JP7442482B2 - How to detect the location and radius of multiple holes - Google Patents

Description

The present invention relates to a method for detecting the position and radius of a plurality of holes, and more particularly, to a method for detecting the position and radius of a plurality of holes drilled in a wall surface of a concrete structure using a drilling device. be.

Reinforcement of existing concrete structures (seismic reinforcement), such as concrete structures in contact with the ground above ground, underground, semi-underground, etc., and concrete structures built above ground near railways, roads, etc. One of the construction methods is the post-installation shear reinforcement method.

The post-installation shear reinforcement method involves drilling holes in the wall of an existing concrete structure, filling and injecting fixing material (mortar) into the holes, and then applying post-installation shear reinforcement reinforcement (hereinafter referred to as "shear reinforcement reinforcement"). This is a construction method that improves the shear strength of a structure by inserting and hardening shear reinforcing reinforcing bars and the structure to integrate them.

In this type of post-installation shear reinforcement method, the number of holes drilled to insert shear reinforcement bars is extremely large (several thousand or more), so the efficiency of measuring the completed hole shape (hole position) is limited. ization is required.

Here, Patent Document 1 (Japanese Unexamined Patent Publication No. 2002-288678) discloses a technique for photographing a wall surface where a hole has been drilled and determining the hole position from the difference in brightness between the hole and the wall surface. Further, Patent Document 2 (Japanese Patent Application Laid-open No. 2014-163898) discloses a technique for determining the hole position from the surface shape obtained by scanning a holed wall surface with a laser beam.

Japanese Patent Application Publication No. 2002-288678 Japanese Patent Application Publication No. 2014-163898

However, with the technology described in Patent Document 1, if the concrete is wet and discolored, or if the hole is underground, the difference in brightness between the hole and the wall surface becomes unclear when photographing, and the hole cannot be reliably drilled. It becomes difficult to pinpoint the location.

In addition, with the technology described in Patent Document 2, when drilling starts, the tip is slightly shaken due to vibration of the drilling equipment, and the concrete around the hole periphery is chipped. It is detected by the pore diameter.

The present invention was made based on the above-mentioned technical background, and an object of the present invention is to provide a technology that can accurately detect the positions and radii of a plurality of holes drilled in the wall surface of a concrete structure. shall be.

In order to solve the above problem, a method for detecting the positions and radii of a plurality of holes according to the invention according to claim 1 provides a method for detecting the positions and radii of a plurality of holes drilled in a wall surface of a concrete structure using a drilling device. and a radius detection method, wherein three-dimensional point cloud data of the wall surface on which a hole has been drilled is acquired, and a depth point, which is a point located a predetermined distance deeper than the wall surface, is extracted based on the three-dimensional point cloud data. Then, obtain a plurality of group point groups formed by the set of depth points in the horizontal and vertical directions of the wall surface, and for each group point group, assume that the group point group forms a circle and calculate the shape of the circle. It is characterized by calculating the center coordinates and radius.

The method for detecting the position and radius of a plurality of holes according to claim 2 is the invention according to claim 1, in which the depth point is determined by the defect depth at the peripheral edge of the hole when the hole is drilled in the wall surface. It is characterized by being a point that is recessed in size.

The method for detecting the positions and radii of a plurality of holes, which is the invention according to claim 3, is the invention according to claim 1 or 2, wherein the group point group is an arbitrary one of the depth points. It is characterized in that it is formed by a set of depth points and the depth points that are within a predetermined range from the reference depth point.

The method for detecting the positions and radii of a plurality of holes, which is the invention according to claim 4, is the invention according to any one of claims 1 to 3, wherein the three-dimensional point group data is obtained by three-dimensional data acquisition. The method is characterized in that the position of the unmanned aircraft and the data at that time are acquired while the unmanned aircraft on which the means is mounted is flown along the wall surface.

The method for detecting the position and radius of a plurality of holes, which is the invention according to claim 5, is the invention according to any one of claims 1 to 3, wherein the three-dimensional point group data is obtained by three-dimensional data acquisition. It is characterized in that the position of the traveling device and the data at that time are acquired while the traveling device on which the means is mounted travels along the wall surface.

