Structure management device

Abstract

To provide a structure management device capable of knowing the shape of an abnormal part on the surface of a concrete structure in a correct size.SOLUTION: A structure management device 1 includes a photographing device 5 that photographs a predetermined portion of a photographing target 3, a distance measurement device 7 that measures a distance between the predetermined portion of the photographing target 3 and the photographing device 5, and a dimension calculation unit 9 that calculates an actual size of an abnormal portion 21 appearing on a surface 17 of the photographing target 3 by using an image 15 obtained by photographing of the photographing device 5 and a value of the distance measured by the distance measurement device 7.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a structure management device, and more particularly to a device for managing images obtained by photographing the surface of a target such as a concrete structure. [Background technology]

[0002] BACKGROUND ART Conventionally, a crack detection method is known in which a concrete structure is photographed with a camera, and an image obtained is subjected to a sharpening process that emphasizes edges, thereby detecting cracks on the surface of the concrete (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-39897 Summary of the Invention [Problem to be solved by the invention]

[0004] However, although the above crack detection method can accurately detect cracks, it is difficult to accurately determine the size of an abnormality (an abnormality occurrence location) such as a crack.

[0005] An object of the present invention is to provide a structure management device that can display the shape of an abnormality on the surface of a concrete structure at its correct size. [Means for solving the problem]

[0006] A structure management device according to an aspect of the present invention is a structure management device having an imaging device that photographs a specified location on an object to be photographed, a distance measuring device that measures the distance between the specified location on the object to be photographed and the imaging device, and a dimension calculation unit that calculates the actual size of an abnormal location appearing on the surface of the object to be photographed using an image obtained by the imaging device and the distance value measured by the distance measuring device.

[0007] In addition, a structure management device according to an embodiment of the present invention is a structure management device having an imaging device that images a specified location on an object to be photographed, a distance measuring device that measures the distance between the imaging device and each of three points that are located within the specified location and are separated from each other and are photographed by the imaging device, and a dimension calculation unit that calculates the actual size of an abnormal location appearing on the surface of the object to be photographed using an image obtained by the imaging device and the distance values ​​measured by the distance measuring device when the three distance values ​​measured by the distance measuring device become equal to each other.

[0008] In addition, a structure management device according to an aspect of the present invention is provided with a rod-shaped instrument on which the photographing device and the distance measuring device are installed, and the photographing device and the distance measuring device installed on the rod-shaped instrument are configured so that they can be rotated and positioned relative to the rod-shaped instrument.

[0009] In addition, a structure management device according to an aspect of the present invention is an inspection device having an imaging device that photographs an object to be photographed, a distance measuring device that measures the distance between the object to be photographed and the imaging device, and an output unit that associates the image photographed by the imaging device with the distance measured by the distance measuring device and outputs the image to a specified device.

[0010] In addition, a structure management device according to an aspect of the present invention is a structure management device having an imaging device that images a predetermined location on an object to be photographed; a distance measurement device that measures the distance between the imaging device and each of three points that are located within the predetermined location and are separated from one another and are located within the predetermined location and are photographed by the imaging device; an optical axis crossing angle calculation unit that identifies a plane that is the surface of the predetermined location of the object to be photographed by the imaging device from the three points measured by the distance measurement device and determines the inclination of the optical axis of the lens of the imaging device with respect to this identified plane; an image conversion unit that uses the inclination of the optical axis of the lens determined by the optical axis crossing angle calculation unit to convert the image captured by the imaging device into an image of the planar surface of the object to be photographed from the front; and a dimension calculation unit that is configured to calculate the actual size of an abnormal location appearing on the surface of the object to be photographed, using the image converted by the image conversion unit and the value of a predetermined distance from the three distances measured by the distance measurement device.

[0011] Furthermore, a structure management device according to an aspect of the present invention includes a camera that captures an image of a predetermined location on a target object; a distance measuring device that measures the distance between the camera and each of four points that are separated from one another within the predetermined location captured by the camera; a camera part determination unit that uses three of the values ​​of the four points to identify a virtual plane that is the surface of the predetermined location captured by the camera, and determines whether the remaining point of the four points is on the identified virtual plane, thereby determining whether the surface of the predetermined location captured by the camera is a single plane; and a distance measuring device that measures the distance between the camera and each of four points that are separated from one another within the predetermined location captured by the camera; and an optical axis crossing angle calculation unit that calculates the inclination of the optical axis of the lens of the photographing device with respect to the one provisional plane identified by the photographing portion determination unit when it is determined that the surface of a predetermined location photographed by the optical axis crossing angle calculation unit is a single plane; an image conversion unit that converts the image photographed by the photographing device into an image of the planar surface of the photographing target photographed from the front using the crossing angle calculated by the optical axis crossing angle calculation unit; and a dimension calculation unit that is configured to calculate the actual size of an abnormal location appearing on the surface of the photographing target using the image converted by the image conversion unit and the value of a predetermined one of three distances measured by the distance measurement device. [Effects of the Invention]

