Reinforcement inspection device, control method for said reinforcement inspection device, and reinforcement inspection program

Abstract

To provide a bar arrangement inspection device which measures a distance between a bar arrangement and a reference surface based on image information.SOLUTION: A bar arrangement inspection device (100) according to one embodiment of the present invention comprises: a setting unit (curve setting unit (37)) which sets a guide image that has a reference shape having the symmetric property with a second measurement point as the center when a reference surface faces an imaging unit that images the reference surface and that has a different shape from the reference shape according to the inclination and position of the reference surface; and a generation unit (image generation unit (39)) which generates output image information including a reference surface on which the guide image is drawn.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a technique for a reinforcement inspection device, and in particular to a technique for measuring the distance between a point on a reinforcement and a plane by image processing. [Background technology]

[0002] Currently, a technology has been developed that acquires image information and distance information, allows a user to specify a measurement point on the image, and measures the distance in three-dimensional space between the specified measurement point and a plane on the image using the three-dimensional position of the measurement point. Patent Document 1 discloses a distance measurement device that uses a camera and a laser rangefinder, and discloses a technology that measures the distance between a measurement point specified by the user and a reference plane.

[0003] Furthermore, technology is being developed to measure rebar diameter, spacing, etc. by analyzing photographed images of rebar arrangement. Furthermore, technology to support users when photographing and measuring rebar arrangement, and technology to improve measurement accuracy are also being developed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2017-026488 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when measuring the distance in three-dimensional space between a measurement point set on an object in an image and a reference plane that is another object, it can be difficult to grasp the position of the reference plane, making it difficult to determine the validity of the distance measurement result. This can occur, for example, when the edge (margin) of the reference plane is not depicted on the image. In this case, even if the depiction of the reference plane used for measurement is highlighted, the position and inclination of the reference plane are not necessarily displayed clearly. Therefore, it is difficult to determine whether the point on the reference plane used to measure the distance is correctly located on the reference plane.

[0006] Therefore, one aspect of the present invention aims to realize a reinforcement inspection device, a control method for a reinforcement inspection device, and a reinforcement inspection program that make it easier for the user to grasp the position and inclination of the reference plane when measuring the distance between the reinforcement and the reference plane based on image information. [Means for solving the problem]

[0007] In order to solve the above problems, a reinforcement arrangement inspection device according to one aspect of the present invention is a reinforcement arrangement inspection device that measures the distance between a first measurement point on an object and a reference surface based on image information, and includes: a calculation unit that calculates the three-dimensional coordinates of a second measurement point on the reference surface that constitutes the distance between the first measurement point and the first measurement point based on the three-dimensional coordinates of the first measurement point and the three-dimensional plane of the reference surface; a setting unit that sets a guide image that has a reference shape that is symmetrical about the second measurement point when the reference surface is directly facing an imaging unit that images the reference surface, and that has a shape that differs from the reference shape in accordance with the inclination and position of the reference surface, based on the three-dimensional plane of the reference surface and the three-dimensional coordinates of the second measurement point; and a generation unit that generates output image information that includes the first measurement point, the second measurement point, and the reference surface on which the guide image is drawn. Equipped with.

[0008] In order to solve the above problems, one aspect of the present invention provides a control method for a reinforcement inspection device that measures the distance between a first measurement point on a subject and a reference surface based on image information, the control method including: the reinforcement inspection device calculating the three-dimensional coordinates of a second measurement point on the reference surface that constitutes the distance between the first measurement point and the first measurement point based on the three-dimensional coordinates of the first measurement point and the three-dimensional plane of the reference surface; the reinforcement inspection device setting, based on the three-dimensional plane of the reference surface and the three-dimensional coordinates of the second measurement point, a guide image having a reference shape that is symmetrical about the second measurement point when the reference surface is directly facing an imaging unit that images the reference surface, the guide image having a shape that differs from the reference shape depending on the inclination and position of the reference surface; and the reinforcement inspection device generating output image information that includes the first measurement point, the second measurement point, and the reference surface on which the guide image is drawn.

[0009] In order to solve the above problems, a reinforcement arrangement inspection program according to one aspect of the present invention is a reinforcement arrangement inspection program for causing a computer to function as the above-mentioned reinforcement arrangement inspection device, and for causing a computer to function as the calculation unit, the setting unit, and the generation unit. [Effects of the Invention]

