Reinforcing bar portion detection method and reinforcing bar portion detection device

Abstract

To provide a method and a device for detecting a reinforcement site which can detect a position of a specific site of a reinforcement.SOLUTION: A method for detecting a reinforcement site for detecting a rib 2v of a reinforcement 2 having ribs 2v and knots 2f includes: a first step of performing plural cycles of processing (steps S2, S3) of acquiring an image taken of a reinforcement 2 including an image of linear light 30 while the linear light 30 along a longer direction of the reinforcement 2 is applied on the reinforcement 2, while relatively moving a position of radiating the linear light 30 in a peripheral direction of the reinforcement 2; and a second step of detecting the position of the rib 2v on the basis of plural taken images acquired by the first step.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a method for detecting a reinforcing bar portion and a device for detecting a reinforcing bar portion.

Background Art

[0002] Patent Document 1 describes that during the supply of an elongated metal element including ribs extending along the vertical axis and ribs extending along the circumferential direction, by continuously monitoring the orientation of the cross-section of the elongated metal element by image processing, the stable orientation of the elongated metal element is identified and memorized, and the elongated metal element is tightened and rotated so as to orient the elongated metal element according to the stable orientation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When bending a reinforcing bar having ribs protruding from the outer peripheral surface and extending in the longitudinal direction, variations may occur in the bending state (bending amount and bending direction) of the reinforcing bar depending on the position (orientation) of the ribs when starting the bending process. When bending the reinforcing bar into a three-dimensional structure, the occurrence of such variations can become significant. Therefore, it is important to start the bending process with a reinforcing bar bender while appropriately controlling the position of the ribs of the reinforcing bar in order to perform appropriate bending on the reinforcing bar. Note that such a problem occurs similarly not only in reinforcing bars having convex ribs but also in reinforcing bars such as threaded reinforcing bars having a flat surface extending along the longitudinal direction on the outer peripheral surface.

[0005] In order to appropriately control the positions of the ribs and flat surfaces of a reinforcing bar, it is necessary to detect at which positions in the circumferential direction of the reinforcing bar the ribs and flat surfaces are located. In Patent Document 1, the orientation of the cross-section of an elongated metal element is detected to suppress the spontaneous rotation of the elongated metal element, but detecting the positions of the ribs and flat surfaces is not assumed.

[0006] An object of the present invention is to enable detection of the positions of specific parts of a reinforcing bar.

Means for Solving the Problems

[0007] The technology of the present disclosure is as follows.

[0008] [1] A reinforcing bar part detection method for detecting the flat surface of a reinforcing bar having, on its outer peripheral surface, a flat surface formed along the longitudinal direction and a plurality of ribs protruding along the circumferential direction and arranged in the longitudinal direction, comprising: a first step of performing, while relatively moving the irradiation position of the linear light in the circumferential direction of the reinforcing bar, a plurality of times, a process of obtaining a captured image of the reinforcing bar including an image of the linear light in a state where the linear light along the longitudinal direction of the reinforcing bar is irradiated on the reinforcing bar; a second step of detecting the position of the flat surface based on a plurality of captured images obtained in the first step.

[0009] [2] The reinforcing bar part detection method according to [1], wherein in the second step, the position of the flat surface is detected based on the shape of the image included in each of the plurality of captured images.

[0010] [3] The reinforcing bar part detection method according to [2], wherein in the second step, the irradiation position of the linear light on the reinforcing bar when the captured image including the linear image is captured is detected as the position of the flat surface.

[0011] [4] The method for detecting a reinforcing bar part according to [2], wherein in the second step, when a plurality of the captured images including the linear image are continuously acquired, the irradiation position of the linear light when the plurality of captured images are acquired is detected as the position of the flat surface, the method for detecting a reinforcing bar part.

[0012] [5] The method for detecting a reinforcing bar part according to [3], wherein in the first step, with the state in which the linear light is irradiated to the reinforcing bar such that the captured image including the non-linear image is captured as an initial state, the plurality of times of the processing is started, the method for detecting a reinforcing bar part.