The method for detecting the positions and radii of a plurality of holes, which is the invention according to claim 6, is the invention according to any one of claims 1 to 3, wherein the three-dimensional point group data is obtained by three-dimensional data acquisition. The present invention is characterized in that data about the wall surface is obtained intermittently from different positions by the means, and the data is obtained based on the position where the data was obtained and the data at that time.

The method for detecting the position and radius of a plurality of holes, which is the invention according to claim 7, is the invention according to any one of claims 4 to 6, wherein the three-dimensional data acquisition means is a 3D scanner or a 3D camera. It is characterized by:

The invention according to claim 8 provides a method for detecting the positions and radii of a plurality of holes, in which, in the invention according to any one of claims 1 to 7, the center coordinates and radius of the circle are determined by the least squares method. , calculated by Hough transform or RANSAC.

According to the present invention, three-dimensional point cloud data of a wall surface where a hole has been drilled is acquired, depth points that are deeper than the wall surface by a predetermined dimension are extracted based on the three-dimensional point cloud data, and depth points are extracted in the horizontal and vertical directions of the wall surface. We acquire multiple group point groups formed by a set of depth points in , and calculate the center coordinates and radius of each group point group, assuming that the group points form a circle. It becomes possible to accurately detect the positions and radii of multiple holes drilled in the wall of a manufactured structure.

FIG. 2 is an explanatory diagram showing a part of an existing concrete structure that has been seismically reinforced by inserting shear reinforcing reinforcing bars into holes drilled in an existing concrete structure according to an embodiment of the present invention. It is a figure showing an example of a plurality of holes drilled in the wall of a structure. It is a sectional view showing an example of a hole drilled in an existing concrete structure. 3 is a flowchart showing a method for detecting the positions and radii of a plurality of holes drilled in a wall surface of a concrete structure according to an embodiment of the present invention. FIG. 3 is a diagram showing an image from which acquired depth point data is extracted. 3 is a flowchart showing a method for acquiring a group point cloud. FIG. 3 is an explanatory diagram showing setting of a range in acquiring a group point cloud. 6 is a diagram illustrating a group of points acquired for each hole by reading the image data shown in FIG. 5, a circle approximated by the least squares method, and the value of its center coordinate. FIG. 9 is a diagram showing the center coordinates and radius values of each circle in FIG. 8. FIG. FIG. 3 is a diagram showing the radius and center coordinates of a circle corresponding to a drilled hole. It is a figure which shows the distance between the center coordinates of adjacent circles about the circle corresponding to the drilled hole.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment as an example of this invention will be described in detail based on drawing. In addition, in the drawings for explaining the embodiments, the same components are designated by the same reference numerals in principle, and repeated explanation thereof will be omitted.

The method for detecting the positions and radii of multiple holes in this embodiment is to detect the positions and radii of multiple holes drilled in the post-construction shear reinforcement method, which is one of the reinforcement (seismic reinforcement) methods for existing concrete structures. This is to detect the drilled hole shape (drilled hole position) and measure the drilled hole shape.

Here, the post-installation shear reinforcement method refers to, for example, an existing concrete structure S in contact with the ground G as shown in Figure 1, or an existing concrete structure S built on the ground near a structure such as a railway or road. A hole is drilled in the wall surface of a manufactured structure S, etc. using a hole-drilling device (not shown), and a post-installed shear reinforcing reinforcing bar (hereinafter referred to as "shear reinforcing reinforcing bar") R is inserted into the drilled hole H. After that, this method improves the shear strength of the structure S by injecting and hardening the fixing material (mortar) M and integrating the shear reinforcing reinforcing bars R and the structure S.

As the shear reinforcing reinforcing bar R, for example, a generally used reinforcing bar R1 that is threaded or diagonally cut on one side and has a hexagonal nut R2 attached to the tip as a fixing member is used.

FIG. 2 shows an example of a plurality of holes drilled in the wall surface of the structure S. In this embodiment, a case is shown in which holes with a diameter of 40 mm are drilled at intervals of 510 mm (hole center interval) in the horizontal and vertical directions. Note that the drilling depth is 500 mm. However, in the present invention, the hole diameter, hole spacing, and drilling depth are not limited to these values, but are set to necessary values depending on the state of the structure S and the like.

