54 mirrors the damage data based on the mirroring relationship received by the mirroring relationship reception unit 52. Mirroring is also referred to as reflection reversal. The direction of the axis that is the center of mirroring (hereinafter referred to as the "mirroring axis") is not limited to the vertical direction of the image. That is, mirroring is not limited to so-called left-right reversal. Mirroring includes inversion other than left-right inversion (for example, upside-down inversion). It can be said that the mirroring in the present invention is an image process in which damage data is inverted around the mirroring axis. The direction of the mirroring axis can be determined by image analysis of the input captured image by the mirroring unit 54. Further, the mirroring of the present invention has a mode in which the direction of the mirroring shaft is fixed and a mode in which the direction of the mirroring shaft is variable. In the present specification, the latter mode of variable direction will be described in detail later.

Such mirroring will be described with reference to FIGS. 7 and 8. As shown in FIG. 7, if the letter "F" drawn on the upper surface of the floor slab 6 is seen through from the lower side of the floor slab 6, it actually looks like the "F" is turned upside down. This is because "F" has a non-axisymmetric shape. Similarly, since general damage (for example, cracks) has a non-axisymmetric shape, the shape of the damage in the image obtained by photographing the floor slab 6 from the lower side of the bridge 1 and the upper side of the bridge 1 It can be seen that the shape of the damage when the floor slab 6 is viewed through is in a mirroring relationship with each other. Therefore, as shown in FIG. 8, the photographed image IMG1 obtained by photographing from the lower side of the bridge 1 is converted into the mirrored image IMG2 corresponding to the image seen from the upper side of the bridge 1 by mirroring. Then, the shape of the damage is changed from the shape seen from the lower side of the bridge 1 (the shape in which "F" is turned upside down in FIG. 8) to the shape seen from the upper side of the bridge 1 (the shape of "F" in FIG. 8). ) Is converted to. It can be seen that the position of damage in the image can also be changed from the position when viewed from the shooting side to the position when viewed from the side opposite to the shooting side by mirroring.

In the example shown in FIG. 8, since the direction of the coordinate axis Gx of the overall coordinate system with respect to the bridge 1 and the left-right direction (x direction) of the captured image IMG1 match, the captured image IMG1 is turned upside down as mirroring. However, for example, when the direction of the coordinate axis Gx of the overall coordinate system and the vertical direction (y direction) of the captured image IMG1 match, the captured image IMG1 is flipped horizontally as mirroring.

The damage drawing data creation unit 42 creates damage drawing data (damage diagram) in which the damage data projected by the projective conversion unit 36 and the drawing data corresponding to the damage data are superimposed. In addition, the damage drawing data creation unit 42 can add various information input by the operation unit 28 to the damage drawing data.

The damage drawing data creation unit 42 adds the input inspection result information to the damage drawing data. For example, when the type of damage and the evaluation classification of the degree of damage (also referred to as “rank information”) are input via the operation unit 28, the damage drawing data creation unit 42 adds to the damage drawing data. The "input" of the inspection result information may be "selective input" which is an input in a format for selecting from predetermined candidates.

In addition, the damage drawing data creation unit 42 has a feature amount measuring function for measuring the feature amount of damage based on the damage data or the captured image. The damage drawing data creation unit 42 adds information indicating the measured feature amount to the damage drawing data. For example, the width, length, and spacing of the crack image in the damage data of the plate 6 of the bridge 1 are detected as the dimensions of the local coordinate system, and the dimensions of the local coordinate system are converted into the dimensions of the overall coordinate system. The display control unit 38 causes the display unit 26 to display the measured feature amount of damage and the mirrored image.

The output unit 44 outputs the mirrored and projective-transformed damage data. Further, when the damage drawing data is created by the damage drawing data creation unit 42, the output unit 44 outputs the damage drawing data.

The damage drawing data output by the output unit 44 when the damage drawing data is created by the damage drawing data creation unit 42 will be described below. The damage drawing data is data representing the damage drawing.

FIG. 9 is a diagram showing an example of damage drawing data. This damage drawing data shows damage data such as cracks, water leaks, and free lime for each damage that occurred on the floor slab 6 of the bridge 1 to be inspected, and the member name (in this example, "floor". Plate "), element number (Ds0101 to Ds0104, Ds0201 to Ds0204), type of damage ("crack", "leakage", "free lime", etc.), and evaluation classification of damage degree (also called "rank information") ) And the characteristic amount of damage (for example, the width and interval of cracks) are described. In this figure, the evaluation classification as the degree of damage is represented by the alphabets "a" to "e" in five stages.