[0012] According to the present invention, it is possible to obtain an effect that the shape of an abnormal portion on the surface of a concrete structure can be known in its correct size. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing an imaging device, a distance measurement device, and an imaging device installation pole (a portion near the imaging device and the distance measurement device) in a structure management device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a view taken along the arrow II in FIG. [Figure 3] 1 is a block diagram (operation diagram) showing a schematic configuration of a structure management device according to an embodiment of the present invention. [Figure 4]1 is an overall view of a structure management device according to an embodiment of the present invention. [Figure 5] 1 is a diagram showing a usage mode of a structure management device according to an embodiment of the present invention; [Figure 6] 1 is a diagram showing the positional relationship between a subject to be photographed and a photographing device of a structure management apparatus according to an embodiment of the present invention. [Figure 7] 1 and shows a structure management device according to a first modified example and a second modified example. FIG. [Figure 8] FIG. 2 is a diagram corresponding to FIG. 1 and showing a structure management device according to a third modified example. [Figure 9] 1A is a diagram corresponding to FIG. 1 and showing a structure management device according to a fourth modified example, and FIG. 1B is a view taken along the arrow IXB in FIG. 1A. DETAILED DESCRIPTION OF THE INVENTION

[0014] A structure management device (image capturing, processing, and management device for the surface of a structure) 1 according to an embodiment of the present invention processes and manages an image 15 (see FIG. 3) obtained by capturing an image of a target 3 (see FIGS. 3 and 5). As shown in FIGS. 1, 2, 4, 5, etc., the structure management device 1 is configured to include a capturing device (camera) 5, a distance measuring device 7, and a dimension calculation unit 9.

[0015] For convenience of explanation, a predetermined direction is defined as the X direction, a predetermined direction perpendicular to the X direction is defined as the Y direction, and a direction perpendicular to the X and Y directions is defined as the Z direction.

[0016] The image capturing device 5 is configured to capture an image of a predetermined location (a predetermined range of the surface 17) of the image capturing target (object) 3. The image capturing target 3 can be a concrete structure such as a bridge pier (see FIG. 5). The surface 17 of the predetermined location (the image capturing range of the image capturing device 5) of the image capturing target 3 is flat. In other words, the surface 17 is generally flat with no significant irregularities visible to the naked eye.

[0017] 2 and other figures, the photographing device 5 is configured to include one flat image sensor (e.g., a CMOS sensor) 11 and one lens (one lens group) 13. The range captured in an image 15 (see FIG. 3) obtained by one photographing session with the photographing device 5 is the photographing range of the photographing device 5.

[0018] 6(a), when photographing with the photographing device 5, for example, the optical axis 19 of the lens 13 of the photographing device 5 is perpendicular to the surface 17 of a predetermined location on the subject 3. Furthermore, when photographing with the photographing device 5, the imaging surface of the imaging element 11 of the photographing device 5 is also perpendicular to the optical axis 19 of the lens 13 of the photographing device 5.

[0019] The shooting range of the photographing device 5 is determined by the angle of view of the photographing device 5 and the distance between the photographing device 5 and the subject 3. The lens 13 of the photographing device 5 may be a fixed focal length lens or a zoom lens. If the lens 13 of the photographing device 5 is a zoom lens, the photographing device 5 is equipped with a zoom function.

[0020] The distance measurement device 7 measures the distance between a predetermined location on the subject 3 (a predetermined location within the photographing range) and the photographing device 5. The photographing device 5 and the distance measurement device 7 are integrated with each other. For example, the distance measurement device 7 measures the distance between the subject 3 and the lens 13 of the photographing device 5 (the distance in a direction parallel to the optical axis 19 of the lens 13 of the photographing device 5). As the distance measurement device 7, for example, a device that measures the distance to the subject 3 without contacting it, such as a LiDAR (Light Detection And Ranging) or an ultrasonic sensor, is used. The photographing device 5 and the distance measurement device 7 are integrated with each other.

[0021] The dimension calculation unit 9 is configured to calculate the actual size (actual dimensions) of an abnormal area 21 (see FIG. 3) appearing on the surface 17 of the object 3 to be photographed, using the image 15 obtained by the photographing device 5 and the distance value measured by the distance measuring device 7. The abnormal area 21 is an area where a defect has occurred or an area where a defect is suspected. Examples of the abnormal area 21 include an area where damage such as a crack 21A has occurred on the surface 17 of the concrete structure 3, and a discolored area 21B on the surface 17 of the object 3 to be photographed due to rust or lime seepage.

[0022] The dimension calculation unit 9 is configured to calculate the actual size of the abnormal area 21 using the image obtained by the photographing device 5. It is desirable that the dimension calculation unit 9 calculates the actual size of the abnormal area 21 using the image obtained by the photographing device 5 and that has been corrected by a correction unit (not shown) to remove distortion caused by aberration of the lens 13, etc. Instead of providing a separate correction unit, the dimension calculation unit 9 or the photographing device 5 may be equipped with a correction function for performing the above correction, and the actual size of the abnormal area 21 may be calculated using the image corrected by this correction function.

[0023] The dimension calculation unit 9 will now be described in more detail. For example, assume that the imaging magnification m of the imaging device 5 is 0.02 and the crack captured on the imaging element 11 of the imaging device 5 is a straight line extending 10 mm in the horizontal direction of the imaging element 11. In this case, the actual length of the crack is 10 mm / 0.02 = 500 mm. The imaging magnification m varies depending on the distance a between the lens 13 of the imaging device 5 and the subject 3 and the focal length f of the lens. For example, it varies in the manner of m = f / (af). Note that if the value of the focal length f relative to the distance a is extremely small, the imaging magnification m varies in a manner roughly proportional to the reciprocal of the distance a.

