JP6949544B2 - Bar arrangement inspection system and bar arrangement inspection method - Google Patents

Description

The present invention relates to a bar arrangement inspection system and a bar arrangement inspection method for inspecting whether or not the reinforcing bars are assembled as designed at a construction site.

In the construction process of a reinforced concrete structure, for example, after the reinforcing bars consisting of the main bars of column members and beam members and reinforcing bars such as band bars and stirrups are assembled, it is inspected whether they are assembled as designed. It is very important to do and confirm.

Further, as a support system for creating a report of the result of the bar arrangement inspection, for example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2016-355622), numerical values are provided in the template of the report stored in the database. A report creation system that simplifies the process from inspection by the contractor to approval by the manager is disclosed by using a transmission means for inputting and transmitting the numerical value.
Japanese Unexamined Patent Publication No. 2016-355622

In the bar arrangement process, it is common for field workers to measure and confirm the diameter and number of main bars arranged, and the diameter and pitch of reinforcing bars, but in recent years, the amount of work has become enormous. , There was a problem of securing workers to handle the work and a problem of lengthening the working time.

In addition, it is desired to prevent falsification of inspection data and improve the reliability of inspection by ensuring the objectivity of inspection. The present invention solves such a problem, and an object of the present invention is to provide a bar arrangement inspection system and a bar arrangement inspection method that shorten the inspection time and contribute to the reduction of the number of inspection workers.

The present invention solves the above-mentioned problems, and in the bar arrangement inspection system according to the present invention , the reinforcing bars are assembled as designed by scanning from the inside of the reinforcing bars and acquiring point group data. A three-dimensional distance sensor that has a light emitting portion and emits a light beam to a reinforcing bar composed of a main bar and a reinforcing bar to acquire point group data of the reinforcing bar, and the above 3 have a emitting portion dimension distance sensor and the rotational movement mechanism for changing the posture of the three-dimensional distance sensor to cause in all directions, and the attitude detecting unit for detecting the attitude data of the three-dimensional distance sensor, the said The rotational movement mechanism comprises a rod member and a base member that rotates about the first axis with respect to the rod member, and the three-dimensional distance with respect to the base member with the second axis as the axis center. It is characterized by rotating the sensor.

Further, the bar arrangement inspection system according to the present invention has a plurality of points based on the point cloud data acquired by the three-dimensional distance sensor and excluding the peculiar data and the attitude data detected by the attitude detection unit. A compositing unit that synthesizes the group data and makes it into the composite point cloud data, a conversion unit that converts the composite point cloud data synthesized by the compositing unit into a Cartesian coordinate system point cloud data based on the Cartesian coordinate system, and the conversion unit. Further, it has an extraction unit for extracting the Cartesian coordinate system point cloud data of the cross section in which only the main bar exists and the Cartesian coordinate system point cloud data of the cross section in which only the reinforcing bar exists from the Cartesian coordinate system point cloud data converted in. It is characterized by that.

Further, the bar arrangement inspection system according to the present invention includes the Cartesian coordinate system point cloud data of the cross section where only the main bars extracted by the extraction unit are present, and the Cartesian coordinate system point cloud data of the cross section where only the reinforcing bars are present. It is characterized by having a display unit for displaying at least one of them by superimposing it on the design data of the reinforcing bar.

Further, in the bar arrangement inspection system according to the present invention, the Cartesian coordinate system points of the cross section where only the reinforcing bars exist and the main bar information obtained from the Cartesian coordinate system point group data of the cross section where only the main bars extracted by the extraction unit exist. It is characterized by having a determination unit for determining a match between the reinforcing bar information obtained from the group data and the main bar information and the reinforcing bar information based on the design data of the reinforcing bars.

