Reinforcing bar interval measuring device and reinforcing bar interval measuring method

Abstract

To reduce a calculation error of an interval between a plurality of reinforcing bars.SOLUTION: A data acquisition unit 11 that acquires distance measurement data from a sensor 3 that measures distances to a plurality of three dimensional points in a plurality of curved rebars and distances to a plurality of three dimensional points in a plurality of straight rebars orthogonal to each curved rebar; and a detection line identification unit 12 that identifies a first detection line indicating a three dimensional position where each curved rebar is assumed to exist and a second detection line indicating a three dimensional position where each straight rebar is assumed to exist based on the measurement data acquired by the data acquisition unit. A reinforcing bar interval measuring device 4 is constituted. The reinforcing bar interval measuring device includes a position calculation part 13 for specifying an intersection where each first detection line and each second detection line overlap and calculating the three dimensional position of the straight reinforcing bar at each intersection on the basis of the reinforcing bar diameter of the straight reinforcing bar, and an interval calculation part 14 for calculating the interval of the plurality of straight reinforcing bars on the basis of the three dimensional position calculated by the position calculation part.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a rebar spacing measurement device and a rebar spacing measurement method. [Background technology]

[0002] There is a rebar spacing measurement device that measures the spacing between multiple rebars that are arranged in a mesh pattern. As an example of such a rebar spacing measurement device, Patent Document 1 discloses a rebar arrangement inspection system that acquires distance measurement data from a sensor that measures the distance to multiple three-dimensional points on each rebar, calculates the three-dimensional position of each rebar based on the measurement data, and calculates the spacing between the multiple rebars from the three-dimensional positions of each rebar. The measurement data obtained from the sensor is data that indicates the distance from the sensor to three-dimensional points on the surface of the rebar. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2024-59225 Summary of the Invention [Problem to be solved by the invention]

[0004] Since the measurement data obtained from the sensor indicates the distance from the sensor to a three-dimensional point on the surface of the rebar, the spacing between multiple rebars calculated by the rebar inspection system disclosed in Patent Document 1 is the length between the surfaces of the multiple rebars. The three-dimensional position of the rebar surface obtained from the measurement data is the position of the rebar surface at the point closest to the sensor. The position of the surface at the point closest to the sensor varies depending on the angle of the rebar relative to the sensor. For this reason, the rebar arrangement inspection system disclosed in Patent Document 1 has a problem in that the greater the difference in the angles of the two rebars for which the spacing is calculated, the greater the error in the spacing calculated by the rebar arrangement inspection system.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a rebar spacing measurement device that can reduce calculation errors in the spacing between multiple rebars. [Means for solving the problem]

[0006] A rebar spacing measurement device according to the present disclosure includes a data acquisition unit that acquires distance measurement data from sensors that measure distances to multiple three-dimensional points on multiple curved rebars and distances to multiple three-dimensional points on multiple straight rebars that are connected perpendicularly to each curved rebar, a detection line identification unit that identifies first detection lines that indicate the three-dimensional positions where each curved rebar is expected to exist and second detection lines that indicate the three-dimensional positions where each straight rebar is expected to exist based on the measurement data acquired by the data acquisition unit, a position calculation unit that identifies intersections where each first detection line and each second detection line overlap and calculates the three-dimensional positions of the straight rebars at each intersection based on the rebar diameters of the straight rebars, and a spacing calculation unit that calculates the spacing between the multiple straight rebars based on the three-dimensional positions calculated by the position calculation unit. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to reduce calculation errors in the spacing between multiple reinforcing bars. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an explanatory diagram showing a group of reinforcing bars to which the reinforcing bar interval measuring device 4 according to the first embodiment is applied. [Figure 2] 2 is an explanatory diagram showing the positional relationship between a group of reinforcing bars and a sensor 3 to which the reinforcing bar interval measuring device 4 according to the first embodiment is applied. FIG. [Figure 3] 1 is a configuration diagram showing a reinforcing bar interval measuring device 4 according to a first embodiment. [Figure 4] 1 is a hardware configuration diagram showing the hardware of a reinforcing bar interval measuring device 4 according to the first embodiment. [Figure 5] FIG. 10 is a hardware configuration diagram of a computer when the reinforcing bar interval measuring device 4 is realized by software, firmware, or the like. [Figure 6] 10 is a flowchart showing a rebar interval measuring method, which is a processing procedure of the rebar interval measuring device 4. [Figure 7] FIG. 2 is an explanatory diagram showing three-dimensional points on curved reinforcing bars 1-1 to 1-3 and straight reinforcing bars 2-1 to 2-3. [Figure 8] FIG. 2 is an explanatory diagram showing the distance from the sensor 3 to a three-dimensional point on the surface of the reinforcing bar. [Figure 9] 3 is an explanatory diagram showing first detection lines L1-1, L1-2, L1-3 and second detection lines L2-1, L2-2, L2-3, respectively. FIG. [Figure 10] 10 is an explanatory diagram showing the relationship between the position of the center of each of the straight reinforcing bars 2-1 to 2-3, the position of the reinforcing bar surface, and the reinforcing bar diameter D2. [Figure 11] FIG. 2 is an explanatory diagram showing the distance from the sensor 3 to a three-dimensional point on the surface of the reinforcing bar. [Figure 12] FIG. 10 is a configuration diagram showing a reinforcing bar interval measuring device 4 according to a second embodiment. [Figure 13] FIG. 10 is a hardware configuration diagram showing the hardware of a reinforcing bar interval measuring device 4 according to a second embodiment. [Figure 14] FIG. 10 is a configuration diagram showing a reinforcing bar interval measuring device 4 according to a third embodiment. [Figure 15] FIG. 10 is a hardware configuration diagram showing the hardware of a reinforcing bar interval measuring device 4 according to a third embodiment. [Figure 16] FIG. 10 is a configuration diagram showing a rebar interval measuring device 4 according to a fourth embodiment. [Figure 17] FIG. 10 is a hardware configuration diagram showing the hardware of a reinforcing bar interval measuring device 4 according to a fourth embodiment. [Figure 18] 10 is an explanatory diagram showing an example of partial regions after division by the region dividing unit 18. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] In order to explain the present disclosure in more detail, embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0010] Embodiment 1 FIG. 1 is an explanatory diagram showing a group of reinforcing bars to which a reinforcing bar interval measuring device 4 according to the first embodiment is applied. In FIG. 1, each of curved reinforcing bars 1-1 to 1-3 is a curved reinforcing bar. Each of the straight reinforcing bars 2-1 to 2-3 is connected to each of the curved reinforcing bars 1-1 to 1-3 so as to be perpendicular to the other. FIG. 2 is an explanatory diagram showing the positional relationship between the group of reinforcing bars and the sensor 3 to which the reinforcing bar interval measuring device 4 according to the first embodiment is applied. In FIG. 2, the sensor 3 is realized by, for example, a stereo camera, a depth camera, or a lidar. Sensor 3 measures the distances to a plurality of three-dimensional points on curved reinforcing bars 1-1 to 1-3 and the distances to a plurality of three-dimensional points on straight reinforcing bars 2-1 to 2-3. The sensor 3 outputs the distance measurement data to the rebar interval measuring device 4.

