JP6874096B2 - Damage diagram editing device and program - Google Patents

Description

The present invention relates to a damage diagram editing device and a program for editing a damage diagram illustrating a damaged state of a structure, and in particular, an accurate and easy damage diagram illustrating a damaged state viewed from the side opposite to the imaging side of the structure. With respect to damage diagram editing devices and programs that allow editing.

As social infrastructure, there are structures such as bridges and tunnels. These structures are damaged and the damage is progressive, so regular inspections are required.

An investigator who inspects a structure needs to prepare an inspection record of a predetermined format as a form showing the result of the inspection, and one of the inspection records is a damage diagram showing a damaged state of the structure. By looking at the damage diagram created in the prescribed format, even an expert different from the investigator who actually inspected can grasp the progress of damage to the structure and formulate a maintenance plan for the structure. Will be possible.

Patent Document 1 describes a CAD (computer aided design) drawing showing a building and a CAD (computer aided design) drawing showing the building when creating a diagram showing cracks on the outer wall surface of the building (corresponding to the above-mentioned "damage diagram"). The captured image is displayed in a different display area of the computer device, and when the cracked image in the displayed captured image is trace-operated by the operation device, the trace diagram corresponding to the trace operation is mapped on the CAD drawing. That is stated.

In Patent Document 2, when creating a developed view showing an uneven shape of an inner wall surface of a tunnel, an uneven shape figure is generated based on measurement data obtained by measuring the inner wall surface of the tunnel with a laser scanner, and the uneven shape figure is generated. It is described that the pattern of the image is drawn on the uneven shape figure. This developed view can be created as a view showing the uneven shape when the inner wall surface is viewed through the tunnel from above the tunnel.

Japanese Unexamined Patent Publication No. 2005-31044 Japanese Unexamined Patent Publication No. 2012-220471

As a damage diagram of a predetermined format, it may be required to create a damage diagram illustrating a damage state viewed from the side opposite to the visual side of the structure. For example, an investigator who visually inspects the deck of a bridge sketches the damaged state of the deck as seen from the upper side of the bridge in the field note even if he / she actually visually inspects the damaged state of the deck from the lower side of the bridge. You need to create a formal damage diagram.

In addition, when the floor slab is imaged with an imaging device such as a digital camera instead of visual inspection, the image is taken from the underside of the bridge according to the image of the floor slab obtained from the underside of the bridge. Needs to create a damage diagram of a given format to illustrate the damage condition as seen from the opposite side (upper side of the bridge).

However, since the shape and position of the damage look different when viewed from the lower side of the bridge and when viewed from the upper side of the bridge on the opposite side, the load for creating a damage diagram that accurately reflects the damage state is applied. It takes. For example, when creating a damage diagram that illustrates the state of cracks, it is necessary not only to enter numerical values such as the width of the cracks and the distance between the cracks in the damage diagram, but also to accurately enter the shape and position of the cracks in the damage diagram. Be done. Here, if the actual cracked state is not accurately reflected in the damage diagram, it becomes difficult to accurately grasp the progress of damage to the structure, and it becomes difficult to formulate an appropriate maintenance plan.

According to the technique described in Patent Document 1, the investigator traces the cracked image in the captured image displayed on the computer device to map the trace diagram corresponding to the cracked image on the CAD drawing. However, the damaged state seen from the side opposite to the image pickup side of the structure cannot be mapped on the CAD drawing. In the first place, in the embodiment of Patent Document 1, since the inspection target is the outer wall surface of the building, it is considered sufficient to be able to create a diagram of the cracked state as seen from the imaging side (outside the building).

According to the technique described in Patent Document 2, it is possible to create a developed view showing the uneven shape when the inner wall surface is viewed through the tunnel from above the tunnel, but the uneven shape of the inner wall surface of the tunnel is measured by a laser scanner. If a laser scanner is not used, it is not possible to create a developed view showing the uneven shape of the inner wall surface when viewed from above the tunnel.

An object of the present invention is to provide a damage diagram editing device and a program that enable accurate and easy editing of a damage diagram illustrating a damage state viewed from the side opposite to the imaging side of a structure.

In order to achieve the above-mentioned object, the damage diagram editing device according to the first aspect of the present invention has an image input unit for inputting an image of the structure to be inspected and a mirror movie by mirror-reversing the input image. An operation unit that acquires an image, a display unit, a display control unit that displays a mirror image on the display unit, an operation unit that accepts user operations, and an operation while the mirror image is displayed on the display unit. It is provided with an editorial unit that edits a damage diagram showing a damage state of a structure and corresponding to a mirror image according to an operation accepted by the unit.

According to this aspect, the input image is mirror-inverted to obtain a mirror image, and the structure is damaged according to the operation accepted by the operation unit while the mirror image is displayed on the display unit. Since the damage diagram showing the state of is edited and the damage diagram corresponding to the mirror image is edited, the user can acquire the damage diagram corresponding to the mirror image by performing the editing operation while looking at the mirror image. it can. That is, it is possible to accurately and easily edit the damage diagram showing the damage state seen from the side opposite to the image pickup side of the structure.