Further, the bar arrangement inspection method according to the present invention uses a bar arrangement inspection system that inspects whether the reinforcing bars are assembled as designed by scanning from the inside of the reinforcing bars and acquiring point group data. A three-dimensional distance sensor, which is a muscle inspection method, in which a bar arrangement inspection system has a light emitting portion and emits a light beam to a reinforcing bar composed of a main bar and a reinforcing bar to acquire point group data of the reinforcing bar. It has a rotational movement mechanism that changes the posture of the three-dimensional distance sensor so that the exit portion of the three-dimensional distance sensor is directed in all directions, and a posture detection unit that detects the posture data of the three-dimensional distance sensor. The rotational movement mechanism comprises a rod member and a base member that rotates about the first axis with respect to the rod member, and the three-dimensional structure of the base member with the second axis as the axis center. While rotating the distance sensor , a plurality of point group data are synthesized based on the point group data acquired by the three-dimensional distance sensor and excluding the singular data and the attitude data detected by the attitude detection unit. , A synthesis step to be combined with the composite point group data, a conversion step to convert the composite point group data synthesized in the synthesis step into Cartesian coordinate system point group data based on the Cartesian coordinate system, and an orthogonality converted in the conversion step. From the coordinate system point group data, an extraction step of extracting the Cartesian coordinate system point group data of the cross section in which only the main bar exists and the Cartesian coordinate system point group data of the cross section in which only the reinforcing bar exists, and the main bar extracted in the extraction step. A display step that displays at least one of the Cartesian coordinate system point group data of the cross section in which only the reinforcing bar exists and the Cartesian coordinate system point group data of the cross section in which only the reinforcing bar exists, superimposed on the design data of the reinforcing bar. Main bar information obtained from the Cartesian coordinate system point group data of the cross section where only the main bar exists extracted in the extraction step, reinforcement information obtained from the Cartesian coordinate system point group data of the cross section where only the reinforcing bar exists, and reinforcing bar information of the reinforcing bar It is characterized by executing a determination step of determining a match between the main bar information and the reinforcing bar information based on the design data.

In the bar arrangement inspection system and the bar arrangement inspection method according to the present invention, light rays are emitted to the reinforcing bar composed of the main bar and the reinforcing bar, and the data related to the reinforcing bar is acquired by the three-dimensional distance sensor that acquires the point cloud data of the reinforcing bar. According to the bar arrangement inspection system and the bar arrangement inspection method according to the present invention, objective data can be automatically acquired, the bar arrangement inspection work becomes more efficient, and the number of workers to perform the work is secured. And the problem of lengthening the working time are solved.

It is a block diagram which shows the system structure of the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure which shows the rotational movement mechanism 5 of the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure explaining the scan data acquired by the rotary movement mechanism 5 of the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure which shows the setting at the time of inspection of the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure which shows the flowchart of the data acquisition process by the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure explaining the scan data acquired by the rotary movement mechanism 5 of the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure which shows the flowchart of the determination process by the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is an image figure of the extraction process in the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure which shows an example of the Cartesian coordinate system point cloud data acquired by the extraction process in the bar arrangement inspection system 1 which concerns on embodiment of this invention. It is a figure which shows the display example by the tablet type terminal 100 used in the bar arrangement inspection system 1 which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a system configuration of a bar arrangement inspection system 1 according to an embodiment of the present invention. Further, FIG. 2 is a diagram showing a rotational movement mechanism 5 of the bar arrangement inspection system 1 according to the embodiment of the present invention.

The bar arrangement inspection system 1 according to the present invention inspects whether or not the reinforcing bars are assembled as designed. The bar arrangement inspection system 1 according to the present invention has a three-dimensional distance sensor 50 and a rotational movement mechanism 5 for changing the posture of the three-dimensional distance sensor 50 in order to automatically perform the above inspection. However, by driving the rotary movement mechanism 5, it is possible to acquire point cloud data in all directions by the three-dimensional distance sensor 50.

The three-dimensional distance sensor 50 is a sensor capable of measuring a large amount of three-dimensional distance data (hereinafter referred to as “point group data”) by projecting, for example, a laser or infrared rays onto a subject from the sensing opening 55 of the sensor housing.

