Reinforcement data acquisition device, reinforcement data acquisition system, and reinforcement data acquisition method

Abstract

To provide a reinforcing-bar arrangement data acquisition device, a reinforcing-bar arrangement data acquisition system, and a reinforcing-bar arrangement data acquisition method that are capable of efficiently acquiring clear image data.SOLUTION: A reinforcing-bar arrangement data acquisition device in the present disclosure comprises a control unit that executes: processing for acquiring three-dimensional point group data of a reinforcing-bar structure using a specified sensor; processing for acquiring distance data from the sensor to a first layer of the reinforcing-bar structure; processing for adjusting a focal length of a camera based on the distance data; and processing for photographing the reinforcing-bar structure with the camera and acquiring image data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a reinforcement data acquisition device, a reinforcement data acquisition system, and a reinforcement data acquisition method.

Background Art

[0002] Conventionally, in the construction process of a building, various inspection operations such as inspection of the reinforcement used in reinforced concrete were performed visually. In recent years, however, it has been considered to perform inspection operations based on image data acquired by a camera or the like.

Summary of the Invention

Problems to be Solved by the Invention

[0003] However, when photographing a three-dimensional inspection object to acquire image data, there is a problem that the image may be unclear because the focal length is not appropriate, and it takes time to acquire clear image data.

[0004] Therefore, the present disclosure has been made in view of the above technical problems, and an object thereof is to provide a reinforcement data acquisition device, a reinforcement data acquisition system, and a reinforcement data acquisition method capable of efficiently acquiring clear image data.

Means for Solving the Problems

[0005] The reinforcement data acquisition device in the present disclosure includes a control unit that executes processing for acquiring three-dimensional point cloud data of a reinforcing structure with a measurement sensor, processing for acquiring distance data from the sensor to a first layer of the reinforcing structure, processing for adjusting a focal length of a camera based on the distance data, and processing for photographing the reinforcing structure with the camera to acquire image data.

[0006] The reinforcement data acquisition system in the present disclosure includes the above reinforcement data acquisition device and a server connected to the data acquisition device via a network.

[0007] The method for acquiring reinforcement data in this disclosure is characterized by acquiring three-dimensional point cloud data of a reinforced concrete structure with a predetermined sensor, acquiring distance data from the sensor to the first layer of the reinforced concrete structure, adjusting the focal length of a camera based on the distance data, and acquiring image data by photographing the reinforced concrete structure with the camera. [Effects of the Invention]

[0008] This disclosure makes it possible to provide a reinforcement data acquisition device, a reinforcement data acquisition system, and a reinforcement data acquisition method that can efficiently acquire clear image data. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows an example configuration of a data acquisition device according to one embodiment of the present disclosure. [Figure 2] This figure shows an example configuration of a data acquisition system according to one embodiment of this disclosure. [Figure 3] This is a block diagram showing an example configuration of a data acquisition device according to this embodiment. [Figure 4] This block diagram shows an example of the server configuration according to this embodiment. [Figure 5] This is a flowchart illustrating an example of the method of this embodiment. [Modes for carrying out the invention]

[0010] Preferred embodiments of this disclosure will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0011] Figure 1 shows an example of a rebar data acquisition device 1 (hereinafter also simply referred to as "device") according to one embodiment of the present invention. As shown in Figure 1, the rebar data acquisition device 1 in this example comprises a head unit 10 and a main unit 20. In the example of Figure 1, the head unit 10 and the main unit 20 are connected by a cable 30, but they may be connected wirelessly. Furthermore, the head unit 10 and the main unit 20 may be integrated into a single device, or some components of the head unit 10 may be provided in the main unit 20, or some components of the main unit 20 may be provided in the head unit 10.

[0012] As shown in Figure 2, the data acquisition device 1 can be connected to an external information processing device 40 such as a server via a network 50 such as the Internet, thereby forming an information processing system 100.

