JP2019002737A - Reinforcing bar inspection device and reinforcement bar inspection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bar arrangement inspection device and a bar arrangement inspection method having improved inspection work efficiency. SOLUTION: In a bar arrangement inspection device, for a plurality of reinforcing bars arranged on a plane in a three-dimensional space, position information of the plurality of reinforcing bars with respect to a photographing reference point in the three-dimensional space is acquired by a stereo photographing unit 4. The plane in which a plurality of reinforcing bars are arranged is specified by the arrangement plane specifying unit 5 based on the position information of the reinforcing bars acquired by the stereo photographing unit 4, and is specified by the arrangement plane specifying unit 5 by the inspection unit 6. By inspecting the reinforcing bars using a plurality of reinforcing bars arranged on a flat surface, it is possible to easily identify the reinforcing bars to be inspected without inserting a background bar, etc., so that the work efficiency of the inspection can be improved. Can be improved. [Selection diagram] Fig. 1

Description

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

  In order to confirm and prove that the reinforcing bars are correctly arranged before they are buried in the placed concrete at the construction site of the reinforced concrete structure, the diameter of the arranged reinforcing bars, The pitch and number are inspected. For example, in Patent Document 1, design information such as the diameter, pitch, and number of reinforcing bars arranged is acquired from a server, and a white background bar provided with a plurality of circular markers is placed behind the reinforcing bars to be inspected. Identify the reinforcing bars to be inspected by inserting them, photograph the reinforcing bars to be inspected with a digital camera, measure the diameter, pitch and number of reinforcing bars measured from the area between the markers in the captured image, and design information A bar arrangement inspection system for comparing the diameter, pitch, number, and the like of reinforcing bars is disclosed.

JP, 2014-002536, A

  By the way, every time the reinforcing bar is photographed, the work of inserting the background bar to which the marker is attached to the rear side of the reinforcing bar to be inspected requires a great amount of labor and time, and there is a disadvantage that the work efficiency of the inspection is low. Instead of inserting a background bar, it is conceivable to apply or apply a marker to the reinforcing bar to be inspected, but it does not change that it takes a lot of labor and time to apply and apply the marker. There is a need for improvement.

  Accordingly, an object of the present invention is to provide a bar arrangement inspection apparatus and an arrangement inspection method that improve the inspection work efficiency.

  The present invention provides a first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space photographed from a first viewpoint, and a plurality arranged on a plane photographed from a second viewpoint different from the first viewpoint. A plurality of reinforcing bars based on the position information of the reinforcing bars acquired by the stereo imaging unit that acquires the position information of the plurality of reinforcing bars in the three-dimensional space with respect to the imaging reference point by the second image of the reinforcing bars. A bar arrangement inspection apparatus comprising: an arrangement plane specifying unit that specifies arranged planes; and an inspection unit that inspects reinforcing bars using a plurality of reinforcing bars arranged on the plane specified by the arrangement plane specifying unit as an inspection target. is there.

  According to this configuration, for a plurality of reinforcing bars arranged in a plane in the three-dimensional space, the stereo imaging unit acquires position information of the plurality of reinforcing bars in the three-dimensional space with respect to the imaging reference point, and specifies the arrangement plane. The plane in which the plurality of reinforcing bars are arranged is specified based on the position information of the reinforcing bars acquired by the stereo imaging unit, and the inspection unit adds the plurality of reinforcing bars arranged in the plane specified by the arrangement plane specifying unit. By inspecting the reinforcing bar as the inspection object, it is possible to easily specify the reinforcing bar to be inspected without inserting a background bar, and the work efficiency of the inspection can be improved.

  In this case, the arrangement plane specifying unit specifies the plane based on the distance from the imaging reference point of the plurality of planes when the plurality of planes in which the plurality of reinforcing bars are arranged are included in the three-dimensional space. Is preferred.

  According to this configuration, the array plane specifying unit determines the plane based on the distance from the imaging reference point of the plurality of planes when the plane in which the plurality of reinforcing bars are arranged is included in the three-dimensional space. In order to specify, it can prevent that the reinforcing bar which should not be made into the inspection object of the construction scheduled area | region of a reinforced concrete structure is erroneously included in the inspection object.