Further, FIG. 10 is a diagram showing an example of inverted damage drawing data in which the damage drawing data shown in FIG. 9 is inverted. The inverted damage drawing data shown in FIG. 10 is composed of damage data mirrored by the mirroring unit 54. The drawing data is also mirrored by the mirroring unit 54. In the present invention, it is possible to edit (process) the damage drawing data (FIG. 9) from the photographed side and the damage data constituting the inverted damage drawing data (FIG. 10) viewed from the opposite side of the photographed side. Is.

In the inverted damage drawing data shown in FIG. 10, non-text components such as CAD drawings and damage data are mirrored by the mirroring unit 54. Further, the damage drawing data creation unit 42 changes the position in the drawing without mirroring the text components such as the member name, the element number, the type of damage, the rank information, and the feature amount of damage.

FIG. 11 is a flowchart showing an operation flow of the damage data editing device 20 of the second embodiment.

First, the image acquisition unit 22 acquires a plurality of captured images captured by the photographing device 10 (step S20). After that, the damage data generation unit 32 detects the damage appearing in the captured image by performing image processing on each captured image, and generates damage data based on the detection (step S21).

Next, the plurality of captured images acquired by the captured image synthesizing unit 46 are combined (step S22). Then, based on the result of synthesizing the captured image by the captured image synthesizing unit 46, the damage data synthesizing unit 48 synthesizes the damage data (step S23).

After that, the display control unit 38 overlays the captured image and the detected damage data on the display unit 26 (step S24).

While checking the captured image and the damage data displayed on the display unit 26, the user inputs a command for editing the damage data displayed on the display unit 26, for example, with a mouse connected to a personal computer, and the editorial unit 40 Edits the damage data based on the input editing command (step S25).

Next, the drawing data acquisition unit 24 acquires the drawing data (step S26). For example, the drawing data acquisition unit 24 inputs a CAD drawing showing the bridge 1 as drawing data. FIG. 12 is a diagram showing an example of a CAD drawing. “DsXXXXX” (Ds0101 to Ds0105 and Ds0201 to DS0205) in the figure is an element number for identifying the coffer, which is an element of the floor slab 6 of the bridge 1. Here, "Ds" is a symbol representing "floor slab", and "XXXX" is a grid-like arrangement position of coffers which is a range surrounded by the main girder 2 and the cross girder 3 of the floor slab 6. It is a number indicating. In other words, the floor slab 6 of this example is composed of a plurality of coffers in a grid pattern, and an element number is assigned to each coffer. The CAD drawing 80 of this example includes coffered rectangular frame information. The element number DsXXXXX in the figure may be omitted from the display unit 26.

Returning to FIG. 11, the projection-related input is received by the projection-related reception unit 34, and the mirroring-related input is received by the mirroring-related reception unit 52 (step S27).

FIG. 13 is a diagram illustrating a specific example of the projection-related and mirroring-related inputs received by the projection-related reception unit 34 and the mirroring-related reception unit 52. In the case shown in FIG. 13, the projection relationship and the mirroring relationship are input at the same time.

The display control unit 38 displays a photographed image 102 of the pier 7 to be inspected on the display unit 26, and also displays a CAD drawing 80 of the building. In the photographed image 102, the coffer of the floor slab 6 is photographed, and the floor slab 6 is damaged (cracked). Further, the damage data generation unit 32 analyzes the captured image 102 to detect cracks, and the damage data DD3 generated is superimposed and displayed. That is, the damage data DD3 is overlaid on the damage of the captured image 102.

For example, in the CAD drawing of the captured image 100 and the pier 7 displayed on the display unit 26, the user inputs points corresponding to four rectangular points by a pointing device of a computer. That is, the four points A1, B1, C1, and D1 of the captured image 100 are designated and input, and the corresponding four points A2, B2, C2, and D2 are designated and input in the CAD drawing. This input is a mirroring-related input at the same time as a projection-related input.