Now, once these multiple holes have been drilled on the wall surface of the structure S, before injecting the fixing material, it is necessary to measure the finished shape of the holes, that is, to detect the positions and radii of the multiple drilled holes. It is confirmed that holes of the appropriate size have been drilled in the appropriate locations.

As mentioned above, with the technology of photographing the drilled wall surface and determining the hole position from the difference in brightness between the hole and the wall surface, if the brightness difference between the hole and the wall surface becomes unclear at the time of photographing, It becomes difficult to identify the drilling position.

In addition, with the technique of determining the hole position from the surface shape obtained by scanning the drilled wall surface with a laser beam, the tip of the drilling device shakes at the start of drilling, and the concrete around the periphery of the hole H is damaged ( (see FIG. 3), the pore diameter is detected to be larger than the actual pore diameter (internal pore diameter).

Therefore, in this embodiment, in consideration of these problems, the positions and radii of a plurality of holes H drilled in the wall surface of the concrete structure S are detected by the method shown in FIG. Here, FIG. 4 is a flowchart showing a method for detecting the positions and radii of a plurality of holes drilled in a wall surface of a concrete structure according to an embodiment of the present invention.

In FIG. 4, first, three-dimensional point group data of the wall surface of the structure S in which a hole has been drilled is acquired (step S1). Specifically, a 3D scanner (a scanner that converts the shape of a solid object into 3D (Three-Dimensions) data), which is a 3D data acquisition means, is used to acquire 3D point cloud data of the drilled wall surface. do. In this embodiment, the horizontal direction of the wall surface is the x-axis (horizontal axis coordinate), the vertical direction is the y-axis (vertical axis coordinate), and the depth direction of the hole is the z-axis (vertical axis coordinate with respect to the xy plane: (the depth direction is negative).

Here, as an example of a method for acquiring 3D point cloud data, for example, an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicle) called a drone equipped with a 3D scanner may be used to fly along a wall. A method of acquiring data based on the position of the traveling device and the data at that time, a method of acquiring data based on the position of the traveling device and the data at that time while running a traveling device equipped with a 3D scanner along the wall surface, There is a method of obtaining data about the wall surface at a specific time, and then acquiring it based on the position and data at that time. In addition, when using a traveling device, the traveling device equipped with a 3D scanner should have a structure that allows it to run on rails laid parallel to the wall, or a structure that allows it to run on its own parallel to the wall by installing wheels. There are many things that can be considered.

Once the three-dimensional point cloud data of the wall surface of the structure S that has been drilled in this way is obtained, a point 10 mm deep from the wall surface (depth point: point on the z-axis) is extracted based on the three-dimensional point cloud data. (Step S2). The reason for extracting depth points is, as mentioned above, when the periphery of the drilled hole is missing (see Figure 3), once the data of the wall surface has been extracted, the shape of the missing hole (i.e. , a hole that is not in its original shape) will be extracted, but if the points that are not missing (depth points) are extracted, the original shape of the hole can be extracted.

In addition, in this embodiment, a point 10 mm deep from the wall surface is set as the depth point, but the depth point does not need to be a point 10 mm deep from the wall surface, and can be set to a depth deeper than the depth of the defect at the peripheral edge of the hole. Any point can be set as desired. However, as long as the depth point satisfies the condition that it is deeper than the depth of the defect at the peripheral edge of the hole, it is desirable that the depth point be as close to the wall surface as possible. This is because if the depth point is too deep, the 3D scanner's laser light will not reach the depth point depending on the hole because the inner peripheral surface of the hole is steep, and the 3D point cloud data will be extremely small. .

FIG. 5 shows an image from which the acquired depth point data is extracted. In order to scan and irradiate the laser beam from the 3D scanner to the depth point set on the inner peripheral surface of the drilled hole (in this embodiment, the inner peripheral surface at a position 10 mm deep from the wall surface). The irradiation angle of the light is inclined with respect to the axial direction of the hole. Therefore, the depth point to which the laser beam is irradiated is not the entire circumference of the inner peripheral surface of the hole but a part thereof, so that the acquired image has an arc shape as shown in the figure.