  The arrangement plane specifying unit specifies a plane based on an angle of the plurality of planes with respect to the line of sight from the imaging reference point when a plurality of planes in which a plurality of reinforcing bars are arranged are included in the three-dimensional space. Is preferred.

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

  In addition, it is preferable that the inspection unit inspects the reinforcing bars with a plurality of reinforcing bars whose longitudinal directions are within a predetermined range as inspection targets.

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

  In addition, it is preferable that the inspection unit inspects the reinforcing bars using a plurality of reinforcing bars whose diameters are within a predetermined range as inspection targets.

  According to this configuration, since the inspection unit inspects a reinforcing bar with a plurality of reinforcing bars having a diameter within a predetermined range as an inspection target, it is possible to prevent a reinforcing bar having a completely different diameter from being included in the inspection target by mistake. can do.

  Further, it is preferable that the inspection unit inspects the reinforcing bars with a plurality of reinforcing bars whose distances from the imaging reference point are within a predetermined range as inspection targets.

  According to this configuration, the inspection unit inspects a reinforcing bar with a plurality of reinforcing bars whose distance from the imaging reference point is within a predetermined range as an inspection target, so that a reinforcing bar that is far from the imaging reference point is erroneously inspected. It can be prevented from being included in the target.

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

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

  In this case, in the display image, the inspection unit is selected as the inspection target by performing at least one of selection, addition, and deletion of the reinforcing bars that are marked by the inspection unit and displayed on the display screen. It is preferable to further include an input operation accepting unit that accepts an input operation for performing at least one of selection, addition, and deletion of reinforcing bars.

  According to this configuration, the input operation reception unit performs at least one of selection, addition, and deletion of a reinforcing bar that is displayed as a mark to be inspected by the inspection unit in the display image and displayed on the display screen. Thus, since an input operation for performing at least one of selection, addition, and deletion of the reinforcing bars to be inspected by the inspection unit is accepted, it is possible to further improve the work efficiency of the inspection.

  Further, a display image based on at least one of the first image and the second image is displayed on the display screen, and an inspection range in which a plurality of reinforcing bars to be inspected by the inspection unit are arranged in the display image is displayed on the display screen The inspection control area in which the reinforcing bars to be inspected by the inspection unit are arranged by performing at least one of enlargement, reduction, movement and designation of the inspection range displayed on the display screen. It is preferable to further include an input operation receiving unit that receives an input operation for performing at least one of enlargement, reduction, movement, and designation.

  According to this configuration, a display image based on at least the first image and the second image is displayed on the display screen by the display control unit, and a plurality of reinforcing bars to be inspected by the inspection unit are arranged in the display image. Since the inspection range being displayed is displayed on the display screen, it is easy to visually recognize the reinforcing bars and the inspection range as inspection targets from the display screen. In addition, by performing at least one of enlargement, reduction, movement, and designation of the inspection range displayed on the display screen by the input operation reception unit, the inspection range in which the reinforcing bars to be inspected by the inspection unit are arranged. Since an input operation for performing at least one of enlargement, reduction, movement, and designation is accepted, the work efficiency of inspection can be further improved.

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

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

  On the other hand, the present invention provides a first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space photographed from a first viewpoint, and a plane photographed from a second viewpoint different from the first viewpoint. The stereo imaging step of acquiring the position information of the plurality of reinforcing bars in the three-dimensional space with respect to the imaging reference point by the second images of the plurality of reinforcing bars arranged, and the position information of the reinforcing bars acquired by the stereo imaging step Based on the arrangement plane specifying step for specifying the plane on which the plurality of reinforcing bars are arranged, and the inspection step for inspecting the reinforcing bars with the plurality of reinforcing bars arranged on the plane specified by the arrangement plane specifying step as inspection targets A bar arrangement inspection method provided.