Next, the projective transformation unit 36 projects and mirrors the damage data DD3 of the captured image 100 based on the projective relationship received by the projective relationship reception unit 34 (step S28). For example, when the damage data DD3 is projected and transformed, it becomes the damage data DD4.

FIG. 14 is a diagram illustrating mirroring of each damage data performed by the mirroring unit 54. FIG. 14 shows coffer damage data DD5 before mirroring. The damage data DD5 is an image showing a damaged state seen from the lower side of the bridge 1, and is an image showing a damaged state of one of the coffers 6 of the floor slab 6. FIG. 15 is a diagram showing damage data DD6 obtained by mirroring the damage data DD5 of FIG. In this example, since the coordinate axes Gx of the overall coordinate system with respect to the bridge 1 and the left-right direction (x direction) of the damage data DD5 match, the damage data DD6 is inverted by turning the damage data DD5 upside down as mirroring. Is obtained. That is, the direction of the mirroring axis MAX in this example is the left-right direction (x direction) of the damage data DD5.

Returning to FIG. 11, after that, the damage drawing data composed of the damage data projected and transformed by the output unit 44 is output (step S29).

Here, a specific example will be described with respect to the creation of the damage drawing data performed by the damage drawing data creation unit 42.

FIG. 16 is a diagram illustrating the creation of damage drawing data performed by the damage drawing data creation unit 42. The damage drawing data in which the damage data DD6 generated by the damage drawing data creation unit 42 is superimposed on the CAD drawing 80 and displayed is displayed on the display unit 26. FIG. 16 shows an example in which the damage data DD6 shown in FIG. 15 is superimposed and displayed on the CAD drawing 80 shown in FIG. The alignment of the CAD drawing 80 and the damage data DD6 is performed by a known technique. For example, the CAD drawing 80 and the damage data DD6 are aligned based on the coordinate data of the CAD drawing 80 and the coordinate data of the damage data DD6.

Next, the damage drawing data creation unit 42 measures the feature amount of the damage based on the damage data DD6. For example, the width and spacing of cracks are measured as features.

Next, the damage drawing data creation unit 42 edits each element of the damage drawing data. FIG. 17 is a diagram showing a display example of an edit screen relating to a coffer to which the element number Ds0202 of the floor slab 6 is assigned. In this example, the display unit 26 displays the CAD drawing 80 and the damage data DD6, and at the same time, displays the damage list 82. In this example, since a crack is detected in the coffer of the element number Ds0202 based on the damage data DD6, the "crack" which is the "type" (type of damage) is the damage list by the damage drawing data creation unit 42. It is automatically filled in 82. Further, since the width and interval of the "cracks" are measured by the damage drawing data creation unit 42 as the feature amount of the "cracks" between the coffers of the element number Ds0202, the damage drawing data creation unit 42 measures the "cracks" in the damage list 82. It is automatically filled in the "Dimensions" field. Items that are not automatically filled in by the damage drawing data creation unit 42 can be input by the user by the operation unit 28. For example, when water leakage and free lime can be visually recognized in the damage data DD6, the user can input the type “water leakage + free lime” via the operation unit 28.

Further, when the undetected cracks are automatically visible in the damage data DD6, the user can input the type and dimensions of the cracks via the operation unit 28. Although not shown in FIG. 17, a scale image for measuring the size of the crack can be displayed on the display unit 26, and the size of the undetected crack can be measured using the scale image. Is. In order to reflect the undetected cracks in the damage drawing data, the operation unit 28 can perform a trace operation on the damage image in the damage data DD6. For example, when the operation unit 28 is composed of a touch panel, when the crack image in the damage data DD6 is traced with a finger or a pen, the trace of the trace is added to the damage drawing data as damage data. Here, the shape and position of the crack image in the damage data DD6 in the CAD drawing 80 correspond to the actual shape and position of the crack when the bridge 1 is viewed from the upper side (the side opposite to the photographing side). , Easy and accurate input.