In addition, in this embodiment, such a laser beam cutting type 3D scanner (a target object is scanned with a laser beam, the reflected light is received by a CCD, and the distance to the target object is obtained by the principle of triangulation) is used. However, other types of 3D scanners may be used, such as a grid pattern projection camera type 3D scanner that projects a grid pattern and reads it with a camera.

Furthermore, in this embodiment, a 3D scanner is used as a 3D data acquisition means to acquire 3D point cloud data on the wall surface of the structure S where holes are drilled, but a 3D camera is used as a 3D data acquisition means. The three-dimensional point group data described above may be obtained using the above-described three-dimensional point group data.

Now, once the depth points have been extracted, a plurality of group point groups formed by a set of depth points in the horizontal and vertical directions of the wall surface are obtained (step S3). In other words, for the extracted depth points, search for a point group of depth points within the range set for the coordinates (x, y) of each point, and combine these points as a group point group formed by one set. Obtained for each hole.

Here, acquisition of a group point group will be explained using FIGS. 6 and 7. FIG. 6 is a flowchart showing a method for acquiring a group point cloud, and FIG. 7 is an explanatory diagram showing range setting in acquiring a group point cloud.

In FIG. 6, first, a reference depth point (reference depth point P1: FIG. 7) is determined (step S3-1). As shown in FIG. 7, the reference depth point P1 is an arbitrary one of the extracted depth points.

Once the reference depth point P1 is determined, a depth point within a range of ±50 mm from the reference depth point P1 is searched for (step S3-2). In FIG. 7, the reference depth point P1 is one point on the circumference, and as mentioned above, the diameter of the hole in this embodiment is 40 mm, so it is set to a range of ±50 mm, including an error of 10 mm. . That is, Lx and Ly in FIG. 7 are each 50 mm. As a result, a depth point within a range of ±50 mm in the x-axis direction and the y-axis direction (within the range surrounded by the outer broken line in FIG. 7) around the reference depth point P1 is searched for. Note that it is desirable that the search for depth points within the range be automatically performed by software.

Then, once the depth points within the aforementioned range are searched, the points formed by the set of the reference depth point and the searched depth point (that is, the points shown in FIG. 7) are acquired as a group point group ( Step S3-3).

Now, once the group point group has been obtained in this way, returning to FIG. The radius is calculated (step S4). In other words, a circle is expressed as the following equation for the group of acquired points, and the center coordinates and radius of the circle are calculated using the least squares method (an algorithm that finds the coefficient of the function that minimizes the sum of squares of the errors between the data points and the function). do.

(x _i -a) ² + (y _i -b) ² = r ²

Here, x _i is the x-axis coordinate value of any point on the circumference, y _i is the y-axis coordinate value of any point on the circumference, a is the x-axis coordinate value of the center of the circle, and b is the x-axis coordinate value of the center of the circle. The y-axis coordinate value, r, is the radius of the circle.

The image data shown in FIG. 5 was read, and FIG. 8 shows a group of point groups obtained for each hole, a circle approximated by the least squares method, and the values of its center coordinates. Further, the center coordinates and radius values of each circle in FIG. 8 are shown in FIG.

In FIG. 8, symbols 1 to 4 indicate circle numbers. In addition to the circle number, drilling numbers c, a, d, and b corresponding to the circle number are attached. In these drilling numbers c, a, d, and b, the thick line is a group of points, and the thin line is a line that supplements the thick line to draw a circle determined by the least squares method. Note that the numbers to the right of the drilling numbers c, a, d, and b are the center coordinates of the circle (x-axis coordinate value, y-axis coordinate value).

FIG. 10 shows the radius and center coordinates (x-axis coordinate values, y-axis coordinate values) of circles with circle numbers 1 to 4 (drilling numbers c, a, d, b).

Further, FIG. 11 shows the distance between the center coordinates of adjacent circles with respect to circles corresponding to drilled holes. It can be seen from FIG. 11 that the drilled holes are spaced approximately 510 mm apart (distance between hole centers) in the horizontal and vertical directions.

