Stripping determination device, method, and program

Abstract

Provided are a peeling and peeling determination device, a method, and a program with which it is possible to determine a peeling and peeling portion on a surface such as concrete of a building. A processor of a peeling determination device acquires three-dimensional measurement data of a surface of a building measured by a three-dimensional measurement device such as LiDAR (Step S10). The processor compares the three-dimensional measurement data with reference surface data of the building and detects a recessed portion in the surface of the building (step S20). The processor determines whether or not the detected recessed portion is recessed beyond a first threshold value and whether or not the recessed portion is cracked (steps S30, S40), and if it is determined that the recessed portion is recessed beyond the first threshold value and is not cracked, the processor determines that the recessed portion is a peeled-off portion (step S50).

Description

Technical Field

[0001] This invention relates to a peeling and spalling determination device, method, and procedure, and more particularly to a technique for determining peeling and spalling portions on the concrete or other surfaces of buildings. Background Technology

[0002] In the past, inspections of structures such as tunnels or bridges were usually carried out by inspectors patrolling the site. Sometimes, during patrols, inspectors would find peeling parts or debris (concrete pieces) on the surface of the structure.

[0003] However, because patrols are man-dependent and not always visible during bright hours, even when peeling occurs, it can sometimes be missed. To avoid this, the number of patrols could be increased, requiring more people to observe, but this requires manpower and money and lacks accuracy.

[0004] In recent years, in infrastructure inspections, the development and introduction of new technologies described in patent documents 1-3 have been carried out, with the expectation of DX (Digital Transformation) transformation of human-dependent inspections.

[0005] In the spalling prediction and diagnosis method described in Patent Document 1, an infrared camera is used to capture an infrared thermal image of the surface of a concrete building, and the external air temperature near the surface is measured at the same time. Based on the infrared thermal image and the external air temperature, the temperature difference of the spalled part, which is the temperature difference between the intact part and the spalled part, and the temperature environment of the measured temperature, which is the difference between the surface temperature of the intact part and the external air temperature, are calculated. The temperature environment coefficient is calculated as the ratio of the calculated temperature difference of the spalled part to the calculated temperature environment. Based on the temperature environment coefficient, the risk of spalling of the covered concrete (concrete from the steel reinforcement surface to the concrete surface) is quantitatively evaluated.

[0006] In the inspection method described in Patent Document 2, the object to be inspected is impacted by an inspection hammer device, and the state of the object to be inspected is determined based on the time history data of the sound pressure generated by the impact.

[0007] In the non-destructive inspection method for concrete structures described in Patent Document 3, an ultrasonic transmitter and receiver are brought into contact with the submerged portion of a concrete structure that is partially or entirely submerged in water. Transverse ultrasonic waves are emitted from the transmitter into the concrete structure, and the resonant vibration of the concrete structure is detected by the receiver. The back and / or internal damage of the concrete structure is determined based on the detected waveform of the receiver.

[0008] Previous technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2016-006398 Patent Document 2: Japanese Patent Application Publication No. 2020-098098 Patent Document 3: Japanese Patent Application Publication No. 2006-105680 Summary of the Invention

[0009] The technical problem to be solved by the invention However, the technologies described in Patent Documents 1 to 3 are not all technologies for determining the peeling and detachment of concrete or other surfaces of buildings. In particular, the technology described in Patent Document 1 is a method for quantitatively evaluating the risk of concrete peeling, rather than a technology for determining the actual location of concrete peeling and detachment.

[0010] One embodiment of the present invention provides a peeling and spalling determination device, method, and procedure capable of determining the peeling and spalling portions of concrete or other surfaces of a building.

[0011] means for solving technical problems The invention involved in the first aspect is a peeling and flaking determination device, which includes: a processor; and a memory storing a program that causes the processor to execute, wherein the processor performs the following processing: acquiring three-dimensional measurement data of the surface of a building measured by the measuring device; comparing the three-dimensional measurement data with reference surface data of the building to detect a depression on the surface of the building; and determining the depression as a peeling and flaking part of the surface of the building when it is determined that the depression exceeds a first threshold and the depression is not a crack.

[0012] According to a first aspect of the present invention, depressions on the surface of a building are detected by comparing three-dimensional measurement data of the building's surface with reference surface data of the building. To distinguish between detected depressions and those formed during construction, depressions exceeding a first threshold are identified. Furthermore, it is determined whether the depressions exceeding the first threshold are due to peeling or flaking, or due to cracking, thereby ultimately identifying the peeling / flaking portions.

[0013] In the first embodiment, the peeling and flaking determination device according to the second aspect of the present invention preferably measures the horizontal and vertical widths of the recessed portion by a processor, and determines that the recessed portion is not a crack if the width of the shorter of the horizontal or vertical widths exceeds a second threshold.

[0014] In the first embodiment, the peeling and flaking determination device according to the third aspect of the present invention preferably measures the area of ​​the recessed portion by a processor, and determines that the recessed portion is not a crack if the area exceeds a third threshold.

[0015] In the fourth aspect of the present invention, the peeling and flaking determination apparatus preferably involves a processor acquiring a camera image of a building captured by a camera device, detecting cracks in the building based on the camera image, and determining whether a dented portion is a crack based on the crack detection result. This is because detecting cracks based on camera images is preferable to detecting cracks based on three-dimensional measurement data.

[0016] In any of the first to fourth embodiments of the present invention, the reference surface data of the peeling and flaking determination device according to the fifth embodiment of the present invention is preferably surface data obtained by averaging the unevenness of the surface of the building represented by the three-dimensional measurement data or surface data in the design of the building.