Since the point cloud data has a large number of points expressing a three-dimensional distance, it can also be called a distance image. The rotational movement mechanism 5 that supports the three-dimensional distance sensor 50 is provided with a first encoder 13 (attitude detection unit) and a second encoder 23 (attitude detection unit) that detect the attitude of the three-dimensional distance sensor 50. Therefore, it is possible to grasp in which direction the three-dimensional distance sensor 50 is acquiring the point group data. As a result, as will be described later, the acquired point cloud data can be converted into a three-dimensional Cartesian coordinate system so that the data can be handled in the X, Y, and Z coordinates.

In the present embodiment, an encoder is used as a posture detection unit for detecting the posture of the three-dimensional distance sensor 50, but any sensor that can detect the posture of the three-dimensional distance sensor 50 is used. , Others such as gyro sensors may be used.

Point cloud data acquired by the 3D distance sensor 50 and data related to the posture of the 3D distance sensor 50 when the point cloud data is acquired (rotation angle detected by the first encoder 13 and detected by the second encoder 23). It is transmitted to the control unit 110 in association with the rotation angle).

The rotational movement mechanism 5 has a rod member 10 and a base member 20 that rotates about the first shaft 11 with respect to the rod member 10. The base member 20 includes a first motor 12 that rotationally drives the base member 20 and a first encoder 13 that detects the rotation angle of the base member 20. It is possible to rotate 20 by a desired angle with respect to the rod member 10.

Further, the rotational movement mechanism 5 can rotate the three-dimensional distance sensor 50 with respect to the base member 20 with the second axis 21 as the axis center. The base member 20 includes a second motor 22 that rotationally drives the three-dimensional distance sensor 50 and a second encoder 23 that detects the rotation angle of the three-dimensional distance sensor 50. The three-dimensional distance sensor 50 can be rotated by a desired angle with respect to the base member 20.

FIG. 3 is a diagram illustrating scan data acquired by the rotational movement mechanism 5 of the bar arrangement inspection system 1 according to the embodiment of the present invention. FIG. 3A shows a state in which the base member 20 is stationary with respect to the rod member 10, and FIG. 3B shows a state in which the three-dimensional distance sensor 50 is rotated with respect to the stationary base member 20. Indicates the state of being.

When the point cloud data is acquired by the three-dimensional distance sensor 50 while rotating the three-dimensional distance sensor 50 with the base member 20 stationary with respect to the rod member 10, as shown in the shaded area of FIG. 3 (B). It is possible to acquire band-shaped point cloud data corresponding to the width of the angle of view of the three-dimensional distance sensor 50. This band-shaped point cloud data is referred to as "scan data" in this embodiment.

The scan data is different because the data acquisition area is different due to the difference in the rotation angle of the base member 20 with respect to the rod member 10. Therefore, for example, the scan data shown in FIG. 3B is referred to as scan data having a first angle of view.

The rotation angle of the base member 20 detected by the first encoder 13 and the rotation angle of the three-dimensional distance sensor 50 detected by the second encoder 23 are transmitted to the control unit 110. The control unit 110 is a general-purpose information processing device including a CPU, a ROM that holds a program running on the CPU, and a RAM that is a work area of the CPU.

As a configuration including such a control unit 110, the tablet type terminal 100 is used in the present embodiment, but the configuration for providing the control unit 110 that can be used in the bar arrangement inspection system 1 according to the present invention is the tablet type. It is not limited to the terminal 100.

The control unit 110 cooperates with and operates with each configuration connected to the illustrated control unit 110. Further, various control processes in the bar arrangement inspection system 1 according to the present invention are realized by the CPU executing a program stored in a storage means such as a ROM or RAM in the control unit 110.

The control unit 110 as described above issues a control command to the first motor 12 that rotationally drives the base member 20 and the second motor 22 that rotationally drives the three-dimensional distance sensor 50 in the rotary movement mechanism 5. It is designed to be sent.

Further, the control unit 110 is provided with a rewritable storage unit 150 for data communication. As such a storage unit 150, a memory (EPROM or the like) built in the tablet terminal 100 or an additional memory (flash memory or the like) can be used.