[0013] The data acquisition device 1 can acquire various information, such as image data related to reinforcement for inspection purposes. The acquired information can be transmitted to an external information processing device 40 via the network 50. The information processing device 40 can perform various information processing operations, such as generating 3D point cloud data based on the data received from the data acquisition device 1, storing it in a database, performing processes such as identifying and verifying reinforcement, performing various inspections as described later, displaying it on a display device, and transmitting it to other devices.

[0014] The reinforced concrete structure (reinforcement arrangement) subject to inspection can be a structure in which multiple reinforcing bars are combined in a columnar shape. The reinforced concrete structure includes, for example, main reinforcement bars extending vertically and stirrups extending horizontally, which are bound together with binding wire or the like. Inspection items may include, but are not limited to, identification of the type (steel grade) of the reinforcing bars, diameter, number of bars, concrete cover, spacing (minimum distance from surface to surface of adjacent reinforcing bars), anchorage length, and fit. In this disclosure, the objects subject to data acquisition are not limited to reinforced concrete arrangements but can be construction members, but it is also possible to apply this method to data acquisition for objects other than construction members.

[0015] The head unit 10 includes a display unit 11, which is composed of an LCD panel or a touch panel. The display unit 11 can display information acquired by cameras and sensors such as an RGB camera installed in the head unit 10 as images and text information, display information entered by the user, and display the current focal length of the camera. For example, the display unit 11 can display image data of the object that the camera of the head unit 10 is currently pointing at in real time, or display various data such as image data taken in the past. A user who is working while holding the head unit 10 can check the camera's captured images, distance information acquired by sensors, identification information, etc., displayed on the display unit 11. The head unit 10 may also be equipped with an audio output unit such as a speaker that outputs various information as sound.

[0016] The display unit 11 of the head unit 10 displays two orthogonal lines, and their intersection point A serves as the reference point (reference display) for focusing the camera. In other words, by adjusting the camera's orientation so that intersection point A is located on the object, the camera can focus on the object at the position of intersection point A. The two lines (intersection point A) are fixedly displayed on the display unit, but they may be moved by user operation. Intersection point A is preferably at the center of the display unit, but is not limited to this. Furthermore, the position where the camera focuses is not limited to the object that overlaps with intersection point A; for example, it may be a position selected by the user by tapping on the display unit, which is a touch panel. Sensors such as ToF cameras, RGB cameras, VSLAM cameras, etc., are preferably located on the back side of the display unit 11 in the head unit 10, but is not limited to this.

[0017] The head unit 10 is equipped with a sensor for acquiring 3D point cloud data. The type of sensor may be various types, such as passive, active, triangulation, or coaxial surveying. In this example, the head unit 10 is equipped with a ToF camera (Time-of-Flight Camera) module as a sensor, and can measure the distance to an object (for example, the shortest distance to the object) and acquire distance information. For example, if the head unit is pointed towards the reinforcing bars (rebar) that make up a building column and the button to start measurement is selected (pressed), the distance from the head unit to the reinforcing bars is measured by the ToF camera and distance information is acquired. It is preferable to position the head unit so that the distance from the head unit to the object is in the range of 50 cm to 150 cm, but it is not limited to this, and it may be closer than 50 cm or further away than 150 cm. In the case of a ToF camera, for example, approximately 300,000 point cloud data can be acquired with a single shot.

[0018] The head unit is equipped with an RGB camera. The focal length of the RGB camera is set based on distance information acquired by a distance measuring sensor. For example, the focal length of the RGB camera can be set to the distance to the object, which means that the focus is set on the surface of the object, allowing for the acquisition of clear image data of the object. As a result, a clear image of the object is obtained, which improves the accuracy of reading signs (GR codes, AR markers), for example, and the accuracy of identifying objects.

[0019] The head unit is equipped with a VSLAM camera module. The VSLAM camera module estimates the three-dimensional self-position and self-orientation based on image data (video data) acquired by the camera. In addition to estimating the self-position and orientation, the VSLAM camera module can also simultaneously create a map of the surrounding environment. The VSLAM camera module may be equipped with a pair of stereo cameras. Stereo cameras use two cameras to photograph an object from different directions (simultaneously), and the distance to the object can be calculated by using the parallax information obtained from the captured images.