[0013] [6] The method for detecting a reinforcing bar part according to [5], wherein in the second step, the position between the irradiation position of the linear light with respect to the reinforcing bar when the captured image including the linear image is acquired and the irradiation position of the linear light with respect to the reinforcing bar when the captured image including the non-linear image is acquired after the captured image is acquired is detected as the position of the flat surface, the method for detecting a reinforcing bar part.

[0014] [7] The method for detecting a reinforcing bar part according to any one of [1] to [6], wherein a third step of arranging a light source device at a position where the linear light can be irradiated to the reinforcing bar and arranging a photographing device at a position where the linear light irradiated to the reinforcing bar can be photographed is provided, in the first step, the processing is performed a plurality of times while rotating the reinforcing bar around its axis with respect to the light source device and the photographing device, the method for detecting a reinforcing bar part.

[0015] [8] a reinforcing bar part detecting device for detecting the flat surface of a reinforcing bar having a flat surface formed along the longitudinal direction on the outer peripheral surface and a plurality of ridges projecting along the circumferential direction and arranged in the longitudinal direction, a light source device that irradiates the reinforcing bar with linear light along the longitudinal direction of the reinforcing bar, An imaging device that captures the linear light irradiated on the reinforcing bar, and a processor, and is provided with: In a state where the processor irradiates the reinforcing bar with the linear light from the light source device, the process of acquiring, from the imaging device, a captured image of the reinforcing bar including an image of the linear light is performed multiple times while relatively moving the irradiation position of the linear light in the circumferential direction of the reinforcing bar. Based on the plurality of captured images obtained by the process, a reinforcing bar part detection device that detects the position of the flat surface.

Advantages of the Invention

[0016] According to [1] and [8], since imaging is performed by the imaging device in a state where the linear light is irradiated on a plurality of positions in the circumferential direction of the reinforcing bar, among the plurality of captured images obtained in the first step, there are a first captured image obtained by capturing in a first state where the linear light is irradiated only on the flat surface among the convex part and the flat surface, and a second captured image obtained by capturing in a second state where the linear light is irradiated at least on the convex part among the convex part and the flat surface. The shape of the image obtained by capturing the linear light irradiated on the reinforcing bar is different between the first state and the second state. Therefore, for example, by analyzing the shape of the image of the linear light included in the captured image obtained in the first step, the captured image when the linear light is irradiated only on the flat surface among the convex part and the flat surface can be specified, and the irradiation position of the linear light when the specified captured image is obtained can be detected as the position of the flat surface on the reinforcing bar.

[0017] According to [2], by analyzing the shape of the image included in the captured image obtained in the first step, the captured image when the linear light is irradiated only on the flat surface among the convex part and the flat surface can be specified, and the irradiation position of the linear light when the specified captured image is obtained can be detected as the position of the flat surface.

[0018] According to [3], the irradiation position of the linear light when the captured image including the linear image is captured can be detected as the position of the flat surface.

[0019] According to [4], the position of the flat surface can be detected with high precision.

[0020] According to [5], the position of the flat surface can be detected with high precision.

[0021] According to [6], the position of the flat surface can be detected with high precision.

[0022] According to [7], the equipment for executing the method can be made simple. Also, for example, when linear light from a light source device is irradiated only on the flat surface out of the corrugated surface and the flat surface, if the rotational position of the reinforcing bar when the linear light is irradiated is set to the position most suitable for the bending process of the reinforcing bar, when it is found that the captured image obtained during the process of rotating the reinforcing bar includes a linear image, by stopping the rotation of the reinforcing bar, the reinforcing bar can be set to the position most suitable for the bending process of the reinforcing bar. That is, the position detection of the flat surface and the rotational position control of the reinforcing bar can be performed simultaneously, and the efficiency of the bending process can be increased.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0024] Hereinafter, a reinforcing bar processing facility capable of realizing one aspect of the present invention will be described with reference to the drawings.