The damage diagram editing device according to the second aspect of the present invention includes an image synthesizing unit that performs image composition, the image input unit inputs a plurality of divided images of the structure as an image, and the reflection inversion unit is a plurality. Each of the divided images of the above is mirror-inverted, and the image compositing unit synthesizes a plurality of the mirror-inverted divided images. According to this aspect, even in the case of split imaging, it is possible to accurately and easily edit a damage diagram illustrating a damaged state as seen from the side opposite to the imaging side of the structure.

The damage diagram editing device according to the third aspect of the present invention includes an image synthesizing unit that performs image composition, the image input unit inputs a plurality of divided images of the structure as an image, and the reflection inversion unit is an image. The composite image obtained by synthesizing a plurality of divided images by the compositing unit is mirror-inverted. According to this aspect, even in the case of split imaging, it is possible to accurately and easily edit a damage diagram illustrating a damaged state as seen from the side opposite to the imaging side of the structure.

In the damage diagram editing apparatus according to the fourth aspect of the present invention, the image synthesizing unit performs a plurality of image processing on each of the plurality of divided images by performing at least one of scaling, tilt correction, and rotation. Correction is performed for the discrepancy in the distance or angle between the imaged surface of the structure over the divided image and the image capturing device that captured the image. According to this aspect, it is possible to generate a highly accurate damage diagram even when the influence of the distance or angle mismatch between the image-image surface of the structure and the image pickup apparatus exists over a plurality of divided images.

The damage diagram editing device according to the fifth aspect of the present invention includes a drawing input unit for inputting a drawing showing a structure, and the display control unit superimposes a mirror image on the drawing and displays it on the display unit. According to this aspect, since the damage diagram can be edited while looking at the superimposedly displayed drawings and the mirrored image, it is possible to easily create an accurate damage diagram.

In the damage diagram editing device according to the sixth aspect of the present invention, the operation unit receives a trace operation for the damaged image in the mirror image while the mirror image is displayed on the display unit, and the display control unit traces. The damaged figure corresponding to the operation is superimposed on the damaged image in the mirror image and displayed on the display unit, and the editorial unit adds the damaged figure corresponding to the trace operation to the damage diagram. According to this aspect, it is possible to easily create an accurate damage diagram by tracing the damage image in the mirrored image.

The damage diagram editing device according to the seventh aspect of the present invention includes a damage detection unit that detects a damage image from a mirror image or an image before mirror inversion, and the display control unit corresponds to the detected damage image. The damaged figure is superimposed on the damaged image in the mirror image and displayed on the display unit, and the editorial unit adds the damaged figure to the damage diagram. According to this aspect, the damage figure corresponding to the damage image is automatically generated and automatically added to the damage diagram, so that the user does not have to perform complicated operations and the damage diagram accurately reflects the damage state. Will be able to be obtained.

In the damage diagram editing device according to the eighth aspect of the present invention, the operation unit accepts the input of the inspection result information for the damage while the mirror image is displayed on the display unit, and the display control unit receives the input inspection. The result information and the mirrored image are displayed on the display unit, and the editorial department adds the input inspection result information to the damage diagram.

In the damage diagram editing device according to the ninth aspect of the present invention, the editorial unit measures the feature amount of the damage based on the mirror image or the image before the reflection inversion, and provides the information indicating the measured feature amount as the damage diagram. Add to.

The damage diagram editing device according to the tenth aspect of the present invention includes a damage diagram input unit for inputting a damage diagram showing the state of damage seen from the side opposite to the imaging side of the structure, and the display control unit inputs. The damaged figure and the mirrored image are displayed on the display unit.

In the damage diagram editing device according to the eleventh aspect of the present invention, a damage diagram input unit for inputting a damage diagram showing the state of damage seen from the side opposite to the imaging side of the structure and the input damage diagram are structured. The display control unit displays the inversion damage diagram and the image on the display unit, including a damage diagram inversion unit that converts the damage diagram into an inversion damage diagram showing the state of damage seen from the image pickup side of the object.

In the damage diagram editing device according to the twelfth aspect of the present invention, the damage diagram showing the damage state seen from the side opposite to the image pickup side of the structure is inverted to show the damage state seen from the image pickup side of the structure. It is equipped with a damage diagram reversing unit that converts to a damage diagram, the operation unit accepts the reversing operation related to the damage diagram, and the display control unit displays the damage diagram displayed on the display unit and the inverted damage diagram according to the reversing operation. Switches from the state displayed on the display unit.

In the damage diagram editing device according to the thirteenth aspect of the present invention, the reflection reversal unit analyzes the input image and determines the direction of the reflection reversal axis.

In the damage diagram editing device according to the fourteenth aspect of the present invention, the reflection inversion portion is the coordinate axis of the first coordinate system based on the structure and the second coordinate system based on the image capturing device that captured the image. The direction of the reflection inversion axis is determined based on the angle formed by the coordinate axes of.

In the damage diagram editing device according to the fifteenth aspect of the present invention, the reflection reversal unit determines the direction of the reflection reversal axis based on the azimuth angle of the image pickup device that captured the image with reference to the structure.

In the damage diagram editing method according to the 16th aspect of the present invention, a step of inputting an image of the structure to be inspected, a step of mirror-inverting the input image to acquire a mirrored image, and a display device. Corresponding to the mirror image, which is a damage diagram showing the state of damage to the structure according to the step of displaying the mirror image and the operation received by the operation device while the mirror image is displayed on the display device. A step of editing a damage diagram to be performed.