[0020] The head portion is provided with an input section that can be operated by the user. The input section may be constituted by a touch panel integrated with the display section, may be one or more buttons that can be pressed, may be an input section with another configuration, or may be a combination thereof. In this example, three buttons B1, B2, and B3 that can be pressed are provided. Each button has a function assigned thereto in advance. For example, when button B1 is selected (pressed), the distance to the object shown in the (real-time) image captured by the camera displayed on the display section 11 is measured by a distance measuring sensor, and the focal length of the camera is adjusted according to the measured distance so as to focus (sharpen) on the surface of the object. Then, thereafter, by pressing button B2, the focus may be adjusted to a distance that is a predetermined distance (for example, 10 cm, 30 cm, 1 m, etc.) farther from the camera than the current focal length. Also, when button B3 is selected, the focus may be adjusted to a distance that is a predetermined distance farther or shorter than button B2, or another function (such as still image acquisition, shooting stop, etc.) may be executed.

[0021] The relationship between the buttons in the head portion and the corresponding functions may be made changeable (updated) based on the user's input operation. For example, the functions of button B1 and button B2 may be swapped by the user's operation, or the function of button B3 may be changed to another function. The number of buttons may be more than three or less than three. Also, it may be made possible to operate from the touch panel of the display section 11, or information may be acquired from a voice sensor so that the user can perform various operations by voice input.

[0022] The head portion 10 preferably includes a head main body 10a provided with a display section 11, buttons B1, a camera, etc., and a rod-shaped grip portion 10b that the user grips, but the shape of the head portion 10 is not limited to the illustrated example.

[0023] The main body part 20 includes, for example, a display part 21 composed of a touch panel or the like, and a plurality of buttons B for pressing operations. The display part 21 can display various information acquired by the head part 10, information generated, and information received from an external server or the like. The buttons B receive input operations from the user.

[0024] The apparatus 1 composed of the head part and the main body part, as shown in FIG. 3 for example, includes a control part, a storage part, a communication part, an output part (display parts 11, 21, etc.), an input part (for example, buttons B, etc.), an information acquisition part (imaging part, sensor part), and a power supply part. Each part may be provided in the head part, in the main body part, or in both. In the case of this example, for example, the display part, the control part, the storage part, and the input part are respectively provided in the head part and the main body part.

[0025] The control unit controls the entire device by handling data transfer, generation, and calculation processes between each unit. The control unit is implemented by a processor such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), or VPU (Visual Processing Unit). Based on user input or pre-registered control instructions, the control unit can automatically control the camera to start or stop shooting, and generate 3D point cloud data based on image data. Such control is performed based on information stored in the memory unit, information acquired from the server, information acquired from the sensor unit, or a combination thereof, as described above. The control unit has access to the memory unit and can store and read information from it. By executing programs stored in the memory unit, the control unit controls each unit, acquires, generates, and outputs (transmits) various types of data. The control unit can also transmit and receive information between the head unit and the main unit. For example, the control unit can transmit image data captured by the head unit's camera to the head unit's memory unit, the main unit, or a server. The control unit functions as a processing unit that generates data for transmission to an external server based on image data captured by the shooting unit. For example, information such as identification information attached to each reinforcing bar is extracted from the image data, and transmission data including said identification information is generated. Preferably, the transmission data transmitted from the head unit to the main unit or other devices has a smaller data size than the image data acquired by taking pictures with the camera. In other words, by pre-processing the information acquired by the camera or sensor unit in the control unit of the head unit or main unit to reduce the amount of data, the communication load is reduced compared to directly transmitting various data to an external device such as a server, and information can be easily transmitted to the server in a short time. In short, by performing data processing on the edge (device 1) side instead of the server, communication load and communication time are reduced compared to when large amounts of data are transferred. Device 1 may also transmit the information acquired by the camera and sensor unit directly to the server, etc.