[0011] FIG. 3 is a configuration diagram showing the rebar interval measuring device 4 according to the first embodiment. FIG. 4 is a hardware configuration diagram showing the hardware of the reinforcing bar interval measuring device 4 according to the first embodiment. The rebar interval measuring device 4 shown in FIG. 3 includes a data acquiring unit 11, a detection line specifying unit 12, a position calculating unit 13, and an interval calculating unit .

[0012] The data acquisition unit 11 is realized by, for example, a data acquisition circuit 21 shown in FIG. The data acquisition unit 11 acquires distance measurement data from the sensor 3 . The data acquisition unit 11 outputs the distance measurement data to the detection line identification unit 12 .

[0013] The detection line specifying unit 12 is realized by, for example, a detection line specifying circuit 22 shown in FIG. The detection line specifying unit 12 acquires distance measurement data from the data acquiring unit 11. Based on the measurement data, the detection line identification unit 12 identifies first detection lines indicating the three-dimensional positions where each curved rebar is expected to exist, and outputs information indicating each first detection line to the position calculation unit 13. Based on the measurement data, the detection line identification unit 12 identifies second detection lines indicating the three-dimensional positions where each straight reinforcing bar is expected to exist, and outputs information indicating each second detection line to the position calculation unit 13.

[0014] The position calculation unit 13 is realized by, for example, a position calculation circuit 23 shown in FIG. The position calculation unit 13 acquires, from the detection line identification unit 12, information indicating each of the first detection lines and information indicating each of the second detection lines. The position calculation unit 13 identifies the intersections where the respective first detection lines and the respective second detection lines overlap. The position calculation unit 13 calculates the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection based on the reinforcing bar diameters of the straight reinforcing bars 2-1 to 2-3. The position calculation unit 13 outputs to the interval calculation unit 14 information indicating the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection.

[0015] The interval calculation unit 14 is realized by, for example, an interval calculation circuit 24 shown in FIG. The interval calculation unit 14 acquires from the position calculation unit 13 information indicating the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection. The spacing calculation unit 14 calculates the spacing between the straight reinforcing bars 2-1 to 2-3 based on the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection.

[0016] In Fig. 3, it is assumed that each of the components of the rebar gap measurement device 4, namely, the data acquisition unit 11, the detection line identification unit 12, the position calculation unit 13, and the gap calculation unit 14, is realized by dedicated hardware as shown in Fig. 4. In other words, it is assumed that the rebar gap measurement device 4 is realized by a data acquisition circuit 21, a detection line identification circuit 22, a position calculation circuit 23, and a gap calculation circuit 24. Each of the data acquisition circuit 21, the detection line identification circuit 22, the position calculation circuit 23, and the interval calculation circuit 24 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0017] The components of the rebar spacing measuring device 4 are not limited to those realized by dedicated hardware, and the rebar spacing measuring device 4 may be realized by software, firmware, or a combination of software and firmware. The software or firmware is stored as a program in the memory of a computer. A computer refers to hardware that executes the program, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor).

[0018] FIG. 5 is a hardware configuration diagram of a computer when the reinforcing bar interval measuring device 4 is realized by software, firmware, or the like. When the rebar spacing measurement device 4 is realized by software, firmware, or the like, a program for causing a computer to execute the respective processing procedures of the data acquisition unit 11, the detection line identification unit 12, the position calculation unit 13, and the spacing calculation unit 14 is stored in the memory 31. Then, a processor 32 of the computer executes the program stored in the memory 31.

[0019] 4 shows an example in which each of the components of the rebar gap measurement device 4 is realized by dedicated hardware, and FIG. 5 shows an example in which the rebar gap measurement device 4 is realized by software, firmware, etc. However, this is just one example, and some of the components in the rebar gap measurement device 4 may be realized by dedicated hardware, and the remaining components may be realized by software, firmware, etc.

[0020] Next, the operation of the rebar interval measuring device 4 shown in FIG. 3 will be described. FIG. 6 is a flowchart showing a rebar interval measuring method, which is a processing procedure of the rebar interval measuring device 4. As shown in FIG. 7, the sensor 3 measures the distances to a plurality of three-dimensional points on the curved reinforcing bars 1-1 to 1-3 and the distances to a plurality of three-dimensional points on the straight reinforcing bars 2-1 to 2-3. The sensor 3 outputs measurement data of the distance to each three-dimensional point to the rebar interval measuring device 4. FIG. 7 is an explanatory diagram showing three-dimensional points on the curved reinforcing bars 1-1 to 1-3 and the straight reinforcing bars 2-1 to 2-3. In FIG. 7, triangles indicate three-dimensional points on curved reinforcing bars 1-1 to 1-3, and circles indicate three-dimensional points on straight reinforcing bars 2-1 to 2-3.

[0021] The data acquisition unit 11 of the rebar interval measuring device 4 acquires distance measurement data from the sensor 3 (step ST1 in FIG. 6). The data acquisition unit 11 outputs the distance measurement data to the detection line identification unit 12 . The measurement data obtained from the sensor 3 indicates the distance from the sensor 3 to a three-dimensional point on the rebar surface. Therefore, the three-dimensional position of each of the straight rebars 2-1 to 2-3 obtained from the measurement data is the surface position of the straight rebars 2-1 to 2-3 at the point closest to the sensor 3, as shown in FIG. FIG. 8 is an explanatory diagram showing the distance from the sensor 3 to a three-dimensional point on the surface of the reinforcing bar.