It is possible to accurately and easily edit the damage diagram showing the damage state seen from the side opposite to the image pickup side of the structure.

FIG. 1 is a perspective view showing a structure of a bridge which is an example of a structure. FIG. 2 is a block diagram showing a configuration example of the damage diagram editing device according to the first embodiment. FIG. 3 is a first explanatory diagram used for explaining the reflection reversal. FIG. 4 is a second explanatory view used for explaining the reflection reversal. FIG. 5 is an explanatory diagram showing an example of a damaged figure. FIG. 6 is an explanatory diagram showing an example of a damage diagram. FIG. 7 is an explanatory view showing an example of a reverse damage diagram. FIG. 8 is a flowchart showing the flow of the first damage diagram editing process example in the first embodiment. FIG. 9 is a diagram showing an example of a CAD drawing. FIG. 10 is a diagram showing an example of the displayed image. FIG. 11 is a diagram showing an example of the displayed mirror image. FIG. 12 is a diagram showing an example in which a mirror image is superimposed and displayed on a CAD drawing. FIG. 13 is a diagram showing a display example of an edit screen relating to the coffer of the floor slab. FIG. 14 is a diagram schematically showing an example of a crack progress model in a deck slab. FIG. 15 is a flowchart showing a flow of a second damage diagram editing process example in the first embodiment. FIG. 16 is a flowchart showing a flow of a third damage diagram editing process example in the first embodiment. FIG. 17 is a block diagram showing a configuration example of the damage diagram editing device according to the second embodiment. FIG. 18 is an explanatory diagram for explaining a variation of the reflection inversion, and is a diagram showing an example of an image for each coffer of the floor slab. FIG. 19 is an explanatory diagram showing an example of an imaging device mounted on a suspended robot device. FIG. 20 is an explanatory diagram for explaining a variation of reflection inversion.

Hereinafter, a mode for carrying out the damage diagram editing device and the program according to the present invention will be described with reference to the accompanying drawings.

[Structure example]
FIG. 1 is a perspective view showing a structure of a bridge which is an example of a structure to which the present invention is applied, and is a perspective view when the bridge 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 abutments or piers and supports the load on the deck 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 bridge 1 shown in FIG. 1 is an example of a structure introduced for use in the description of the present invention, and the “structure” in the present invention is not limited to such a bridge. The structure in the present invention may be, for example, a tunnel.

[First Embodiment]
FIG. 2 is a block diagram showing a configuration example of the damage diagram editing device according to the first embodiment.

The image pickup device 10 is composed of an image pickup device that images a structure to be inspected. Examples of imaging devices include digital cameras and smartphones. Imaging devices other than these may be used.

The damage diagram editing device 20 includes a display unit 22 capable of displaying an image, an operation unit 24 that accepts user operations, and an image input unit 26 that inputs an image obtained by imaging a structure to be inspected by the image pickup device 10. A drawing input unit 28 for inputting a CAD (computer aided design) drawing indicating a structure to be inspected, a CPU (central processing unit) 30 for executing a program, a program, and information necessary for executing the program are stored. The storage unit 50 is provided.

The display unit 22 is composed of a display device such as a liquid crystal display device. The operation unit 24 can be configured by a keyboard and a mouse. The operation unit 24 may be configured by an operation device other than these, for example, a touch panel. The image input unit 26 and the drawing input unit 28 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 CPU 30 may be composed of a plurality of CPUs. The storage unit 50 is composed of a memory device.

The CPU 30 includes a display control unit 32 that controls the display unit 22, an image correction unit 34 that performs image correction, a reflection reversal unit 36 that mirror-inverts an image and acquires a mirror image, and an image that performs image composition. The composite unit 38, the damage detection unit 40 that detects the damage image from the reflection image (or the image before the reflection inversion), and the damage diagram showing the damage state of the structure and corresponding to the reflection image. It is configured to include an editorial unit 42 for editing.

The display control unit 32 superimposes the mirrored image on the CAD drawing and displays it on the display unit 22. Further, the display control unit 32 causes the display unit 22 to display the mirror image and the damage diagram.

The image correction unit 34 performs necessary image processing of scaling, tilt correction, and rotation on the image. That is, correction is performed for the discrepancy in the distance or angle between the image-image surface of the structure over the plurality of divided images and the image pickup apparatus 10. “Scale” in this example is a scale correction for a mismatch in the distance between the image pickup apparatus 10 and the deck 6 (the surface to be imaged) over a plurality of divided images. The image correction unit 34 of this example performs image processing for matching the scales among a plurality of images by enlarging or reducing the image. The “tilt correction” in this example is a correction for a mismatch in the tilt angle of the floor slab 6 (the surface to be imaged) with respect to the imaging direction of the imaging device 10 over a plurality of divided images. The image correction unit 34 of this example performs image processing to reduce or match the distortion of the image according to the tilt angle of the deck 6 with respect to the imaging direction. “Rotation” in this example is a correction for a mismatch of the azimuth angles of the image pickup apparatus 10 with respect to the floor slab 6 (the surface to be imaged) over a plurality of divided images. The image correction unit 34 of this example performs image processing for matching the angles of the floor slab 6 in the image between a plurality of images. The parameters of each correction can be input from the operation unit 24. For example, the operation unit 24 receives inputs such as distance information, tilt angle information, and azimuth angle information. The correction parameter may be acquired from the image pickup apparatus 10. For example, the image correction unit 34 acquires the coordinate values in the local coordinate system based on the image pickup apparatus 10, converts them into the coordinate values in the overall coordinate system based on the bridge 1, and based on the coordinate values in the overall coordinate system. Determine the correction parameters. When a correction parameter is added to the image, the image correction may be performed using the correction parameter added to the image. Correction parameters may be derived based on the image. For example, it is possible to detect the edge of the coffer from the image, calculate the shape, size, and angle of the edge region in the image based on the image, and derive the correction parameter based on the calculation result. In addition, when the above-mentioned "enlargement / reduction", "tilt correction" and "rotation" are combined, it can be performed as one image processing. A known projective transformation can be used as the image processing.