In such a storage unit 150, the design data of the reinforcing bar 200 to be inspected by the bar arrangement inspection system 1 according to the present invention is stored in the pre-inspection stage. Such design data includes information relating to the cross section of the reinforcing bar 200, the dimensions, type and number of the main reinforcing bars 210, and information such as the dimensions, type and pitch of the reinforcing bars 220. Of the above design data, at least the information related to the diameter and number of the main bars 210 is referred to as the main bar information, and the information related to the diameter and pitch of the reinforcing bars 220 is referred to as the reinforcing bar information.

Further, the touch panel unit 180 provided in the tablet terminal 100 is used as a user interface of the bar arrangement inspection system 1 according to the present invention. The touch panel unit 180 is a combination of an input unit 181 for inputting information by the user and a display unit 182 for displaying information to the user.

Next, the acquisition of inspection data by the bar arrangement inspection system 1 according to the present invention configured as described above will be described. FIG. 4 is a diagram showing a setting at the time of inspection of the bar arrangement inspection system 1 according to the embodiment of the present invention.

In FIG. 4, the reinforcing bar 200 is composed of a plurality of main reinforcing bars 210 and a frame-shaped reinforcing bar 220 provided at a predetermined pitch with respect to the main reinforcing bar 210, and the reinforcing bar inspection system 1 according to the present invention. Then, it is inspected whether the reinforcing bar 200 is assembled according to the design data.

The rod member 10 of the rotary movement mechanism 5 in the bar arrangement inspection system 1 according to the present invention is attached to the reinforcing bar 200 to be inspected by a mounting bracket (not shown), and the three-dimensional distance sensor 50 is arranged inside the reinforcing bar 200. It is fixed so that. Then, it is assumed that the fixed state of the rod member 10 is not changed from the start of acquisition of the data for inspection to the end of acquisition.

After the above settings are made, the data acquisition process by the bar arrangement inspection system 1 according to the present invention is subsequently executed. The start command of such data acquisition processing is configured to be issued from the touch panel unit 180 of the tablet terminal 100.

FIG. 5 is a diagram showing a flowchart of data acquisition processing by the bar arrangement inspection system 1 according to the embodiment of the present invention.

In FIG. 5, when the data acquisition process is started in step S100, the process proceeds to step S101, and the three-dimensional distance sensor 50 is set at the initial reference position.

The above initial reference position may be set to any position, for example, the position of the three-dimensional distance sensor 50 when the detection angle by the first encoder 13 and the second encoder 23 is defined as 0 °. .. In the present embodiment, the position of the three-dimensional distance sensor 50 shown in FIGS. 3A and 4 is set as the initial reference position.

In step S102, by driving the second motor 22, the point cloud data of the reinforcing bar 200 is acquired while rotating the three-dimensional distance sensor 50.

In step S103, when the three-dimensional distance sensor 50 is rotated once to acquire the point cloud data, the point cloud data acquired by the rotation is stored in the storage unit 150 as scan data of the angle of view.

In step S104, the three-dimensional distance sensor 50 is rotated a predetermined number of times to determine whether or not the scan for the angle of view is completed. Here, as the predetermined number of times, a predetermined value such as 5 times is specified. If the predetermined number of times is set to 5, five scan data having the same angle of view will be acquired. In this way, the accuracy of the point cloud data is improved by acquiring a plurality of scan data having the same angle of view and averaging them at the time of data processing.

In step S105, it is determined whether or not scan data in all directions has been acquired. If the determination in step S105 is NO, the process proceeds to step S106, the first motor 12 is driven, the base member 20 is rotated by a predetermined angle specified in advance, and the process proceeds to step S102.

FIG. 6A shows a base member 20 that is rotated about the first axis 11 as a rotation axis with respect to the rod member 10 by step S106. After the base member 20 is made to move in this way, the point cloud data is acquired while rotating the three-dimensional distance sensor 50 through steps 102 and S103. Then, as shown in the shaded area of FIG. 6B, band-shaped point cloud data corresponding to the width of the angle of view of the three-dimensional distance sensor 50 can be acquired. For example, the scan data shown in FIG. 6B is referred to as scan data having a second angle of view.