[0022] In the example of FIG. 8, the surface position of the straight reinforcing bar 2-1 that is closest to the sensor 3 is the lower right position of the straight reinforcing bar 2-1 in the drawing. The surface position of the straight reinforcing bar 2-2 that is closest to the sensor 3 is the position to the right of the straight reinforcing bar 2-2 in the drawing. The surface position of the straight reinforcing bar 2-3 closest to the sensor 3 is the upper right position of the straight reinforcing bar 2-3 in the drawing. In this way, the surface positions at the positions closest to sensor 3 are different from each other because the angle of straight reinforcing bar 2-1 relative to sensor 3, the angle of straight reinforcing bar 2-2 relative to sensor 3, and the angle of straight reinforcing bar 2-3 relative to sensor 3 are different from each other. If the distance between the straight reinforcing bars 2-1 and 2-2, or the distance between the straight reinforcing bars 2-2 and 2-3, is calculated based only on the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 obtained from the measurement data, the calculated distance will be different from the actual distance. The original distance between straight reinforcing bar 2-1 and straight reinforcing bar 2-2 is the distance between the center of straight reinforcing bar 2-1 and the center of straight reinforcing bar 2-2, and the original distance between straight reinforcing bar 2-2 and straight reinforcing bar 2-3 is the distance between the center of straight reinforcing bar 2-2 and the center of straight reinforcing bar 2-3.

[0023] The detection line specifying unit 12 acquires distance measurement data from the data acquiring unit 11. Based on the measurement data, the detection line specifying unit 12 determines a first detection line L that indicates the three-dimensional position where each of the curved reinforcing bars 1-1 to 1-3 is assumed to exist, as shown in FIG. 1-1 ,L 1-2 ,L1-3 (Step ST2 in FIG. 6). Furthermore, based on the measurement data, the detection line specifying unit 12 determines a second detection line L, which indicates the three-dimensional position where each of the straight reinforcing bars 2-1 to 2-3 is assumed to exist, as shown in FIG. 2-1 ,L 2-2 ,L 2-3 (Step ST2 in FIG. 6). FIG. 9 shows the first detection line L 1-1 ,L 1-2 ,L 1-3 and the second detection line L 2-1 ,L 2-2 ,L 2-3 1 is an explanatory diagram showing each of the above. First detection line L 1-1 etc. can be obtained by connecting the positions of a plurality of three-dimensional points on the curved reinforcing bar 1-1 etc. Second detection line L 2-1 etc. can be obtained by connecting the positions of multiple three-dimensional points on the straight reinforcing bar 2-1 etc. The detection line specifying unit 12 is a first detection line L 1-1 ,L 1-2 ,L 1-3 and information indicating the second detection line L 2-1 ,L 2-2 ,L 2-3 and information indicating the position to be calculated.

[0024] The position calculation unit 13 receives the first detection line L from the detection line identification unit 12. 1-1 ,L 1-2 ,L 1-3 and information indicating the second detection line L 2-1 ,L 2-2 ,L 2-3 and information indicating the same. The position calculation unit 13 acquires the rebar diameter D2 of the straight rebars 2-1 to 2-3. The rebar diameter D2 of the straight rebars 2-1 to 2-3 is the diameter of the straight rebars 2-1 to 2-3, and may be provided from outside the rebar spacing measuring device 4, or may be stored in the internal memory of the position calculation unit 13.

[0025] As shown in FIG. 9, the position calculation unit 13 calculates the first detection line L 1-1 ,L 1-2 ,L 1-3 and the second detection line L 2-1 ,L 2-2 ,L 2-3 The process of identifying the intersections is a known technique, and therefore a detailed description thereof will be omitted. As shown in FIG. 10, the position calculation unit 13 calculates the intersection M based on the reinforcing bar diameter D2 of the straight reinforcing bars 2-1 to 2-3. m The three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) is calculated (step ST3 in FIG. 6), where n=1, 2, 3 and m=1, . . . , 9. 3D position (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) is the position of the center of each of the straight reinforcing bars 2-1 to 2-3, as shown in FIG. 10 is an explanatory diagram showing the relationship between the position of the center of each of the straight reinforcing bars 2-1 to 2-3, the position of the reinforcing bar surface, and the reinforcing bar diameter D2. In FIG. 10, for simplicity of explanation, the z coordinate of the three-dimensional position is omitted.

[0026] Specifically, the position calculation unit 13 calculates the intersection M m The three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) is calculated. xc 2-n,m =x 2-n,m (1) yc 2-n,m =y 2-n,m ±(D2 / 2) sinθ n (2) zc 2-n,m =z 2-n,m +(D2 / 2) cosθ n (3) In equations (1) to (3), θ n is the angle of the straight rebar 2-n relative to the sensor 3, and the angle θn may be provided from outside the rebar interval measuring device 4, or may be stored in the internal memory of the position calculation unit 13. (x 2-n,m ,y 2-n,m ,z 2-n,m ) is the three-dimensional position of the surface of the straight reinforcing bar 2-n obtained from the measurement data. The position calculation unit 13 calculates the intersection M m The three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) to the interval calculation unit 14.

[0027] The distance calculation unit 14 receives the intersection M m The three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) to obtain information indicating the The interval calculation unit 14 calculates the three-dimensional position (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) and calculates the intervals ITV between the straight reinforcing bars 2-1 to 2-3 (step ST4 in FIG. 6). Specifically, the interval calculation unit 14 calculates the interval ITV between the straight reinforcing bars 2-1 and 2-2 as shown in the following equation (4): 2,1-2 Calculate. The interval calculation unit 14 calculates the interval ITV between the straight reinforcing bar 2-2 and the straight reinforcing bar 2-3 as shown in the following equation (5): 2,2-3 Calculate. The interval ITV calculated by the interval calculation unit 14 2,1-2 ,ITV 2,2-3 is displayed on a display device (not shown), for example.

[0028] TIFF2026005248000002.tif36166

[0029] In the first embodiment described above, the rebar spacing measurement device 4 is configured to include a data acquisition unit 11 that acquires distance measurement data from a sensor 3 that measures distances to multiple 3D points on multiple curved rebars and distances to multiple 3D points on multiple straight rebars connected perpendicularly to each curved rebar, and a detection line identification unit 12 that identifies first detection lines indicating the 3D positions where each curved rebar is expected to exist and second detection lines indicating the 3D positions where each straight rebar is expected to exist based on the measurement data acquired by the data acquisition unit 11. The rebar spacing measurement device 4 also includes a position calculation unit 13 that identifies intersections where each first detection line and each second detection line overlap and calculates the 3D positions of the straight rebars at each intersection based on the rebar diameters of the straight rebars, and a spacing calculation unit 14 that calculates the spacing between the multiple straight rebars based on the 3D positions calculated by the position calculation unit 13. Therefore, the rebar spacing measurement device 4 can reduce calculation errors in the spacing between multiple straight rebars.