The reflection inversion unit 36 performs reflection inversion, which is an image process for converting an image input by the image input unit 26 into a reflection image. The "mirror image" is also referred to as a "mirror image". "Reflection of reflection" is also called "mirroring". The direction of the axis that is the center of the reflection inversion (hereinafter referred to as the "reflection inversion axis") is not limited to the vertical direction of the image. That is, the reflection reversal is not limited to the so-called left-right reversal. Reflection inversion includes inversion other than left-right inversion (for example, upside-down inversion). It can be said that the reflection inversion in the present invention is an image process that inverts an image about the reflection inversion axis. The direction of the reflection inversion axis can be determined, for example, by image analysis of the input image. Further, the reflection reversal of the present invention includes a mode in which the direction of the reflection reversal axis is fixed and a mode in which the direction of the reflection reversal axis is variable. In the present specification, the latter mode of variable direction will be described in detail later.

Such reflection reversal will be described with reference to FIGS. 3 and 4. As shown in FIG. 3, if the letter "F" drawn on the upper surface of the deck 6 is seen through from the lower side of the deck 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 imaging the deck 6 from the lower side of the bridge 1 and the upper side of the bridge 1 It can be seen from the above that the shape of the damage when the floor slab 6 is viewed through is in a mirror-reversed relationship with each other. Therefore, as shown in FIG. 4, the image IMG1 obtained by imaging from the lower side of the bridge 1 is converted into the mirror image IMG2 corresponding to the image seen from the upper side of the bridge 1 by the mirror reflection inversion. 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. 4) to the shape seen from the upper side of the bridge 1 (the shape of "F" in FIG. 4). ) 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 imaging side to the position when viewed from the side opposite to the imaging side by reflecting the reflection. The case where the image is divided into a plurality of times will be described in detail later.

In the example shown in FIG. 4, 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 image IMG1 match, the image IMG1 is turned upside down as a reflection inversion. However, for example, when the direction of the coordinate axis Gx of the overall coordinate system and the vertical direction (y direction) of the image IMG1 match, the image IMG1 is flipped horizontally as a reflection reversal.

When a plurality of images (hereinafter referred to as “divided images”) obtained by dividing and imaging the structure a plurality of times are input to the image input unit 26, the image synthesizing unit 38 combines the plurality of divided images into one image. Combine with the image of. Such image composition modes include a first image composition mode in which a plurality of mirror-inverted divided images (mirror images) are combined, and a plurality of divided images (non-mirror movie) before reflection inversion. There is a second image composition mode for synthesizing (which is an image). Details of each synthesis mode will be described later.

In the first image composition mode, the reflection inversion unit 36 mirror-inverts each of the plurality of divided images. Further, in the first image composition mode, the display control unit 32 superimposes each of the mirror-inverted divided images on the imaged region in the CAD drawing showing the structure viewed from the side opposite to the image capturing side. be able to. In the second image composition mode, the reflection inversion unit 36 mirror-inverts the composite image obtained by synthesizing a plurality of divided images by the image composition unit 38. Further, in the second image composition mode, the display control unit 32 can superimpose each divided image before the reflection inversion on the imaged region in the CAD drawing showing the structure viewed from the imaging side.

The damage detection unit 40 detects the damage image from the mirror image (or the image before the reflection inversion). For example, an image of damage (damage image) such as cracks, peeling, exposed reinforcing bars, free lime, and water leakage is detected from the mirror image of the deck 6 of the bridge 1, and the detected damage image is extracted from the mirror image.

The editorial unit 42 has a damage figure generation function of generating a damage figure corresponding to the damage image detected by the damage detection unit 40. The display control unit 32 superimposes the damage figure corresponding to the detected damage image on the damage image in the mirror image and displays it on the display unit 22. For example, damage figures such as cracks, peeling, exposed reinforcing bars, free lime, and water leakage shown in FIG. 5 are generated. The shape of each damaged figure corresponds to the shape of the damaged image in the mirror image. The editorial unit 42 adds the generated damage figure to the damage diagram.

In addition, the editorial unit 42 can generate a damaged figure corresponding to the trace operation in the operation unit 24. The operation unit 24 receives a trace operation for a damaged image in the mirrored image while the mirrored image is displayed on the display unit 22. The display control unit 32 superimposes the damaged figure corresponding to the trace operation on the damaged image in the mirror image and displays it on the display unit 22. The editorial unit 42 adds a damaged figure corresponding to the trace operation to the damage diagram. Moreover, it is preferable to accept not only addition but also various editing operations such as "deletion" and "correction".