[0010] According to one aspect of the present invention, it is possible to provide a reinforcement inspection device, a control method for a reinforcement inspection device, and a reinforcement inspection program that make it easier for a user to grasp the position and inclination of a reference plane when measuring the distance between the reinforcement and the reference plane based on image information during reinforcement inspection. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing an example of the configuration of a reinforcement bar inspection device according to the present invention; [Figure 2] 1 is a diagram illustrating an example of an application of the bar arrangement inspection device of the present invention. FIG. [Figure 3] FIG. 2 is a diagram illustrating an example of the configuration of an image processing unit of the bar arrangement inspection device of the present invention. [Figure 4] 10A and 10B are diagrams illustrating an example of measuring the distance between a point and a plane. [Figure 5] FIG. 10 is a diagram illustrating an example of a state in which the distance between a point and a plane is measured. [Figure 6] FIG. 10 is a diagram illustrating an example of a state in which the distance between a point and a plane is measured. [Figure 7] FIG. 10 is a diagram illustrating an example of a comparative configuration in a state where the distance between a point and a plane is measured. [Figure 8] FIG. 10 is a diagram showing an example of a state in which the distance between a point and a plane is measured using the reinforcement inspection device of the present invention. [Figure 9] FIG. 10 is a diagram showing an example of a state in which the distance between a point and a plane is measured using the reinforcement inspection device of the present invention. [Figure 10] FIG. 10 is a diagram showing an example of a state in which the distance between a point and a plane is measured using the reinforcement inspection device of the present invention. [Figure 11] FIG. 2 is a diagram illustrating an example of a processing flow according to the present embodiment. [Figure 12] FIG. 10 is a diagram illustrating the present embodiment in a state where the distance between a point and a plane is measured. [Figure 13] 10A and 10B are diagrams illustrating an example of measuring the distance between a point and a plane. [Figure 14] FIG. 10 is a diagram illustrating the present embodiment in a state where the distance between a point and a plane is measured. [Figure 15] FIG. 10 is a diagram illustrating the present embodiment in a state where the distance between a point and a plane is measured. DETAILED DESCRIPTION OF THE INVENTION

[0012] [Embodiment 1] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described in detail. Fig. 1 is a functional block diagram showing an example of the schematic configuration of a bar arrangement inspection device 100 according to an embodiment of the present invention.

[0013] <Reinforcement Inspection Device 100> 1, the bar arrangement inspection device 100 of this embodiment includes a first imaging unit 101, a second imaging unit 102, and an image processing unit 103 (calculation unit, setting unit, generation unit). Furthermore, the bar arrangement inspection device 100 includes a display unit 104, an input unit 105, and a recording unit 106.

[0014] (First imaging unit 101, second imaging unit 102) The first imaging unit 101 and the second imaging unit 102 each include a lens and an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and acquire photographed images using set focus, exposure, gain, etc. The two acquired photographed images are output to the image processing unit 103 or the recording unit 106.

[0015] (Image processing unit 103) The image processing unit 103 performs various processes and controls the reinforcement inspection device 100, such as measuring the three-dimensional coordinates of the first measurement point on the reinforcement captured in the image from the images (images with parallax) captured by the first imaging unit 101 and the second imaging unit 102, and the distance (distance in three-dimensional space) between the three-dimensional plane of the reference surface captured in the image.

[0016] The image processing unit 103 can be realized by software processing using a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or by hardware processing using an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), as will be described in detail later.

[0017] (Display section 104) The display unit 104 displays the images and measurement results output from the image processing unit 103. The display unit 104 is configured with a liquid crystal display, an organic EL (Electro Luminescence) display, or the like, and displays the images and measurement results output from the image processing unit 103 in a visible state.

[0018] (input unit 105) The input unit 105 receives a selection operation when the user selects a specific location within an image, as will be described later. The input unit 105 is configured with a mouse and the touch panel of the display unit 104.

[0019] (Recording unit 106) The recording unit 106 records captured images or images that have undergone various image processing, measurement results, and the like, received from the first imaging unit 101, the second imaging unit 102, and the image processing unit 103, in a recording device. Examples of recording devices include hard disks, optical disks, and flash memories. The recording unit 106 may also transfer and record at least one of the images and the inspection results to a remote server or PC via wireless or wired communication. The recording device may be built into the system or may be detachable.

[0020] The reinforcement inspection device 100 is used for some of the reinforcement inspections that are carried out before concrete is poured at construction sites of reinforced concrete structures. Specifically, the reinforcement inspection device 100 is used to measure the distance between the reinforcement and the concrete surface, and to measure the distance between the reinforcement and the panel surface before concrete is poured between the reinforcement and the panel surface. The distance between the reinforcement and the panel surface is called "cover" and must be a specified distance.

[0021] This will be explained using Figure 2. Figure 2 is an example of an image of reinforcement bars and a plate, showing a reinforcement group 401 in which multiple horizontally extending reinforcement bars 400 intersect with multiple vertically extending reinforcement bars 400, as well as a plate 402. When pouring concrete between the reinforcement group 401 and the plate 402, the distance between the reinforcement group 401 and a surface 404 (reference plane) of the plate 402 must be a specified distance, and the reinforcement inspection device 100 is used to measure this distance. Specifically, the reinforcement inspection device 100 measures the distance from a certain position (first measurement point 202) on the reinforcement bars 400 that make up the reinforcement group 401 to the surface (reference plane) 404 of the plate 402. Note that this distance is calculated by setting a point (second measurement point 203) on the surface 404 of the plate 402. When setting the point, a curve 204 is drawn on the image. This curve 204 will be described later.

[0022] In this embodiment, the measurement of the distance between a point on a reinforcement bar and a reference plane will be described as an example. However, the reference plane may be the surface of another member instead of the surface of a plate material. Furthermore, the reference plane may be a plane formed by a reinforcement bar group configured two-dimensionally by assembling multiple reinforcements vertically and horizontally as shown in FIG. 2. This plane of the reinforcement bar group can be identified based on the three-dimensional coordinates of multiple points on the reinforcement bar group. The reinforcement bar inspection device 100 can also be used to measure the distance between this plane of the reinforcement bar group and a point that is not included in the plane.