[0030] In the reinforcing bar interval measuring device 4 shown in FIG. 3, as shown in FIG. 8, the straight reinforcing bars 2-1 to 2-3 are arranged in front of the curved reinforcing bars 1-1 to 1-3 when viewed from the sensor 3. However, this is just one example, and the rebar spacing measuring device 4 shown in Figure 3 may also be applied to a situation where, as seen from the sensor 3, the straight rebars 2-1 to 2-3 are positioned behind the curved rebars 1-1 to 1-3, as shown in Figure 11. FIG. 11 is an explanatory diagram showing the distance from the sensor 3 to a three-dimensional point on the surface of the reinforcing bar. In this case, the position calculation unit 13 calculates the intersection M m The three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) is calculated. xc 2-n,m =x 2-n,m (6) yc 2-n,m =y 2-n,m ±(D2 / 2) sinθ n (7) zc 2-n,m =z 2-n,m +(D2 / 2) cosθ n (8)

[0031] Embodiment 2 In the second embodiment, a reinforcing bar spacing measuring device 4 that calculates spacing between a plurality of curved reinforcing bars based on the three-dimensional positions of the curved reinforcing bars will be described.

[0032] Fig. 12 is a configuration diagram showing a rebar gap measuring device 4 according to embodiment 2. In Fig. 12, the same reference numerals as in Fig. 3 indicate the same or corresponding parts, and detailed description thereof will be omitted. Fig. 13 is a hardware configuration diagram showing the hardware of a rebar gap measuring device 4 according to embodiment 2. In Fig. 13, the same reference numerals as in Fig. 4 indicate the same or corresponding parts, and detailed description thereof will be omitted. The rebar interval measuring device 4 shown in FIG. 12 includes a data acquiring unit 11, a detection line specifying unit 12, a position calculating unit 15, and an interval calculating unit 16.

[0033] The position calculation unit 15 is realized by, for example, a position calculation circuit 25 shown in FIG. The position calculation unit 15 acquires, from the detection line identification unit 12, information indicating each of the first detection lines and information indicating each of the second detection lines. Similar to the position calculation unit 13 shown in FIG. 3, the position calculation unit 15 identifies the intersections where the respective first detection lines and the respective second detection lines overlap. Similar to the position calculation unit 13 shown in FIG. 3, the position calculation unit 15 calculates the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection based on the reinforcing bar diameters of the straight reinforcing bars 2-1 to 2-3. The position calculation unit 15 calculates the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 at each intersection based on the reinforcing bar diameters of the curved reinforcing bars 1-1 to 1-3. The position calculation unit 15 outputs to the interval calculation unit 16 information indicating the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection and information indicating the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 at each intersection.

[0034] The interval calculation unit 16 is realized by, for example, an interval calculation circuit 26 shown in FIG. The interval calculation unit 16 acquires from the position calculation unit 15 information indicating the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection and information indicating the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 at each intersection. The spacing calculation unit 16, like the spacing calculation unit 14 shown in FIG. 3, calculates the spacing between the straight reinforcing bars 2-1 to 2-3 based on the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection. The interval calculation unit 16 calculates the intervals between the curved reinforcing bars 1-1 to 1-3 based on the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 at the respective intersections.

[0035] 12, it is assumed that each of the components of the rebar gap measurement device 4, namely, the data acquisition unit 11, the detection line identification unit 12, the position calculation unit 15, and the gap calculation unit 16, is realized by dedicated hardware as shown in Fig. 13. In other words, it is assumed that the rebar gap measurement device 4 is realized by a data acquisition circuit 21, a detection line identification circuit 22, a position calculation circuit 25, and a gap calculation circuit 26. Each of the data acquisition circuit 21, the detection line identification circuit 22, the position calculation circuit 25, and the interval calculation circuit 26 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0036] The components of the rebar spacing measuring device 4 are not limited to those realized by dedicated hardware, and the rebar spacing measuring device 4 may be realized by software, firmware, or a combination of software and firmware. When the rebar interval measuring device 4 is realized by software, firmware, or the like, a program for causing a computer to execute the respective processing procedures of the data acquisition unit 11, the detection line identification unit 12, the position calculation unit 15, and the interval calculation unit 16 is stored in a memory 31 shown in Fig. 5. Then, a processor 32 shown in Fig. 5 executes the program stored in the memory 31.

[0037] 13 shows an example in which each of the components of the rebar gap measurement device 4 is realized by dedicated hardware, while Fig. 5 shows an example in which the rebar gap measurement device 4 is realized by software, firmware, etc. However, this is just one example, and some of the components in the rebar gap measurement device 4 may be realized by dedicated hardware, and the remaining components may be realized by software, firmware, etc.

[0038] Next, a description will be given of the operation of the rebar gap measuring device 4 shown in Fig. 12. Except for the position calculation unit 15 and the gap calculation unit 16, the rebar gap measuring device 4 is the same as that shown in Fig. 3. The position calculation unit 15 receives the first detection line L from the detection line identification unit 12. 1-1 ,L 1-2 ,L 1-3 and information indicating the second detection line L 2-1 ,L 2-2 ,L 2-3 and information indicating the same. The position calculation unit 15 also acquires the rebar diameter D1 of the curved rebars 1-1 to 1-3 and the rebar diameter D2 of the straight rebars 2-1 to 2-3. The rebar diameter D1 and the rebar diameter D2 may be provided from outside the rebar interval measuring device 4, or may be stored in the internal memory of the position calculation unit 15.

[0039] The position calculation unit 15, like the position calculation unit 13 shown in FIG. 3, calculates the first detection line L 1-1 ,L 1-2 ,L 1-3 and the second detection line L 2-1 ,L 2-2 ,L 2-3 The intersection point M where m Identify (m=1,···,9). As shown in FIG. 10, when the straight reinforcing bars 2-1 to 2-3 are arranged in front of the curved reinforcing bars 1-1 to 1-3 as viewed from the sensor 3, the position calculation unit 15 calculates the intersection M based on the reinforcing bar diameter D2 of the straight reinforcing bars 2-1 to 2-3 as shown in formulas (1) to (3). mThe three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) is calculated.