In addition, the editorial unit 42 adds various information input by the operation unit 24 to the damage diagram. The operation unit 24 receives input of inspection result information for damage while the mirror image is displayed on the display unit 22. The display control unit 32 causes the display unit 22 to display the input inspection result information and the mirrored image. The editorial unit 42 adds the input inspection result information to the damage diagram. For example, when the type of damage and the evaluation classification of the degree of damage (also referred to as “rank information”) are input from the operation unit 24, they are added to the damage diagram. The "input" of the inspection result information may be "selection input" which is an input in a format for selecting from predetermined candidates.

In addition, the editorial unit 42 has a feature amount measuring function for measuring the feature amount of damage based on the mirror image (or the image before mirror reflection inversion). The editorial unit 42 adds information indicating the measured feature amount to the damage diagram. For example, the width, length, and interval of the cracked image in the mirror image of the deck 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 32 causes the display unit 22 to display the measured feature amount of damage and the mirrored image.

FIG. 6 is a diagram showing an example of a damage diagram. This damage diagram shows the damage figures such as cracks, water leaks, and free lime, and the member names (in this example, "deck") for each damage that occurred on the deck 6 of the bridge 1 to be inspected. ”), Element numbers (Ds0101 to Ds0104, Ds0201 to Ds0204), types of damage (“cracking”, “water leakage”, “free lime”, etc.), and evaluation classification of the degree of damage (also referred to as “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, the CPU 30 includes a damage diagram reversing unit 44 that inverts the damage diagram. FIG. 7 shows an example of an inverted damage diagram obtained by reversing the damage diagram shown in FIG. As shown in FIG. 7, the damage diagram inversion portion 44 of this example shows the damage diagram of FIG. 6 showing the state of damage seen from the side opposite to the image pickup side of the structure, and the damage seen from the image pickup side of the structure. It is converted into a reverse damage diagram of FIG. 7 showing the state of.

The damage diagram inversion unit 44 of this example mirror-inverts non-text components such as a CAD drawing and a damage figure by the reflection inversion unit 36, while the member name, element number, damage type, rank information, and damage feature amount. It is preferable in that the position in the figure is changed without mirror-reversing the text component such as. However, the present invention also includes a case where the text component is mirror-reversed in the same manner as the non-text component. By mirror-reversing the CAD drawing and the damaged figure of the non-text component, it becomes easy to visually recognize at least whether or not the shape and position of the damaged figure are correct. For example, it becomes possible to compare with a sketch of a damaged state when the bridge 1 is viewed from below.

The operation unit 24 receives a reversal operation related to the damage diagram. The display control unit 32 switches between a state in which the damage diagram shown in FIG. 6 is displayed on the display unit 22 and a state in which the reverse damage diagram shown in FIG. 7 is displayed on the display unit 22 in response to the reversing operation. ..

Next, an example of the damage diagram editing process to which the damage diagram editing method of the present invention is applied will be described.

FIG. 8 is a flowchart showing the flow of the first damage diagram editing process example in the first embodiment. This process is executed by the CPU 30 according to the program stored in the storage unit 50.

First, the CAD drawing showing the bridge 1 is input by the drawing input unit 28 (step S2). The input CAD drawing is displayed on the display unit 22 by the display control unit 32 (step S4). FIG. 9 shows an example of a CAD drawing. “DsXXXXX” (Ds0101 to Ds0104 and Ds0201 to DS0204) in the figure is an element number for identifying the coffer, which is an element of the deck 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 horizontal 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 information on a rectangular frame between coffers. The element number DsXXXXX in the figure may be omitted from the display unit 22. The coordinate axes Gx, Gy, and Gz of the overall coordinate system with respect to the bridge 1 are shown in the figure for later explanation, and the display on the display unit 22 may be omitted.

Next, the image input unit 26 inputs an image of the coffer of the floor slab 6 (step S6). That is, the image obtained by imaging the floor slab 6 to be inspected by the imaging device 10 for each coffer of the grid-like arrangement is input. In this example, images are input for each coffer, but a plurality of images may be input at once.

Next, the image correction unit 34 performs the necessary image correction of scaling (scale correction), tilt correction, and rotation on the coffered image (step S8). That is, correction is performed for the discrepancy in the distance or angle between the floor slab 6 and the image pickup device 10 over a plurality of coffers. If there is no discrepancy in distance and angle between multiple coffers, this step can be omitted.

Next, the reflection inversion unit 36 mirror-inverts the image of the coffer (step S10). FIG. 10 shows the image IMG 11 between the coffers of the element number Ds0101. This image IMG 11 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 floor slabs 6. FIG. 11 shows a mirror image IMG 12 obtained by mirror-inverting the image IMG 11 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 image IMG 11 are matched, the image IMG 11 is turned upside down as a reflection inversion to create a mirror image. IMG12 is acquired. That is, the direction of the reflection inversion axis MAX in this example is the left-right direction (x direction) of the image IMG 11.