[0026] The memory unit stores programs, codes, etc., for performing one or more steps. The control unit controls the operation of each unit according to the program, etc. The memory unit may have a non-volatile memory device, which is a read-only memory area where the system program is stored, and a volatile memory device, which is a rewritable memory area used as a work area for arithmetic processing by the control unit. The memory unit may be implemented by, for example, ROM (Read Only Memory), flash memory, or a hard disk, and the volatile memory device may be implemented by, for example, RAM (Random Access Memory) or VRAM (Video Random Access Memory). The memory unit may also include, for example, a separable medium such as an SD card or random access memory (RAM), or an external memory device. The memory unit can store various data acquired from various cameras, sensors, external devices, etc., and data generated based on such data. For example, distance information acquired by a distance measuring sensor, image data such as still images and videos captured by an RGB camera, and 3D point cloud data generated based on them may be stored in the internal memory or external memory.

[0027] The communications unit connects device 1 to a network 50 such as the Internet. This allows it to send arbitrary data, including image data, to a server and receive arbitrary data from a server.

[0028] Here, the data relating to the image captured by the camera is not limited to the image data itself, but may also include edited data generated based on the image data, for example, information such as the type and diameter of the reinforcing bars extracted by image processing of the image data. Furthermore, the data relating to the image may also include time information of when the image data was acquired. This communication unit may be equipped with a short-range communication interface such as Bluetooth® or BLE (Bluetooth Low Energy).

[0029] Network 50 may be any of the following: the Internet, LAN, dedicated line, telephone line, corporate network, mobile communication network, Bluetooth®, WiFi (Wireless Fidelity), other communication lines, or a combination thereof. It is preferably wireless, but may also be wired. System 100 may include a relay device that is connected to the device 1 and the server 20 in a communicative manner. Device 1 may be able to communicate with information processing terminals (user terminals) such as smartphones, PCs, and tablet terminals owned by workers and supervisors via Network 50.

[0030] The power supply unit supplies power to each part of the device 1. The power supply unit may include, for example, a power generation device such as a replaceable battery, a rechargeable battery, or a solar panel capable of generating electricity. The power supply unit may be located outside the device 1.

[0031] As shown in Figure 4, the server 40 comprises, for example, a control unit 41, a storage unit 42, an output unit 43, a communication unit 44, and an input unit 45, which are connected to each other via a bus 46. The server 40 can communicate with the device 1 via the communication unit 44. When the server 40 receives various request signals from the device 1, a user terminal, etc., the control unit 41 executes programmatic processing and transmits the processing results (for example, generated images or audio) to the device 1 user terminal, etc., or stores them in the storage unit 42 as appropriate. Note that part or all of the above program may be executed on the parking management device 10.

[0032] Server 40 can, for example, integrate multiple 3D point cloud data received from device 1 to generate a single three-dimensional reinforcement bar data set.

[0033] Next, the data acquisition method in this example will be explained. As shown in Figure 4, first, when the user points the distance measuring sensor on the head unit towards the object and performs an input operation to instruct the start of data acquisition by pressing a button or the like, the control unit of the device 1 receives the start instruction (S1). Based on this start instruction, the control unit of the device 1 acquires 3D point cloud data with the TOF sensor on the head unit (S2). The control unit acquires distance data from the sensor to the first layer of the reinforced concrete structure. For example, it calculates the distance to the object surface with the shortest distance from the sensor from the point cloud data and acquires distance data (S2). Based on this distance data, the control unit adjusts the focal length of the camera (S3). Specifically, it sets the value of the distance data to the focal length of the camera and focuses it. Then, it acquires the image data captured by the camera (S4).

[0034] This method allows for the efficient (rapid) acquisition of clear image data of an object photographed at an appropriate focal length. In other words, the device of this disclosure is equipped with a high-speed autofocus aiming function. Based on the image data, various processes can be performed, such as image recognition of reinforcing bar markings to identify the type of reinforcing bar, or other inspection processes.