[0017] In any of the first to fifth embodiments of the present invention, the peeling and flaking determination apparatus preferably stores three-dimensional measurement data of the building surface measured by the measuring device each time the building is inspected in a memory, and the processor acquires multiple three-dimensional measurement data of the building surface measured at each inspection; differential data of the same measurement point on the building surface is acquired based on the multiple three-dimensional measurement data; and at least the concave portion of the raised and concave portions on the building surface is detected based on the differential data. In this case, among the three-dimensional measurement data obtained at different inspection times for acquiring the differential data, the three-dimensional measurement data obtained at an earlier inspection time becomes the reference surface data relative to the three-dimensional measurement data obtained at a later inspection time.

[0018] In the sixth aspect, the peeling and flaking determination apparatus according to the seventh aspect of the present invention preferably determines the flaking portion of the building surface as a peeling and flaking portion if the raised portion and the recessed portion of the same part of the building surface are detected in the order of inspection time. The raised portion is a candidate for peeling and flaking portion, and if the raised portion becomes a recessed portion, the recessed portion can be determined as a peeling and flaking portion.

[0019] In the sixth aspect, the peeling and flaking determination device according to the eighth aspect of the present invention preferably determines the recessed portion as the peeling and flaking portion of the building surface when the change of the differential data turns negative, the change of the differential data turns from positive to negative, or the change of the differential data exceeds a threshold and decreases.

[0020] In any of the first to eighth embodiments of the present invention, the peeling and flaking determination device according to the ninth embodiment preferably uses a processor to identifiablely display the determined peeling and flaking portions on a screen displaying three-dimensional measurement data, surface data of the building's design, or video images of the building taken by a camera device. The user (inspector) can then confirm on the screen which part of the building has the peeling and flaking portions.

[0021] In any of the first to ninth embodiments of the present invention, the peeling and flaking determination device includes a LiDAR or a stereo camera.

[0022] In the 10th embodiment, the peeling and flaking determination device according to the 11th embodiment of the present invention preferably uses LiDAR to measure three-dimensional measurement data via FMCW (Frequency Modulated Continuous Wave). This allows for the detection of surface features of buildings that cannot be visually inspected.

[0023] In any of the first to eleventh embodiments of the present invention, the peeling and flaking determination device according to the 12th embodiment preferably includes concrete or concrete repair material on the surface of the building.

[0024] The invention involved in the 13th method is a peeling and flaking determination method, in which a processor determines the peeling and flaking of the surface of a building, wherein three-dimensional measurement data of the surface of the building measured by a measuring device is acquired, the three-dimensional measurement data is compared with the reference surface data of the building to detect the dented portion of the surface of the building, and if it is determined that the dented portion exceeds a first threshold and is not a crack, the dented portion is determined as the peeling and flaking portion of the surface of the building.

[0025] In the 13th embodiment, the peeling and flaking determination method according to the 14th embodiment of the present invention preferably involves the processor measuring the horizontal and vertical widths of the recessed portion, and determining that the recessed portion is not a crack if the width of the shorter of the horizontal or vertical widths exceeds a second threshold.

[0026] In the 13th embodiment, the peeling and flaking determination method according to the 15th embodiment of the present invention preferably involves a processor measuring the area of ​​the recessed portion, and determining that the recessed portion is not a crack if the area exceeds a third threshold.

[0027] In the 13th aspect, the peeling and flaking determination method according to the 16th aspect of the present invention preferably involves a processor acquiring a camera image of a building captured by a camera device, detecting cracks in the building based on the camera image, and determining whether the dented portion is a crack based on the crack detection result.

[0028] The invention involved in the 17th method is a peeling and flaking determination procedure for determining peeling and flaking of a building surface, wherein the peeling and flaking determination procedure causes a computer to perform the following functions: acquiring three-dimensional measurement data of the building surface measured by a measuring device; comparing the three-dimensional measurement data with reference surface data of the building to detect dents on the building surface; and determining the dented portion as a peeling and flaking portion of the building surface if it is determined that the dented portion exceeds a first threshold and is not a crack.

[0029] Invention Effects According to the present invention, it is possible to determine the peeling and flaking portions of surfaces such as concrete of buildings with high precision. Attached Figure Description

[0030] Figure 1 It is a graph showing the relationship between the time elapsed after construction and the surface displacement and peeling / stripping of the building, as well as an example of a cross-section of the building at each inspection.

[0031] Figure 2 This is a schematic diagram of an inspection system for buildings, including the peeling and flaking determination device involved in this invention.

[0032] Figure 3 This is an external view of an FMCW-type LiDAR comprising a three-dimensional measuring device.

[0033] Figure 4 This is a diagram illustrating an implementation method for measuring the three-dimensional shape of a building's surface using a stereo camera.

[0034] Figure 5 This is a cross-sectional view near the surface of a building, illustrating an example of the mechanism of surface peeling.

[0035] Figure 6 This is a cross-sectional view near the surface of a building, which is another example illustrating the mechanism of surface peeling in a building.

[0036] Figure 7 This is a block diagram illustrating an embodiment of the hardware structure of the peeling and stripping determination device according to the present invention.

[0037] Figure 8 This is a diagram illustrating a method for identifying the peeling and flaking portions of a building's surface.

[0038] Figure 9 It contains photographic images of the building, including peeling and cracked sections.

[0039] Figure 10This is a diagram illustrating an example of the surface properties of a building based on multiple measurement points (distributed in a two-dimensional pattern) measured by a three-dimensional measuring device.