[0023] <Details of the image processing unit 103> Further description will be given of the image processing unit 103. In the drawings (e.g., Fig. 4) used in the following description, in order to simplify the drawings and explanation, the reinforcement 400 shown in the image of Fig. 2 is illustrated as a rectangular parallelepiped structure 200, and a position corresponding to a certain position on the reinforcement 400 is illustrated as a first measurement point 202.

[0024] A specific example of the configuration of the image processing unit 103 (FIG. 1) is shown in FIG. 3. FIG. 3 is a block diagram showing the configuration of the image processing unit 103.

[0025] The image processing unit 103 includes a depth information acquisition unit 30 (calculation unit), a coordinate identification unit 31 (calculation unit), a surface identification unit 33 (calculation unit), a distance identification unit (calculation unit) 35, a curve setting unit 37 (setting unit), and an image generation unit 39 (generation unit).

[0026] Depth information acquisition unit 30 The depth information acquisition unit 30 can calculate the parallax using the images captured by the first imaging unit 101 and the second imaging unit 102, and calculate three-dimensional information (depth information) of the subject in the image. Fig. 4 is an example of an image P generated by the first imaging unit 101. In the image P, a rectangular parallelepiped structure 200 and a structure 444 having a reference plane 201 are captured as subjects.

[0027] Disparity is the amount of displacement of a subject between two images, and can be calculated using methods such as block matching. Block matching involves setting a reference window at a pixel of interest in a reference image (base image), sequentially setting reference windows in the image to be referenced (reference image), and evaluating the similarity or difference between the pixels in the reference window and the reference window. Evaluation methods such as SAD (Sum of Absolute Difference) and SSD (Sum of Squared Difference) are used.

[0028] The relationship between the distance Z to the photographed subject and the parallax D is D = f × B / Z, where f is the focal length of the imaging units (first imaging unit 101 and second imaging unit 102), and B is the distance between the two imaging units. The three-dimensional coordinates (X, Y, Z) of the subject at distance Z at coordinates (x, y) on the image can be calculated by X = x × Z / f and Y = y × Z / f.

[0029] In the present embodiment, the reinforcement bar arrangement inspection device 100 will be described as a method of calculating three-dimensional information (depth information) from images acquired by two imaging units (first imaging unit 101 and second imaging unit 102). However, the present invention is not limited to this method, and the parallax may be calculated from three or more imaging units. As another example, instead of calculating the parallax, the depth information may be acquired by TOF (Time Of Flight).

[0030] Coordinate identification unit 31 The distance from a certain point to the reference surface is calculated by setting a measurement point corresponding to the certain point. The measurement point is set by the coordinate specifying unit 31. Specifically, the user can set the measurement point corresponding to the certain point (first measurement point 202) using the input unit 105 on the image P displayed on the display unit 104. Note that the image P shown in FIG. 4 is an image displayed on the display unit 104 based on image information acquired by the first imaging unit 101 and the second imaging unit 102 at a position where the first measurement point 202 on the reinforcement to be measured and the reference surface 201 can be simultaneously photographed.

[0031] The coordinate identification unit 31 calculates the coordinates of the first measurement point 202 based on the signal from the input unit 105. In the example shown in Fig. 4, the first measurement point 202 is located at one vertex of the rectangular parallelepiped structure 200.

[0032] ·Surface identification part 33 It is assumed that the reference surface 201 has feature points including points A, B, C, and D in the image information. Here, a feature point is a pixel or a group of pixels having features such as an edge or a mark as image information, and is an arbitrary point. The surface identification unit 33 then calculates a three-dimensional plane of the reference surface 201 using these feature points. The surface identification unit 33 calculates the three-dimensional plane of the reference surface 201 when the user specifies three or more points from each point.

[0033] If the user specifies four or more feature points on the reference plane 201 on the image, the plane specifying unit 33 may calculate a three-dimensional plane of the reference plane 201 using a least-squares plane.

[0034] As an example, the surface identification unit 33 identifies feature points included in the image P in addition to feature points originating from the reference surface 201 and displays them in the image P. As a result, when the user designates three or four or more feature points from among these many feature points, the surface identification unit 33 calculates a three-dimensional plane of the reference surface 201 based on the designated feature points. The three-dimensional coordinates of each point can be calculated by the method described above. Note that the calculation process of the parallax and three-dimensional coordinates by the image processing unit 103 may be performed each time a point is designated, or may be performed after all points have been designated.

[0035] ·Distance identification part 35 The distance specifying unit 35 can calculate the distance between the first measurement point 202 and the reference surface 201 using various methods. The distance from the first measurement point 202 to the reference surface 201 is the shortest line segment extending from the first measurement point 202 to the reference surface 201, and the direction vector of this line segment is the normal vector of the reference surface 201. The distance specifying unit 35 calculates the intersection between the reference surface 201 and a three-dimensional line passing through the first measurement point 202, which is indicated by this normal vector. If this intersection is defined as the second measurement point 203 (a measurement point on the reference surface), the three-dimensional coordinates of this second measurement point 203 can be specified using the same method as the three-dimensional coordinates of the first measurement point 202 described above.

[0036] Image generation unit 39 The image generating unit 39 generates an image by projecting the three-dimensional coordinates of the second measurement point 203 onto the image plane, thereby showing the second measurement point 203 on the reference plane 201 to the user on the image.

[0037] The distance is represented by a line segment connecting the first measurement point 202 and the second measurement point 203. The image generating unit 39 can visually indicate the distance to the user by superimposing this line segment on the image, similar to the second measurement point 203.