[0035] Furthermore, by receiving input information from button operations on the head unit 10, it is also possible to acquire image data of the object at a focal length obtained by adding or subtracting a predetermined value from the distance acquired by the distance measuring sensor. In this case, it is also possible to delete (erase) image data within a specific range in the image data (or 3D point cloud data) displayed on the display unit 11. The control unit can display the image of the object corresponding to the focal length on the display unit, and prevent the display of images of objects located outside a predetermined range from the focal length. For example, it is possible to display image data (or 3D point cloud data) with data within a 10cm depth range from the surface of the object deleted. The control unit changes the focal length based on user input via an input unit such as a button. This allows the display and confirmation of image data of parts of the object that are further back than 10cm in the depth range from the surface of the object. It is also possible to set up multiple layers, such as setting the closest surface of the object as the first layer, the surface 10cm behind as the second layer, and the surface 10cm further back as the third layer. Furthermore, by associating buttons B1 to B3 with the first to third layers, the system can acquire and display data for the layer corresponding to the button selected by the user, or display the data for layers other than the selected layer with the image data removed. The value added to the distance data acquired by the distance measuring sensor is not limited to 10 cm, but can be set to any value such as 5 cm, 15 cm, 30 cm, etc. This value may be predetermined by the system and stored in the memory unit, or it may be set based on user input from the head unit, main unit, server, etc. In other words, the user may change it arbitrarily depending on the object, etc. Moreover, the system may not be limited to this, and each function, parameter, setting information, setting conditions, etc. related to this device and system may be changed arbitrarily based on user input.

[0036] When acquiring image data or distance data with the camera on the head unit, it is preferable to face the object parallel to it and ensure that the camera's shooting direction is horizontal to the ground. In other words, it is preferable to install the camera on the head unit so that the shooting direction (center line of the lens) is perpendicular to the surface of the object (the surface of a virtual wall or column made of reinforcing bars).

[0037] Furthermore, when acquiring image data or distance data with the camera on the head unit, it is preferable to position the head unit so that it is at a distance of 50 cm to 150 cm from the surface of the object. However, it is not limited to this; for example, the distance may be in the range of 20 cm to 200 cm, or other ranges, and can be appropriately changed depending on the performance of the camera or sensor.

[0038] In this example system, under the specific circumstances of rebar inspection, 3D point cloud data can be acquired in bulk (300,000 points can be captured in a single image using a ToF sensor), allowing the distance to the first layer (the planar layer of the surface closest to the camera on the object) to be determined. Therefore, the initial focusing process can be performed on the first layer, and the focus of the RGB camera can be adjusted to target the object on the first layer.

[0039] Furthermore, after focusing the RGB camera on the first layer (surface layer) and capturing an image with the RGB camera, the point cloud of the first layer can be removed from the overall point cloud. At the same time, the point cloud distance of the second layer, which is located a predetermined distance in the depth direction from the first layer, can be referenced to adjust the focus of the RGB camera (at high speed) to the position corresponding to the second layer and capture an image. This allows for clear capture of the object image on the second layer.

[0040] Similarly, the camera can sequentially adjust focus on the third layer (located a predetermined distance away from the first layer) and then on the fourth layer (located a predetermined distance from the third layer) while taking images. Based on the acquired data, an RGBD image of the entire object (e.g., a reinforced concrete structure) can be synthesized. Alternatively, each layer can be processed based on the acquired data. The RGB camera's focus can be adjusted sequentially between adjacent layers, such as the first and second layers (based on user instructions or automatically set by the system), enabling high-speed automatic focus adjustment.

[0041] The above-mentioned first layer, second layer, ... nth layer can be automatically divided into layers by the analysis processing of 3D point cloud data. For example, the spacing information of reinforcing bars placed at regular intervals in the depth direction can be calculated from the 3D point cloud data, and the layers can be divided by setting this spacing as the layer spacing. Alternatively, other feature points can be detected from the 3D point cloud data, and layers can be set at the positions of these feature points. If design data is stored in the memory unit in advance, and the layer spacing can be calculated (extracted) from the design data, the first layer can be detected, and then the remaining layers can be extracted by referring to the design data. In this case, for example, layers can be set in advance in the design data itself, or layers can be set based on the spacing of reinforcing bars or other feature points in the design data.