[0040] The position calculation unit 15 calculates the intersection M based on the reinforcing bar diameter D1 of the curved reinforcing bars 1-1 to 1-3. m The three-dimensional position of curved rebars 1-1 to 1-3 (xc 1-n,m ,yc 1-n,m ,zc 1-n,m ) is calculated. Specifically, the position calculation unit 15 calculates the intersection M m The three-dimensional position of curved rebars 1-1 to 1-3 (xc 1-n,m ,yc 1-n,m ,zc 1-n,m ) is calculated. xc 1-n,m =x 1-n,m ±(D1 / 2) sinθ n (9) yc 1-n,m =y 1-n,m (10) zc 1-n,m =z 1-n,m +(D1 / 2) cosθ n (11) In equations (9) to (11), (x 1-n,m ,y 1-n,m ,z 1-n,m ) is the intersection point M obtained from the measurement data m is the three-dimensional position of the surface of curved rebar 1-n. D1 is the reinforcing bar diameter of the curved reinforcing bar 1-n, and the reinforcing bar diameter D1 is the diameter of the curved reinforcing bar 1-n, and may be provided from outside the reinforcing bar spacing measuring device 4 or may be stored in the internal memory of the position calculation unit 13.

[0041] As shown in FIG. 11, when the straight reinforcing bars 2-1 to 2-3 are arranged behind the curved reinforcing bars 1-1 to 1-3 as viewed from the sensor 3, the position calculation unit 15 calculates the intersection M m The three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc2-n,m ) is calculated.

[0042] The position calculation unit 15 calculates the intersection M based on the reinforcing bar diameter D1 of the curved reinforcing bars 1-1 to 1-3. m The three-dimensional position of curved rebars 1-1 to 1-3 (xc 1-n,m ,yc 1-n,m ,zc 1-n,m ) is calculated. Specifically, the position calculation unit 15 calculates the intersection M m The three-dimensional position of curved rebars 1-1 to 1-3 (xc 1-n,m ,yc 1-n,m ,zc 1-n,m ) is calculated. xc 1-n,m =x 1-n,m ±(D1 / 2) sinθ n (12) yc 1-n,m =y 1-n,m (13) zc 1-n,m =z 1-n,m +(D1 / 2) cosθ n (14)

[0043] The distance calculation unit 16 receives the intersection M m The three-dimensional position of the straight rebars 2-1 to 2-3 (xc 2-n,m ,yc 2-n,m ,zc 2-n,m ) and obtain the information indicating the intersection M m The three-dimensional position of curved rebars 1-1 to 1-3 (xc 1-n,m ,yc 1-n,m ,zc 1-n,m ) to get the The interval calculation unit 16 calculates the interval ITV between the straight reinforcing bars 2-1 and 2-2 as shown in equation (4). 2,1-2 Calculate. The interval calculation unit 16 calculates the interval ITV between the straight reinforcing bars 2-2 and 2-3 as shown in equation (5). 2,2-3 Calculate.

[0044] The interval calculation unit 16 calculates the interval ITV between the curved reinforcing bars 1-1 and 1-2 as shown in the following equation (12):1,1-2 Calculate. The interval calculation unit 16 calculates the interval ITV between the curved reinforcing bars 1-2 and 1-3 as shown in the following equation (13): 1,2-3 Calculate. The interval ITV calculated by the interval calculation unit 16 2,1-2 ,ITV 2,2-3 ,ITV 1,1-2 ,ITV 1,2-3 is displayed on a display device (not shown), for example.

[0045] TIFF2026005248000003.tif38166

[0046] In the above-described second embodiment, the reinforcing bar spacing measuring device 4 is configured so that the position calculation unit 15 calculates the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 at each intersection based on the reinforcing bar diameters of the curved reinforcing bars 1-1 to 1-3, and the spacing calculation unit 16 calculates the spacing between the multiple curved reinforcing bars 1-1 to 1-3 based on the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 calculated by the position calculation unit 15. Therefore, the reinforcing bar spacing measuring device 4 can reduce calculation errors in the spacing between multiple straight reinforcing bars, and can also reduce calculation errors in the spacing between multiple curved reinforcing bars.

[0047] Embodiment 3 In embodiment 3, we will explain a rebar spacing measuring device 4 in which a position calculation unit 17 provides image data output from a camera 5 to a learning model 40 and obtains information indicating the rebar diameter of straight rebars from the learning model 40.

[0048] Fig. 14 is a configuration diagram showing a rebar gap measuring device 4 according to embodiment 3. In Fig. 14, the same reference numerals as in Fig. 3 indicate the same or corresponding parts, and detailed description thereof will be omitted. Fig. 15 is a hardware configuration diagram showing the hardware of a rebar gap measuring device 4 according to embodiment 3. In Fig. 15, the same reference numerals as in Fig. 4 indicate the same or corresponding parts, and detailed description thereof will be omitted. The rebar interval measuring device 4 shown in FIG. 14 includes a data acquiring unit 11, a detection line specifying unit 12, a position calculating unit 17, and an interval calculating unit .

[0049] The camera 5 is realized by, for example, a monocular camera or a stereo camera. When the camera 5 is realized by a stereo camera and the sensor 3 is also realized by a stereo camera, the sensor 3 may include the functions of the camera 5. The camera 5 photographs each of the straight reinforcing bars 2-1 to 2-3 and the curved reinforcing bars 1-1 to 1-3, and outputs image data showing the photographed images of each of the straight reinforcing bars 2-1 to 2-3 and the curved reinforcing bars 1-1 to 1-3 to the reinforcing bar spacing measuring device 4.

[0050] The position calculation unit 17 is realized by, for example, a position calculation circuit 27 shown in FIG. The position calculation unit 17 acquires, from the camera 5, image data that indicates a captured image of the straight reinforcing bars 2-1 to 2-3. The position calculation unit 17 provides the image data to the learning model 40, and acquires from the learning model 40 information indicating the reinforcing bar diameter D2 of the straight reinforcing bars 2-1 to 2-3. The position calculation unit 17 acquires, from the camera 5, image data that indicates the captured images of the curved reinforcing bars 1-1 to 1-3. The position calculation unit 17 provides the image data to the learning model 40, and acquires from the learning model 40 information indicating the reinforcing bar diameter D1 of the curved reinforcing bars 1-1 to 1-3. The position calculation unit 17 acquires, from the detection line identification unit 12, information indicating each of the first detection lines and information indicating each of the second detection lines. Similar to the position calculation unit 13 shown in FIG. 3, the position calculation unit 17 identifies the intersections where the respective first detection lines and the respective second detection lines overlap.