[0025] FIG. 1 is a diagram schematically showing a schematic configuration of a reinforcing bar processing facility 100. The reinforcing bar processing facility 100 includes a holding unit 1 that holds a reinforcing bar 2 to be bent, a light source device 3, a photographing device 4, and a control device (not shown). Although not shown in the drawing, the reinforcing bar processing facility 100 also includes a reinforcing bar bender or the like that bends the reinforcing bar 2.

[0026] FIG. 2 is a perspective view showing an example of the reinforcing bar 2 that is the processing target in the reinforcing bar processing facility 100. The reinforcing bar 2 that is the processing target in the reinforcing bar processing facility 100 has, as an example, ribs and ridges. More specifically, the reinforcing bar 2 includes ribs formed of linear convex portions extending along the longitudinal direction on the outer peripheral surface, and ridges formed of curved convex portions extending along the circumferential direction on the outer peripheral surface and arranged in a plurality with spaces in the longitudinal direction. The reinforcing bar 2 is, as an example, a deformed reinforcing bar (standardized as deformed bars in JIS G 3112:2010 and deformed bars in JIS G 3117:2017 in Japanese Industrial Standards).

[0027] In the example shown in FIG. 2, a pair of ribs 2v extending along the longitudinal direction (the direction in which the axis 2c extends) of the reinforcing bar 2 project from the outer peripheral surface 2s of the reinforcing bar 2. The top of the rib 2v is a flat surface. The pair of ribs 2v are provided at positions facing each other with the axis 2c of the reinforcing bar 2 interposed therebetween. Further, on the outer peripheral surface 2s of the reinforcing bar 2, a plurality of ridges 2f projecting along the circumferential direction of the reinforcing bar 2 so as to connect between the pair of ribs 2v are provided at intervals in the longitudinal direction of the reinforcing bar 2.

[0028] In the example of FIG. 1, the reinforcing bar 2 is held by the holding unit 1 in a state where its longitudinal direction is perpendicular to the vertical direction Z. In FIG. 1, among the vertical directions Z, the direction in which gravity acts is denoted as direction Z1, and the direction opposite to direction Z1 is denoted as direction Z2. Further, the direction perpendicular to the longitudinal direction of the reinforcing bar 2 and the vertical direction Z is denoted as direction X.

[0029] In FIG. 1, the reinforcing bar 2 is held by the holding part 1 in a state where the protruding directions of the pair of ribs 2v coincide with the direction X. However, the rotational posture of the reinforcing bar 2 held by the holding part 1 is not limited to the example of FIG. 1 and can take various forms. For example, as illustrated in FIG. 3, the reinforcing bar 2 may be held by the holding part 1 in a state where the protruding directions of the pair of ribs 2v coincide with the direction Z, or the reinforcing bar 2 may be held by the holding part 1 in a state where the protruding directions of the pair of ribs 2v intersect with the directions Z and X.

[0030] Although not limited to this, as an example, in the reinforcing bar processing equipment 100, by starting the bending process of the reinforcing bar 2 in the state shown in FIG. 3 where the position of the rib 2v in the direction X of the reinforcing bar 2 held by the holding part 1 substantially coincides with the position of the axis 2c in the direction X (the direction of the rib 2v substantially coincides with the vertical direction Z), the processing accuracy can be sufficiently ensured.

[0031] The holding part 1 has a gripping part (not shown) that grips both ends in the longitudinal direction of the reinforcing bar 2 and an actuator (such as a motor or a solenoid, not shown). By the driving force of this actuator, the gripping part rotates around the axis 2c. When the gripping part rotates, the reinforcing bar 2 held by the holding part 1 is configured to rotate around the axis 2c, for example, in the rotation direction R (the counterclockwise direction in FIG. 1) in FIG. 1.