[0038] 5 shows a state in which a first measurement point 202 and a second measurement point 203 on the reference surface 201 are superimposed on an image as the measurement results. Here, the distance as the measurement result can be displayed on the display unit 104 together with the image shown in FIG. 5 or output to the recording unit 106 as a text file. Furthermore, when the measurement points or line segments indicating the distance are superimposed, the distance as the measurement result may be superimposed near the line segments.

[0039] 4 and 5 show examples where the edge 201a of the reference plane 201 exists on the image P. However, the edge 201a of the reference plane 201 does not necessarily exist on the image. Therefore, a case where the edge 201a of the reference plane 201 does not exist on the image will be described with reference to FIG.

[0040] FIG. 6 shows a measurement result when the edge of the reference plane 201 is not included in the image Px. In the image Px of FIG. 6, the reference plane 201 is captured over the entire surface, but the edge of the reference plane 201 is not captured. As shown in FIG. 6, if the edge of the reference plane is not included in the image, it is difficult for the user to grasp the inclination of the reference plane. Here, the inclination of the reference plane 201 refers to the angle formed by the reference plane 201 with respect to a virtual axis extending along the horizontal direction of the image Px (e.g., the horizontal direction of the paper in FIG. 6). If the inclination of the reference plane 201 is difficult to grasp, it is difficult for the user to properly acquire the reference plane 201 and confirm that the distance measurement process has been performed. Furthermore, FIG. 7 shows a comparative configuration in which a rectangle formed by dashed lines connecting points A, B, C, and D on the reference plane 201 is drawn in the same image as the image shown in FIG. 6. However, simply connecting the points on the reference plane as shown in FIG. 7 does not adequately indicate the inclination of the reference plane 201 to the user using the image.

[0041] Therefore, the image processing unit 103 (FIGS. 1 and 3) of this embodiment draws a curve 204 (guide image) around the second measurement point 203 on the reference plane 201, as shown in image Po in Fig. 8, and outputs it as image information. This makes it possible to properly show the position of the reference plane (including the inclination of the reference plane) to the user.

[0042] Specifically, the curve 204 (circle) is set by the curve setting unit 37. That is, based on the three-dimensional plane of the reference surface and the three-dimensional coordinates of the second measurement point, the curve setting unit 37 sets a circular image (guide image) of a perfect circle (a reference shape having symmetry) centered on the second measurement point when the reference surface is directly facing the imaging unit that images the reference surface, and sets a circular image (guide image) having a shape different from the reference shape depending on the inclination and position of the reference surface. Furthermore, the drawing of the curve 204 and the output of the image information thereof are performed by the image generation unit 39 shown in FIG. 3. That is, the image generation unit 39 generates output image information including the first measurement point, the second measurement point, and the reference surface on which the circular image (guide image) is drawn.

[0043] 9 also shows an example of an image Po in which the edge of the reference plane 201 does not exist within the image. In the image Po in FIG. 9, the curve 204 (circle) set by the curve setting unit 37 is also drawn, thereby properly showing the inclination of the reference plane 201 to the user.

[0044] It is preferable that the drawn curve 204 (guide image) is one whose shape is easy for the user to grasp. As an example, the curve setting unit 37 draws the curve 204 of a circle obtained by deforming a circle of known shape (a circle that is a perfect circle when viewed head-on) based on the position of the reference plane 201 (including the inclination of the reference plane 201). This makes it easier for the user to recognize the reference plane 201.

[0045] Here, it is preferable that the circle drawn on the reference surface 201 is a circle centered on the second measurement point 203. This is preferable because it makes it easier to grasp the inclination of the reference surface with respect to the second measurement point 203. Specifically, the perfect circle drawn on the reference surface is projected onto the imaging surface by perspective projection transformation. In the case of perspective projection transformation, the size of the circle is also converted simultaneously according to the distance, so if the size of the perfect circle drawn on the reference surface is known, it becomes easier to grasp not only the inclination of the reference surface 201 but also the distance from the imaging surface to the second measurement point 203.

[0046] In the above, the tilt of the reference plane 201 is shown by a circle drawn on the reference plane 201, but the curve surrounding the second measurement point 203 may be any line as long as it does not include straight lines that provide information for the user to recognize the vanishing point. For example, as shown in FIG. 10, drawing an ellipse as curve 205 can achieve the same effect as the circle of curve 204. Although the ratio between the minor and major axes of the shape of the drawn ellipse is unknown to the user, its existence as a curve is known to the user, and therefore it is a shape that makes it easier to perceive the reference plane than other curves. Furthermore, even when showing the tilt of the reference plane with an ellipse, it is preferable to draw the measurement point on the reference plane as the center of the ellipse, as this makes it easier for the user to grasp the tilt of the reference plane.

[0047] While the present embodiment uses curves 204 and 205, straight lines can be used instead of curves as long as they do not contain lines that provide information for the user to recognize the vanishing point. In the case of straight lines, instead of shapes formed by connecting a number of arbitrary points as described above, straight lines forming a shape that is symmetrical when viewed head-on are used. Examples of such shapes include rectangles, squares, and diamonds. Drawing the straight lines forming such shapes with the measurement points at their centers is also preferable because it makes it easier for the user to grasp the inclination of the reference plane. A method for converting a shape that is symmetrical when viewed head-on to a shape that matches the inclination of the reference plane 201 is similar to the method for transforming a circle described above.

