Plate outline estimation device

Abstract

To provide an estimation device for estimating the contour of a plaster board with high accuracy to a plurality of rectangular plaster boards fixed by a plurality of screws.SOLUTION: An estimation device 10 includes an edge detection processing part 12 for performing edge detection processing of a whole image G1 including a plaster board 5 picked up by an imaging device 20, a straight line detection processing part 14 for performing straight line detection processing of the whole image G2 having undergone the edge detection processing, and a contour estimation part for estimating the contour B3 of the plaster board 5 of the whole image G3 having undergone the straight line detection processing. The estimation device 10 further includes a screw image removal part 13 for removing an image of screws from the whole image G1 before the straight line detection processing by the straight line detection processing part 14 after a screw image specification part 11 specifies an image of a plurality of screws.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an estimation device that estimates the contour line of a plurality of rectangular plate materials that are attached side by side by driving a plurality of fasteners into the plate. [Background technology]

[0002] Conventionally, as shown in Patent Document 1, board materials such as gypsum boards used for interior wall or ceiling materials are attached to a base via a plurality of fasteners such as screws. The fasteners are driven into the board within a prescribed interval along at least the periphery of the board. After the board is installed, the installation state of the board is inspected to see whether the intervals between fasteners in the same fastener row are within the prescribed interval. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-031241 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, such an inspection can be performed visually, but sometimes multiple plate materials attached with multiple fasteners are photographed and the mounting state of the plate materials is confirmed from the photographed image. In that case, it is important to identify the contour line (i.e., the peripheral portion) of each plate material. However, since multiple fasteners exist in the vicinity along this contour line, it is expected that the contour line cannot be accurately identified from the images of these fasteners when attempting to identify the contour line of the plate material by image processing.

[0005] The present invention has been made in consideration of the above points, and an object of the present invention is to provide an estimation device that can accurately estimate the contour line of a rectangular plate material that is attached in multiple pieces by multiple fixing devices. [Means for solving the problem]

[0006] In consideration of the above problems, the apparatus for estimating the contour of a plate material according to the present invention is an estimation apparatus that estimates the contour of a plurality of rectangular plate material attached in a line by driving in a plurality of fasteners, and includes a fastener image identification unit that identifies images of a plurality of fasteners from an overall image including the plate material captured by an imaging device, an edge detection processing unit that performs edge detection processing on the overall image in which the images of the fasteners have been identified, a straight line detection processing unit that performs straight line detection processing on the overall image after edge detection processing, and a contour estimation unit that estimates the contour of the plate material from the overall image after straight line detection processing, and is characterized in that the estimation apparatus further includes a fastener image removal unit that removes the images of the fasteners from the overall image before straight line detection processing by the straight line detection processing unit after the images of the plurality of fasteners have been identified by the fastener image identification unit.

[0007] According to the present invention, the fastener image removal unit removes images of fasteners driven into the inside of the plate from the images of the fasteners, so that the line detection processing unit can detect lines without being affected by the images of the fasteners when performing line detection processing on the entire image that has been subjected to edge detection processing, thereby allowing the contour line estimation unit to accurately estimate the contour line of the plate for the entire image.

[0008] Here, the removal of the image of the fastener by the fastener image removal unit may be performed on the entire image before the edge detection process is performed, and the image from which the fastener is removed is not particularly limited as long as the image of the fastener can be removed. However, in a more preferred embodiment, the fastener image removal unit removes the image of the fastener from the entire image after the edge detection process based on the position of the image of the fastener specified by the fastener image specification unit.

[0009] According to this aspect, the image of the fastener is removed from the entire image that has been subjected to edge detection processing based on the position of the image of the fastener identified by the fastener image identification unit, so that the image of the fastener can be accurately removed. Here, when removing the image of the fastener from the entire image including the plate material captured by the imaging device, the color tone of the image of the fastener must be matched to the color tone of the surrounding plate material so that it is not detected by the edge detection and straight line detection processing. However, according to this aspect, the fastener image removal unit removes the image of the fastener that has been subjected to edge detection processing, so that it can be easily removed from the entire image that has been subjected to edge detection processing without adjusting the color tone of the image of the fastener.