[0040] Figure 11 This is another example of a diagram showing the surface characteristics of a building based on multiple measurement points measured by a three-dimensional measuring device.

[0041] Figure 12 This is a diagram illustrating other methods for detecting depressions on the surface of a building.

[0042] Figure 13 This is an example of a display screen showing peeling or flaking parts.

[0043] Figure 14 This is a flowchart illustrating an embodiment of the peeling and flaking determination method involved in the present invention. Detailed Implementation

[0044] Hereinafter, with reference to the accompanying drawings, preferred embodiments of the peeling and flaking determination apparatus, method and procedure involved in the present invention will be described.

[0045] [Summary of the Invention] Figure 1 It is a graph showing the relationship between the time elapsed after construction and the surface displacement and peeling / stripping of the building, as well as an example of a cross-section of the building at each inspection.

[0046] exist Figure 1 In this method, the displacement of the building's surface is measured at the start time of inspection (the start time of measurement during construction) t1 and at each subsequent inspection time (t2, t3, t4, t5, ...). By comparing the displacements at the same locations on the building's surface, it is possible to observe areas of surface bulging that occur as construction progresses.

[0047] exist Figure 1 In the example shown, the building at the start of the measurement at time t1 is in (A) normal condition, but at time t2, due to the deterioration of the building ((B) cracking), the surface bulges slightly. The bulging at this time is to a degree that cannot be detected by the naked eye. In addition, the "cracking" is usually caused by the corrosion and thickening of the steel (reinforcing bars) inside the building.

[0048] During the initial stage of buoyancy (C) indicated at inspection time t3, as the corrosion of the reinforcing steel progresses, "cracking" also occurs, and the surface of the building bulges (resulting in "buoyancy").

[0049] During the final stage of (D) buoyancy, as indicated by inspection time t4, the "cracking" progresses further, reaching the surface of the building, and the "buoyancy" also increases further.

[0050] The inspection time t5 indicates the time when the covering concrete (concrete from the steel reinforcement surface to the concrete surface) falls off ((E) peeling / stripping).

[0051] exist Figure 1 In the example shown, it can be seen that the displacement (heavy amount) of the building surface measured at each inspection gradually increases, resulting in the peeling / stripping of the covering concrete.

[0052] Regardless of the cause, spalling will cause abnormalities on the concrete surface. As long as a high-precision surface displacement measurement is performed, even minute spalling can be detected without being missed.

[0053] Therefore, this invention acquires three-dimensional measurement data representing the surface displacement of a building, and detects recessed portions on the building's surface based on the three-dimensional measurement data. These recessed portions can be detected by comparing the three-dimensional measurement data with a reference surface (reference surface data).

[0054] Furthermore, in order to distinguish between the unevenness (depression) of the building surface during construction and the depression that is peeling off, depressions exceeding a first threshold are detected. Thus, depressions caused by minor unevenness of the building surface during construction are excluded.

[0055] Then, if it is determined that the depression portion exceeding the first threshold is not a depression portion caused by cracking, the depression portion is identified as a peeling portion.

[0056] [Overall Structure of the Inspection System] Figure 2 This is a schematic diagram of an inspection system for buildings, including the peeling and flaking determination device involved in this invention.

[0057] Figure 2 The inspection system shown is a system for inspecting railway tunnels, and it is equipped with a three-dimensional measuring device 10, a data processing device 14, and a power supply device 16.

[0058] The three-dimensional measuring device 10 is mounted on a tripod 12, but it can also be mounted on a trolley 18 that travels on the line.

[0059] In this example, the three-dimensional measuring device 10 is a LiDAR (Light Detection and Ranging), especially an FMCW (Frequency Modulated Continuous Wave) LiDAR capable of ranging at the level of hundreds of μm. However, the present invention is not limited to the use of ranging data (three-dimensional measuring data) measured by an FMCW LiDAR.

[0060] [Three-dimensional measuring device] Figure 3 This is an external view of an FMCW-type LiDAR comprising a three-dimensional measuring device.

[0061] exist Figure 3 In the middle, the three-dimensional measuring device 10 is mounted on such as Figure 2 The trolley 18 shown is traveling on the line, measuring the distance to the surface of the tunnel, which is a structure of the railway.

[0062] In addition to the three-dimensional measuring device 10, the trolley 18 is also equipped with a data processing device 14 and a power supply device 16. The power supply device 16 supplies power to the three-dimensional measuring device 10 and the data processing device 14.

[0063] The three-dimensional measuring device 10 acquires three-dimensional measurement data representing the shape of the tunnel wall 20 by measuring the distance to the tunnel wall (surface) 20.

[0064] exist Figure 3 In the example shown, the three-dimensional measuring device 10 uses an FMCW-type laser beam in... Figure 3 The wall surface 20 is scanned at high speed in the left-right direction (main scanning direction), and the scan line is moved in the up-down direction (sub-scanning direction) of the wall surface 20. This allows for the measurement of distances from the measuring head of the 3D measuring device 10 to multiple measuring points on each scanning line of the laser beam. Furthermore, by converting the 3D data in a polar coordinate system (composed of the laser beam's irradiation direction and the measuring distance) into 3D data in an orthogonal coordinate system, 3D measurement data representing the shape of the wall surface 20 is obtained. In this example, 3D measurement data (point cloud data) for multiple measuring points is obtained as the 3D measurement data.

[0065] The three-dimensional measuring device 10 can be used to measure the concavity and convexity of a small wall surface 20 under the following conditions.