[0032] As shown in FIG. 2, the light source device 3 irradiates the reinforcing bar 2 held by the holding part 1 with linear light (hereinafter referred to as linear light 30) along the longitudinal direction of the reinforcing bar 2. The light source device 3 irradiates the linear light 30 on at least a part of the region in the longitudinal direction of the reinforcing bar 2. As the light source for generating the linear light 30, a laser light source, an LED (Light-Emitting Diode) light source, a halogen lamp, a fluorescent lamp, an incandescent lamp, or the like can be used.

[0033] In the state seen in the longitudinal direction of the reinforcing bar 2 (see FIGS. 1 and 3), it is preferable that the light source device 3 is arranged such that its optical axis 3A intersects the axis 2c of the reinforcing bar 2. In the example of FIG. 1, the optical axis 3A of the light source device 3 is parallel to the vertical line. The light source device 3 may be arranged such that the optical axis 3A is slightly displaced to one side or the other side of the axis 2c in the direction X.

[0034] The photographing device 4 includes an imaging element such as a CCD image sensor or a CMOS image sensor, and is arranged at a position where the imaging element can photograph the linear light 30 irradiated on the reinforcing bar 2.

[0035] In the example of FIG. 1, the optical axis 4A of the photographing device 4 intersects the axis 2c of the reinforcing bar 2, and the angle θ formed by the optical axis 4A and the optical axis 3A is about 45°. The angle θ is set to an arbitrary value so that the photographing device 4 can photograph the linear light 30 irradiated on the reinforcing bar 2. When the light source device 3 irradiates the linear light 30 with a laser beam, the angle θ is preferably in the range of, for example, 30° to 45°.

[0036] The control device includes a processor such as a CPU and a memory, and is constituted by, for example, a personal computer. The control device is connected to the actuator of the holding unit 1, the light source device 3, and the photographing device 4 so as to be able to control them. Note that the control device and the photographing device 4 may be provided in the same housing. The processor of the control device, the light source device 3, and the photographing device 4 constitute a reinforcing bar part detection device.

[0037] The processor of the control device controls the actuator of the holding unit 1 to rotate the reinforcing bar 2 around the axis 2c, change the irradiation position of the linear light 30 on the reinforcing bar 2, and cause the photographing device 4 to photograph the reinforcing bar 2 in the state where the linear light 30 is irradiated at each irradiation position. The processor of the control device acquires the photographed image obtained in each photographing from the photographing device 4, and detects the position of the rib 2v on the reinforcing bar 2 based on the acquired photographed image.

[0038] In this embodiment, the processor of the control device performs binarization processing on the captured image acquired from the imaging device 4, treating pixel values with a luminance equal to or higher than the threshold value as "1" and pixel values with a luminance lower than the threshold value as "0", thereby extracting an image of the linear light 30 (hereinafter referred to as the light image) included in the captured image.

[0039] FIG. 4 is a diagram schematically showing an example of a captured image obtained by capturing the reinforcing bar 2 irradiated with the linear light 30 by the imaging device 4. The captured image 41 shown in FIG. 4 shows the result after binarization processing of the captured image obtained in a state where the linear light 30 is irradiated on portions other than the top surface of the rib 2v in the reinforcing bar 2 as shown in FIG. 1. The captured image 42 shown in FIG. 4 shows the result after binarization processing of the captured image obtained in a state where the linear light 30 is irradiated on the top surface of the rib 2v of the reinforcing bar 2 as shown in FIG. 3.

[0040] In the state shown in FIG. 1, as shown in FIG. 2, the linear light 30 is irradiated on the outer peripheral surface 2s between adjacent flanges 2f and the flanges 2f. For this reason, the captured image 41 includes a meandering (non-linear) light image 31 reflecting the stepped shape of the outer peripheral surface 2s and the flanges 2f. On the other hand, in the state shown in FIG. 3, the linear light 30 is irradiated on the top portion of the rib 2v where there is almost no unevenness. For this reason, the captured image 42 includes a substantially linear light image 32. Therefore, by analyzing the shape of the light image included in the captured image, the position (orientation) of the rib 2v can be detected.