[0051] When the straight reinforcing bars 2-1 to 2-3 are positioned in front of the curved reinforcing bars 1-1 to 1-3 as viewed from the sensor 3, the position calculation unit 17 calculates the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at their respective intersections based on the reinforcing bar diameters D2 of the straight reinforcing bars 2-1 to 2-3, similar to the position calculation unit 13 shown in Figure 3. The position calculation unit 17 outputs to the interval calculation unit 14 information indicating the three-dimensional positions of the straight reinforcing bars 2-1 to 2-3 at each intersection. When the straight reinforcing bars 2-1 to 2-3 are positioned behind the curved reinforcing bars 1-1 to 1-3 as viewed from the sensor 3, the position calculation unit 17 calculates the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 at their respective intersections based on the reinforcing bar diameter D1 of the curved reinforcing bars 1-1 to 1-3 and the reinforcing bar diameter D2 of the straight reinforcing bars 2-1 to 2-3, similar to the position calculation unit 13 shown in Figure 3. The position calculation unit 17 outputs to the interval calculation unit 14 information indicating the three-dimensional positions of the curved reinforcing bars 1-1 to 1-3 at each intersection.

[0052] The learning model 40 is realized by, for example, a neural network. During learning, the learning model 40 is given image data showing a photographed image of a straight reinforcing bar and the reinforcing bar diameter of the straight reinforcing bar as learning data, and learns the reinforcing bar diameter of the straight reinforcing bar. During learning, the learning model 40 is given image data showing a photographed image of the curved reinforcing bar and the reinforcing bar diameter of the curved reinforcing bar as learning data, and learns the reinforcing bar diameter of the curved reinforcing bar. During inference, when the learning model 40 receives image data indicating a photographed image of a straight reinforcing bar 2-n (n = 1, 2, 3) from the position calculation unit 17, it outputs information indicating the reinforcing bar diameter D2 of the straight reinforcing bar 2-n to the position calculation unit 17. In addition, during inference, when the learning model 40 receives image data indicating a photographed image of the curved reinforcing bar 1-n (n = 1, 2, 3) from the position calculation unit 17, it outputs information indicating the reinforcing bar diameter D1 of the curved reinforcing bar 1-n to the position calculation unit 17. 15 is provided outside the rebar spacing measurement device 4. However, this is merely an example, and the learning model 40 may also be provided inside the rebar spacing measurement device 4.

[0053] The rebar gap measuring device 4 shown in Fig. 14 is one in which the position calculation unit 17 is applied to the rebar gap measuring device 4 shown in Fig. 3. However, this is merely an example, and the position calculation unit 17 may also be applied to the rebar gap measuring device 4 shown in Fig. 12.

[0054] 14, it is assumed that each of the components of the rebar gap measurement device 4, namely, the data acquisition unit 11, the detection line identification unit 12, the position calculation unit 17, and the gap calculation unit 14, is realized by dedicated hardware as shown in Fig. 15. In other words, it is assumed that the rebar gap measurement device 4 is realized by a data acquisition circuit 21, a detection line identification circuit 22, a position calculation circuit 27, and a gap calculation circuit 24. Each of the data acquisition circuit 21, the detection line identification circuit 22, the position calculation circuit 27, and the interval calculation circuit 24 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0055] The components of the rebar spacing measuring device 4 are not limited to those realized by dedicated hardware, and the rebar spacing measuring device 4 may be realized by software, firmware, or a combination of software and firmware. When the rebar interval measuring device 4 is realized by software, firmware, or the like, a program for causing a computer to execute the respective processing procedures of the data acquisition unit 11, the detection line identification unit 12, the position calculation unit 17, and the interval calculation unit 14 is stored in a memory 31 shown in Fig. 5. Then, a processor 32 shown in Fig. 5 executes the program stored in the memory 31.

[0056] 15 shows an example in which each of the components of the rebar spacing measurement device 4 is realized by dedicated hardware, while Fig. 5 shows an example in which the rebar spacing measurement device 4 is realized by software, firmware, etc. However, this is just one example, and some of the components in the rebar spacing measurement device 4 may be realized by dedicated hardware, and the remaining components may be realized by software, firmware, etc.

[0057] Next, the operation of the rebar gap measurement device 4 shown in Fig. 14 will be described. Except for the position calculation unit 17 and the learning model 40, the rebar gap measurement device 4 is the same as that shown in Fig. 3. The camera 5 photographs the straight reinforcing bars 2-1 to 2-3 and outputs image data representing the photographed images of the straight reinforcing bars 2-1 to 2-3 to the reinforcing bar interval measuring device 4. The camera 5 photographs the curved reinforcing bars 1-1 to 1-3 and outputs image data representing the photographed images of the curved reinforcing bars 1-1 to 1-3 to the reinforcing bar interval measuring device 4. Here, it is assumed that the camera 5 photographs the straight reinforcing bars 2-1 to 2-3 and the curved reinforcing bars 1-1 to 1-3 separately. However, this is merely an example, and the camera 5 may photograph the straight reinforcing bars 2-1 to 2-3 and the curved reinforcing bars 1-1 to 1-3 together and output image data showing the photographed images of the straight reinforcing bars 2-1 to 2-3 and the curved reinforcing bars 1-1 to 1-3 to the reinforcing bar spacing measuring device 4.

[0058] The position calculation unit 17 provides the learning model 40 with image data representing the captured images of the straight reinforcing bars 2-1 to 2-3, and acquires from the learning model 40 information representing the reinforcing bar diameter D2 of the straight reinforcing bars 2-1 to 2-3. The position calculation unit 17 provides the learning model 40 with image data representing the captured images of the curved reinforcing bars 1-1 to 1-3, and acquires from the learning model 40 information representing the reinforcing bar diameter D1 of the curved reinforcing bars 1-1 to 1-3. The position calculation unit 17 is similar to the position calculation unit 13 shown in Figure 3 or the position calculation unit 15 shown in Figure 12, except for the process of acquiring information indicating the reinforcing bar diameter D2 of the straight reinforcing bars 2-1 to 2-3 and information indicating the reinforcing bar diameter D1 of the curved reinforcing bars 1-1 to 1-3, so detailed explanation will be omitted.