[0066] • Measurement accuracy: 50μm Measurement distance: 2-7m • Measurement speed: 10m² (based on area) 2 / second (the speed of the laser beam is equivalent to 4000 rpm) Furthermore, the 3D measuring device 10 acquires 3D data of the wall 20 at constant intervals, for example, during the movement of the trolley 18, but preferably acquires 3D data in a manner that overlaps a portion of the measuring area of ​​the 3D data acquired at each interval. This is for panoramic synthesis of the 3D data acquired at each interval.

[0067] The three-dimensional measuring device 10 can achieve the above-mentioned measurement accuracy by using a LiDAR configured in FMCW mode. However, the measurement accuracy and other conditions required for the three-dimensional measurement data in this invention are not limited to the above examples. Furthermore, the three-dimensional measuring device is not limited to an FMCW-mode LiDAR and can be applied to various devices.

[0068] For example, instead of FMCW-type LiDAR, TOF (Time of Flight) LiDAR can be used to determine the distance to the wall 20 by measuring the time of flight of the light transmitted by the pulse. Furthermore, the three-dimensional shape of the wall 20 can be determined using a stereo camera.

[0069] Figure 4 This is a diagram illustrating an implementation method for measuring the three-dimensional shape of a building's surface using a stereo camera.

[0070] Figure 4 The stereo camera shown consists of a left camera 30L and a right camera 30R, and the distance to the wall 20 of the photographed object is determined by triangulation.

[0071] Furthermore, as a three-dimensional measuring device for measuring the distance up to the wall 20 (i.e., three-dimensional measurement data of the wall), it is applicable to various three-dimensional measuring devices such as the lidar three-dimensional shape measuring device described in Japanese Patent Application Publication No. 9-297014, the photographic device described in Japanese Patent Application Publication No. 2021-2016-31249, the measuring device based on the light cutting method using a slit laser projector, the FM lidar-based ranging measuring device described in Japanese Patent Publication No. 3194586, and the optical rangefinder described in Japanese Patent Publication No. 3583906.

[0072] The three-dimensional shape of the tunnel wall 20 is measured by the three-dimensional measuring device 10 at the start of tunnel measurement (construction) and during periodic inspections after construction. The measured three-dimensional measurement data of the wall are stored in the storage device within the data processing device 14 or in an external storage device at the start of measurement and during periodic inspections.

[0073] [Mechanisms of surface material peeling from buildings] Figure 5 This is a cross-sectional view near the surface of a building, illustrating an example of the mechanism of surface peeling.

[0074] Figure 5 "(A) Normal State" refers to a normal state, such as during the construction of a building. The surface in this state is set as the reference plane. Additionally, in Figure 5 In the middle, 40 represents steel (reinforcing bars).

[0075] Figure 5The causes of “(B) cracking”, “(C) initial stage of buoyancy / steel fracture”, “(D) final stage of buoyancy” and “(C) peeling” are corrosion of the steel reinforcement 40 (e.g., salt damage / water leakage), which occur over the years since the tunnel construction began.

[0076] exist Figure 5 After “(C) Initial stage of buoyancy / steel fracture”, the surface of the building gradually rises above the reference plane (resulting in “buoyancy”), which leads to the stripping of the overlying concrete.

[0077] Figure 6 This is a cross-sectional view near the surface of a building, which is another example illustrating the mechanism of surface peeling in a building.

[0078] Figure 6 "(A) Normal State" refers to a normal state, such as during the construction of a building. The surface in this state is set as the reference plane. Additionally, in Figure 6 In the text, 50 represents the reactive skeleton, and 60 represents steel.

[0079] Figure 5 The reasons for “(B) cracking”, “(C) initial stage of floating / steel fracture”, “(D) final stage of floating” and “(C) peeling” are the deterioration of concrete strength (e.g., alkali reaction of reactive skeleton 50), which occur with the number of years that have passed since construction.

[0080] exist Figure 6 After “(C) Initial stage of buoyancy / steel fracture”, the surface of the building gradually rises above the reference plane (resulting in “buoyancy”), which leads to the stripping of the concrete covering the steel 60 from the surface to the surface.

[0081] like Figure 5 and Figure 6 As shown, if the surface of a building "rises" over time, it will eventually "peel off." This applies regardless of the cause of the "rise." That is, it does not matter whether the steel reinforcement is present, its material, or its shape, nor the material or shape of the concrete, how the steel reinforcement is embedded in the concrete, the construction method, or the cause of corrosion (neutralization or frost damage, poor construction, etc.).

[0082] [Hardware structure of the peeling and stripping determination device] Figure 7 This is a block diagram illustrating an embodiment of the hardware structure of the peeling and stripping determination device according to the present invention.

[0083] Figure 7The peeling and flaking determination device 100 shown is, for example, composed of a personal computer, workstation, etc., and includes a processor 110, a memory 120, a display 130, an input / output interface 140, and an operation unit 150. This peeling and flaking determination device 100 can be used as... Figure 2 The data processing device 14 shown is assembled to perform one function.

[0084] The processor 110, consisting of a CPU (Central Processing Unit) and the like, centrally controls the various parts of the peeling and flaking determination device 100 and performs various processes for determining the peeled and flaked portions of the building's surface by executing the peeling and flaking determination program. Details regarding the various processes based on the processor 110 will be described later.

[0085] The memory 120 includes flash memory, ROM (Read-only Memory), RAM (Random Access Memory), hard disk drive, etc. The flash memory, ROM, or hard disk drive is a non-volatile memory that stores an operating system, various programs including the peeling and flaking determination program involved in this invention, etc. Furthermore, the non-volatile memory (storage device) such as flash memory and hard disk drive can store, along with the measurement time, the three-dimensional measurement data of the building surface measured by the three-dimensional measurement device 10 at the start of the building measurement and during periodic inspections.