[0042] In cases where space limitations at the site necessitate photographing an object from an oblique angle, it may not be possible to automatically extract layers or utilize reference distances for focus adjustment from design data, as described above. In such cases, for example, individual objects (reinforcement bars) can be photographed while aiming at them, and then the images can be ultimately composited using methods such as VSLAM. Individual aiming methods involve emitting a crosshair laser beam from a reference marker generator in the device head, projecting the crosshair laser marker onto the center of the individual object (e.g., reinforcement bars), obtaining the distance to the projected individual object from a distance sensor (laser distance sensor, displacement sensor, ToF distance sensor (camera), etc.), adjusting the focal length of the RGB camera, and then taking the image. This method can also be used when measurement data is partially missing and the missing parts are compensated for by correction processing.

[0043] While preferred embodiments of the present disclosure have been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear to any person with ordinary skill in the art of the present disclosure that various modifications or alterations may be conceived within the scope of the technical idea set forth in the claims, and these will naturally also fall within the technical scope of the present disclosure.

[0044] The devices described herein may be implemented as a single device, or they may be implemented as a group of devices (e.g., cloud servers) that are partially or entirely connected by a network. For example, the control unit and memory unit of a server may be implemented by different servers connected to each other by a network. Furthermore, the information processing performed by the above-mentioned devices, servers, etc. may include, for example, processing using so-called machine learning, such as deep learning.

[0045] The series of processes performed by the apparatus described herein may be implemented using software, hardware, or a combination of software and hardware. Computer programs for implementing each function of the parking management device 10 and server 20 according to this embodiment can be created and implemented on a PC or the like. Furthermore, a computer-readable recording medium containing such a computer program can also be provided. Examples of recording media include magnetic disks, optical disks, magneto-optical disks, and flash memory. Alternatively, the computer program may be distributed without using a recording medium, for example, via a network.

[0046] Furthermore, the processes described using flowcharts in this specification do not necessarily have to be executed in the order shown. Some processing steps may be executed in parallel. Additional processing steps may be adopted, and some processing steps may be omitted.

[0047] Furthermore, the effects described herein are merely descriptive or illustrative and not limiting. In other words, the technology relating to this disclosure may produce other effects that will be apparent to those skilled in the art from the description herein, in addition to or in lieu of the effects described herein.

[0048] Furthermore, the following configurations also fall within the technical scope of this disclosure. (Item 1) The process involves acquiring 3D point cloud data of a reinforced concrete structure using a designated sensor, A process for acquiring distance data from the sensor to the first layer of the reinforced concrete structure, Based on the aforementioned distance data, a process is performed to adjust the camera's focal length. A reinforcement data acquisition device comprising a control unit that performs the process of taking a picture of the reinforced concrete structure with the aforementioned camera and acquiring image data. (Item 2) The reinforcement data acquisition device according to item 1, wherein the control unit performs a process of at least temporarily deleting the point cloud data of the first layer and adjusting the focal length of the camera to acquire image data with the camera on a second layer located at a predetermined distance in the depth direction from the first layer. (Item 3) The reinforcement data acquisition device according to item 2, wherein the control unit performs a process of at least temporarily deleting the point cloud data of the first layer and the second layer, and adjusting the focal length of the camera to acquire image data with the camera for the third layer which is located further in the depth direction by a predetermined distance than the second layer. (Item 4) The control unit calculates the distance between the first layer and the second layer by analyzing the three-dimensional point cloud data, as described in item 1 or 2, for the reinforcement data acquisition device. (Item 5) The control unit obtains the distance between the first layer and the second layer from design data stored in the storage unit, as described in item 1 or 2, for the reinforcement data acquisition device. (Item 6) The camera is equipped with a display unit capable of displaying images captured by the camera, A reinforcement data acquisition device according to item 1, which acquires distance data of the reinforcement structure located at a position corresponding to a reference display fixedly displayed on the display unit. (Item 7) It is equipped with an input section that accepts user input, The reinforcement data acquisition device according to item 1, wherein the control unit performs a process to change the focal length to correspond to one of a plurality of layers based on user input via the input unit. (Item 8) The reinforcement data acquisition device according to item 1, wherein the control unit displays an image of the reinforcement structure corresponding to one of the layers on the display unit, and prevents the display unit from displaying an image of the reinforcement structure corresponding to another layer. (Item 9) The aforementioned sensor is a TOF sensor, as described in item 1, for the reinforcement data acquisition device. (Item 10) The reinforcement data acquisition device according to claim 1, A rebar data acquisition system comprising a server connected to the aforementioned data acquisition device via a network. (Item 11) Three-dimensional point cloud data of the reinforced concrete structure is acquired using a designated sensor. Distance data is acquired from the sensor to the first layer of the reinforced concrete structure. Based on the aforementioned distance data, the camera's focal length is adjusted. A method for acquiring reinforcement data, comprising using the aforementioned camera to photograph the reinforced concrete structure and acquire image data. [Explanation of Symbols]