[0041] For example, when the processor of the control device acquires the captured image 42 including the light image 32, it detects the position where the linear light 30 is irradiated on the reinforcing bar 2 as the position of the rib 2v and determines that the rib 2v is in a position suitable for bending (the orientation of the rib 2v is the vertical direction Z). When the processor of the control device acquires the captured image 41 including the light image 31, it determines that the rib 2v is not in a position suitable for bending (the orientation of the rib 2v is not the vertical direction Z).

[0042] Alternatively, when the processor of the control device acquires the captured image 42 including the optical image 32, it acquires the rotation angle α of the reinforcing bar 2 at the time of capturing the captured image 42 (the rotation angle with respect to the initial state in which the reinforcing bar 2 was first held by the holding part 1), and derives the rotation angle β obtained by adding 180° to the rotation angle α. Thus, in the reinforcing bar 2 in the initial state, it is detected that the ribs 2v are present at positions separated by the rotation angle α in the rotation direction R and at positions separated by the rotation angle β in the rotation direction R.

[0043] The method for determining whether the optical image is linear is not particularly limited. For example, the processor of the control device treats the optical image as a graph, derives the maximum points and minimum points in the graph, and determines that the optical image is non-linear when the distance between adjacent maximum points and minimum points is equal to or greater than the threshold value, and determines that the optical image is linear when the distance between adjacent maximum points and minimum points is less than the threshold value, or when the maximum points and minimum points cannot be detected.

[0044] Alternatively, for example, the processor of the control device previously acquires and registers as a reference image the optical image of the linear light 30 irradiated on the reinforcing bar 2 while the reinforcing bar 2 is held in the rotation posture shown in FIG. 3. Then, when the processor of the control device acquires the optical image 31 or the optical image 32 as shown in FIG. 4, it compares the acquired optical image with the reference image by pattern matching or the like, and may determine that the optical image is substantially linear when the degree of coincidence between the acquired optical image and the reference image is equal to or greater than the threshold value.

[0045] FIG. 5 is a flowchart for explaining a reinforcing bar part detection method using the reinforcing bar processing equipment 100. First, in step S0, the reinforcing bar 2 is held by the holding part 1. The reinforcing bar 2 may be arranged by an operator or by a robot arm. The posture of the reinforcing bar 2 in this step S0 is described as the initial posture. Between step S0 and step S1, when the processor of the control device determines that a non-linear light image is included in the captured image obtained by irradiating linear light from the light source device 3, the posture of the reinforcing bar 2 at that time is handled as the initial posture. On the other hand, when the processor of the control device determines that a linear light image is included in the captured image, the reinforcing bar 2 is rotated until a non-linear light image is included in the captured image, and when a captured image including a non-linear light image can be obtained, the rotation of the reinforcing bar 2 is stopped, and the posture of the reinforcing bar 2 at that time is handled as the initial posture.

[0046] After determining the initial posture, the processor of the control device controls the light source device 3 to irradiate the linear light 30 on the reinforcing bar 2 (step S1). In this state, the imaging device 4 is made to perform imaging (step S2), the captured image obtained by the imaging is acquired (step S3), and the shape of the light image included in the acquired captured image is determined (step S4). In this specification, step S2 and step S3 constitute a process of "acquiring a captured image of the reinforcing bar 2 including an image of the linear light 30 in a state where the linear light 30 is irradiated on the reinforcing bar 2".

[0047] After step S4, when the processor of the control device determines that the shape of the light image is not linear (step S5: NO), the count value of the built-in counter is reset to the initial value (for example, 0) (step S6). Subsequently, the processor of the control device controls the actuator of the holding part 1 to rotate the reinforcing bar 2 by a predetermined angle in the rotation direction R (step S7), and then returns the process to step S2.

[0048] When the processor of the control device determines that the shape of the optical image is linear (step S5: YES), it performs a count-up process of incrementing the count value by one (step S8). Note that at the start of the process shown in FIG. 5, the count value is reset to the initial value.