[0086] RAM functions as the working area for processing based on processor 110. It also temporarily stores various programs stored in flash memory or the like, as well as 3D measurement data of building surfaces. Additionally, processor 110 may have a portion of memory 120 (RAM) built into it.

[0087] In addition to displaying the operation screen of the peeling and delamination determination device 100, the display 130 also displays surface data of the building design read from the memory 120. Figure 4 The photographic images of the building (including panoramic composite images) taken by one of the stereo cameras shown or other imaging devices not shown can be used to make the peeling and flaking portions determined by the peeling and flaking determination device 100 identifiable on the surface data or photographic images.

[0088] The input / output interface 140 includes a connection section for connecting to external devices and a communication section for connecting to a network. The connection section for connecting to external devices can be compatible with USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface) (HDMI is a registered trademark), etc.

[0089] The peeling and flaking determination device 100 can be configured as a device independent of the data processing device 14. In this case, the processor 110 acquires three-dimensional measurement data of the building surface from the data processing device 14 via the input / output interface 140, or, if the three-dimensional measurement data is stored in the cloud, it can acquire the three-dimensional measurement data of the building surface from the cloud via the input / output interface 140. Furthermore, the processor 110 can store the acquired three-dimensional measurement data in the memory 120.

[0090] The operation unit 150 includes pointing devices such as a mouse and a keyboard, and uses the display screen of the monitor 130 to function as part of a GUI (Graphical User Interface) that accepts instruction input based on user operation.

[0091] Figure 8 This is a diagram illustrating a method for identifying the peeling and flaking portions of a building's surface.

[0092] Figure 8 (A) is a diagram showing the surface of a building and the scan lines of a laser beam scanning that surface.

[0093] The three-dimensional measuring device 10 acquires three-dimensional measuring data (point cloud data) of multiple measuring points on the scanning line of the laser beam.

[0094] The processor 110 compares the three-dimensional measurement data of the building's surface with reference surface data representing a reference surface to detect recesses on the building's surface. That is, by subtracting the reference surface data from the three-dimensional measurement data, it calculates the height (unevenness) data of the building's surface along the scan line of the laser beam.

[0095] Figure 8 (B) is a waveform diagram representing the height of the building surface obtained from the point cloud data on the scan line.

[0096] like Figure 8 As shown in (B), the portion with negative height data (the portion below the reference surface) is a recessed portion. Furthermore, the reference surface data representing the reference surface can be defined in various ways, but it can be set as surface data obtained by averaging the unevenness of the building's surface as represented by three-dimensional measurement data, or as surface data from the building's design.

[0097] The processor 110 determines whether the dented portion exceeds the first threshold (Th1) and is therefore dented by comparing the dented portion detected as described above with the first threshold (Th1). The first threshold (Th1) is preferably set to a value that can exclude surface irregularities (dented portions) during the construction of the building.

[0098] Next, the processor 110 determines whether the dented portion exceeding the first threshold (Th1) is a peeling or cracked portion.

[0099] Figure 9 It contains photographic images of the building, including peeling and cracked sections.

[0100] Figure 9 The peeling and flaking portions shown include cracked areas. Furthermore, in Figure 9 The video images shown also contain separate cracks that are not included in the peeled-off portions.

[0101] Figure 10 This is a diagram illustrating an example of the surface properties of a building based on multiple measurement points (distributed in a two-dimensional pattern) measured by a three-dimensional measuring device.

[0102] exist Figure 10 In the point cloud representation of each measurement point, measurement points with height data exceeding the first threshold (Th1) are represented by white circles, while measurement points with height data below the first threshold (Th1) are represented by black circles.

[0103] Furthermore, in Figure 10 In the diagram, the measurement point indicated by the 7×1 white circle in the center corresponds to a crack, while the measurement point indicated by the 8×4 white circle to its left corresponds to a peeling or flaking portion. Furthermore, cracks are contained within the recessed portion corresponding to this peeling or flaking portion.

[0104] The processor 110 determines that the recessed portion is a "peeled portion" (not a "crack") based on one or more of the following determination results.

[0105] (1) Measure the width of the depression and the width of the longitudinal part. If the width of the shorter of the two widths exceeds the second threshold (Th2), the depression is determined to be not a crack (but a peeling part).

[0106] The processor 110 detects regions of depressions exceeding a first threshold (Th1) based on height data from multiple measurement points (distributed in a two-dimensional pattern) on multiple scan lines of the measurement head of the three-dimensional measurement device 10. Figure 10 In the example shown, the measurement point indicated by the white circle as mentioned earlier exceeds the first threshold (Th1).

[0107] The processor 110 measures the width and length of the rectangle inscribed within the recessed portion exceeding the first threshold (Th1). If the width of the shorter of the two widths exceeds the second threshold (Th2), the recessed portion is determined not to be a crack.

[0108] exist Figure 10In the example shown, the shorter side of the recessed portion represented by the 7×1 white circle measurement point has a width corresponding to the width of one measurement point and is below the second threshold (Th2). Therefore, the recessed portion is determined to be a crack (not a peeling or flaking portion). In addition, the interval between adjacent measurement points can be predetermined based on the measurement distance to the surface of the building, the scanning speed based on the three-dimensional measurement device 10, etc.