[0010] In a more preferred embodiment, the estimation device further includes a fastener row identification unit that identifies a fastener row of fasteners that are driven into the inside of the plate along the boundary between the plate materials, based on images of the fasteners identified by the fastener image identification unit; an approximate line calculation unit that calculates an approximate line corresponding to an arrangement of a plurality of fasteners for each of the identified fastener rows; an estimated line calculation unit that calculates a line equidistant to the two approximate lines as an estimated line of the contour, based on approximate lines of the two fastener rows that sandwich the boundary between the adjacent plate materials; and a boundary line determination unit that determines the quality of the estimated boundary line based on the estimated line calculated by the estimated line calculation unit and the boundary line of the contour line estimated by the contour line estimation unit.

[0011] According to this aspect, a straight line that is equidistant from the approximation straight lines of the two fastener rows on either side of the boundary line of the plate material is taken as an estimated line of the boundary line, and the quality of the estimated boundary line is determined based on this estimated line and the contour line of the boundary line estimated by the contour line estimation unit, so that a boundary line with high accuracy can be obtained. Effect of the Invention

[0012] According to the present invention, the contour lines of a plurality of rectangular plate materials attached by a plurality of fasteners can be estimated with high accuracy. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a schematic diagram of a bead pitch estimation device according to the present embodiment. [Diagram 2] FIG. 2 is a control block diagram of a calculation unit of the estimation device shown in FIG. [Diagram 3] 3 is a control block diagram of a boundary line determining unit shown in FIG. 2. [Figure 4] FIG. 13 is a diagram showing an entire image in which the image of the screw is specified. [Diagram 5] 5 is an enlarged image of part A in FIG. 4, where (a) is a diagram for explaining edge detection processing, (b) is a diagram for explaining processing for removing the image of a screw, and (c) is a diagram for explaining straight line detection processing. [Figure 6] FIG. 13 is a diagram showing an entire image after line detection processing. [Figure 7] (a) is a diagram showing the approximate straight lines of two screw rows that sandwich the boundary line between adjacent gypsum boards, and (b) is a diagram of (a) showing the estimated boundary line. [Figure 8] FIG. 2 is an estimation flow diagram using the estimation device shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, a screw pitch estimation device 10 according to the present embodiment will be described with reference to FIGS.

[0015] 1. About the boards and fixtures The estimation device 10 according to this embodiment is a device that estimates the contour of a rectangular plate material that is attached in a plurality of sheets and used as an interior wall material or ceiling material, and in this embodiment, the estimation device 10 further estimates the pitch of fasteners driven into the plate material. Here, fasteners are driven at a predetermined interval along at least the periphery of the plate material. Examples of combinations of plate material and fasteners include eaves soffit material (decorative material under the eaves) and nails that fasten it, structural plywood and nails that fasten it in wooden houses, and floor underlayment and nails / screws that fasten it.

[0016] In the following embodiment, a plaster board 5 is exemplified as the plate material, and a screw 6 is exemplified as the fastener. Therefore, the plaster board 5 corresponds to the "plate material" in the present invention, the screw 6 corresponds to the "fastener" in the present invention, and for example, the pitch of the screw 6 (screw pitch) is the interval between the fasteners in the present invention.

[0017] The fasteners for fixing the gypsum board 5 may be nails. The gypsum board 5 is used as an interior wall material or ceiling material. The gypsum board 5 is fixed with screws 6 along the longitudinal and lateral directions of the gypsum board 5 under conditions of a pitch equal to or less than a pitch stipulated by laws and regulations. The screw pitch here refers to the distance between adjacent screws 6, 6 along the longitudinal and lateral directions of the gypsum board 5. When the gypsum board 5 is attached as an interior wall material, the long side of the gypsum board 5 is aligned vertically and the short side of the gypsum board 5 is aligned horizontally as shown in FIG. 1.

[0018] Here, the multiple screws 6, 6, ... are driven into the gypsum board 5 at a specified pitch along the periphery (contour line B) of the gypsum board 5, inside the periphery (contour line B) of the gypsum board 5. After the gypsum board 5 is installed, the positions where the screws 6 are driven along the contour line B of the gypsum board 5 are checked in order to check the installation condition of the gypsum board 5.