[0024] The actual dimensions of the abnormal area 21 are calculated in units of pixels of the imaging element 11. For example, if the horizontal dimension of the rectangular, planar imaging element 11 of the imaging device 5 is 20 mm and 4,000 pixels are arranged horizontally, the horizontal pitch of the pixels is 20 mm / 4,000 = 0.005 mm. The crack is captured by 2,000 (10 / 0.005 = 2,000) pixels arranged horizontally.

[0025] The structure management device 1 is provided with a storage unit and an output unit. The storage unit is configured to store, for example, an image 15 captured by the photographing device 5 and a distance measured by the distance measuring device 7 in association with each other. The dimension calculation unit 9 then uses the image 15 and the distance value stored in the storage unit to calculate the actual size of the abnormal area 21 appearing on the surface 17 of the photographed object 3. Note that the storage unit may also be configured to store the actual dimension (actual size) of the abnormal area 21 appearing on the surface 17 of the photographed object 3 calculated by the dimension calculation unit 9.

[0026] The output unit is configured to output the image 15 stored in the memory unit and the distance value stored in the memory unit. The output unit may also output the actual size of the abnormal area 21 appearing on the surface 17 of the photographed object 3 calculated by the dimension calculation unit 9. The output unit is also configured to transmit the image 15 stored in the memory unit and the distance value stored in the memory unit to a predetermined device via wire (wired communication) or wireless (wireless communication). The output unit may also be an image display such as an LCD, a printing device, or a data transmission device.

[0027] 1, 2, 4, etc., the structure management device 1 is configured to include a rod-shaped device (camera installation pole) 23. As described above, the camera 5 and the distance measurement device 7 are integrated with each other and installed at the tip of the camera installation pole 23 (at one end in the longitudinal direction, which is the Z direction).

[0028] 2, the camera 5 and distance measuring device 7 installed on the camera-installation pole 23 are configured so that they can be rotated and positioned integrally with respect to the camera-installation pole 23. In other words, they can change their posture and maintain the changed posture.

[0029] More specifically, the camera-mounting pole 23 is configured to include a pole body 25 and a pan head 27 provided at the tip of the pole body 25. The camera body 5 and the distance measuring device 7 are mounted on the pan head 27. As shown in Fig. 2, the camera body 5 and the distance measuring device 7 mounted on the pan head 27 are rotated and positioned relative to the pole body 25 around an axis C1 that passes through the center of the pan head 27 and extends in the X direction.

[0030] For example, the imaging device 5 and distance measuring device 7 mounted on the pan head 27 can be rotated and positioned around the central axis C1, for example, from position P1 through position P2 to position P3, between positions P1 and P3.

[0031] The camera device 5 and distance measuring device 7 mounted on the camera platform 27 may be rotationally positioned relative to the pole body 25 not only around an axis extending in the X direction but also around an axis extending in the Z direction. Furthermore, the camera device 5 and distance measuring device 7 mounted on the camera platform 27 may be rotationally positioned relative to the pole body 25 using an axis extending in the X direction, an axis extending in the Y direction, and an axis extending in the Z direction as rotation centers.

[0032] The structure management device 1 will be described in more detail. The photographing device 5 is capable of taking images (moving images) in addition to images (still images) 15. Furthermore, the photographing device 5 may be capable of taking still images and moving images simultaneously.

[0033] The pole body 25 of the imaging device installation pole 23 is configured with multiple cylindrical pole body components 30 (30A, 30B, 30C, 30D, 30E) with different inner and outer diameters, forming a telescopic structure. This allows the length (dimension in the Z direction) of the pole body 25 to be freely adjusted. This makes it possible to capture images of a portion of the imaging target 3 located, for example, up to about 8 m above the ground.

[0034] 4, the structure management device 1 is also configured to include a tablet (handheld computer) 29. The tablet 29 is connected to the photographing device 5 and the distance measuring device 7 by a cable (wired) 31. Note that a personal computer may be provided instead of the tablet 29.

[0035] The image 15 captured by the photographing device 5 and the distance measured by the distance measuring device 7 are sent to the tablet 29 via the cable 31. The image 15 and the distance sent to the tablet 29 are associated with each other by the tablet 29. Then, the image 15 and the distance are sent to a cloud computing service via a network (not shown) using the tablet 29 as an output unit, and are stored in a server (storage unit).

[0036] From the image 15 and distance sent to the tablet 29, the size calculation unit 9 calculates the actual size of the abnormal area 21 appearing on the surface 17 of the object 3. This calculation is also performed, for example, by a cloud computing service via a network (not shown). Note that the correction performed by the correction unit described above to remove distortion caused by aberrations and the like is also performed by the cloud computing service.

[0037] The image 15 and the distance sent to the tablet 29 may be associated with each other by the tablet 29 and stored in a storage unit (memory) of the tablet 29 (for example, the data may be stored in a cloud-based storage system). Furthermore, the tablet 29 may be provided with a dimension calculation unit 9 that calculates the actual size of the abnormal area 21 appearing on the surface 17 of the object 3. The correction by the correction unit described above may also be performed by the tablet 29.

[0038] Furthermore, power is supplied from tablet 29 to camera 5 and distance measurement device 7 via cable 31. Note that camera 5 and distance measurement device 7 may be provided with separate power supplies, and images 15 captured by camera 5 and distances measured by distance measurement device 7 may be sent to an external device such as tablet 29 wirelessly (by wireless communication). That is, wireless communication functions may be provided to camera 5, distance measurement device 7, and external devices such as tablet 29, and images 15 captured by camera 5 and distances measured by distance measurement device 7 may be sent to the external device by wireless communication.