[0109] On the other hand, the shorter side of the recessed portion represented by the measurement point of the 8×4 white circle has a width equivalent to the width of 4 measurement points. If the second threshold (Th2) is set to the width equivalent to 3 measurement points, it exceeds the second threshold (Th2), therefore it is determined that the recessed portion is not a crack (but a peeling / scraping portion). In addition, the recessed portion represented by the measurement point of the 8×4 white circle may contain cracked portions, but this does not prevent the determination of the aforementioned peeling / scraping portion.

[0110] Figure 11 This is another example of a diagram showing the surface characteristics of a building based on two-dimensional measurement points measured by a three-dimensional measuring device.

[0111] exist Figure 11 In this process, processor 110 measures the width (W) and height (H) of the recessed portion (inscribed in a rectangle of a point cloud represented by a white circle) exceeding the first threshold (Th1). Figure 11 In the example shown, the width (W) is equivalent to the width of 12 measurement points, and the width (H) is equivalent to the width of 10 measurement points.

[0112] The width of processor 110 is the shorter of its width (W) and height (H). Figure 11 In the example, if the width (H) exceeds the second threshold (Th2), the recessed part is determined to be not a crack (but a peeling or flaking part).

[0113] (2) Measure the area of ​​the depression. If the area exceeds the third threshold (Th3), determine that the depression is not a crack (it is a peeling or flaking part).

[0114] The processor 110 detects regions of depressions exceeding the first threshold (Th1) in the same manner as described above. Then, if the area of ​​the detected depression (equivalent to the number of point clouds of the depression) exceeds the third threshold (Th3), the depression is determined to be not a crack.

[0115] (3) Obtain the video image of the building captured by the camera device, detect the cracks in the building based on the video image, and determine the dented part is not a crack (but a peeling part) based on the detection result of the crack.

[0116] The processor 110 acquires video images of the building captured by the camera device and detects cracks in the building based on the video images. If the detection results indicate that the dented portion is not a crack, then the dented portion is determined to be a peeling or flaking portion. Conversely, if the dented portion is determined to be a crack, then it can be determined that the dented portion is not a peeling or flaking portion. Furthermore, methods for detecting cracks based on video images are well-known, and using video images with a resolution higher than that of three-dimensional measurement data allows for more appropriate crack detection.

[0117] <Other methods for detecting dents on building surfaces> Figure 12 This is a diagram illustrating other methods for detecting depressions on the surface of a building.

[0118] Figure 12 (A) is with Figure 8 (A) A diagram that similarly represents the surface of a building and the scan lines of a laser beam scanning that surface.

[0119] The three-dimensional measuring device 10 acquires three-dimensional measurement data of multiple measuring points on the scanning line of the laser beam. The memory 120 stores the three-dimensional measurement data of the building surface measured by the three-dimensional measuring device 10 each time the building is inspected.

[0120] Figure 12 (B) is a waveform diagram representing the height (h1) of the building surface at a certain inspection time T1. Figure 12 (B) The height (h1) of the building's surface shown is based on the measurement at T1 during the inspection. Figure 12 (A) shows the three-dimensional measurement data obtained from the scan line.

[0121] Figure 12 (C) is a waveform diagram showing the height (h2) of the building surface at inspection time T2 after inspection time T1. Figure 12 (C) The height (h2) of the building's surface shown is based on the measurement at T2 during the inspection. Figure 12 (A) shows the three-dimensional measurement data obtained from the scan line.

[0122] Figure 12 (D) indicates from Figure 12 (B) shows the height (h1) of the surface of building T1 during the inspection, minus Figure 12 (C) shows the waveform of the difference (h1-h2) at the same measurement point on the surface of the building obtained by measuring the height (h2) of the building surface at T2 during the inspection.

[0123] When the difference (h1-h2) is positive, the amount by which the building's surface becomes lower (depressed) during the period from inspection time T1 to inspection time T2 is the difference (h1-h2). Conversely, when the difference (h1-h2) is negative, the amount by which the building's surface becomes higher (bulges) during the period from inspection time T1 to inspection time T2 is the difference (h1-h2).

[0124] The processor 110 acquires differential data of the same measurement point on the surface of the building based on multiple three-dimensional measurement data measured at each inspection, thereby enabling the detection of raised and recessed portions of the building's surface. In this example, it is able to detect recessed portions of the building's surface based on the differential data that is positive.

[0125] In addition, among the three-dimensional measurement data with different inspection times used to obtain differential data, the three-dimensional measurement data with earlier inspection time becomes the reference surface data relative to the three-dimensional measurement data with later inspection time.

[0126] <Other methods for determining the peeled-off portion> In the above embodiments, the three-dimensional measurement data of the building surface and the reference surface data of the building are compared to detect the concave portion of the building surface, and the peeling and flaking portion of the building surface is determined by analyzing the characteristics of the detected concave portion. However, it is not limited to analyzing the characteristics of the concave portion. Alternatively, while analyzing the characteristics of the concave portion, as shown below, differential data can be calculated based on the three-dimensional measurement data of the surface of multiple buildings obtained during multiple (more than 3) inspections, and the peeling and flaking portion can be determined based on the changes in the differential data.

[0127] If the raised and recessed portions of the same part of the building's surface are detected according to the inspection time sequence based on the aforementioned differential data, the processor 110 identifies the recessed portion as a peeling or flaking portion of the building's surface. That is, if a raised portion of the building's surface is detected based on the differential data, and then, if the detected raised portion is identified as a recessed portion, the recessed portion is identified as a peeling or flaking portion. This is because it is assumed that the raised portion will peel or flake.