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

It is a block diagram which shows the structure of the bar arrangement inspection apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process of the bar arrangement inspection method which concerns on 1st Embodiment. It is a figure which shows the positional relationship of the reinforcing bar used as a stereo camera, imaging | photography reference | standard point, and test object. It is a figure which shows the example of the display screen which concerns on 1st Embodiment. It is a block diagram which shows the structure of the bar arrangement inspection apparatus which concerns on 2nd Embodiment. It is a table | surface which shows the example of the diameter of the construction plan area | region of a reinforced concrete structure memorize | stored in the reinforcing bar design specification memory | storage part of FIG. It is a figure which shows the example of the display screen which concerns on 3rd Embodiment.

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

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

  The stereo photographing unit 4 includes a first image of a plurality of reinforcing bars arranged on a plane in a three-dimensional space photographed from the first viewpoint by the stereo camera 2 and a stereo camera 2 from a second viewpoint different from the first viewpoint. The position information in the three-dimensional space of the plurality of reinforcing bars with respect to the imaging reference point is acquired from the second images of the plurality of reinforcing bars arranged on the plane imaged by the above. For example, the first viewpoint and the second viewpoint are viewpoints positioned at a predetermined interval in the horizontal direction. The photographing reference point is, for example, a reference point located in the middle between the first viewpoint and the second viewpoint. The position information of the reinforcing bar is indicated by, for example, spherical coordinates with the photographing reference point as the origin or orthogonal coordinates obtained by converting the spherical coordinates.

  The arrangement plane specifying unit 5 automatically specifies a plane on which a plurality of reinforcing bars are arranged based on the position information of the reinforcing bars acquired by the stereo imaging unit 4. The inspection unit 6 inspects the reinforcing bars using a plurality of reinforcing bars arranged on the plane specified by the arrangement plane specifying unit 5 as an inspection target. The inspection unit 6 may inspect the reinforcing bars based only on one of the first image and the second image, for example, or the reinforcing bars based on the first image and the second image synthesized while considering the parallax. You may perform an inspection.

  The display control unit 7 displays a display image based on at least one of the first image and the second image on the display screen, and marks a plurality of reinforcing bars that are inspected by the inspection unit 6 in the display image. Display on the display screen. The input operation accepting unit 8 includes a touch panel display 9 that performs at least one of selection, addition, and deletion of reinforcing bars to be inspected and displayed on the display screen by the inspection unit 6 in the display image. An input operation to the keyboard 10 is accepted.

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

  In the stereo imaging process, the stereo camera 2 is 2 to 3 m away from the reinforcing bar to be inspected, and the line of sight from the stereo camera 2 is at an angle of 45 ° to 90 ° with respect to the plane on which the reinforcing bars are arranged, for example. It is only necessary to place the stereo camera 2 at a position where it intersects and perform shooting, and it is not necessary to insert a background bar or apply and attach a marker to the reinforcing bar.

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

  Moreover, the arrangement | positioning plane specific | specification part 5 can also specify the plane P1 etc. irrespective of the space | interval of the reinforcing bars R, when specifying the plane P1 etc. which contain the 3 or more rebars R of three-dimensional space. For example, the array plane specifying unit 5 can specify the plane P1 or the like by a known V-disparity. In V-disparity, a parallax image captured by the stereo camera 2 is converted into a V-disparity image. The V-disparity image is an image representing the appearance frequency of the parallax in the vertical direction of the image plane in the parallax image. In the V-disparity image, the vertical axis is the vertical direction common to the parallax image, and the horizontal axis is an image composed of parallax (disparity), which represents the number of appearances of a certain parallax value at a certain ordinate. In the V-disparity image, the plane P1 and the like can be specified by connecting the parallax values due to the presence of the reinforcing bars R with approximate lines.