[0049] 1. Data acquisition device 10 Head section 20 Main body 40 servers

Claims

1. The process involves acquiring 3D point cloud data of a reinforced concrete structure using a designated sensor, The process involves analyzing the three-dimensional point cloud data to identify the surface of the reinforcing steel structure closest to the sensor as the first layer, and calculating distance data, which is the distance from the sensor to the first layer, thereby acquiring the distance data. Based on the aforementioned distance data, a process is performed to adjust the camera's focal length. A reinforcement data acquisition device comprising a control unit that performs the process of taking a picture of the reinforced concrete structure with the aforementioned camera and acquiring image data.

2. The reinforcement data acquisition device according to claim 1, wherein the control unit performs a process of at least temporarily deleting the point cloud data of the first layer and adjusting the focal length of the camera to acquire image data with the camera on a second layer located at a predetermined distance in the depth direction from the first layer.

3. The reinforcement data acquisition device according to claim 2, wherein the control unit performs a process of at least temporarily deleting the point cloud data of the first layer and the second layer, and adjusting the focal length of the camera to acquire image data with the camera for the third layer which is located further in the depth direction by a predetermined distance than the second layer.

4. The reinforcement data acquisition device according to claim 2, wherein the control unit calculates the distance between the first layer and the second layer by analyzing the three-dimensional point cloud data.

5. The reinforcement data acquisition device according to claim 2, wherein the control unit obtains the distance between the first layer and the second layer from design data stored in the storage unit.

6. The camera is equipped with a display unit capable of displaying images captured by the camera, The reinforcement data acquisition device according to claim 1, which acquires distance data of the reinforcement structure located at a position corresponding to a reference display fixedly displayed on the display unit.

7. It is equipped with an input section that accepts user input, The reinforcement data acquisition device according to claim 1, wherein the control unit performs a process to change the focal length to correspond to any of the multiple layers based on user input via the input unit.

8. The reinforcement data acquisition device according to claim 1, wherein the control unit causes the display unit to display an image of the reinforcement structure corresponding to any of the layers, and prevents the display unit from displaying an image of the reinforcement structure corresponding to any other layer.

9. The reinforcement data acquisition device according to claim 1, wherein the sensor is a TOF sensor.

10. The reinforcement data acquisition device according to claim 1, A rebar data acquisition system comprising a server connected to the aforementioned rebar data acquisition device via a network.

11. The control unit of the reinforcement data acquisition device, The process involves acquiring 3D point cloud data of a reinforced concrete structure using a designated sensor, The process involves analyzing the three-dimensional point cloud data to identify the surface of the reinforcing steel structure closest to the sensor as the first layer, and calculating distance data, which is the distance from the sensor to the first layer, thereby acquiring the distance data. Based on the aforementioned distance data, a process is performed to adjust the camera's focal length. A method for acquiring reinforcement data, which involves taking a picture of the reinforced concrete structure with the aforementioned camera and acquiring image data.

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