[0049] After step S8, the processor of the control device determines whether the count value has reached a predetermined value (a value greater than or equal to 2 larger than the initial value) (step S9). When the processor of the control device determines that the count value has not reached the predetermined value (step S9: NO), it transfers the process to step S7. When the processor of the control device determines that the count value has reached the predetermined value (step S9: YES), it detects that the rib 2v of the reinforcing bar 2 is at a position suitable for processing (that is, the direction of the rib 2v is the vertical direction Z) (step S10).

[0050] After step S10, the processor of the control device holds the posture of the reinforcing bar 2 (step S11), and for example, notifies that the bending process of the reinforcing bar 2 can be started and ends the process. In this state, when the bending process of the reinforcing bar 2 is started by the reinforcing bar bending machine, the bending process of the reinforcing bar 2 can be performed with high precision.

[0051] FIG. 6 is a flowchart for explaining another example of the reinforcing bar part detection method using the reinforcing bar processing facility 100. In FIG. 6, the same processes as those in FIG. 5 are denoted by the same reference numerals and the description thereof is omitted. The flowchart shown in FIG. 6 is the same as the flowchart shown in FIG. 5 except that step S10 is changed to step S10a and step S11 is changed to step S11a.

[0052] In the flowchart shown in FIG. 6, when the determination in step S9 is YES, the processor of the control device acquires the rotation angle θr of the reinforcing bar 2 from the initial posture (step S10a). Then, the processor of the control device detects the acquired rotation angle θr and the value obtained by adding 180° to the rotation angle θr as the positions of the rib 2v in the reinforcing bar 2 in the initial posture, respectively (step S11a).

[0053] In this operation, for example, after step S11a, the reinforcing bar 2 is returned to its initial position, and based on the detected position of the rib 2v, the reinforcing bar 2 is rotated so that the rib 2v reaches a position suitable for bending. In this state, when the bending of the reinforcing bar 2 is started by the reinforcing bar bending machine, the bending of the reinforcing bar 2 can be performed with high precision.

[0054] In addition, when the processor of the control device starts the process of step S1, when the shape of the optical image becomes linear, it acquires the rotation angle of the reinforcing bar 2 from the initial position (detection start rotation angle), and then, when the shape of the optical image becomes non-linear, it acquires the rotation angle of the reinforcing bar 2 from the initial position (detection end rotation angle), and the intermediate value between the detection start rotation angle and the detection end rotation angle may be detected as the position of the rib 2v in the reinforcing bar 2 in the initial position. For example, when the shape of the optical image becomes linear when the reinforcing bar 2 in the initial position is rotated by 30°, and then, when the shape of the optical image remains linear and the reinforcing bar 2 is rotated by 34° from the initial position and the shape of the optical image becomes non-linear, 32°, which is the intermediate value between 30° and 34°, is detected as the position of the rib 2v.

[0055] As described above, according to the reinforcing bar processing equipment 100, the position of the rib 2v of the reinforcing bar 2 can be detected by analyzing the shape of the optical image, which is the photographed image of the linear light 30 irradiated on the reinforcing bar 2. Therefore, the bending of the reinforcing bar 2 can be started in a state where the rib 2v is controlled to an appropriate position, and the bending of the reinforcing bar 2 can be performed with high precision. Note that the analysis of the shape of the optical image has simple processing content. Therefore, even when the processes from step S2 to step S7 in the operations shown in FIGS. 5 and 6 are repeated, the processes can be performed at high speed, and even when bending a large number of reinforcing bars 2, the processing efficiency can be improved.

[0056] Further, in this embodiment, since binarization processing is performed on the photographed image acquired from the photographing device 4 to extract only the optical image of the linear light 30 from the photographed image, the processing content can be made simple, and the construction cost of the reinforcing bar processing equipment 100 can be reduced.

[0057] Further, in this embodiment, when a plurality of captured images including a linear light image are continuously acquired a plurality of times (when the determination in step S9 is YES), the irradiation position of the linear light 30 on the reinforcing bar 2 when each of these captured images is taken is detected as the position of the rib 2v of the reinforcing bar 2. When a captured image including a linear light image is acquired even once, the irradiation position of the linear light 30 when the captured image is taken may be detected as the position of the rib 2v, but by doing so as in this embodiment, the detection accuracy of the position of the rib 2v can be improved.