[0019] Furthermore, in this embodiment, the multiple screws 6, 6, ... are driven into the gypsum board 5 at a specified pitch along the longitudinal direction of the gypsum board 5 at the center of the width direction of the gypsum board 5. After the gypsum board 5 is installed, the screw pitch is checked to see if it is within the specified pitch. The screw pitch is the center-to-center distance between adjacent screws 6 along the longitudinal and lateral directions when the gypsum board 5 is viewed from the front.

[0020] In view of this, in this embodiment, the estimation device 10 estimates the contour line B1 of the plaster board 5 from an image G including the plaster board 5 captured by the imaging device 20, and, if necessary, estimates the pitch of adjacent screws 6.

[0021] 2. Hardware configuration of the estimation device 10 The estimation device 10 is composed of hardware such as ROM, RAM, etc., and is equipped with a memory device 10A in which the conditions of the gypsum board 5, a screw pitch estimation program, etc. are recorded, and a calculation device 10B that executes the screw pitch estimation program.

[0022] An input device 31 and an output device 32 are connected to the estimation device 10. In this embodiment, the input device 31 and the output device 32 may be integrated into a touch panel display. Data such as the specification conditions of the gypsum board 5 and a screw pitch estimation program are input via the input device 31. In this embodiment, image data captured by the imaging device 20 may be input via the input device 31. The data input by the input device 31 is stored in the storage device 10A. The output device 32 displays image data captured by the imaging device 20, calculation results calculated by the calculation device 10B, and the like.

[0023] In the present embodiment, the estimation device 10 is configured with the storage device 10A and the calculation device 10B, but may also include, for example, an input device 31 and an output device 32. The estimation device 10 may further include an imaging device 20 in addition to the input device 31 and the output device 32, and may be a mobile terminal such as a smartphone or tablet in which these are integrated.

[0024] 3. Software configuration of the estimation device 10 In this embodiment, as shown in FIG. 2, the estimation device 10 includes a screw image identification unit (fixture image identification unit) 11, an edge detection processing unit 12, a screw image removal unit (fixture image removal unit) 13, a straight line detection processing unit 14, a contour line estimation unit 15, a boundary line determination unit 16, a board image extraction unit 17, and a pitch calculation unit 18.

[0025] 3-1. About the Bis Image Identification Unit 11 The screw image identification unit 11 identifies images of multiple screws 6 from the overall image G1 including the plaster board 5 captured by the imaging device 20. Specifically, it identifies the position and range of each screw 6 in the overall image G1. The screws 6 are identified from the overall image G1 using a classifier such as a cascade classifier that has machine-learned the shape of the screws.

[0026] The identified screws 6 are marked with a mark M. Each identified screw 6 is within the area surrounded by the mark M of the square frame of the overall image G1, and the center of the screw 6 coincides with the center of the mark M. In this embodiment, the mark M surrounds the screw 6, but the mark M may be a circular frame, a diamond frame, or another shape, and the mark may be plotted at the position of the screw 6 so as to fill in the screw 6. Here, it is sufficient that at least the position (coordinates) of the screw 6 relative to the overall image G1 is identified from the shape of the screw 6. The screw image identification unit 11 may perform binarization or grayscale processing on the converted front image and identify the screw 6 from the number of pixels that have a predetermined brightness difference from the surrounding pixels.

[0027] 3-2. Edge detection processing unit 12 In this embodiment, edge detection processing is performed on the entire image G1 in which the image of the screw 6 is specified. In the edge detection processing, the Canny method or the like may be used to detect the edges of the entire image G1, or the edges of the entire image G1 may be detected by sequentially convolving various kernels with image matrices such as Frei-Chen, Prewitt, Roberts, and Sobel. These edge detection methods are generally known edge detection processing, so detailed explanations are omitted. In this way, an entire image G2 subjected to edge detection processing as shown in FIG. 5(a) can be obtained. The boundary line B2 of the plaster board 5 and the boundary line of the screw 6 are displayed in the entire image G2. FIGS. 5(a) to (c) are enlarged images of the A portion of FIG. 4, and the screw 6 in FIG. 4 is drawn larger than FIG. 5(a) in order to clarify its position.