[0048] Furthermore, the image processing unit 103 may be provided with a notification unit that notifies the user of the shape (reference shape) that has symmetry when the curves 204 and 205 (guide images) are facing each other. By being notified, the user can reliably grasp the reference shape of the curves 204 and 205. An example of the content to be notified is the aspect ratio of the reference shape, but is not limited to this.

[0049] <Reinforcement inspection method (control method)> The reinforcement inspection method of this embodiment will be described with reference to FIG. 11. FIG. 11 is a process flow illustrating the reinforcement inspection method of this embodiment. The reinforcement inspection method can be performed using the above-described reinforcement inspection device 100. Therefore, the reinforcement inspection method can be rephrased as a control method for the reinforcement inspection device 100. That is, the control method for the reinforcement inspection device 100 includes the reinforcement inspection device calculating the three-dimensional coordinates of a second measurement point on the reference plane that defines the distance between the first measurement point and the second measurement point based on the three-dimensional coordinates of the first measurement point and the three-dimensional plane of the reference plane. The control method for the reinforcement inspection device 100 also includes the reinforcement inspection device setting, based on the three-dimensional plane of the reference plane and the three-dimensional coordinates of the second measurement point, a circle (guide image) that has a reference shape (perfect circle) that is symmetrical about the second measurement point when the reference plane is directly facing the imaging unit that images the reference plane, and that has a shape different from the reference shape (perfect circle) depending on the tilt and position of the reference plane. The control method for the reinforcement bar arrangement inspection device 100 also includes the reinforcement bar arrangement inspection device 100 generating output image information including the first measurement point, the second measurement point, and a reference surface on which a circle (guide image) is drawn.

[0050] Explaining this using the processing flow in Fig. 11, first, in step S1, image information obtained by capturing an image of a subject including a location corresponding to a first measurement point set in a step described later and an image of a subject including a reference plane is input to depth information acquisition unit 30 (Fig. 3) of image processing unit 103. The input image information may be information acquired by imaging units 101 and 102 that is directly input, or may be image information recorded in recording unit 106.

[0051] Next, in step S2, a first measurement point 202 on the reinforcement is set. Here, for example, the user checks the image P displayed on the display unit 104 and specifies the first measurement point 202 on the image P using the input unit 105, such as a touch panel. Note that when specifying the point, the user may enlarge the image before specifying it. Also, the position may be corrected to the point with the strongest edge strength around the point specified by the user. When the user specifies the first measurement point 202, the information is input to the coordinate specifying unit 31 of the image processing unit 103.

[0052] Next, in step S3, points (feature points) on the reference plane are set. Specifically, the user checks the display unit 104 and specifies them using the input unit 105 such as a touch panel, and the information is input to the coordinate specification unit 31 of the image processing unit 103. When specifying the points, the user may enlarge the image and specify them, or may correct the position to a point with the strongest edge strength around the point specified by the user. The number of points to be specified is equal to or greater than the number required for calculating the reference plane 201.

[0053] In this embodiment, the first measurement point 202 is set in step 2, and a point on the reference surface 201 is set in step 3, but the order of these processes may be reversed. That is, a point on the reference surface 201 may be set in step 2, and the first measurement point 202 may be set in step 3.

[0054] Next, in step S4, the coordinate determination unit 31 (FIG. 3) of the image processing unit 103 calculates the three-dimensional coordinates of each point set in steps S2 and S3. The three-dimensional coordinates can be derived using the parallax calculated by the depth information acquisition unit 30 (FIG. 3) of the image processing unit 103. While processing can be performed using the block matching described above, the user may specify the same point on the base image (image captured by the first imaging unit 101) and the reference image (image captured by the second imaging unit 102) and calculate the parallax from the specified point. In this embodiment, the parallax is calculated after the setting of all points is completed, but the parallax may also be calculated each time the setting of any point is completed.

[0055] Next, in step S5, the surface identification unit 33 (FIG. 3) of the image processing unit 103 calculates a three-dimensional plane representing the reference surface 201 based on the points on the reference surface 201 set in step 3. When three points are specified by the user, a plane passing through the three-dimensional coordinates of each point is calculated, or a least-squares plane is calculated from the three-dimensional coordinates of a group of points including each point and having strong edge strengths around each point. When four or more points are specified by the user, a least-squares plane is calculated from the three-dimensional coordinates of each point or the three-dimensional coordinates of a group of points including each point and having strong edge strengths around each point.

[0056] Next, in step S6, the distance specifying unit 35 (FIG. 3) of the image processing unit 103 calculates the distance between the first measurement point 202 and the reference plane 201 based on the three-dimensional coordinates of the first measurement point 202 calculated in step S4 and the three-dimensional plane representing the reference plane 201 calculated in step S5. Specifically, the distance D between the three-dimensional plane (a×X+b×Y+c×Z+d=0) and the three-dimensional point (X1, Y1, Z1) is calculated by D=|a×X1+b×Y1+c×Z1+d| / √(a^2+b^2+c^2).

[0057] In this step S6, in the process of calculating the distance, the distance determination unit 35 of the image processing unit 103 identifies the second measurement point 203 on the reference surface 201 whose distance to the first measurement point 202 has been calculated, and calculates the three-dimensional coordinates of the second measurement point 203.