As described above, after rotating the base member 20 by a predetermined angle, point cloud data is acquired while rotating the three-dimensional distance sensor 50, and scan data of a plurality of angles of view are acquired. As a result, the bar arrangement inspection system 1 according to the present invention acquires point cloud data in all directions.

If the angle at which the base member 20 is rotated is set so that there is a certain amount of lap portion in the adjacent scan data, the point cloud data at the time of synthesizing the scan data becomes the scan data of both. It is more preferable because it will be reflected.

If the determination in step S105 is YES, the process proceeds to step S107 and the data acquisition process is terminated.

The scan data (strip-shaped point cloud data) related to the reinforcing bar 200 acquired as described above is subsequently subjected to predetermined data processing, and it is determined whether or not the scan data matches the design data. FIG. 7 is a diagram showing a flowchart of determination processing by the bar arrangement inspection system 1 according to the embodiment of the present invention.

In FIG. 7, when the determination process is started in step S200, subsequently, in step S201, scan data having a predetermined angle of view stored in the storage unit 150 is acquired. Here, if the number of laps of the three-dimensional distance sensor 50 is five and there are five scan data having the same angle of view, five scan data are acquired.

In step S202, a process of excluding singular data from the acquired scan data is performed. Here, the singular data is data that is remarkably distant from the majority of point cloud data, and is generally considered to be noise.

Subsequently, in step S203, the scan data from which the singular data has been removed is averaged to obtain scan data having a predetermined angle of view. For example, if 5 scan data are acquired, the average is taken for the 5 scan data excluding the singular data.

In step S204, it is determined whether or not the singular data exclusion process (S202) and the averaging process (S203) have been completed for the scan data of all the angles of view. If the determination in step S204 is NO, the scan data of the next angle of view is set in step S214, and the process returns to step S201.

On the other hand, if the determination in step S204 is YES, the process proceeds to step S205, and the scan data of all the angles of view are combined to obtain the combined point cloud data. Here, the execution function of step S205 by the control unit 110 is expressed as a “synthesis unit”. When generating this composite point cloud data, it is convenient that a lap portion is provided between the scan data of adjacent angles of view. The composite point cloud data is point cloud data in all directions of the reinforcing bar 200.

By the way, since the composite point cloud data synthesized in step S204 is omnidirectional point cloud data obtained by synthesizing scan data of all angles of view, it looks like the point cloud data is arranged on a spherical surface. ing. Since it is difficult to handle the composite point cloud data as it is, in step S206, the composite point cloud data is converted into the Cartesian coordinate system point cloud data based on the three-dimensional coordinates (Cartesian coordinate system). Here, the execution function of step S206 by the control unit 110 is expressed as a "conversion unit".

Subsequently, in step S207, the Cartesian coordinate system point cloud data of the cross section in which only the main bar 210 exists and the Cartesian coordinate system point cloud data of the cross section in which only the reinforcing bar 220 exists are extracted. Here, the execution function of step S207 by the control unit 110 is expressed as an “extraction unit”. FIG. 8 is an image diagram of the extraction process according to step S207. Further, FIG. 9 is a diagram showing an example of the Cartesian coordinate system point cloud data of the cross section in which only the main bar 210 acquired by the extraction process in step S207 exists.

Here, if the longitudinal direction of the main bar 210 in the reinforcing bar 200 is the z-axis direction and the reinforcing bar 220 is viewed as a rectangle, the direction in which one side of the reinforcing bar 220 extends is the x-axis direction, and one of the reinforcing bars 220. The direction in which the side adjacent to the side extends is defined as the y-axis direction.