The “category” of the damage list 82 is a column for inputting an evaluation category (also referred to as “rank information”) of the degree of damage. FIG. 18 is a diagram schematically showing an example of a crack progress model in the floor slab 6. In this progression model, the evaluation category RANK is represented by five stages from "a" to "e". The correspondence between each evaluation category RANK and the cracked state STATE is as follows.

a: No damage.

b: A state in which a plurality of cracks are generated in parallel along the lateral direction (the short direction orthogonal to the traffic direction of the vehicle). This is the stage where multiple cracks due to drying shrinkage form parallel beams.

c: A state in which cracks in the vertical direction (longitudinal direction parallel to the traffic direction of the vehicle) and cracks in the horizontal direction intersect each other. This is a stage in which a plurality of cracks are formed into a grid pattern due to the live load, and the crack density in the grid pattern region is increased. In the latter half of the period, cracks penetrate the floor slab 6 in the vertical direction (vertical direction orthogonal to the lower surface of the floor slab).

d: A state in which the crack density of the grid-like region exceeds a specified value and the fracture surfaces of a plurality of cracks that have penetrated are smoothed. This is the stage where the floor slab 6 loses its shear resistance due to the rubbing action.

e: A state in which omission has occurred. Falling out occurs due to a wheel load that exceeds the reduced punching shear strength.

In this way, the damage drawing data creation unit 42 edits the entire damage drawing data. Further, for example, the damage drawing data creation unit 42 may input the soundness determination classification regarding the entire floor slab 6 into the damage drawing data via the operation unit 28.

Next, the output unit 44 outputs the damage drawing data that has been edited by the damage drawing data creation unit 42. The damaged drawing data can be displayed and output to the display unit 26 by the display control unit 38, and can be printed and output to a printer (not shown) via the network. For example, the damaged drawing data shown in FIG. 9 is printed out by a printer. In addition, the damage drawing data can be uploaded to a database (not shown) via a network.

<Variations of mirroring>
In the second embodiment described above, in order to facilitate understanding of the present invention, the case where the direction of the mirroring axis is fixed has been described as an example, but the present invention has the case where the direction of such a mirroring axis is fixed. Not limited to. The present invention may have a configuration in which the direction of the mirroring axis is variable.

The mirroring unit 54 has a function of determining the direction of the mirroring axis based on various information. The mirroring unit 54 performs mirroring around the mirroring axis in the determined direction.

First, there is an embodiment in which an image (an image before mirroring) input by the image acquisition unit 22 is image-analyzed, and the direction of the mirroring axis is determined based on the result of the image analysis.

FIG. 19 is a diagram showing a photographed image in which the coffer was photographed. For example, it is assumed that the captured image IMG21 of the coffer of the floor slab 6 shown in FIG. 19 is acquired. The captured image IMG 21 includes an image EG of the edge of the coffer (hereinafter referred to as “edge image”). In real space, the shape of the edges of the coffers is rectangular, and the two orthogonal sides that make up the rectangle generally have different lengths. That is, the rectangle at the edge has a long side and a short side that are orthogonal to each other. Further, in the real space, the two sides of the rectangular edges orthogonal to each other have the same direction as the two coordinate axes Gx and Gy in the overall coordinate system with respect to the bridge 1. Therefore, the mirroring unit 54 detects an edge image from the captured image IMG21, projects the edge image into a rectangle as necessary, and then projects one of the long side and the short side orthogonal to each other of the rectangle. The direction of the mirroring axis can be determined based on the direction of. However, it goes without saying that the imaging object (inspection object) of the present invention is not limited to the coffer of the floor slab 6, and the direction of the mirroring axis may be determined based on the geometrical features of other imaging objects. No.

Second, the coordinate axes of the overall coordinate system (“first coordinate system”) based on the building and the local coordinate system (“second coordinate system”) based on the photographing device 10 that captured the image. There is an embodiment in which the direction of the mirroring axis is determined based on the angle formed by the coordinate axes of).

For example, as shown in FIG. 20, an image obtained by being photographed by the photographing device 10 mounted on the robot device 90 is input by the image acquisition unit 22, and the photographing device control information according to the photographing device control of the robot device 90. Is input by the image acquisition unit 22. As shown in FIG. 21, the photographing device control information includes the coordinate axes Gx, Gy, Gz of the entire coordinate system based on the bridge 1 and the coordinate axes Lx, Ly, Lz of the local coordinate system based on the photographing device 10. It contains angle information that indicates the angle between the two. In the local coordinate system of this example, the coordinate axis Lz of one of the three coordinate axes Lx, Ly, and Lz orthogonal to each other is the photographing direction (also referred to as the optical axis direction) of the photographing apparatus 10 and the plate 6 of the bridge 1. Orthogonal to (the surface to be photographed). That is, in this example, the direction of one coordinate axis Gz in the overall coordinate system and the direction of one coordinate axis Lz in the local coordinate system coincide with each other.