[0039] When photographing with the photographing device 5, the image captured on the image sensor 11 of the photographing device 5 may be continuously sent to the tablet 29 in real time, and the images sent may be continuously displayed in sequence on the tablet 29. Then, while the operator is checking the image continuously displayed on the tablet 29, the operator may move the photographing device installation pole 23 as appropriate to photograph with the photographing device 5 and obtain a still image (image) 15.

[0040] The operation of the structure management device 1 will now be described with reference to FIG. 3. First, as shown in FIG. 5, the camera device 5 and the distance measurement device 7 are installed at the tip (upper end) of the camera installation pole 23, and the operator inserts the camera device 5 and the distance measurement device 7 into a narrow section 35 at a high altitude of the object to be photographed 3. Next, the inspection object (object to be photographed) 3 is photographed with the camera device 5 to obtain an image 15, and the distance is measured with the distance measurement device 7 (S1, S3, S5). The structure management device 1 may be provided with an interface that allows the operator to adjust the photographing position of the object to be photographed while checking the image data and distance data in real time. The image data is photographed by the camera device 5 and displayed in real time on an image display device such as a tablet 29. The distance data is measured by the distance measurement device 7 and displayed in real time on an image display device such as a tablet 29.

[0041] Next, the abnormal area 21 is detected from the image 15 (S7), and the scale (photography magnification) is calculated from the distance measured by the distance measurement device 7 (S9). Note that the detection of the abnormal area 21 in step S7 is performed automatically, for example, as described in the above-mentioned Patent Document 1 (JP 2019-39897 A). That is, a sharpening process that emphasizes edges is applied to the image 15 captured by the imaging device 5, and areas where cracks or color changes have occurred on the concrete surface are detected. Next, the abnormal area 21 detected in step S7 and the photography magnification calculated in step S9 are integrated (S11). That is, the dimension calculation unit 9 calculates the actual size of the abnormal area 21. Note that a scale 33 may be displayed in the image 15A to indicate the actual size of the abnormal area 21 calculated in step S11.

[0042] The structure management device 1 is configured to include a photographing device 5, a distance measuring device 7, and a dimension calculation unit 9. The photographing device is configured to photograph a predetermined location on the photographing target 3. The distance measuring device 7 is configured to measure the distance between the predetermined location on the photographing target 3 and the photographing device 5. The dimension calculation unit 9 is configured to calculate the actual size of an abnormal area 21 appearing on the surface 17 of the photographing target 3 using an image 15 obtained by photographing with the photographing device 5 and the distance value measured by the distance measuring device 7. This makes it possible to know the shape of the abnormal area 21 on the surface 17 of the concrete structure 3 at its correct size.

[0043] Furthermore, by knowing the shape of the abnormal area 21 on the surface 17 of the concrete structure 3 at the correct size, the actual condition of the concrete structure 3 can be correctly known, and a correct judgment can be made as to whether or not maintenance of the concrete structure 3 is necessary.

[0044] The structure management device 1 also includes a rod-shaped instrument 23 on which the photographing device 5 and the distance measuring device 7 are installed. The photographing device 5 and the distance measuring device 7 installed on the rod-shaped instrument 23 are configured so that their orientation can be rotated and positioned relative to the rod-shaped instrument 23. That is, the photographing device 5 is installed, for example, at the tip of the rod-shaped instrument 23 so that its position and orientation can be adjusted to photograph a predetermined location on the photographing target (for example, to make it easier to photograph the predetermined location). The photographing device 5 and the distance measuring device 7 are designed to be easily detached from the rod-shaped instrument 23 while still integrated with each other. The photographing device 5 and the distance measuring device 7 detached from the rod-shaped instrument 23 can be easily installed on another device while still integrated with each other.

[0045] This makes it possible to insert the imaging device 5 and distance measurement device 7 to capture an image of the surface 17 of the object 3 even in high places and narrow distortion areas (narrow parts), and to calculate the actual size of the abnormal area 21. In other words, this is effective for checking the situation in narrow places where the bucket of an aerial work vehicle cannot enter, or in high places where an aerial work vehicle cannot be installed.

[0046] Furthermore, the photographing device 5 and the distance measuring device 7 are inserted into the narrow section 35, and the image being photographed by the photographing device 5 is displayed in real time on an image display device such as a tablet 29. Then, the required image can be stored (recorded) together with the distance while checking the state inside the narrow section 35.

[0047] Next, a structure management device 1a according to a first modified example will be described with reference to Fig. 7. The structure management device 1a according to the first modified example differs from the structure management device 1 according to the embodiment of the present invention in that the distance measurement device 7 measures the distances between three (at least three) points on the inspection target (for example, the concrete structure 3), but in other respects is configured similarly to the structure management device 1 according to the embodiment of the present invention.

[0048] That is, the structure management device 1a is configured to include an imaging device 5, a distance measuring device 7, and a dimension calculation unit 9. For example, three (at least three) distance measuring devices 7 are provided. Each of the distance measuring devices 7 (7A, 7B, 7C) is configured to measure the distance (three distances) between each of three points and the imaging device 5. The three points are located within a predetermined location photographed by the imaging device 5 (existing on the planar surface 17 at a predetermined location of the object 3 to be photographed) and are spaced apart from each other.