Under such a definition, looking at the point cloud data in the xy plane while changing the z coordinate in the Cartesian coordinate system point cloud data, the point cloud localized in the x and y directions assumed to be the main bar 210. Since there is xy cross section data composed of data, in step S207, a process of extracting such xy plane data (cross section data) is executed. By such a process, it is possible to extract the Cartesian coordinate system point cloud data of the cross section in which only the main bar 210 as shown in FIG. 9 exists.

In the case of extracting the cross-sectional data in which only the reinforcing bars 220 are present, the extraction is performed from the yz plane data and the zx plane data.

In step S208, the Cartesian coordinate system point cloud data extracted in step S203 is superposed on the design data and displayed on the display unit 182 of the touch panel unit 180. FIG. 10 is a diagram showing a display example in the touch panel unit 180 according to step S208. With such a display, it is possible to visually confirm the relationship between the design data and the acquired point cloud data.

In the subsequent step S209, the diameter and the number (main bar information) are calculated from the cross-sectional data in which only the main bar 210 exists, and the diameter and pitch (reinforcing bar information) are calculated from the cross-sectional data in which only the reinforcing bar 220 exists. Here, the execution function of step S209 by the control unit 110 is expressed as a “calculation unit”.

In the next step S210, from the design data stored in the storage unit 150, information on the diameter and number of the main bars 210 is acquired as the main bar information, and information on the diameter and pitch of the reinforcing bars 220 is acquired as the reinforcing bar information. do.

In the following step S211, the main bar information and the reinforcing bar information calculated in step S209 are compared with the main bar information and the reinforcing bar information acquired in step S210, and it is determined whether or not they match. If the determination result in step S211 is YES, the process proceeds to step S212 to determine the inspection pass, and if the determination result in step S211 is NO, the process proceeds to step S213 to determine the inspection failure. Here, the execution function of step S211 by the control unit 110 is expressed as a “determination unit”.

In the determination in step S211, the main bar information (diameter, number) and reinforcing bar information (diameter, pitch) calculated in step S209, and the main bar information (diameter, number) and reinforcing bar information (diameter, number) acquired in step S210 (diameter, number). (Diameter, pitch) is compared, and if there is any difference, the inspection is rejected.

As shown in FIG. 10, it is also one of the preferable embodiments that the determination result of step S212 or step S213 is configured to be displayed on the display unit 182 of the touch panel unit 180. Further, it is preferable to store the display contents as shown in FIG. 10 in the storage unit 150 together with the inspection date and time as the inspection result.

In step S215, the determination process ends.

In the bar arrangement inspection system 1 and the bar arrangement inspection method according to the present invention as described above, a light beam is emitted to a reinforcing bar composed of a main bar and a reinforcing bar, and the reinforcing bar is formed by a three-dimensional distance sensor 50 that acquires point group data of the reinforcing bar. Since such data is acquired, according to the bar arrangement inspection system 1 and the bar arrangement inspection method according to the present invention, objective data can be automatically acquired, and the bar arrangement inspection work becomes more efficient. , The problem of securing workers to work and the problem of lengthening the work time are solved.

1 ... Reinforcement inspection system 5 ... Rotational movement mechanism 10 ... Rod member 11 ... 1st axis 12 ... 1st motor 13 ... 1st encoder (posture detection unit)
20 ... Base member 21 ... Second axis 22 ... Second motor 23 ... Second encoder (posture detection unit)
50 ... 3D distance sensor 55 ... Sensing opening 100 ... Tablet terminal 110 ... Control unit (synthesis unit, conversion unit, extraction unit, calculation unit, judgment unit)
150 ... Storage unit 180 ... Touch panel unit 181 ... Input unit 182 ... Display unit 200 ... Reinforcing bar 210 ... Main reinforcement 220 ... Reinforcing bar

Claims (5)