Next, the display control unit 32 superimposes the mirror image IMG 12 on the CAD drawing 80 and displays it on the display unit 22 (step S12). FIG. 12 shows an example in which the mirror image IMG 12 shown in FIG. 11 is superimposed and displayed on the CAD drawing 80 shown in FIG. The mirror image IMG 12 has an unnecessary portion trimmed. In this example, the edges of the coffers in the mirror image IMG 12 are aligned with respect to the edges of the coffers in the CAD drawing 80.

Next, the damage detection unit 40 analyzes the mirror image IMG 12 and detects the damage image from the mirror image IMG 12 (step S14). For example, a cracked image is detected from the mirrored image IMG12.

Next, the editorial unit 42 measures the feature amount of the damage based on the mirror image IMG12 (step S16). For example, the width and spacing of cracks are measured as features.

Next, the editorial unit 42 edits each element of the damage diagram (step S18). FIG. 13 shows a display example of an edit screen relating to a coffer to which the element number Ds0101 of the floor slab 6 is assigned. In this example, the CAD drawing 80 and the mirror image IMG 12 are displayed on the display unit 22, and at the same time, the damage list 82 is displayed. In this example, since the crack is detected in the above-mentioned step S14 between the element numbers Ds0101, the "crack" which is the "type" (type of damage) is automatically added to the damage list 82 by the editorial unit 42. Will be filled in. Further, as the feature amount of the "crack" in the coffer of the element number Ds0101, the width and the interval of the "crack" are measured in the above-mentioned step S16. It will be filled in automatically. Items that are not automatically filled in by the editorial unit 42 can be input by the operation unit 24. For example, when water leakage and free lime can be visually recognized in the mirror image IMG 12, the type "water leakage + free lime" can be input by the operation unit 24.

If undetected cracks are automatically visible in the mirror image IMG 12, the type and dimensions of the cracks can be input by the operation unit 24. Although not shown in FIG. 13, a scale image for measuring the size of the crack can be displayed on the display unit 22, 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 diagram, the operation unit 24 can perform a trace operation on the damaged image in the mirror image IMG12. For example, when the operation unit 24 is composed of a touch panel, when the crack image in the mirror image IMG 12 is traced with a finger or a pen, the trace of the trace is added to the damage figure as a damage figure. Here, the shape and position of the crack image in the mirror image IMG12 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 imaging side). Therefore, it is possible to input easily and accurately.

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. 14 is a diagram schematically showing an example of a crack progress model in the deck 6. In this progression model, the evaluation category RANK is represented by five stages of "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 live load, and the crack density in the grid pattern region is increased. In the latter half of the period, cracks penetrate the deck in the vertical direction (vertical direction orthogonal to the lower surface of the deck).

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 deck loses its shear resistance due to the polishing action.

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

Next, it is determined whether or not the editing of all the elements is completed (step S20). In this example, it is determined whether or not the editing is completed for all the coffers (element numbers Ds0101 to Ds0104 and Ds0201 to Ds0204 in this example) constituting the deck 6.

If there is an unedited element (NO in step S20), the process returns to step S6. When the editing of all the elements is completed (YES in step S20), the entire damage diagram is edited (step S22). In this step, for example, the operation unit 24 inputs the soundness determination classification for the entire floor slab 6.

Next, the edited damage diagram is output (step S24). The damage diagram can be displayed and output to the display unit 22 by the display control unit 32, and can be printed and output to a printer (not shown) via the network. For example, the damage diagram shown in FIG. 6 is printed out by a printer. In addition, the damage diagram can be uploaded to the database (not shown) via the network.

The damage diagram shown in FIG. 6 does not include a mirror image, but the present invention is not limited to such a case. A mirror image may be included in the damage diagram. Further, a mirror image may be embedded in the damage diagram instead of entering the damage figure. That is, the content of the damage diagram edited by the editorial unit 42 may be appropriately changed according to the required or permissible format of the damage diagram.

The processing example when the image for each coffer of the floor slab 6 is input has been described above, but when a plurality of divided images captured by dividing the coffer into a plurality of times are input, a plurality of divided images are input. It is preferable to combine the images into one composite image for each coffer. In the following, an example of damage diagram editing processing will be introduced separately for the case where a plurality of divided images are mirror-reversed and then combined, and the case where a plurality of divided images are combined and then mirror-inverted.

FIG. 15 is a flowchart showing a flow of a second damage diagram editing process example in the first embodiment. This process is executed by the CPU 30 according to the program stored in the storage unit 50. The same steps as those in the first damage diagram editing process example shown in FIG. 8 are designated by the same reference numerals, and the contents described below will be omitted below.

In this example, the image input unit 26 inputs a plurality of divided images of the deck 6 of the bridge 1 (step S102). Next, the image correction unit 34 performs necessary image correction for each divided image (step S104). Next, the reflection inversion unit 36 mirror-inverts each divided image (step S106). Next, the plurality of mirror-reversed divided images (mirror images) are superimposed on the CAD drawing showing the bridge 1 viewed from the side opposite to the imaging side and displayed on the display unit 22 (step S108). .. Next, the image synthesizing unit 38 synthesizes a plurality of mirror-inverted divided images (step S110).

FIG. 16 is a flowchart showing a flow of a third damage diagram editing process example in the first embodiment. This process is executed by the CPU 30 according to the program stored in the storage unit 50. The same steps as those in the first damage diagram editing process example shown in FIG. 8 are designated by the same reference numerals, and the contents described below will be omitted below.