As explained above, according to the present embodiment, three-dimensional point cloud data of the wall surface where holes have been drilled is acquired, and based on the three-dimensional point cloud data, a predetermined dimension (in this embodiment, 10mm) Extract the deep depth points, obtain multiple group point groups formed by a set of depth points in the horizontal and vertical directions of the wall surface, and for each group point group, the group point group forms a circle. Since the center coordinates and radius are calculated based on the concrete structure, it is possible to accurately detect the positions and radii of a plurality of holes drilled in the wall surface of a concrete structure.

Therefore, when the brightness difference is unclear, such as when determining the hole position from the brightness difference between the photographed wall surface and the hole, it becomes difficult to identify the hole position, or when the hole position is determined by scanning the wall surface with a laser beam. When the concrete around the hole is missing, as in the case where the hole position is determined from the shape, the hole diameter will not be detected as being larger than the actual hole diameter.

Although the invention made by the present inventor has been specifically explained based on the embodiments above, the embodiments disclosed in this specification are illustrative in all respects, and are limited to the disclosed technology. isn't it. In other words, the technical scope of the present invention should not be construed in a limited manner based on the description of the embodiments described above, but should be construed solely in accordance with the description of the claims, and the scope of the claims This invention includes techniques equivalent to the techniques described in , and all changes without departing from the gist of the claims.

For example, in this embodiment, the center coordinates and radius of the circle are calculated using the least squares method, but the method is not limited to this. When a function is calculated, the coefficients are aggregated and the combination of coefficients that is most suitable as a candidate is adopted. It is possible to apply various known methods such as (algorithm).

In the above description, the present invention is used to detect the position and radius of a hole drilled to insert shear reinforcing reinforcing bars into an existing structure made of concrete. The present invention is not limited to holes for inserting reinforcing bars, but can be widely applied to detecting the position and radius of holes drilled in concrete structures for various purposes.

H Hole R Reinforcement reinforcing bar R1 Reinforcing bar R2 Hexagonal nut S Structure

Claims (8)

A method for detecting the position and radius of a plurality of holes drilled in a wall surface of a concrete structure using a drilling device, the method comprising:
Obtaining three-dimensional point cloud data of the wall surface where holes have been drilled,
extracting a depth point that is a point deeper than the wall surface by a predetermined dimension based on the three-dimensional point group data;
acquiring a plurality of group point groups formed by the set of the depth points in the horizontal and vertical directions of the wall surface;
For each group of points, calculate the center coordinates and radius of the circle assuming that the group of points forms a circle;
A method for detecting the positions and radii of a plurality of holes, characterized in that: The depth point is a point deeper than the depth of the defect at the peripheral edge of the hole when the hole is drilled in the wall surface.
The method of detecting the positions and radii of a plurality of holes according to claim 1. The group point cloud is
formed by a set of a reference depth point that is an arbitrary one depth point and the depth points that are within a predetermined range from the reference depth point;
3. The method for detecting the positions and radii of a plurality of holes according to claim 1 or 2. The three-dimensional point cloud data is
While flying an unmanned aircraft equipped with a three-dimensional data acquisition means along the wall surface, acquiring the data based on the position of the unmanned aircraft and the data at that time;
The method for detecting the positions and radii of a plurality of holes according to any one of claims 1 to 3. The three-dimensional point cloud data is
While running a traveling device equipped with a three-dimensional data acquisition means along the wall surface, the data is acquired based on the position of the traveling device and the data at that time.
The method for detecting the positions and radii of a plurality of holes according to any one of claims 1 to 3. The three-dimensional point cloud data is
Data about the wall surface is obtained intermittently from different positions by a three-dimensional data acquisition means, and the data is obtained based on the position where the data was obtained and the data at that time.
The method for detecting the positions and radii of a plurality of holes according to any one of claims 1 to 3. The three-dimensional data acquisition means is a 3D scanner or a 3D camera.
The method for detecting the positions and radii of a plurality of holes according to any one of claims 4 to 6. The center coordinates and radius of the circle are
Calculated by least squares method, Hough transform or RANSAC,
The method for detecting the positions and radii of a plurality of holes according to any one of claims 1 to 7.

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