[0049] The three distance measuring devices 7 (7A, 7B, 7C) are configured to simultaneously measure the distance between each of the three points and the image capturing device 5 (for example, the distance in a direction parallel to the optical axis 19 of the lens 13 of the image capturing device 5). If the above three points within a predetermined location (on the planar surface 17) captured by the image capturing device 5 are connected in order with line segments, a triangle having a shape similar to an equilateral triangle will be formed.

[0050] The dimension calculation unit 9 uses the image 15 obtained by the photographing device 5 when the three distance values ​​measured by the distance measurement devices 7 (7A, 7B, 7C) become equal to each other, and the distance values ​​measured by the distance measurement devices 7 (7A, 7B, 7C), and calculates the actual size of the abnormal area 21 described above.

[0051] To further explain this with an example, the photographing device 5 is configured to photograph a predetermined location of the object 3 (a predetermined range of the surface 17) when the three distance values ​​measured by the distance measuring device 7 (7A, 7B, 7C) become equal to each other.

[0052] Alternatively, the structure management device 1a may be provided with a shooting distance determination unit (not shown) that determines whether the three distance values ​​measured by the distance measurement devices 7 (7A, 7B, 7C) are equal to each other. When the shooting distance determination unit determines that the three distance values ​​measured by the distance measurement devices are equal to each other, it becomes possible to take an image with the imaging device 5. The shooting distance determination unit is provided in, for example, the tablet 29.

[0053] Alternatively, when the shooting distance determination unit determines that the three distance values ​​measured by the distance measurement devices 7 (7A, 7B, 7C) are equal to each other, shooting is automatically performed by the shooting device 5.

[0054] Note that photography by the photographing device 5 may be allowed regardless of the determination result by the photographing distance determination unit. In this case, identification information indicating whether the three distance values ​​measured by the distance measurement devices 7 (7A, 7B, 7C) are equal to one another is added to the image 15. For example, when the three distance values ​​measured by the distance measurement devices 7 (7A, 7B, 7C) are equal to one another, information indicating that the three distance values ​​are equal to one another is added to the image photographed by the photographing device 5. Then, the dimension calculation unit 9 may calculate the actual size of the abnormal area 21 using the image 15 to which the information indicating that the three distance values ​​are equal to one another has been added.

[0055] Furthermore, when photographing the subject 3, the image 15 photographed by the photographing device 5 may be constantly displayed on the image display unit. Also, when the photographing distance determination unit determines that the three distance values ​​measured by the distance measurement devices 7 (7A, 7B, 7C) are equal to each other, the determination result that the three distance values ​​are equal to each other may be displayed on the image display unit, for example. Then, with the determination result that the three distance values ​​are equal to each other displayed, the subject 3 may actually be photographed by the photographing device 5 under the operation of the operator. The image display unit is provided, for example, on the tablet 29.

[0056] However, strictly speaking, it is extremely rare that the above three distance values ​​perfectly match due to measurement errors in the distance measurement device 7, slight variations in the flatness of a given location on the surface 17 of the subject 3, etc. Therefore, the imaging region determination unit makes its determination taking these errors and variations into consideration.

[0057] For example, even if the three distance values ​​are not perfectly aligned with each other and are slightly different from each other, the three distance values ​​are considered to match as long as the difference value is within a predetermined threshold. That is, if the difference value between the maximum value and the minimum value is within 5% (more precisely, 3%; or even 1%) of one of the three distance values, the three distance values ​​are considered to match.

[0058] An example will be given. Suppose the value of the first distance is 98 cm, the value of the second distance is 100 cm, and the value of the third distance is 101 cm. In this case, (101 cm - 98 cm) / 98 cm is approximately 0.03 (3%), so the three distance values ​​are considered to be the same. In other words, the optical axis 19 of the lens 13 of the image capture device 5 and the plane of a predetermined location on the surface 17 of the subject 3 are considered to be perpendicular to each other. Note that the value of "5%" above may be changed and set within the range of "0.5% to 10%."

[0059] In the structure management device 1a, when the three distance values ​​measured by the distance measuring devices 7 (7A, 7B, 7C) become equal, the photographing device 5 photographs a predetermined location on the photographing target 3. As a result, the photographing device 5 photographs the photographing target 3 in a manner in which the optical axis 19 of the lens 13 of the photographing device 5 and the planar surface 17 of the predetermined location on the photographing target 3 are perpendicular to each other (see FIG. 6(a)). This makes it possible to easily determine the shape of the abnormal location 21 on the surface 17 of the concrete structure 3 at the correct size.

[0060] That is, as shown in Figure 6(b), the photographing is not performed in a manner in which the optical axis 19 of the lens 13 of the photographing device 5 and the plane of the predetermined part of the photographing target 3 are not perpendicular to each other. That is, the photographing is performed in the manner shown in Figure 6(a), and the shape of the abnormal part 21 on the surface 17 of the concrete structure 3 can be easily obtained at the correct size.

[0061] Next, a structure management device 1b according to a second modified example will be described with reference to Fig. 7 etc. The structure management device 1b according to the second modified example differs from the structure management device 1a according to the embodiment of the present invention according to the first modified example in that an optical axis intersection angle calculation unit and an image conversion unit (not shown) are provided. In other respects, the structure management device 1b according to the embodiment of the present invention according to the first modified example is configured in the same way as the structure management device 1a according to the embodiment of the present invention according to the first modified example.