[0058] Next, in step S7, the curve setting unit 37 of the image processing unit 103 sets the curve 204 based on the three-dimensional plane representing the reference plane 201 calculated in step S5. Specifically, the curve 204 is set as the curve obtained by drawing a perfect circle centered on the second measurement point 203 on the three-dimensional plane representing the reference plane 201 and projecting the circle onto the imaging plane by perspective projection transformation.

[0059] Next, in step S8, the image generating unit 39 (FIG. 3) of the image processing unit 103 generates image information by superimposing, on the input image, image information indicating the first measurement point 202, image information indicating the second measurement point 203, and image information indicating the curve 204 surrounding the second measurement point 203. Furthermore, in step S8, image information indicating the distance measurement result calculated in step S6 may also be superimposed on the input image.

[0060] Next, in step S9, the image generating unit 39 of the image processing unit 103 outputs the generated image information to be displayed on the display unit 104 or stored as a file in the recording unit .

[0061] By the above processing flow, the image Po shown in FIG. 8 or FIG. 9 is displayed on the display unit 104 (FIG. 1) (including the display of the distance measurement results).

[0062] Here, in step S8, the user may check the curve 204 displayed as a circle on the image Po displayed on the display unit 104 and the measurement result, and if there is any doubt about the validity of the measurement result, the image processing unit 103 may perform the series of processes again. Specifically, by capturing an image of the subject again (repeating from step S1), a new input image is input to the image processing unit 103, and the series of processes shown in Fig. 11 are performed. As another example, it is also possible to change the designation of the first measurement point 202 or the feature point on the reference surface 201 (repeating from steps S2 and S3) while leaving the input image as is.

[0063] The reinforcement inspection device 100 described in this embodiment can be used for reinforcement inspection, for example, for measuring cover as described above. In addition, distance can be measured by setting a first measurement point 202 at any point on the reinforcement and setting three or more characteristic points on the reference plane, which is the plate surface or concrete surface of the plate material.

[0064] In the reinforcement bar arrangement inspection device 100 of this embodiment, the method has been described in which the user sets the first measurement point 202 and the feature points on the reference surface 201 using the input unit 105. However, the present invention is not limited to this, and when the measurement target is predetermined, the measurement points and feature points may be automatically specified by searching using pre-registered teacher data.

[0065] Furthermore, in this embodiment, an example has been described in which the distance is measured from a point set by the user, but the present invention is also applicable to a case in which a single point for calculating the distance of a line segment or the like can be specified.

[0066] [Embodiment 2] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0067] In the above-described first embodiment, the curve (guide image) of the reference surface 201 is drawn using a line. However, this is not limited to this. For example, in this embodiment, as shown in image Po in Fig. 12, the inside of the curve 206 (the internal area of ​​the guide image) is painted with a specific color. In this manner, the curve 206 is drawn with the inside painted with a specific color, which may make it easier to grasp the inclination of the reference surface compared to the manner in which the curve is drawn on the reference surface using a line.

[0068] The specific color may be a predetermined color. However, the specific color may also be determined based on the original image information to be superimposed. A color may be specified from the original image information to be superimposed, and, as an example, a color opposite to that color may be selected to paint the curve 206. Furthermore, multiple colors may be used to paint the curve 206. When multiple colors are used, the inside of the curve 206 may be divided into multiple regions, and each region may be colored differently.

[0069] As a variant, if a specific color is applied so that the original image information to be superimposed is visible, the information inside the curve is not lost, and it is preferable to place the curve not only on an object but also in space, without creating a sense of incongruity.

[0070] [Embodiment 3] Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the first embodiment, and the description thereof will not be repeated.

[0071] In the above-described first embodiment, a case where one measurement point (first measurement point) is designated is described, but in this embodiment, a case where two or more measurement points are designated is described.

[0072] 13, an image Po of the state of the measurement target has been added to the reference plane 201 as a point for measuring the distance, in addition to the first measurement point 202, at a third measurement point 207. The third measurement point 207 is also a point on the reinforcement, but it may be on the same reinforcement as the first measurement point 202 or on a different reinforcement. The three-dimensional coordinates of the first measurement point 202 and the three-dimensional plane of the reference plane 201 are calculated by the method described in the first embodiment, and the three-dimensional coordinates of the third measurement point 207 can be calculated by the image processing unit 103 (FIG. 1) by the same method as that used to calculate the three-dimensional coordinates of the first measurement point 202.

[0073] When two measurement points are set, two measurement results are obtained. The image processing unit 103 sets a curve 206 around the second measurement point 203, for which the distance between the first measurement point 202 and the reference plane 201 has been calculated, using the curve setting unit 37, and the image generating unit 39 draws the curve 206 on the reference plane 201. The image processing unit 103 also sets a second curve 209 around the fourth measurement point 208, for which the distance between the third measurement point 207 and the reference plane 201 has been calculated, using the curve setting unit 37, and the image generating unit 39 draws the second curve 209 on the reference plane 201. As a result, the image generating unit 39 outputs output image information in which the curve 206 and the second curve 209 are superimposed on the image. Here, the curve 206 and the second curve 209 are preferably painted with the specific color described in the second embodiment. This makes it easier for the user to visually recognize multiple curves (the curve 206 and the second curve 209) on the screen.