The robot device 90 of this example is a suspension type robot suspended from the bridge 1, and FIG. 20 shows only the main parts related to the photographing. The suspension type robot may be a robot that suspends from a traveling body (vehicle) on the bridge instead of suspending from the bridge 1. The present invention can also be applied when an unmanned aerial vehicle such as a drone (unmanned aerial vehicle) is used instead of the suspended robot.

The robot device 90 of this example includes a photographing device control mechanism 92 that controls the movement and rotation of the photographing device 10. The photographing device control mechanism 92 has an XYZ moving mechanism capable of moving the photographing device 10 in the Gx direction, the Gy direction, and the Gz direction orthogonal to each other, and rotates the photographing device 10 in the pan direction P and the tilt direction T, respectively. It also serves as a possible pan-tilt mechanism.

The mirroring unit 54 can determine the direction of the mirroring axis based on the angle information indicating the angle formed by the coordinate axis Gx (or Gy) of the global coordinate system and the coordinate axis Lx (or Ly) of the local coordinate system. ..

Further, when the photographing device 10 is rotated in the pan direction P, that is, when the azimuth angle of the photographing device 10 is variable with respect to the overall coordinate system with respect to the bridge 1, the mirroring unit 54 uses the coordinate axes of the overall coordinate system. It is possible to determine the direction of the mirroring axis based on the azimuth angle of the imaging device 10 with respect to Gx or Gy.

Since there are various modes of setting the coordinate axes Lx, Ly, and Lz of the local coordinate system with respect to the coordinate axes Gx, Gy, and Gz of the overall coordinate system, and the mode of pan-tilting (angle control mode) of the photographing device 10, the local coordinates thereof. The angle information corresponding to the setting mode of the coordinate axes of the system and the angle control mode of the photographing device 10 may be acquired, and the direction of the mirroring axis may be determined based on the angle information.

<Client-server type>
In the client-server type system, the damage data editing device 20 may be configured by at least one of the client device and the server device. In other words, the damage data editing device 20 of the present invention may be composed of one or more computer devices of the client-server type system.

Although the embodiments for carrying out the present invention have been described above, the present invention is not limited to the above-described embodiments and modifications, and various modifications can be made without departing from the gist of the present invention.

1 Bridge 2 Main girder 3 Horizontal girder 4 Anti-tilt structure 5 Horizontal structure 6 Floor slab 7 Pier 10 Imaging device 20 Damage data editing device 22 Image acquisition unit 24 Drawing data acquisition unit 26 Display unit 28 Operation unit 30 CPU
32 Damage data generation unit 34 Projection-related reception unit 36 Projection conversion unit 38 Display control unit 40 Editing department 42 Damage drawing data creation unit 44 Output unit 46 Photographed image composition unit 48 Damage data composition unit 50 Storage unit 52 Mirroring-related reception unit 54 Mirroring Part 82 Damage list 90 Robot device 92 Imaging device control mechanism Step S10-Step S17 Damage data editing step of the first embodiment Step S20-Step S29 Damage data editing step of the second embodiment

Claims (11)