  Furthermore, the array plane specifying unit 5 includes a plurality of planes P1 and the like when a plurality of planes in which a plurality of reinforcing bars R are arrayed are included in the three-dimensional space, such as the planes P1, P2, P3, and P4. The plane P1 and the like are specified based on the angle with respect to the line of sight S from the imaging reference point 20. In the example of FIG. 3, the planes P1, P2, and P3 that form an angle θ of 45 ° or more with respect to the line of sight S from the imaging reference point 20 among the plurality of planes P1, P2, P3, and P4 are specified. The plane P4 that makes an angle of less than 45 ° with respect to S is excluded. For example, when the array plane specifying unit 5 specifies a plane that forms an angle closest to the line of sight S from the imaging reference point 20, the plane P3 is specified. The array plane specifying unit 5 may specify planes P1, P2, P3, and the like that form angles close to perpendicular to the line of sight S from the imaging reference point 20 in sequence.

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

  As illustrated in FIG. 2, the inspection unit 6 of the bar arrangement inspection device 1a includes an inspection process for inspecting the reinforcing bars R using the plurality of reinforcing bars R arranged on the plane P1 specified by the arrangement plane specifying process as inspection targets. Performed (S3). As shown in FIGS. 3 and 4, the inspection unit 6 inspects the reinforcing bars R using a plurality of reinforcing bars R whose longitudinal direction l is within a predetermined range as an inspection target. For example, the inspection unit 6 can test a plurality of reinforcing bars R whose longitudinal direction l is within ± 5 °.

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

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

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

  The input operation reception unit 8 of the bar arrangement inspection device 1a selects at least the selection, addition, and deletion of the reinforcing bar R that is displayed as an inspection target by the inspection unit 6 and displayed on the display screen 90 in the display image. By performing either, an input operation for selecting, adding, or deleting the reinforcing bars R to be inspected by the inspection unit 6 is accepted. If the image photographed by the stereo camera 2 is unclear, an error may occur in the position information of the reinforcing bars by the stereo photographing unit 4. The arrangement plane specifying unit 5 specifies the arrangement plane P4 or the like of the reinforcing bars R that are not to be inspected, and the inspection unit 6 has an error in the reinforcing bars R that are to be inspected (reinforcing bars that are to be inspected originally). R may not be extracted or the reinforcing bars R that should not be inspected may be extracted.

  For example, when there is omission of extraction of the reinforcing bar R to be inspected, for example, by clicking the reinforcing bar R displayed without the mark M on the display screen 90 of the touch panel display 9, The new reinforcing bar R is newly selected and added, and the newly selected and added reinforcing bar R on the display screen 90 is displayed with a new mark M added thereto. When deleting a reinforcing bar that is not a reinforcing bar to be inspected, for example, by clicking a reinforcing bar R that is already displayed with a mark M on the display screen 90 of the touch panel display 9, the inspection unit 6 has already been displayed. Thus, the reinforcing bar R to be inspected is selected and deleted from the reinforcing bars R to be inspected, and the display of the mark M is deleted from the selected and deleted reinforcing bars R on the display screen 90. Since the person visually confirms the reinforcing bar R to be inspected on the display screen 90 and can select and add the reinforcing bar R to be inspected or selected and deleted, it is necessary to correct the inspection result afterwards. The inspection efficiency is improved.

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

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

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

  Further, according to the present embodiment, the arrangement plane specifying unit 5 includes a plurality of planes P1, P2, P3, P4 and the like on which a plurality of reinforcing bars R are arranged in the three-dimensional space. Since the planes P1, P2, and P3 are specified based on the angle with respect to the line of sight S from the imaging reference point 20 such as the planes P1, P2, P3, P4, etc. Can be prevented from being erroneously included in the inspection object.

  Moreover, according to this embodiment, since the test | inspection part 6 test | inspects the rebar R by using the some rebar R in which the longitudinal direction 1 is in the predetermined range as the inspection object, the longitudinal direction l is in a completely different direction. It is possible to prevent the arranged reinforcing bars R from being erroneously included in the inspection target.

  In addition, according to the present embodiment, the inspection unit 6 inspects the reinforcing bar R with a plurality of reinforcing bars R having a diameter d within a predetermined range as inspection targets. Therefore, it can be prevented from being included in the inspection object.