[0062] That is, the structure management device 1b according to the second modified example is configured to include an imaging device 5, distance measurement devices 7 (7A, 7B, 7C), an optical axis crossing angle calculation unit (not shown), an image conversion unit (not shown), and a dimension calculation unit 9. The optical axis crossing angle calculation unit and the image conversion unit are provided in, for example, a tablet 29, but may also be provided by a cloud computing service.

[0063] The optical axis crossing angle calculation unit identifies one plane, which is the surface 17 of a predetermined location on the object 3 photographed by the photographing device 5, from the three points (three distance values) measured by the distance measurement device 7 (7A, 7B, 7C).Then, it calculates the inclination (optical axis crossing angle θ; see FIG. 6(b)) of the optical axis 19 of the lens 13 of the photographing device 5 with respect to this identified plane.

[0064] The image conversion unit converts (projectively converts) the image captured by the image capture device 5 into an image of the planar surface 17 of the object 3 captured from the front, using the intersection angle θ of the optical axis 19 of the lens 13 calculated by the optical axis intersection angle calculation unit. That is, the image captured by the image capture device 5 is converted into an image captured in a state in which the optical axis 19 of the lens 13 of the image capture device 5 and the plane of the part captured by the image capture device 5 are perpendicular to each other. That is, the image captured in the manner shown in Fig. 6(b) is converted into an image like that captured in the manner shown in Fig. 6(a).

[0065] The size calculation unit 9 uses the image converted by the image conversion unit (for example, an image corrected to remove image distortion due to aberrations, etc.) and the value of (at least) one of the three distances measured by the distance measurement device 7 (7A, 7B, 7C), and is configured to calculate the actual size (actual dimensions) of the abnormal area 21 appearing on the surface 17 of the object 3.

[0066] The structure management device 1b is configured with an imaging device 5, distance measurement devices 7 (7A, 7B, 7C), an optical axis crossing angle calculation unit, an image conversion unit, and a dimension calculation unit 9. The optical axis crossing angle calculation unit identifies a plane that is the surface 17 of a predetermined location on the object 3 photographed by the imaging device 5 from the three points measured by the distance measurement devices 7 (7A, 7B, 7C). Then, it is configured to find the intersection angle θ of the optical axis 19 of the lens 13 of the imaging device 5 with this identified plane.

[0067] The image conversion unit converts (projectively converts) the image captured by the imaging device 5 into an image of the planar surface 17 of the object 3 captured from the front, using the tilt of the optical axis 19 of the lens 13 determined by the optical axis intersection angle calculation unit. The dimension calculation unit 9 calculates the actual size of the abnormal area 21 appearing on the surface 17 of the object 3, using the image converted by the image conversion unit and the distance measured by the distance measurement device 7 (7A, 7B, 7C).

[0068] This makes it possible to accurately calculate the actual size of the abnormal area 21 appearing on the surface 17 of the object 3 even if the imaging device 5 captures the image of the planar surface 17 of the object 3 from an oblique direction (see Figure 6(b)).

[0069] Next, a structure management device 1c according to a third modified example will be described with reference to Fig. 8. In the structure management device 1c according to the third modified example, the distance measurement device 7 measures the distance between four (at least four) points. Furthermore, the structure management device 1c according to the third modified example differs from the structure management device 1 according to the embodiment of the present invention in that it is provided with an imaging portion determination unit, an optical axis intersection angle calculation unit, and an image conversion unit. In other respects, the structure management device 1c according to the third modified example is configured in the same way as the structure management device 1 according to the embodiment of the present invention.

[0070] That is, the structure management device 1c according to the third modified example is configured to include an imaging device 5, distance measurement devices 7 (7A, 7B, 7C, 7D), an imaging portion determination unit (not shown), an optical axis crossing angle calculation unit (not shown), and an image conversion unit (not shown). The imaging portion determination unit, optical axis crossing angle calculation unit, and image conversion unit are provided in, for example, a tablet 29, but may also be implemented by a cloud computing service.

[0071] The distance measuring devices 7 (7A, 7B, 7C, 7D) are configured to measure the distances (four distances) between each of the four points and the image capturing device 5. The four points are located within a predetermined location photographed by the image capturing device 5 (existing on the planar surface 17 at a predetermined location of the object 3 to be photographed) and are spaced apart from one another.

[0072] The distance measuring device 7 (7A, 7B, 7C, 7D) is configured to simultaneously measure the distance between each of the above four points and the photographing device 5 (for example, the distance in a direction parallel to the optical axis 19 of the lens 13 of the photographing device 5).

[0073] When the four points in the predetermined location (on the planar surface 17) photographed by the photographing device 5 are connected in order with line segments, a quadrangle having a shape close to a square is formed. Each of the four points is located near one of the four corners of the rectangular photographing range.

[0074] The imaging portion determination unit uses three of the four point values ​​(the first point, the second point, and the third point) to identify a single virtual plane, which is the surface of the predetermined portion of the imaging target 3 captured by the imaging device 5. Then, it determines whether the remaining point (the fourth point) of the four points exists on the identified single virtual plane. By making this determination, it is determined whether the surface 17 of the predetermined portion captured by the imaging device 5 forms a single plane.