An image acquisition unit that acquires a plurality of captured images obtained by separately photographing a section of the building to be inspected, and an image acquisition unit.
A damage data generation unit that detects damage and generates damage data expressing the damage by performing image analysis of the plurality of captured images before the plurality of captured images are combined.
A captured image compositing unit that synthesizes the plurality of captured images, and
A damage data synthesizing unit that synthesizes the damage data based on the composite information of the captured image synthesized by the photographed image synthesizing unit.
Display and
A display control unit that displays the combined captured image on the display unit and overlays the combined damage data on the combined captured image.
An editorial unit that receives a command for editing the synthesized damage data displayed on the display unit and edits the synthesized damage data based on the editing command.
A drawing data acquisition unit that acquires drawing data of the building to be inspected,
A projection-related reception unit that accepts input of a projection relationship between the synthesized photographed image displayed on the display unit and the drawing data acquired by the drawing data acquisition unit, and a projection-related reception unit.
Homography that projects or transforms the synthesized damage data synthesized by the damage data synthesis unit or the synthesized damage data edited by the editorial unit based on the projection relationship received by the projection reception unit. Department and
An output unit that outputs the combined damage data that has been projected and converted by the projection conversion unit,
Damage data editing device equipped with. The display control unit causes the display unit to display the drawing data.
The projection-related reception unit has four points of the combined photographed image showing the projection relationship between the combined photographed image displayed on the display unit and the drawing data acquired by the drawing data acquisition unit. The damage data editing device according to claim 1, which receives four points of the drawing data. The projective transformation unit calculates a projective transformation matrix that matches the four points of the synthesized photographed image with the four points of the drawing data, and the composited by the damage data compositing unit using the calculated projective transformation matrix. The damage data editing apparatus according to claim 1 or 2, which projects and transforms the damage data or the synthesized damage data edited by the editorial unit. A mirroring-related reception unit that accepts input related to mirroring between the combined photographed image displayed on the display unit and the drawing data acquired by the drawing data acquisition unit, and a mirroring-related reception unit.
A mirroring unit for mirroring the synthesized damage data based on the mirroring relationship received by the mirroring-related reception unit is provided.
The damage data editing device according to any one of claims 1 to 3, wherein the output unit outputs the combined damage data that has been mirrored and projected. The photographed image synthesizing unit according to any one of claims 1 to 4, wherein the plurality of photographed images photographed corresponding to the one section represented by the drawing data are combined for each section. The damage data editing device described. The damage data editing device according to any one of claims 1 to 5, wherein the damage data synthesizing unit synthesizes each section. A damage drawing data creation unit for creating damage drawing data in which the combined damage data projected and transformed by the projection conversion unit and the drawing data corresponding to the combined damage data are superimposed is provided.
The damage data editing device according to any one of claims 1 to 6, wherein the output unit outputs the damage drawing data. The damage data editing device according to any one of claims 1 to 7, wherein the building is a bridge or a tunnel. An image acquisition step to acquire a plurality of captured images obtained by separately photographing a section of the building to be inspected, and
A damage data generation step of detecting damage and generating damage data expressing the damage by performing image analysis of the plurality of captured images before the plurality of captured images are combined.
The captured image composition step of synthesizing the plurality of captured images, and
A damage data synthesis step that synthesizes the damage data based on the composite information of the captured image synthesized in the captured image synthesis step,
A display control step of displaying the combined photographed image on the display unit and overlaying the combined damage data on the combined photographed image.
An editing step of receiving a command for editing the synthesized damage data displayed on the display unit and editing the synthesized damage data based on the editing command, and
The drawing data acquisition step for acquiring the drawing data of the building to be inspected, and
A projection relationship reception step that accepts input of a projection relationship between the synthesized photographed image displayed on the display unit and the drawing data acquired in the drawing data acquisition step, and a projection relationship reception step.
Homography to project the synthesized damage data synthesized in the damage data synthesis step or the synthesized damage data edited in the editing step based on the projection relationship received in the projection reception step. Steps and
An output step that outputs the combined damage data projected and transformed in the projective transformation step,
Damage data editing methods including. An image acquisition step to acquire a plurality of captured images obtained by separately photographing a section of the building to be inspected, and
A damage data generation step of detecting damage and generating damage data expressing the damage by performing image analysis of the plurality of captured images before the plurality of captured images are combined.
The captured image composition step of synthesizing the plurality of captured images, and
A damage data synthesis step that synthesizes the damage data based on the composite information of the captured image synthesized in the captured image synthesis step,
A display control step of displaying the combined photographed image on the display unit and overlaying the combined damage data on the combined photographed image.
An editing step of receiving a command for editing the synthesized damage data displayed on the display unit and editing the synthesized damage data based on the editing command, and
The drawing data acquisition step for acquiring the drawing data of the building to be inspected, and
A projection relationship reception step that accepts input of a projection relationship between the synthesized photographed image displayed on the display unit and the drawing data acquired in the drawing data acquisition step, and a projection relationship reception step.
Homography to project the synthesized damage data synthesized in the damage data synthesis step or the synthesized damage data edited in the editing step based on the projection relationship received in the projection reception step. Steps and
An output step that outputs the combined damage data projected and transformed in the projective transformation step,
A program that causes a computer to perform a damage data editing process, including. A computer-readable recording medium on which the program according to claim 10 is recorded.

Images