  Further, according to the present embodiment, since the inspection unit 6 inspects the reinforcing bars R with the plurality of reinforcing bars R having the distance D from the imaging reference point 20 within a predetermined range as inspection targets, the inspection unit 6 starts from the imaging reference point 20. It is possible to prevent the reinforcing bar R having a long distance D from being erroneously included in the inspection object.

  In addition, according to the present embodiment, the display control unit 7 displays a display image based on at least one of the first image and the second image on the display screen 90, and the inspection unit 6 in the display image is selected as an inspection target. Since the mark M is attached to the plurality of reinforcing bars R displayed on the display screen 90, the reinforcing bars R to be inspected can be easily visually recognized from the display screen 90.

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

  In addition, according to the present embodiment, the inspection unit 6 detects at least one of the diameter d, the pitch p, and the number of the plurality of reinforcing bars R to be inspected, so that the inspection at the construction site of the reinforced concrete structure is performed. Information matching the purpose can be detected.

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

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

  In the present embodiment, the inspection unit 6 refers to the interval between the reinforcing bars R recorded in the reinforcing bar design specification storage unit 11, and sets the interval range of the reinforcing bars R to be inspected, thereby eliminating the need for inspection. Since it is possible to prevent inspecting the rebar R, the work efficiency of the rebar inspection is improved.

  The inspection unit 6 refers to the design specifications recorded in the reinforcing bar design specification storage unit 11 and sets the range of the diameter of the reinforcing bar R to be inspected. Thereafter, the inspection unit 6 inspects the reinforcing bars R with the plurality of reinforcing bars R within the range of the set diameter d as inspection targets. For example, the inspection unit 6 can target a plurality of reinforcing bars R having a diameter d within a range of 38 mm ± 3.8 mm (± 10%).

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

  Hereinafter, a third embodiment of the present invention will be described. In the present embodiment, the display control unit 7 displays a display image based on at least one of the first image and the second image on the display screen 90, and a plurality of inspection objects to be inspected by the inspection unit 6 in the display image. The inspection range in which the reinforcing bars R are arranged is displayed on the display screen 90. As shown in FIG. 7, the input operation reception unit 8 performs reinforcement, inspection, and reinforcement of the inspection range displayed on the display screen 90 by performing at least one of enlargement, reduction, movement, and designation. An input operation for performing at least one of enlargement, reduction, movement, and designation of the inspection range A in which R is arranged is received.

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

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

  In the present embodiment, a display image based on at least the first image and the second image is displayed on the display screen 90 by the display control unit 7, and a plurality of reinforcing bars R to be inspected by the inspection unit 6 in the display image. Is displayed on the display screen 90, it is easy to visually recognize the reinforcing bar R and the inspection range A that are the inspection targets from the display screen 90. Further, the reinforcing bar R to be inspected by the inspection unit 6 is arranged by performing at least one of enlargement, reduction, movement and designation of the inspection range A displayed on the display screen 90 by the input operation receiving unit 8. Since the input operation for performing at least one of enlargement, reduction, movement and designation of the inspection range A is accepted, the work efficiency of the inspection can be further improved. That is, the person can visually confirm the reinforcing bar R to be inspected on the display screen 90, and can select and add the reinforcing bar R to be inspected, or select and delete, so that the inspection result is corrected afterwards. There is no need, and the inspection efficiency is improved.

  As mentioned above, although embodiment of this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  DESCRIPTION OF SYMBOLS 1a, 1b ... Bar arrangement apparatus, 2 ... Stereo camera, 3 ... Personal computer main body, 4 ... Stereo imaging | photography part, 5 ... Array plane specific | specification part, 6 ... Inspection part, 7 ... Display control part, 8 ... Input operation reception part , 9 ... Touch panel display, 10 ... Keyboard, 11 ... Reinforcing bar design specification storage unit, 20 ... Shooting reference point, 90 ... Display screen, P1, P2, P3, P4 ... Planar, S ... Line of sight, D ... Distance, θ ... Angle, l ... Longitudinal direction, d ... Diameter, p ... Pitch, A ... Inspection range.