In this example, the image input unit 26 inputs a plurality of divided images of the deck 6 of the bridge 1 (step S202). Next, the image correction unit 34 performs necessary image correction for each divided image (step S204). Next, a plurality of divided images (non-mirrored images) are superimposed on the CAD drawing showing the bridge 1 viewed from the imaging side and displayed on the display unit 22 (step S206). Next, the image synthesizing unit 38 synthesizes a plurality of divided images (step S208). Next, the reflection inversion unit 36 mirror-inverts the composite image (step S210). The CAD drawing can be mirror-inverted together with the composite image.

[Second Embodiment]
FIG. 17 is a block diagram showing a configuration example of the damage diagram editing device 200 according to the second embodiment. The same components as those of the damage diagram editing device 20 in the first embodiment shown in FIG. 2 are designated by the same reference numerals, and the contents already described will be omitted.

The damage diagram editing device 200 of the second embodiment includes a damage diagram input unit 60 for inputting a damage diagram showing the state of damage seen from the side opposite to the image pickup side of the structure.

The damage diagram reversing unit 44 of this example converts the damage diagram input by the damage diagram input unit 60 into an inverted damage diagram showing the state of damage seen from the image pickup side of the structure.

The display control unit 32 of this example displays the first existing damage diagram display function for simultaneously displaying the input damage diagram and the mirrored image on the display unit 22, and the inverted damage diagram and the non-mirrored image. It has a second existing damage diagram display function that simultaneously displays the image.

According to the first existing damage diagram display function, the progress of damage is compared with the past damage state seen from the side opposite to the image pickup side of the structure (for example, the upper side of the bridge 1) and the current mirror image. You can check the situation.

According to the second existing damage diagram display function, the progress of damage is confirmed by comparing the past damage state seen from the imaging side of the structure (for example, the lower side of the bridge 1) with the current image. Can be done.

[Variation of reflection reversal]
In the first embodiment and the second embodiment described above, in order to facilitate understanding of the present invention, the case where the direction of the reflection reversal axis is fixed has been described as an example, but the present invention describes such a mirror. It is not limited to the case where the direction of the reflection axis is fixed. The present invention may have a configuration in which the direction of the reflection inversion axis is variable.

The reflection reversal unit 36 has a function of determining the direction of the reflection reversal axis based on various information. The reflection reversal unit 36 performs the reflection reversal around the mirror reversal axis in the determined direction.

First, there is an embodiment in which an image (an image before reflection inversion) input by the image input unit 26 is image-analyzed, and the direction of the reflection inversion axis is determined based on the result of the image analysis.

For example, it is assumed that the image IMG21 for each coffer of the floor slab 6 shown in FIG. 18 is acquired. This 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 orthogonal sides of the rectangular edges are in the same direction as the two coordinate axes Gx and Gy in the overall coordinate system with respect to the bridge 1. Therefore, the reflection inversion unit 36 detects the edge image from the image before the reflection inversion (a composite image may be used in the case of divided imaging), and after projecting and converting the edge image into a rectangle as necessary. , The direction of the reflection reversal axis can be determined based on the direction of any one of the long side and the short side orthogonal to each other of the rectangle. However, the imaging object (inspection object) of the present invention is not limited to the coffer of the floor slab, and the direction of the reflection inversion axis may be determined based on the geometrical features of other imaging objects. Needless to say.

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

For example, as shown in FIG. 19, the image obtained by capturing the image by the image pickup device 10 mounted on the robot device 70 is input by the image input unit 26, and the image pickup device control information according to the image pickup device control of the robot device 70. Is input by the image input unit 26. As shown in FIG. 20, the image pickup 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 image pickup device 10. It contains angle information that indicates the angle between the two. In the local coordinate system of this example, one of the three coordinate axes Lx, Ly, and Lz orthogonal to each other is the image pickup direction (also referred to as the optical axis direction) of the image pickup apparatus 10, and the deck 6 of the bridge 1. It is orthogonal to (the surface to be imaged). 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 70 of this example is a suspension type robot suspended from a bridge, and FIG. 19 shows only the main parts related to the imaging thereof. The suspension type robot may be a robot that suspends from a traveling body (vehicle) on the bridge instead of suspending from the bridge. The present invention can also be applied when an unmanned flying robot such as a drone (unmanned aerial vehicle) is used instead of the suspended robot.

The robot device 70 of this example includes an image pickup device control mechanism 72 that controls the movement and rotation of the image pickup device 10. The image pickup device control mechanism 72 has an XYZ movement mechanism capable of moving the image pickup device 10 in each of the Gx direction, the Gy direction, and the Gz direction orthogonal to each other, and the image pickup device 10 is rotated in each of the pan direction P and the tilt direction T. It also serves as a possible pan-tilt mechanism.

The reflection inversion unit 36 determines the direction of the reflection inversion 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. Is possible.