[0028] 3-3. About the Bis Image Removal Unit 13 After the screw image specification unit 11 specifies the images of the screws 6, 6, ..., the screw image removal unit 13 removes the image of the screw 6 before the line detection processing unit 14 performs line detection processing, which will be described later. Specifically, in this embodiment, the screw image removal unit 13 removes the image of the screw 6 specified by the screw image specification unit 11 from the whole image G2 on which the edge detection processing has been performed.

[0029] The image of the screw 6 may be removed by, for example, using a commonly known expansion / contraction process to fill the pixels of the area from which the image of the screw 6 has been removed with pixels of the same luminance as the luminance of the surrounding images after removing the image of the screw 6 (or the image of the area surrounded by the mark M in FIG. 4). In this way, the process is not particularly limited as long as it is a process that can remove the presence of the screw 6 from the entire image G2 that has been subjected to edge detection processing.

[0030] In this way, the image of the screw 6 is removed from the edge-detected overall image G2 based on the position of the image of the screw 6 identified by the screw image identification unit 11, so the image of the screw 6 can be accurately removed. The screw image removal unit 13 removes the image G1 of the screw 6 that has been edge-detected, so the image of the screw 6 can be easily removed from the edge-detected overall image G2 without adjusting the color tone of the image of the screw 6. Note that the image of the screw 6 may be removed from the overall image G1 including the plaster board 5 captured by the imaging device 20, but in this case, the color tone of the image of the screw 6 must be matched to the color tone of the surrounding plaster board so that it is not detected by the edge detection and straight line detection processes.

[0031] 3-4. Line detection processing unit 14 The line detection processing unit 14 performs line detection processing on the entire image G2 that has been subjected to edge detection processing. As a result, for example, the contour line B1 that has become discontinuous due to edge processing can be obtained as a single straight line LT. The line detection processing unit 14 performs line detection on the entire image G2 that has been subjected to edge detection processing using a commonly known Hough transform, but line detection may also be performed using, for example, an LSD (Line Segment Detector).

[0032] 3-5. Contour Estimation Unit 15 The contour line estimation unit 15 estimates the contour line B3 of the plaster board 5 for the entire image G3 that has been subjected to the line detection processing. Specifically, the contour line estimation unit 15 calculates the intersection points of the lines LT detected by the line detection processing unit 14, and estimates that an image formed of the four intersection points and the four lines LT is the contour line B3 surrounding the plaster board 5. Note that in FIG. 6, the lines LT and the contour line B3 are shown for the entire image G1 captured by the imaging device 20.

[0033] In this embodiment, the screw image removal unit 13 removes all images of the screws 6, including the screws 6 driven into the inside of the plaster board 5 along the contour B2 of the plaster board 5, from the images of the screws, so that the line detection processing unit 14 can detect the contour B3 of the plaster board 5, including straight lines, without being affected by the images of the screws when performing line detection processing on G2 that has been subjected to edge detection processing. This allows the contour estimation unit 15 to accurately estimate the contour B3 of the plaster board 5 for the entire image G1.

[0034] 3-6. Boundary Determining Unit 16 The boundary line determination unit 16 determines whether the boundary line BL between the two gypsum boards 5, among the estimated contour line B3, is a proper boundary line, and if it is a proper boundary line, determines that this is the boundary line between the two gypsum boards 5. As shown in Fig. 3, the boundary line determination unit 16 includes a screw row specification unit (fixing device row specification unit) 16a, an approximate straight line calculation unit 16b, an estimated line calculation unit 16c, and a boundary line determination unit 16d.

[0035] 4 and 7(a), the screw row identification unit 16a identifies screw rows PA, PB, ... of screws 6 driven into the inside of the plaster board 5 along the boundary line of the contour line B1 of the plaster board 5 in the overall image G1 based on the images of the screws identified by the screw image identification unit 11. The identification of the screw rows PA, PB, ... is carried out, for example, by determining that, for the screws 6 identified by the screw image identification unit 11, if the number of multiple screws 6, 6, ... lined up along the vertical direction of the overall image G1 is a specified number (for example, 10) or more, these multiple screw rows PA, PB, ... are screws of the screw row.