Claims (11)

A first image of a plurality of reinforcing bars arranged in a plane in a three-dimensional space photographed from a first viewpoint, and a plurality of the arrays arranged in the plane photographed from a second viewpoint different from the first viewpoint A stereo imaging unit that acquires position information in the three-dimensional space of the plurality of reinforcing bars with respect to the imaging reference point by the second image of the reinforcing bar;
An array plane identifying unit that identifies the plane on which a plurality of reinforcing bars are arranged based on the position information of the reinforcing bars acquired by the stereo imaging unit;
An inspection unit that inspects the reinforcing bars with the plurality of reinforcing bars arranged in the plane specified by the arrangement plane specifying unit as inspection targets, and
Reinforcing bar inspection device.   When the plurality of planes in which a plurality of reinforcing bars are arranged are included in the three-dimensional space, the arrangement plane specifying unit is configured to determine the plane based on the distance from the imaging reference point of the plurality of planes. The bar arrangement inspection device according to claim 1, which identifies   When the plurality of planes in which a plurality of reinforcing bars are arranged are included in the three-dimensional space, the arrangement plane specifying unit is based on angles of the plurality of planes with respect to the line of sight from the imaging reference point. The bar arrangement inspection apparatus according to claim 1 or 2, wherein the plane is specified.   The bar arrangement inspection apparatus according to any one of claims 1 to 3, wherein the inspection unit inspects the reinforcing bar with the plurality of reinforcing bars whose longitudinal direction is within a predetermined range as the inspection target.   The bar arrangement inspection device according to any one of claims 1 to 4, wherein the inspection unit inspects the reinforcing bar with the plurality of reinforcing bars having a diameter within a predetermined range as the inspection target.   The arrangement according to any one of claims 1 to 5, wherein the inspection unit inspects the reinforcing bars with the plurality of reinforcing bars having a distance from the imaging reference point within a predetermined range as the inspection target. Muscle examination device.   A display image based on at least one of the first image and the second image is displayed on a display screen, and marks are attached to the plurality of reinforcing bars that are the inspection target by the inspection unit in the display image. The bar arrangement inspection apparatus according to any one of claims 1 to 6, further comprising a display control unit for displaying on the display screen.   By performing at least one of selection, addition, and deletion of the reinforcing bars that are marked as the inspection target by the inspection unit in the display image and displayed on the display screen, the inspection unit The bar arrangement inspection apparatus according to claim 7, further comprising an input operation reception unit that receives an input operation for performing selection, addition, and deletion of the reinforcing bars to be inspected. An inspection in which a display image based on at least one of the first image and the second image is displayed on a display screen, and the plurality of reinforcing bars to be inspected by the inspection unit are arranged in the display image A display control unit for displaying a range on the display screen;
Expansion of the inspection range in which the reinforcing bars to be inspected by the inspection unit are arranged by performing at least one of enlargement, reduction, movement and designation of the inspection range displayed on the display screen, An input operation receiving unit that receives an input operation for performing at least one of reduction, movement, and designation;
The bar arrangement inspection apparatus according to any one of claims 1 to 8, further comprising:   The bar arrangement inspection device according to any one of claims 1 to 9, wherein the inspection unit detects at least one of a diameter, a pitch, and a number of the plurality of reinforcing bars to be inspected. A first image of a plurality of reinforcing bars arranged in a plane in a three-dimensional space photographed from a first viewpoint, and a plurality of the arrays arranged in the plane photographed from a second viewpoint different from the first viewpoint Stereo imaging step of acquiring position information in the three-dimensional space of the plurality of reinforcing bars with respect to the imaging reference point by the second image of the reinforcing bars,
An array plane specifying step for specifying the plane on which a plurality of reinforcing bars are arranged based on the position information of the reinforcing bars acquired by the stereo imaging step;
An inspection step for inspecting the reinforcing bars, with the plurality of reinforcing bars arranged in the plane specified by the arrangement plane specifying step as inspection targets,
Reinforcing bar inspection method.

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