[0075] Strictly speaking, it is rare that the fourth point exists on the single identified virtual plane due to measurement errors of the distance measurement devices 7 (7A, 7B, 7C, 7D), slight variations in flatness at a predetermined location on the surface 17 of the subject 3, etc. Therefore, in the same way as explained in the case of the three distance measurement devices 7 (7A, 7B, 7C), the judgment by the imaging region judgment unit takes into account the errors and variations.

[0076] For example, suppose that the fourth point does not exist on the identified virtual plane, but is slightly deviated from the virtual plane in the direction connecting a predetermined point on surface 17 of object 3 and image capture device 5. In other words, suppose that the distance between the fourth point and the image capture device deviates by about ±5% (more precisely, ±3%; or even ±1%). Even with this deviation, the fourth point is considered to exist on the identified virtual plane.

[0077] An example will be given. Assume that the optical axis 19 of the lens 13 of the image capture device 5 and a plane at a predetermined location on the surface 17 of the subject 3 are perpendicular to each other. Assume that the distance between the first point and the image capture device 5 is 100 cm, the distance between the second point and the image capture device 5 is also 100 cm, and the distance between the third point and the image capture device 5 is also 100 cm. In this case, if the distance between the fourth point and the image capture device 5 is within a range of 95 cm to 105 cm, the fourth point is considered to exist on the identified single virtual plane. Note that the value of "±5%" may be changed and set within a range of "±0.5% to ±10%."

[0078] The optical axis crossing angle calculation unit calculates the optical axis crossing angle θ when the imaging portion determination unit determines that the surface of a predetermined location imaged by the imaging device 5 is a single plane (when it determines that the four points exist on a single plane). That is, the optical axis crossing angle calculation unit calculates the inclination of the optical axis 19 of the lens 13 of the imaging device 5 with respect to the single virtual plane identified by the imaging portion determination unit.

[0079] If the imaging region determination section determines that the region imaged by the imaging device 5 is not a single plane, the output section (not shown) displays the following: That is, it outputs that the region imaged by the imaging device 5 is not a single plane (for example, that it is a curved surface or has a step 47 (see FIG. 6(c))).

[0080] The image conversion unit converts (projectively transforms) the image captured by the photographing device 5 into an image of the planar surface 17 of the object 3 photographed from the front using the intersection angle θ calculated by the optical axis intersection angle calculation unit.

[0081] The size calculation unit 9 uses the image converted by the image conversion unit (for example, an image corrected to remove image distortion due to aberrations, etc.) and the value of (at least) one of the three distances measured by the distance measurement device, and is configured to calculate the actual size (actual dimensions) of the abnormal area 21 appearing on the surface 17 of the object 3.

[0082] Incidentally, if the imaging region determination unit determines that the surface of the predetermined area imaged by the imaging device 5 is a single plane, the four points may be displayed on the image converted by the image conversion unit. Furthermore, the actual size of the abnormal area 21 inside the rectangle obtained by connecting the four points may be calculated.

[0083] The structure management device 1c is configured to include an imaging device 5, a distance measurement device 7, an imaging portion determination unit, an optical axis intersection angle calculation unit, an image conversion unit, and a dimension calculation unit 9. The distance measurement device 7 measures the distance between the imaging device 5 and each of four points that are located within a predetermined location and are spaced apart from one another and are photographed by the imaging device 5.

[0084] The photographing part determination unit uses three of the values ​​of the four points to specify a virtual plane, which is the surface of a predetermined part of the photographing target 3 photographed by the photographing device 5. The photographing part determination unit also determines whether the remaining one of the four points exists on the specified virtual plane, thereby determining whether the surface of the predetermined part photographed by the photographing device 5 is a single plane.

[0085] When the photographing part determination part determines that the surface 17 of a specified location photographed by the photographing device 5 is a single plane, the optical axis intersection angle calculation part determines the inclination of the optical axis 19 of the lens 13 of the photographing device 5 with respect to the single virtual plane identified by the photographing part determination part.

[0086] As a result, even if there is a step 47 or the like on the surface of the object 3 to be photographed, the photographing device 5 can calculate the actual size of the abnormal area 21 while avoiding the step 47 or the like.

[0087] The above-mentioned structure management device is an example of an inspection device that has an imaging device that photographs the object to be photographed (for example, a flat surface 17 of the object to be photographed), a distance measuring device that measures the distance between the object to be photographed (the part of the object to be photographed that is photographed by the imaging device) and the imaging device, and an output unit that associates the image photographed by the imaging device with the distance measured by the distance measuring device and outputs it to a specified device (for example, a tablet or a cloud server).

[0088] Next, a structure management device 1d according to a fourth modified example will be described with reference to Fig. 9. The structure management device 1d according to the fourth modified example differs from the structure management device 1 according to the embodiment of the present invention in that an imaging device position and orientation setting unit 37 is provided instead of the distance measurement device 7. In other respects, the structure management device 1d is configured in the same way as the structure management device 1 according to the embodiment of the present invention.

[0089] The image capture device position and orientation setting unit 37 is capable of determining the position (distance from the image capture device 3) and orientation (inclination with respect to the image capture device 3) of the image capture device 5 relative to the image capture subject 3 by having a part of it come into contact with the image capture subject 3.