[0059] In the above-described third embodiment, the rebar spacing measurement device 4 shown in Fig. 14 is configured so that the position calculation unit 17 provides image data showing a photographed image of the straight rebar to the learning model 40, and acquires information indicating the rebar diameter of the straight rebar from the learning model 40. Therefore, like the rebar spacing measurement device 4 shown in Fig. 3, the rebar spacing measurement device 4 shown in Fig. 14 can reduce calculation errors in the spacing between multiple straight rebars, and can acquire information indicating the rebar diameter of the straight rebar without the internal memory of the position calculation unit 17 having to store the information indicating the rebar diameter of the straight rebar.

[0060] In the third embodiment, the rebar spacing measurement device 4 shown in Fig. 14 is configured so that the position calculation unit 17 provides image data showing a photographed image of the curved rebar to the learning model 40, and acquires information indicating the rebar diameter of the curved rebar from the learning model 40. Therefore, like the rebar spacing measurement device 4 shown in Fig. 3, the rebar spacing measurement device 4 shown in Fig. 14 can reduce calculation errors in the spacing between multiple curved rebars, and can acquire information indicating the rebar diameter of the curved rebar without the internal memory of the position calculation unit 17 having to store the information indicating the rebar diameter of the curved rebar.

[0061] Embodiment 4 In embodiment 4, we will describe a rebar spacing measurement device 4 that is equipped with an area division unit 18 that divides an area including multiple three-dimensional points on multiple curved rebars and multiple three-dimensional points on multiple straight rebars into multiple partial areas.

[0062] Fig. 16 is a configuration diagram showing a rebar interval measuring device 4 according to embodiment 4. In Fig. 16, the same reference numerals as in Fig. 3 indicate the same or corresponding parts, and detailed explanations thereof will be omitted. Fig. 17 is a hardware configuration diagram showing the hardware of a reinforcing bar interval measuring device 4 according to embodiment 4. In Fig. 17, the same reference numerals as in Fig. 4 indicate the same or corresponding parts, and detailed description thereof will be omitted. The rebar interval measuring device 4 shown in FIG. 16 includes a data acquiring unit 11, an area dividing unit 18, a detection line specifying unit 19, a position calculating unit 13, and an interval calculating unit 14.

[0063] The area dividing unit 18 is realized by an area dividing circuit 28 shown in FIG. 17, for example. The area dividing unit 18 acquires distance measurement data from the data acquiring unit 11. The region dividing unit 18 divides a region including a plurality of three-dimensional points on the curved reinforcing bars 1-1 to 1-3 and a plurality of three-dimensional points on the straight reinforcing bars 2-1 to 2-3 into a plurality of partial regions based on the measurement data.

[0064] The detection line specifying unit 19 is realized by, for example, a detection line specifying circuit 29 shown in FIG. The detection line specifying unit 19 specifies a first detection line that indicates the three-dimensional position where each curved reinforcing bar is assumed to exist, based on the measurement data for each divided area. The detection line specifying unit 19 outputs information indicating each of the first detection lines to the position calculating unit 13. The detection line specifying unit 19 specifies second detection lines that indicate three-dimensional positions where each straight reinforcing bar is expected to exist, based on the measurement data for each divided area. The detection line specifying unit 19 outputs information indicating each second detection line to the position calculating unit 13.

[0065] The rebar gap measurement device 4 shown in Fig. 16 is one in which the area dividing unit 18 and the detection line identifying unit 19 are applied to the rebar gap measurement device 4 shown in Fig. 3. However, this is merely an example, and the area dividing unit 18 and the detection line identifying unit 19 may also be applied to the rebar gap measurement device 4 shown in Fig. 12 or the rebar gap measurement device 4 shown in Fig. 14.

[0066] 16, it is assumed that each of the components of the rebar gap measurement device 4, namely, the data acquisition unit 11, the area division unit 18, the detection line identification unit 19, the position calculation unit 13, and the gap calculation unit 14, is realized by dedicated hardware as shown in Fig. 17. In other words, it is assumed that the rebar gap measurement device 4 is realized by a data acquisition circuit 21, an area division circuit 28, a detection line identification circuit 29, a position calculation circuit 23, and a gap calculation circuit 24. The rebar spacing measuring device 4 includes a data acquisition circuit 21, an area division circuit 28, a detection line identification circuit 29, a position calculation circuit 23, and a spacing calculation circuit 24, each of which may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these.

[0067] The components of the rebar spacing measuring device 4 are not limited to those realized by dedicated hardware, and the rebar spacing measuring device 4 may be realized by software, firmware, or a combination of software and firmware. When the rebar interval measurement device 4 is realized by software, firmware, or the like, a program for causing a computer to execute the respective processing procedures of the data acquisition unit 11, the area division unit 18, the detection line identification unit 19, the position calculation unit 13, and the interval calculation unit 14 is stored in a memory 31 shown in Fig. 5. Then, a processor 32 shown in Fig. 5 executes the program stored in the memory 31.

[0068] 17 shows an example in which each of the components of the rebar gap measurement device 4 is realized by dedicated hardware, while Fig. 5 shows an example in which the rebar gap measurement device 4 is realized by software, firmware, etc. However, this is just one example, and some of the components in the rebar gap measurement device 4 may be realized by dedicated hardware, and the remaining components may be realized by software, firmware, etc.

[0069] Next, the operation of the rebar gap measuring device 4 shown in Fig. 16 will be described. Except for the area dividing unit 18 and the detection line identifying unit 19, the rebar gap measuring device 4 is the same as that shown in Fig. 3. Therefore, only the operation of the area dividing unit 18 and the detection line identifying unit 19 will be described here. In the rebar interval measuring device 4 shown in FIG. 3, the detection line specifying unit 12 determines a first detection line L indicating the three-dimensional positions where all of the curved rebars 1-1 to 1-3 are assumed to exist, based on the distance measurement data output from the data acquiring unit 11. 1-1 ,L1-2 ,L 1-3 has been identified. Further, the detection line specifying unit 12 determines, based on the measurement data, a second detection line L indicating the three-dimensional positions where each of the straight reinforcing bars 2-1 to 2-3 is assumed to exist. 2-1 ,L 2-2 ,L 2-3 has been identified. Since the curved reinforcing bars 1-1 to 1-3 are curved reinforcing bars, all of the curved reinforcing bars 1-1 to 1-3 and all of the straight reinforcing bars 2-1 to 2-3 are not on the same plane, which may result in measurement errors in the results of identifying the detection line.