[0128] Furthermore, when the variation of differential data for multiple buildings turns negative (when the variation of differential data when the surface of a building is raised is set to positive and the variation of differential data when the surface of a building is depressed is set to negative, the processor 110 identifies the depressed portion where the differential data turns negative as the peeling and flaking portion of the building's surface.

[0129] Furthermore, when the change in differential data changes from positive to negative, or when the change in differential data exceeds a threshold and decreases, the processor 110 can identify the depressions corresponding to these changes in differential data as the peeling and flaking portions of the building's surface.

[0130] <Display of the peeled-off portion> If the processor 110 determines a peeling or flaking portion on the surface of a building, it displays the determined peeling or flaking portion on the screen of the display 130 so that the user can confirm it.

[0131] The processor 110 is capable of displaying the measured three-dimensional measurement data, the surface data of the building design, or the video images of the building taken by the camera device on the display 130, but preferably makes the identified peeling and flaking parts identifiable on the screen of the display 130 that displays these data or video images.

[0132] Figure 13 This is an example of a display screen showing peeling or flaking parts.

[0133] exist Figure 13 The screen of the display 130 shows peeling and flaking parts (H) and cracked parts (C1 to C5) superimposed on the photographic image of the building surface.

[0134] The peeled-off portion (H) is displayed with a different brightness or color than the photographic image of the building surface that serves as the background, thus displaying it in a way that is easily identifiable to the user. Additionally, the detected crack portions (C1 to C5) are highlighted on the screen of display 130, but the detection and highlighting of the crack portions (C1 to C5) are not necessarily required. Furthermore, the photographic image displayed on display 130 can be a panoramic image obtained by synthesizing multiple photographic images.

[0135] [Method for determining peeling and detachment] Figure 14 This is a flowchart illustrating an embodiment of the peeling and flaking determination method involved in the present invention.

[0136] in addition, Figure 14 The method for determining peeling and flaking shown is based on Figure 7 The method performed by the processor 110 of the peeling and flaking determination device 100 shown.

[0137] exist Figure 14 In the process, the processor 110 acquires data from the three-dimensional measuring device 10 (reference) each time a building is inspected. Figure 3The processor 110 can obtain the three-dimensional measurement data from the storage device of the data processing device 14, the cloud, or the memory 120 of the peeling and stripping determination device 100.

[0138] The processor 110 compares the three-dimensional measurement data with the reference surface data of the building to detect depressions on the building's surface (step S20). The three-dimensional measurement data with a height lower than the reference surface data can be used as data for detecting depressions.

[0139] Next, the processor 110 determines whether the depression detected in step S20 exceeds the first threshold and is depressed (step S30). This is to distinguish it from depressions that have existed since the construction (depressions caused by slight unevenness).

[0140] If it is determined that the recessed portion exceeds the first threshold and is recessed ("yes"), then proceed to step S40. If it is determined that the recessed portion does not exceed the first threshold and is recessed ("no"), then it is determined that the recessed portion is not a peeled-off portion, and the judgment of the surface characteristics of the recessed portion ends.

[0141] In step S40, the processor 110 determines whether the recessed portion exceeding a first threshold is a crack. Specifically, the processor determines whether the recessed portion is a peeling or cracked portion through the following process.

[0142] (1) Measure the width of the recessed part and the width of the longitudinal part. If the width of the shorter of the two widths exceeds the second threshold (Th2), the recessed part is determined not to be a crack.

[0143] (2) Measure the area of ​​the depression. If the area exceeds the third threshold (Th3), the depression is determined to be not a crack.

[0144] (3) Obtain the video image of the building captured by the camera device, detect the cracks in the building based on the video image, and determine that the dented part is not a crack based on the detection result of the crack.

[0145] In step S40, if it is determined that the dented portion is not a cracked portion ("No"), the processor 110 determines that the dented portion is a peeling or flaking portion of the building's surface (step S50).

[0146] Processor 110 notifies the identified peeling and flaking portions of the building surface (step S60). For example, processor 110 causes the identified peeling and flaking portions (H) to be identifiablely displayed on the screen of display 130 showing the building surface (see reference). Figure 13 ).

[0147] As a result, inspectors can easily identify peeling or flaking areas on the concrete and other surfaces of a building.

[0148] [other] The structure described in this embodiment is a tunnel, but it is not limited to this. Any structure that is being inspected, such as a bridge or dam, can be used. The surface material of the structure includes reinforced concrete, concrete, and concrete repair materials such as mortar.

[0149] Furthermore, in this embodiment, for example, the hardware structure of the processing unit (processing unit) that performs various processes, such as a CPU (Central Processing Unit), is as shown below. Among the various processors, there are general-purpose processors, i.e., CPUs, that execute software (programs) and function as various processing units; processors such as FPGAs (Field Programmable Gate Arrays) whose circuit structure can be changed after manufacturing, i.e., Programmable Logic Devices (PLDs); and processors such as ASICs (Application Specific Integrated Circuits) that have circuit structures specifically designed for performing specific processes, i.e., dedicated circuits.

[0150] A processing unit can be composed of one of these various processors, or it can be composed of two or more processors of the same or different types (e.g., multiple FPGAs or a combination of CPU and FPGA). Furthermore, a single processor can constitute multiple processing units. As examples of a single processor constituting multiple processing units, firstly, there is the following: Represented by computers such as client and server computers, a single processor is composed of a combination of one or more CPUs and software, and this processor functions as multiple processing units. Secondly, there is the following: Represented by systems on a chip (SoC), a processor that implements the overall system functionality including multiple processing units using a single integrated circuit (IC) chip. Thus, regarding various processing units, as a hardware structure, one or more of the aforementioned processors are used.