[0090] To explain in more detail, the image capture device position and attitude setting unit 37 is configured to include a plurality of (for example, three or four) free ball bearings 39 and a free ball bearing support 41 that supports the plurality of free ball bearings 39.

[0091] When the four free ball bearings 39 are viewed in the Y direction (the direction in which the optical axis 19 of the lens 13 of the image capturing device 5 extends), they are located, for example, at the corners of a rectangle that is close to a square. Also, when viewed in the Y direction, the image capturing device 5 is disposed inside (for example, in the center) the rectangle of the four free ball bearings 39. Also, in the Y direction, the positions of the four free ball bearings 39 are aligned with one another and are located away from the image capturing device 5 on the side of the image capturing subject 3 (the side facing the image capturing subject 3 from the lens 13 of the image capturing device 5).

[0092] The free ball bearing 39 is configured to include a housing 43 and a spherical ball 45. The ball 45 is provided in the housing 43 so as to be rotatable relative to the housing 43. The tip of the ball 45 (the end opposite the imaging device 5) protrudes from the housing 43.

[0093] The housing 43 of the free ball bearing 39 is integrated with the free ball bearing support 41. The camera device 5 and the free ball bearing support 41 are installed on the pole body 25 of the camera-device installation pole 23 via the camera platform 27. The camera device 5 and the free ball bearing support 41 are rotatable relative to the pole body 25 with an appropriate rotation resistance.

[0094] When photographing the subject 3 with the photographing device 5, the balls 45 of the four free ball bearings 39 come into contact with the subject 3 and form rolling pairs, as shown in Fig. 9(b), thereby setting the position and attitude of the photographing device 5 relative to the subject 3. Note that a sensor may be provided to detect whether each of the four free ball bearings 39 is in contact with the subject 3. The detection results of the sensors may then be displayed on a display unit (for example, tablet 29).

[0095] Although the present embodiment has been described above, the present embodiment is not limited to this, and various modifications are possible within the scope of the gist of the present embodiment. [Explanation of symbols]

[0096] 1 Structure management device 3. Shooting subject (concrete structure) 5. Camera 7. Distance measuring devices 9 Dimension calculation section 15 images 17 Surface 21 Abnormality 23 Rod-shaped equipment (pole for installing imaging equipment)

Claims

1. an imaging device that images a predetermined location of a subject; a distance measuring device for measuring the distance between a predetermined location of the subject and the photographing device; a size calculation unit that calculates the actual size of an abnormality appearing on the surface of the object to be photographed using the image obtained by the photographing device and the distance value measured by the distance measuring device; A structure management device having the above.

2. an imaging device that images a predetermined location of a subject; a distance measuring device for measuring the distance between the photographing device and each of three points that are separated from one another and are within a predetermined location photographed by the photographing device; a size calculation unit that calculates the actual size of an abnormality appearing on the surface of the object to be photographed using the image obtained by the photographing device and the distance values ​​measured by the distance measurement device when the three distance values ​​measured by the distance measurement device become equal to each other; A structure management device having the above.

3. a rod-shaped instrument on which the imaging device and the distance measuring device are installed, 3. A structure management device according to claim 1, wherein the imaging device and the distance measuring device mounted on the rod-shaped instrument are configured so as to be rotatably positioned relative to the rod-shaped instrument.

4. an imaging device for imaging a subject; a distance measuring device for measuring the distance between the object to be photographed and the photographing device; an output unit that associates the image captured by the imaging device with the distance measured by the distance measuring device and outputs the image to a predetermined device; An inspection device having the above structure.

5. an imaging device that images a predetermined location of a subject; a distance measuring device for measuring the distance between the photographing device and each of three points that are separated from one another and are within a predetermined location photographed by the photographing device; an optical axis intersection angle calculation unit that identifies a plane that is a surface of a predetermined location of the object photographed by the photographing device from the three points measured by the distance measurement device, and calculates the inclination of the optical axis of the lens of the photographing device with respect to the identified plane; an image conversion unit that converts the image captured by the image capture device into an image of the planar surface of the subject captured from the front, using the tilt of the optical axis of the lens calculated by the optical axis intersection angle calculation unit; a size calculation unit configured to calculate the actual size of an abnormal area appearing on the surface of the subject, using the image converted by the image conversion unit and a value of a predetermined one of the three distances measured by the distance measurement device; and A structure management device having the above.

6. an imaging device that images a predetermined location of a subject; a distance measuring device for measuring the distance between the photographing device and each of four points that are separated from one another and are within a predetermined location photographed by the photographing device; an imaging region determination unit that uses three of the four point values ​​to specify a virtual plane that is the surface of a predetermined portion of the subject imaged by the imaging device, and determines whether the remaining one of the four points exists on the specified virtual plane, thereby determining whether the surface of the predetermined portion imaged by the imaging device is a single plane; an optical axis intersection angle calculation unit that calculates an inclination of an optical axis of a lens of the photographing device with respect to the single virtual plane identified by the photographing portion determination unit when the photographing portion determination unit determines that the surface of the predetermined location photographed by the photographing device is a single plane; an image conversion unit that converts the image captured by the image capture device into an image of the planar surface of the subject captured from the front, using the intersection angle calculated by the optical axis intersection angle calculation unit; a size calculation unit configured to calculate the actual size of an abnormal area appearing on the surface of the subject, using the image converted by the image conversion unit and a value of a predetermined one of the three distances measured by the distance measurement device; and A structure management device having the above.

Images