[0070] In order to be able to identify rebars that exist on the same plane as much as possible, the region dividing unit 18 divides an area including multiple three-dimensional points on curved rebars 1-1 to 1-3 and multiple three-dimensional points on straight rebars 2-1 to 2-3 into multiple sub-areas based on the measurement data acquired by the data acquisition unit 11, as shown in Figure 18. FIG. 18 is an explanatory diagram showing an example of partial regions after division by the region dividing unit 18. As shown in FIG. The area dividing unit 18 outputs the measurement data for each divided area to the detection line identifying unit 19.

[0071] The detection line specifying unit 19 determines, based on the measurement data for each divided area, a first detection line L that indicates the three-dimensional position where each of the curved reinforcing bars 1-1 to 1-3 is assumed to exist, as shown in FIG. 1-1 ,L 1-2 ,L 1-3 Identify. Furthermore, based on the measurement data for each divided area, the detection line specifying unit 19 determines a second detection line L that indicates the three-dimensional position where each of the straight reinforcing bars 2-1 to 2-3 is assumed to exist, as shown in FIG. 2-1 ,L 2-2 ,L 2-3 Identify

[0072] The detection line specifying unit 19 determines the first detection line L 1-1 ,L 1-2 ,L 1-3 and the second detection line L2-1 ,L 2-2 ,L 2-3 Before identifying each of the first and second detection lines, a direct contrast process is performed to correct the thickness of each detection line to the same thickness. 1-1 ,L 1-2 ,L 1-3 and the second detection line L 2-1 ,L 2-2 ,L 2-3 Alternatively, each of the above may be specified.

[0073] In the above-described fourth embodiment, the reinforcing bar spacing measurement device 4 is configured to include an area dividing unit 18 that divides an area including multiple 3D points on multiple curved reinforcing bars and multiple 3D points on multiple straight reinforcing bars into multiple partial areas, and a detection line identifying unit 19 that identifies, based on measurement data for each divided area, a first detection line indicating a 3D position where a curved reinforcing bar is expected to exist in each divided area and a second detection line indicating a 3D position where a straight reinforcing bar is expected to exist in each divided area. Therefore, the reinforcing bar spacing measurement device 4 can reduce measurement errors included in the detection line identification results even when all curved reinforcing bars 1-1 to 1-3 and all straight reinforcing bars 2-1 to 2-3 are not present on the same plane.

[0074] In addition, the present disclosure allows for free combination of the respective embodiments, modification of any of the components of the respective embodiments, or omission of any of the components of the respective embodiments. [Explanation of symbols]

[0075] 1-1 to 1-3 Curved rebars, 2-1 to 2-3 Straight rebars, 3 Sensor, 4 Rebar spacing measurement device, 5 Camera, 11 Data acquisition unit, 12, 19 Detection line identification unit, 13, 15, 17 Position calculation unit, 14, 16 Spacing calculation unit, 18 Area division unit, 21 Data acquisition circuit, 22, 29 Detection line identification circuit, 23, 25, 27 Position calculation circuit, 24, 26 Spacing calculation circuit, 28 Area division circuit, 31 Memory, 32 Processor, 40 Learning model.

Claims

1. a data acquisition unit that acquires distance measurement data from sensors that measure distances to multiple three-dimensional points on multiple curved reinforcing bars and distances to multiple three-dimensional points on multiple straight reinforcing bars that are connected perpendicularly to each curved reinforcing bar; A detection line identification unit that identifies a first detection line indicating the three-dimensional position where each curved reinforcing bar is expected to exist and a second detection line indicating the three-dimensional position where each straight reinforcing bar is expected to exist based on the measurement data acquired by the data acquisition unit; a position calculation unit that identifies intersections where the respective first detection lines and the respective second detection lines overlap, and calculates the three-dimensional position of the straight reinforcing bars at each intersection based on the reinforcing bar diameter of the straight reinforcing bars; a spacing calculation unit that calculates spacing between the plurality of straight reinforcing bars based on the three-dimensional positions calculated by the position calculation unit; A rebar spacing measurement device equipped with this.

2. The position calculation unit Calculating the three-dimensional position of the curved reinforcing bar at each intersection based on the reinforcing bar diameter of the curved reinforcing bar; The interval calculation unit Calculating the intervals between the curved reinforcing bars based on the three-dimensional positions of the curved reinforcing bars calculated by the position calculation unit 2. The reinforcing bar interval measuring device according to claim 1.

3. The position calculation unit Image data showing the captured image of the straight reinforcing bars is acquired from a camera that captures the images of the straight reinforcing bars, the image data is provided to a learning model, and information showing the reinforcing bar diameters of the straight reinforcing bars is acquired from the learning model.

2. The reinforcing bar interval measuring device according to claim 1.

4. The position calculation unit Image data showing the captured images of the curved reinforcing bars is acquired from a camera that captures images of the curved reinforcing bars, the image data is provided to a learning model, and information showing the reinforcing bar diameters of the curved reinforcing bars is acquired from the learning model.

3. The reinforcing bar interval measuring device according to claim 2.

5. A region dividing unit divides a region including a plurality of three-dimensional points of the curved reinforcing bars and a plurality of three-dimensional points of the straight reinforcing bars into a plurality of partial regions based on the measurement data acquired by the data acquisition unit, The detection line identification unit Based on the measurement data for each divided area, a first detection line indicating the three-dimensional position where each curved reinforcing bar is expected to exist and a second detection line indicating the three-dimensional position where each straight reinforcing bar is expected to exist are identified.

5. The reinforcing bar interval measuring device according to claim 1, wherein the reinforcing bar interval measuring device is a reinforcing bar interval measuring device.

6. The data acquisition unit acquires distance measurement data from sensors that measure distances to a plurality of three-dimensional points on a plurality of curved reinforcing bars and distances to a plurality of three-dimensional points on a plurality of straight reinforcing bars that are connected perpendicularly to each of the curved reinforcing bars; The detection line specifying unit specifies, based on the measurement data acquired by the data acquisition unit, a first detection line indicating the three-dimensional position where each curved reinforcing bar is expected to exist, and a second detection line indicating the three-dimensional position where each straight reinforcing bar is expected to exist; A position calculation unit identifies intersections where the first detection lines and the second detection lines overlap, and calculates the three-dimensional position of the straight reinforcing bars at each intersection based on the reinforcing bar diameter of the straight reinforcing bars; A spacing calculation unit calculates spacing between the plurality of straight reinforcing bars based on the three-dimensional positions calculated by the position calculation unit. Rebar spacing measurement method.

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