[0058] As described above, one aspect of the present invention has been described, but the present invention is not limited to this, and can be appropriately modified within the scope of the present invention.

[0059] For example, in the above description, the positions of the light source device 3 and the imaging device 4 are fixed, and the irradiation position of the linear light 30 on the reinforcing bar 2 is changed by rotating the reinforcing bar 2 around the axis 2c. As a modification of this, instead of rotating the reinforcing bar 2, the light source device 3 and the imaging device 4 may be rotated around the axis 2c to change the irradiation position of the linear light 30 on the reinforcing bar 2.

[0060] Further, the reinforcing bar 2 that the reinforcing bar processing facility 100 is processing is assumed to have ribs and flutes, but even a reinforcing bar having a flat surface extending in the longitudinal direction on the outer peripheral surface and having a large number of flutes formed by curved convex portions extending in the circumferential direction on the outer peripheral surface, such as a threaded reinforcing bar, can similarly easily detect the position of the flat surface.

Description of reference numerals

[0061] 1 Holding part 2 Reinforcing bar 2f Flute 2v Rib 2s Outer peripheral surface 2c Axis 3 Light source device 3A Optical axis 4 Imaging device 4A Optical axis 30 Linear light θ Angle R Rotation direction 100 Steel bar processing equipment 31, 32 Optical images 41, 42 Captured images

Claims

1. A reinforcing bar portion detection method for detecting a flat surface of a reinforcing bar having an outer peripheral surface formed along a longitudinal direction and a plurality of knots protruding along the circumferential direction and arranged in the longitudinal direction, A first step of performing a process of acquiring an image of the reinforcing bar including an image of the linear light while irradiating the reinforcing bar with linear light along the longitudinal direction of the reinforcing bar, while moving the irradiation position of the linear light relatively in the circumferential direction of the reinforcing bar; A reinforcing bar portion detection method comprising: a second step of detecting the position of the flat surface based on the multiple photographed images acquired in the first step.

2. The reinforcing bar portion detection method according to claim 1, In the second step, the position of the flat surface is detected based on the shape of the image contained in each of the plurality of captured images.

3. The reinforcing bar portion detection method according to claim 2, In the second step, the reinforcing bar portion detection method detects the irradiation position of the linear light on the reinforcing bar when the captured image including the linear image was captured as the position of the flat surface.

4. The reinforcing bar portion detection method according to claim 2, In the second step, when a plurality of photographic images each including a linear image are continuously acquired, the reinforcing bar portion detection method detects the irradiation position of the linear light when the plurality of photographic images were acquired as the position of the flat surface.

5. The reinforcing bar portion detection method according to any one of claims 1 to 4, A third step of disposing a light source device at a position where the linear light can be irradiated onto the reinforcing bar, and disposing an image capture device at a position where the linear light irradiated onto the reinforcing bar can be captured, In the first step, the reinforcing bar portion detection method performs the process multiple times while rotating the reinforcing bar around its axis relative to the light source device and the photographing device.

6. A reinforcing bar portion detection device for detecting a flat surface of a reinforcing bar having an outer peripheral surface formed along a longitudinal direction and a plurality of knots protruding along the circumferential direction and arranged in the longitudinal direction, A light source device that irradiates the reinforcing bar with linear light along the longitudinal direction of the reinforcing bar; An imaging device that captures the linear light irradiated onto the reinforcing bar; a processor; The processor, while irradiating the reinforcing bar with the linear light from the light source device, performs a process of acquiring a photographed image of the reinforcing bar including an image of the linear light from the photographing device multiple times while moving the irradiation position of the linear light relatively in the circumferential direction of the reinforcing bar, and detects the position of the flat surface based on the multiple photographed images acquired by the process.

Images