[0074] Furthermore, in the image Po of FIG. 14 , the second curve 209 is superimposed in a shape smaller in size than the curve 206. This is because the radii of the reference shape circles (perfect circles) drawn by the curves on the reference plane 201 are set to a common value, which is preferable because it makes it easier to grasp the inclination of the reference plane. That is, in the image, the reference plane 201 is located further back in the region toward the left of the page in FIG. 14 than in the region toward the right of the page in FIG. 14. In other words, from the side where the imaging units (first imaging unit 101 and second imaging unit 102) are located, the region toward the left of the page in FIG. 14 is farther away than the region toward the right of the page in FIG. 14. Therefore, the circle of the curve 209, which is farther away, is smaller in size than the circle of the curve 206, which is closer. Therefore, the user can visually grasp the inclination of the reference plane 201 from the difference in size of these circles.

[0075] Here, depending on the setting positions of the measurement points (first measurement point 202 and third measurement point 207), there is a possibility that curve 206 and second curve 209 may overlap. In this case, if the inside of each curve is painted with a specific color so that the image information is transparent, the transmittance of the overlapping portion will decrease, making it difficult to visually recognize the image information and the overlapping area will stand out, which may make it difficult to recognize the tilt of reference plane 201. Therefore, as shown in image Po in Figure 15, when the area surrounded by curve 206 and second curve 209 overlaps, painting the area combining both areas with a specific color so that the image information is transparent makes it possible to perform superimposition that makes it easy to visually recognize the image information and grasp the tilt of the plane.

[0076] [Software implementation example] The image processing unit 103 of the bar arrangement inspection device 100 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

[0077] In the latter case, the bar arrangement inspection device 100 includes a computer that executes instructions of a program, which is software that realizes each function. This computer includes, for example, at least one processor (control device) and at least one computer-readable recording medium storing the program. The object of the present invention is achieved when the processor in the computer reads and executes the program from the recording medium. The processor may be, for example, a CPU (Central Processing Unit). The recording medium may be a "non-transitory tangible medium," such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The device may also include a RAM (Random Access Memory) for loading the program. The program may be supplied to the computer via any transmission medium capable of transmitting the program (such as a communication network or broadcast waves). Note that one aspect of the present invention may also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[0078] Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may run on the control device or on another device (for example, an edge computer or a cloud server).

[0079] 〔summary〕 The reinforcement bar arrangement inspection device according to aspect 1 of the present invention comprises: A reinforcement inspection device that measures a distance between a first measurement point on an object and a reference surface based on image information, a calculation unit (coordinate specifying unit 31, surface specifying unit 33, distance specifying unit 35) that calculates three-dimensional coordinates of a second measurement point on the reference surface that forms the distance between the first measurement point and the second measurement point based on the three-dimensional coordinates of the first measurement point and the three-dimensional plane of the reference surface; a setting unit (curve setting unit 37) that sets a guide image having a reference shape that is symmetrical about the second measurement point when the reference surface is directly facing an imaging unit that images the reference surface, based on a three-dimensional plane of the reference surface and the three-dimensional coordinates of the second measurement point, and that has a shape different from the reference shape depending on the inclination and position of the reference surface; a generation unit (image generation unit 39) that generates output image information including the first measurement points, the second measurement points, and the reference surface on which the guide image is drawn; Equipped with.

[0080] According to the above configuration, it becomes easier for the user to grasp the position and inclination of the reference plane when measuring the distance between a point and the reference plane based on image information.

[0081] A reinforcement bar arrangement inspection device according to a second aspect of the present invention is the same as the first aspect, The reference shape of the guide image may be a circle, a square, or an ellipse.

[0082] According to the above configuration, by making the reference shape a circle, a square, or an ellipse, the user can easily grasp the inclination of the reference surface.

[0083] A reinforcement bar arrangement inspection device according to a third aspect of the present invention is the same as the first or second aspect, A notification unit (image processing unit 103) that notifies the reference shape of the guide image may be provided.

[0084] According to the above configuration, the user can easily grasp the inclination of the reference plane.

[0085] A fourth aspect of the present invention provides a reinforcement inspection device in the third aspect, The notification unit notifies the aspect ratio of the reference shape.

[0086] According to the above configuration, the user can easily grasp the inclination of the reference plane.

[0087] A fifth aspect of the present invention provides a reinforcement inspection device in the first to fourth aspects, The generating unit may be configured to generate the output image information including a line segment that connects the first measurement point and the second measurement point at the shortest distance.

[0088] According to the above configuration, the user can visually recognize the distance from the first measurement point to the reference surface.

[0089] A sixth aspect of the present invention provides a reinforcement inspection device in the first to fifth aspects, The guide image may be an image in which an internal region of the guide image is set to a color that allows image information of the reference surface to be transmitted.

[0090] According to the above configuration, the image information of the reference surface is not hidden by the guide image, and the user can grasp the image information of the reference surface.

[0091] A seventh aspect of the present invention provides a reinforcement inspection device in accordance with any of the first to sixth aspects, When the reinforcement inspection device measures the distance from each of the multiple first measurement points located at different positions to the reference surface, the generation unit may be configured to include in the output image information a reference surface on which the guide image is drawn, the closer the distance between the imaging unit and the reference surface is.

[0092] According to the above configuration, the user can grasp the inclination of the reference plane for each point on the reference plane for which the distance from each first measurement point is measured.