Further, when the image pickup device 10 is rotated in the pan direction P, that is, when the azimuth angle of the image pickup device 10 is variable with respect to the overall coordinate system with respect to the bridge 1, the reflection inversion unit 36 is the overall coordinate system. It is possible to determine the direction of the reflection inversion axis based on the azimuth angle of the image pickup apparatus 10 with respect to the coordinate axis 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 imaging device 10, the local coordinates thereof. Angle information corresponding to the setting mode of the coordinate axes of the system and the angle control mode of the imaging device 10 may be acquired, and the direction of the reflection reversal axis may be determined based on the angle information.

[Client-server type]
In the client-server type system, the damage diagram editing device may be configured by at least one of the client device and the server device. In other words, the damage diagram editing device 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 10 Imaging device 20 Damage diagram editing device 22 Display unit 24 Operation unit 26 Image input unit 28 Drawing input unit 30 CPU
32 Display control unit 34 Image correction unit 36 Reflection reversal unit 38 Image synthesis unit 40 Damage detection unit 42 Editing unit 44 Damage diagram reversal unit 50 Storage unit 60 Damage diagram input unit 70 Robot device 72 Imaging device control mechanism 80 CAD drawing 82 Damage Listing 200 Damage diagram editing device Ds0101 to Ds0104, Ds0201 to Ds0204 Element number EG Edge image Gx, Gy, Gz Coordinate axes of the whole coordinate system IMG1, IMG11, IMG21 Image IMG2, IMG12 Reflection image Lx, Ly, Lz Local coordinate system Coordinate axis MAX Mirror reflection axis P Pan direction RANK Evaluation category START State T Tilt direction

Claims (7)

An image input unit that inputs an image obtained by imaging the structure to be inspected with an imaging device,
A mirror-reversing unit configured to acquire a mirror movie images the image which is the input to mirrored inverted,
Display and
An operation unit that accepts user operations and
A damage detection unit that detects a damage image from the mirror image or the image before mirror inversion,
An editorial unit that edits a damage diagram showing a damage state of the structure and corresponding to the mirror image according to an operation received by the operation unit.
A display control unit that displays and outputs the damage diagram edited by the editorial unit to the display unit,
It is equipped with an image compositing unit that synthesizes images.
The image input unit inputs a plurality of divided images of the structure as the images, and then inputs the plurality of divided images.
The mirror inversion unit mirror-inverts each of the plurality of divided images.
The image synthesizing unit synthesizes a plurality of mirror-inverted divided images.
Damage diagram editing device. An image input unit that inputs an image obtained by imaging the structure to be inspected with an imaging device,
A mirror-reversing unit configured to acquire a mirror movie images the image which is the input to mirrored inverted,
Display and
An operation unit that accepts user operations and
A damage detection unit that detects a damage image from the mirror image or the image before mirror inversion,
An editorial unit that edits a damage diagram showing a damage state of the structure and corresponding to the mirror image according to an operation received by the operation unit.
A display control unit that displays and outputs the damage diagram edited by the editorial unit to the display unit,
It is equipped with an image compositing unit that synthesizes images.
The image input unit inputs a plurality of divided images of the structure as the images, and then inputs the plurality of divided images.
The reflection inversion unit mirror-inverts a composite image obtained by synthesizing the plurality of divided images by the image composition unit.
Damage diagram editing device. A damage diagram reversal portion for converting the damage diagram showing the damage state seen from the side opposite to the image pickup side of the structure into a reverse damage diagram showing the damage state seen from the image pickup side of the structure is provided.
The operation unit receives a reversal operation related to the damage diagram, and receives the inversion operation.
The display control unit switches between a state in which the damage diagram is displayed on the display unit and a state in which the reverse damage diagram is displayed on the display unit in response to the reversing operation.
The damage diagram editing device according to claim 1 or 2. The editorial unit adds a damage figure corresponding to the detected damage image to the damage diagram in response to the operation received by the operation unit.
The display control unit displays and outputs the damage diagram to which the damage figure is added.
The damage diagram editing device according to any one of claims 1 to 3. A drawing input unit for inputting a drawing showing the structure is provided.
The display control unit superimposes the mirrored image on the drawing and displays it on the display unit.
The damage diagram editing device according to any one of claims 1 to 4. An image obtained by imaging the structure to be inspected with an imaging device, and a reflection inversion function that mirror-inverts the image input by the input device to generate a reflection image.
A damage detection function that detects a damaged image from the mirrored image or the image before mirror inversion,
An editing function for editing a damage diagram showing a damage state of the structure and corresponding to the mirror image according to an operation received by the operation device, and an editing function.
A display control function that displays and outputs the damage diagram edited by the editing function to the display device,
The mirror inversion function that mirror-inverts a plurality of divided images of the structure as the images, respectively.
An image composition function that synthesizes a plurality of mirror-inverted divided images, and an image composition function.
A program that makes a computer realize. An image obtained by imaging the structure to be inspected with an imaging device, and a reflection inversion function that mirror-inverts the image input by the input device to generate a reflection image.
And damage detection function for detecting damage image before Symbol mirror movie image or mirror-inverted prior to said image,
An editing function for editing a damage diagram showing a damage state of the structure and corresponding to the mirror image according to an operation received by the operation device, and an editing function.
A display control function that displays and outputs the damage diagram edited by the editing function to the display device,
An image composition function that synthesizes a plurality of divided images of the structure to generate a composite image, and
With the mirror inversion function that mirror-inverts the composite image,
A program that makes a computer realize.

Images