[0036] 7(a), the approximate line calculation unit 16b calculates approximate lines LA, LB corresponding to the arrangement of the multiple screws 6, 6, ... for each screw row PA, PB, .... Specifically, a Cartesian coordinate system is set in the overall image G1 including the gypsum board 5, and a straight line equation is found by the least squares method for the centers of the screws 6, 6, ... of each screw row PA, PB, and the straight line of this equation is set as the approximate lines LA, LB.

[0037] As shown in Fig. 7(b), the estimated line calculation unit 16c calculates a straight line equidistant from the two approximate lines LA and LB as the estimated line L of the boundary line based on the approximate lines of the two screw rows LA and LB that sandwich the boundary line B4 between the adjacent gypsum boards 5, 5. Note that the perpendicular lines drawn from any point on the estimated line L to the approximate lines LA and LB have the same length. This makes it possible to calculate the estimated line L of the boundary line based on the arrangement of the screw rows LA and LB.

[0038] Boundary determination unit 16d determines whether or not estimated boundary line B4 is acceptable based on estimated line B5 calculated by estimated line calculation unit 16c and boundary line B4 of contour line B3 estimated by contour line estimation unit 15. Specifically, boundary line B4 is determined to be an appropriate straight line under the condition that the inclination of boundary line B4 is within a specified range with respect to the inclination of estimated line B5, and the intercept of estimated line B5 is within a specified range, and this is determined to be the boundary line between adjacent gypsum boards 5, 5. This makes it possible to obtain accurate boundary line B4.

[0039] 3-7. About the board image extraction unit 17 The board image extraction unit 17 extracts an image of the gypsum board 5 surrounded by the contour line B3 from the entire image G1 of the gypsum board 5 from an image including the gypsum board 5. The board image extraction unit 17 performs projective transformation on the extracted image of the gypsum board 5 to a front image viewed from the front. The method of projective transformation is not particularly limited as long as the extracted image of the gypsum board 5 can be projectively transformed to a front image viewed from the front. Since the contour line B3 of the gypsum board 5 is more accurately identified, a more accurate front image of the gypsum board 5 can be obtained by projective transformation.

[0040] 3-8. About the pitch calculation unit 18 The pitch calculation unit 18 first identifies an image of the screw 6 in the projectively transformed image, and calculates the screw pitches Px and Py of adjacent screws 6, 6 for the screw rows determined in the longitudinal direction (vertical direction) and transverse direction (horizontal direction) of the gypsum board 5 (see FIG. 1). Specifically, the distance between the centers of the screws 6 or the centers of the identification marks is calculated as the number of pixels. If the length of the long side or short side of the gypsum board 5 is input in advance, the actual length and width of each pixel can be calculated from the long side and short side, and the screw pitches Px and Py can be calculated from the actual length. In addition, if an image of the gypsum board 5 is acquired together with a scale of the actual length or a mark corresponding to it, the actual length and width of each pixel can be calculated.

[0041] The pitch calculation unit 18 further judges whether the calculated screw pitches Px and Py are within a specified range. If the measured screw pitches are within the specified range, for example, the two corresponding screws may be filled with circles of the same color, and if they are not within the specified range, the two corresponding screws may be filled with circles of different colors. As long as the difference between them can be clearly shown, the method is not particularly limited.

[0042] An estimation flow diagram using the estimation device will be described below with reference to FIG. First, in step S1, the imaging device 20 captures an image of an area including the plaster board 5 as an inspection area, and obtains an overall image G1. Next, in step S2, the screw image identification unit 11 identifies an image of the screw 6. In step S3, the edge detection processing unit 12 performs edge detection processing on the overall image G1 in which the image of the screw 6 has been identified.

[0043] In step S4, the screw image removal unit 13 can remove all images of the screws 6 from the overall image G2 that has been subjected to edge detection processing, including images of the screws 6 that are driven into the inside of the plaster board 5 along the contour B1 of the plaster board 5. In step S5, the line detection processing unit 14 performs line detection processing on the overall image G2 that has been subjected to edge detection processing. In step S6, the contour line estimation unit 15 estimates the contour line B3 of the plaster board 5 for the overall image G3 that has been subjected to line detection processing.