[0093] A control method for a bar arrangement inspection device according to an eighth aspect of the present invention is a control method for a bar arrangement inspection device that measures a distance between a first measurement point on a subject and a reference plane based on image information, and includes the steps of: the reinforcement arrangement inspection device calculates three-dimensional coordinates of a second measurement point on the reference plane that constitutes the distance between the first measurement point and the second measurement point on the reference plane, based on the three-dimensional coordinates of the first measurement point and the three-dimensional plane of the reference plane; the reinforcement inspection device sets, based on the three-dimensional plane of the reference surface and the three-dimensional coordinates of the second measurement point, a guide image having a reference shape that is symmetrical with respect to the second measurement point when the reference surface is directly facing an imaging unit that images the reference surface, and a guide image having a shape that differs from the reference shape depending on the inclination and position of the reference surface; the reinforcement arrangement inspection device generates output image information including the first measurement points, the second measurement points, and the reference surface on which the guide image is drawn; Includes.

[0094] According to the above configuration, it becomes easier for the user to grasp the position and inclination of the reference plane when measuring the distance between a point and the reference plane based on image information.

[0095] The reinforcement inspection device according to each aspect of the present invention may be realized by a computer. In this case, the control program for the reinforcement inspection device, which causes the computer to operate as each unit (calculation unit, setting unit, generation unit) of the reinforcement inspection device, thereby realizing the reinforcement inspection device on the computer, and the computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention.

[0096] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. Furthermore, new technical features can be formed by combining the technical means disclosed in each embodiment. [Explanation of symbols]

[0097] 30 Depth information acquisition unit (calculation unit) 31 Coordinate determination unit (calculation unit) 33 Surface identification section (calculation section) 35 Distance identification section (calculation section) 37 Curve setting section (setting section) 39 Image generation unit (generation unit) 100 Reinforcement inspection device 101 First imaging unit (imaging unit) 102 Second imaging unit (imaging unit) 103 Image processing unit (notification unit) 104 Display section 105 Input section 106 Recording Unit 200 Structure (reinforcement) 201 Reference plane 201a Edge 202 First measurement point 203 Second measurement point 204, 205, 206 curves (guide image) 207 Third measurement point (one of multiple first measurement points) 208 Fourth Measurement Point 209 Second Curve (Guide Image) 400 Reinforcement 401 Reinforcement group 402 Board material

Claims

1. A reinforcement inspection device that measures a distance between a first measurement point on an object and a reference surface based on image information, a calculation unit that calculates three-dimensional coordinates of a second measurement point on the reference surface that constitutes the distance between the first measurement point and the second measurement point based on the three-dimensional coordinates of the first measurement point and the three-dimensional plane of the reference surface; a setting unit that sets a guide image having a reference shape that is symmetrical about the second measurement point when the reference surface is directly facing an imaging unit that images the reference surface, based on a three-dimensional plane of the reference surface and the three-dimensional coordinates of the second measurement point, and that has a shape different from the reference shape depending on the inclination and position of the reference surface; a generation unit that generates output image information including the first measurement points, the second measurement points, and the reference surface on which the guide image is drawn; Equipped with A reinforcement inspection device characterized by the above.

2. The reference shape of the guide image is a circle, a square, or an ellipse.

2. The reinforcing bar inspection device according to claim 1.

3. a notification unit that notifies the reference shape of the guide image; 3. The reinforcing bar inspection device according to claim 1 or 2.

4. the notification unit notifies the aspect ratio of the reference shape.

4. The reinforcing bar inspection device according to claim 3.

5. the generation unit generates the output image information including a line segment connecting the first measurement point and the second measurement point at the shortest distance. The bar arrangement inspection device according to any one of claims 1 to 4.

6. The guide image is an image in which an internal region of the guide image is set to a color that allows image information of the reference surface to be transmitted. The bar arrangement inspection device according to any one of claims 1 to 5.

7. When the reinforcement inspection device measures the distances from the plurality of first measurement points at different positions to the reference surface, the generation unit includes, in the output image information, a reference surface on which the guide image is drawn that is larger as the distance between the imaging unit and the reference surface is closer. The bar arrangement inspection device according to any one of claims 1 to 6.

8. A control method for a reinforcement inspection device that measures a distance between a first measurement point on an object and a reference surface based on image information, comprising: the reinforcement arrangement inspection device calculates three-dimensional coordinates of a second measurement point on the reference plane that constitutes the distance between the first measurement point and the second measurement point on the reference plane, based on the three-dimensional coordinates of the first measurement point and the three-dimensional plane of the reference plane; the reinforcement inspection device sets, based on the three-dimensional plane of the reference surface and the three-dimensional coordinates of the second measurement point, a guide image having a reference shape that is symmetrical with respect to the second measurement point when the reference surface is directly facing an imaging unit that images the reference surface, and a guide image having a shape that differs from the reference shape depending on the inclination and position of the reference surface; the reinforcement arrangement inspection device generates output image information including the first measurement points, the second measurement points, and the reference surface on which the guide image is drawn; Including, A method for controlling a reinforcement inspection device.

9. A reinforcement arrangement inspection program for causing a computer to function as the reinforcement arrangement inspection device according to claim 1, the program causing a computer to function as the calculation unit, the setting unit, and the generation unit.

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