[0151] Furthermore, more specifically, the hardware structure of these various processors is a circuit composed of combined semiconductor elements and other circuitry.

[0152] Furthermore, the present invention includes a peeling and peeling determination program that enables the computer to function as the peeling and peeling determination device involved in the present invention by being installed on the computer, and a non-volatile storage medium recording the peeling and peeling determination program.

[0153] Furthermore, the present invention is not limited to the above-described embodiments; of course, various modifications can be made without departing from the spirit of the present invention.

[0154] Symbol Explanation 10-Three-dimensional measuring device, 12-Tripod, 14-Data processing device, 16-Power supply device, 18-Trolley, 20-Wall surface, 30L-Left camera, 30R-Right camera, 40-Reinforcing bar, 50-Reactive skeleton, 60-Steel, 100-Peeling and peeling determination device, 110-Processor, 120-Memory, 130-Display, 140-Input / output interface, 150-Operating unit, S10~S60-Steps.

Claims

1. A peeling / stripping determination device, comprising: a processor; and a memory storing a program for the processor to execute, wherein, The processor performs the following processing: To acquire three-dimensional measurement data of the building surface measured by the measuring device; The three-dimensional measurement data is compared with the reference surface data of the building to detect the concave parts of the building's surface; and If it is determined that the dented portion exceeds the first threshold and is not a crack, the dented portion is identified as a peeling or flaking portion of the building's surface.

2. The peeling and flaking determination device according to claim 1, wherein, The processor measures the horizontal and vertical widths of the recessed portion. If the width of the shorter of the horizontal and vertical widths exceeds a second threshold, the recessed portion is determined not to be a crack.

3. The peeling and flaking determination device according to claim 1, wherein, The processor measures the area of ​​the recessed portion, and if the area exceeds a third threshold, it determines that the recessed portion is not a crack.

4. The peeling and flaking determination device according to claim 1, wherein, The processor acquires video images of the building captured by the camera device. The cracks in the building are detected based on the camera images. The determination of whether the dented portion is a crack is based on the detection results of the crack.

5. The peeling and flaking determination device according to any one of claims 1 to 4, wherein, The reference surface data is surface data obtained by averaging the unevenness of the building surface represented by the three-dimensional measurement data, or surface data in the design of the building.

6. The peeling and flaking determination device according to claim 1, wherein, The memory stores three-dimensional measurement data of the building's surface measured by the measuring device each time the building is inspected. The processor acquires multiple three-dimensional measurement data of the building's surface measured during each inspection; Differential data of the same measurement point on the surface of the building are obtained based on multiple three-dimensional measurement data. The differential data is used to detect at least one of the raised and recessed portions of the building's surface.

7. The peeling and flaking determination device according to claim 6, wherein, If the raised portion and the recessed portion of the same part of the building's surface are inspected in the order of the inspection time, the processor identifies the recessed portion as a peeling or flaking portion of the building's surface.

8. The peeling and flaking determination device according to claim 6, wherein, When the change in the differential data turns negative, when the change in the differential data turns from positive to negative, or when the change in the differential data exceeds a threshold and decreases, the processor determines the recessed portion as a peeling or flaking portion of the building's surface.

9. The peeling and flaking determination device according to claim 1, wherein, The processor enables the identified peeling and flaking portions to be identifiablely displayed on a screen that displays the three-dimensional measurement data, surface data of the building's design, or camera images of the building taken by a camera device.

10. The peeling and flaking determination device according to claim 1, wherein, The measuring device includes a LiDAR or a stereo camera.

11. The peeling and flaking determination device according to claim 10, wherein, The LiDAR uses FMCW (Frequency Modulated Continuous Wave) to measure the three-dimensional measurement data.

12. The peeling and flaking determination device according to claim 1, wherein, The material on the surface of the building includes concrete or concrete repair material.

13. A method for determining peeling and flaking, wherein a processor determines peeling and flaking on the surface of a building, wherein, To acquire three-dimensional measurement data of the building surface measured by the measuring device. The three-dimensional measurement data is compared with the reference surface data of the building to detect the depressions on the building's surface. If it is determined that the dented portion exceeds the first threshold and is not a crack, the dented portion is identified as a peeling or flaking portion of the building's surface.

14. The method for determining peeling and flaking according to claim 13, wherein, The processor measures the horizontal and vertical widths of the recessed portion. If the width of the shorter of the horizontal and vertical widths exceeds a second threshold, the recessed portion is determined not to be a crack.

15. The method for determining peeling and flaking according to claim 13, wherein, The processor measures the area of ​​the recessed portion, and if the area exceeds a third threshold, it determines that the recessed portion is not a crack.

16. The method for determining peeling and flaking according to claim 13, wherein, The processor acquires video images of the building captured by the camera device. The cracks in the building are detected based on the camera images. The determination of whether the dented portion is a crack is based on the detection results of the crack.

17. A spalling determination program which determines spalling of a surface of a building, wherein, The peeling and stripping determination procedure causes the computer to perform the following functions: Acquire three-dimensional measurement data of the surface of the building as measured by the measuring device; The three-dimensional measurement data is compared with the reference surface data of the building to detect the concave parts of the building's surface; and If it is determined that the dented portion exceeds the first threshold and is not a crack, the dented portion is identified as a peeling or flaking portion of the building's surface.

18. A recording medium that is non-transitory and computer-readable, having recorded the program of claim 17.

Images