[0044] In step S7, the screw row identification unit 16a identifies the screw rows PA, PB, ... of the screws 6 driven into the inside of the gypsum board 5. In step S8, the approximate line calculation unit 16b calculates approximate lines LA, LB corresponding to the arrangement of the screws 6, 6, ... for each screw row PA, PB, .... In step S9, the estimated line calculation unit 16c calculates an estimated line B3 of the boundary line based on the approximate lines of the two screw rows LA, LB. In step S10, the boundary line determination unit 16d determines whether the estimated boundary line is good or bad based on the estimated line L calculated by the estimated line calculation unit 16c and the boundary line B4 estimated by the contour line estimation unit 15, and if it is good, determines the boundary line B4 as the boundary line.

[0045] In step S11, the board image extraction unit 17 extracts an image of the gypsum board 5 from the overall image G1 including the gypsum board 5, and in step S12, the board image extraction unit 17 performs projective transformation of the image of the gypsum board 5 into a front image, if necessary.

[0046] Next, in step S13, the pitch calculation unit 18 identifies the position coordinates of the screw 6 relative to the front image after projective transformation from the image (position) of the screw 6 before projective transformation identified in step S2. In step S14, the pitch calculation unit 18 calculates the screw pitches Px, Py of adjacent screws from the identified image of the screw 6. Finally, in step S15, the pitch calculation unit 18 determines whether the screw pitch is within a specified range.

[0047] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various design modifications can be made without departing from the spirit of the present invention as described in the claims. [Explanation of symbols]

[0048] 5: plasterboard (board material), 6: screws (fixtures), 10: estimation device, 11: screw image identification section (fixture image identification section), 12: edge detection processing section, 13: screw image removal section (fixture image removal section), 14: straight line detection processing section, 15: contour line estimation section, 16a: screw row identification section (fixture row identification section), 16b: approximate straight line calculation section, 16c: estimated line calculation section, 16d: boundary line determination section, 20: imaging device, B1 to B3: contour line, B4: boundary line, L: estimated line, PA, PB: screw row (fixture row), L: estimated line, LA, LB: approximate straight line, G1 to G3: whole image

Claims

1. An estimation device that estimates a contour line of a rectangular plate material that is attached in a line by driving in a plurality of fasteners, comprising: a fixture image specifying unit that specifies images of a plurality of fixtures from an overall image including the plate material captured by an imaging device; an edge detection processing unit that performs edge detection processing on the entire image from which the image of the fixing tool has been identified; a line detection processing unit that performs a line detection process on the entire image that has been subjected to the edge detection process; a contour line estimation unit that estimates a contour line of the plate material from the entire image that has been subjected to the straight line detection process, the estimation device further comprising a fixture image removal unit that removes images of the fasteners from the overall image before straight line detection processing by the straight line detection processing unit after images of the plurality of fasteners have been identified by the fastener image identification unit.

2. The plate material contour estimation device according to claim 1, characterized in that the fixing device image removal unit removes the image of the fixing device from the overall image that has been subjected to edge detection processing based on the position of the image of the fixing device identified by the fixing device image identification unit.

3. The estimation device includes a fastener row identifying unit that identifies a fastener row of fasteners driven into an inner side of the plate material along a boundary line between the plate materials among contour lines of the plate material based on an image of the fastener identified by the fastener image identifying unit; an approximation line calculation unit that calculates an approximation line according to an arrangement of a plurality of fasteners for each of the identified fastener rows; an estimated line calculation unit that calculates a straight line equidistant from two approximate straight lines of the two fastener rows that sandwich a boundary line between the adjacent plate materials as an estimated line of the contour line; a boundary line determination unit that determines whether the estimated boundary line is acceptable or not based on the estimated line calculated by the estimated line calculation unit and the boundary line of the contour line estimated by the contour line estimation unit; The plate material contour line estimation device according to claim 1 or 2, further comprising:

Images