It is a bar arrangement inspection system that inspects whether the reinforcing bars are assembled as designed by scanning from the inside of the reinforcing bars and acquiring point cloud data.
A three-dimensional distance sensor that has a light beam emitting part and emits light rays to a reinforcing bar composed of a main bar and a reinforcing bar to acquire point cloud data of the reinforcing bar.
A rotary movement mechanism that changes the posture of the three-dimensional distance sensor so that the exit portion of the three-dimensional distance sensor is directed in all directions.
Have a, a posture detection section which detects the posture data of the three-dimensional distance sensor,
The rotational movement mechanism comprises a rod member and a base member that rotates about the first axis with respect to the rod member, and the three-dimensional structure with respect to the base member with the second axis as the axis center. A bar arrangement inspection system characterized by rotating a distance sensor. Based on the point cloud data acquired by the three-dimensional distance sensor and excluding the singular data and the attitude data detected by the attitude detection unit, a plurality of point cloud data are combined to form the combined point cloud data. Synthetic part and
A conversion unit that converts the composite point cloud data synthesized by the synthesis unit into Cartesian coordinate system point cloud data based on the Cartesian coordinate system, and a conversion unit.
From the Cartesian coordinate system point cloud data converted by the conversion unit, an extraction unit that extracts the Cartesian coordinate system point cloud data of the cross section where only the main bar exists and the Cartesian coordinate system point cloud data of the cross section where only the reinforcing bars exist, and an extraction unit. The bar arrangement inspection system according to claim 1, further comprising. At least one of the Cartesian coordinate system point cloud data of the cross section where only the main bar exists and the Cartesian coordinate system point cloud data of the cross section where only the reinforcing bar exists are superimposed on the design data of the reinforcing bar extracted by the extraction unit. The bar arrangement inspection system according to claim 2, further comprising a display unit for displaying together. Main bar information obtained from the Cartesian coordinate system point cloud data of the cross section where only the main bar exists extracted by the extraction unit, reinforcement information obtained from the Cartesian coordinate system point cloud data of the cross section where only the reinforcing bar exists, and reinforcing bar information of the reinforcing bar The bar arrangement inspection system according to claim 2 or 3, further comprising a determination unit for determining a match between the main bar information and the reinforcing bar information based on the design data. It is a bar arrangement inspection method using a bar arrangement inspection system that inspects whether the reinforcing bars are assembled as designed by scanning from the inside of the reinforcing bars and acquiring point cloud data.
Reinforcement inspection system
A three-dimensional distance sensor that has a light beam emitting part and emits light rays to a reinforcing bar composed of a main bar and a reinforcing bar to acquire point cloud data of the reinforcing bar.
A rotary movement mechanism that changes the posture of the three-dimensional distance sensor so that the exit portion of the three-dimensional distance sensor is directed in all directions.
It has a posture detection unit that detects the posture data of the three-dimensional distance sensor, and has.
The rotational movement mechanism comprises a rod member and a base member that rotates about the first axis with respect to the rod member, and the three-dimensional structure with respect to the base member with the second axis as the axis center. While rotating the distance sensor
Based on the point cloud data acquired by the three-dimensional distance sensor and excluding the singular data and the attitude data detected by the attitude detection unit, a plurality of point cloud data are combined to form the combined point cloud data. Synthesis steps and
A conversion step of converting the composite point cloud data synthesized in the synthesis step into Cartesian coordinate system point cloud data based on the Cartesian coordinate system, and
From the Cartesian coordinate system point cloud data converted in the conversion step, an extraction step of extracting the Cartesian coordinate system point cloud data of the cross section in which only the main bar exists and the Cartesian coordinate system point cloud data of the cross section in which only the reinforcing bar exists, and an extraction step.
At least one of the Cartesian coordinate system point cloud data of the cross section where only the main bars are present and the Cartesian coordinate system point cloud data of the cross section where only the reinforcing bars are present, which are extracted in the extraction step, are superimposed on the design data of the reinforcing bars. Display steps to be displayed together and
Main bar information obtained from the Cartesian coordinate system point cloud data of the cross section where only the main bar exists extracted in the extraction step, reinforcement information obtained from the Cartesian coordinate system point cloud data of the cross section where only the reinforcing bar exists, and reinforcing bar information of the reinforcing bar A bar arrangement inspection method characterized by executing a determination step of determining a match between main bar information and reinforcing bar information based on design data.

Images