JPH11122518A - Underwater television camera and underwater television camera system for virtual body sensation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the convenience and the operability of management of a photographed object image by providing a remote control means that remotely controls the underwater television camera via a cable, displaying an image from the television camera, synthesizing or editing an image different from the television camera and character information and displaying or recording the resulting image. SOLUTION: An operation device 10 supplies a torque of an underwater television camera 1 and enters a propeling direction to a controller 4, which produces a control signal and gives it to the underwater television camera 1 to guide the camera 1 up to an installed position of an object to be checked. A photographed image is received by an edit generator 5, from which the image is displayed on a display device 7. An object is confirmed by the image displayed on the display device 7 and a name of the object and its checked positions are read from data denoting names of buildings containing the underwater object and checked positions stored in advance in a database system 8 by means of the operation device 10 via the controller 4, the data are synthesized by the edit generator 5 and displayed on the display device 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater television camera apparatus used for inspection and inspection of various construction parts installed in water and various operations, and an underwater television camera system useful for simulating the experience of swimming underwater.

[0002]

2. Description of the Related Art After installation of various structures installed in water, such as water tanks, rivers, and the sea, for example, electric cables, pipes, or piers, when performing regular or constant monitoring and inspection, a waterproofed confidential material is required. Install a TV camera in the housing (hereinafter,
An underwater television camera), and the underwater television camera is brought close to a target building (hereinafter, referred to as a subject) such as an electric cable, a pipe or a pier by an external control means, and an image of the subject captured by the television camera. Inspection and inspection for changes and abnormalities in the appearance, and cleaning or sampling.

On the other hand, when the underwater television camera is remotely operated to move only the underwater television camera in water to capture an image of a subject, character information such as an inspection location and a name and an inspection image are displayed separately. It is inconvenient for inspection and inspection record management. Further, the underwater television camera cannot be fixed due to the influence of the flow of water or the waves, and it is difficult to secure the sharpness of the captured image.

Further, when an image of a subject in water is taken using an underwater television camera, measurement of the shape and size of the subject is required. However, there is no means for measuring the shape and size of the subject using an underwater television camera. Further, for a subject or object imaged by an underwater television camera, for example, cleaning, sampling, and the like are performed using a dedicated underwater robot for operation, and the work can be easily performed using an underwater television camera for inspection and monitoring. There is no strategic means.

[0005]

Conventionally, in an underwater television camera in which a television camera is built in a confidential housing, when the underwater television camera is moved by a remote control to capture an image of the object, the name of the image of the imaged object is taken. And location information are managed separately, making it difficult to maintain inspection records, or because of the effects of water currents and waves, making it difficult to secure the underwater TV camera, and ensuring high-resolution images. Can not do. Furthermore, when inspecting and monitoring an object in the water, the size or shape of the object cannot be measured with an underwater television camera, and the underwater object satisfies the requirement to perform easy work on the object in the water. There were problems such as no TV camera.

The present invention aims to improve the convenience and operability of managing an image of a subject captured by an underwater television camera.
It is an object of the present invention to provide an underwater television camera device that can easily fix a camera at the time of imaging, measure a subject, and easily perform an operation, and also provide an underwater television camera system that can be used for simulated bouts such as swimming underwater. .

[0007]

An underwater television in which at least a television camera is built in a watertight confidential housing, and wherein the confidential housing has a transmission window through which the television camera passes through a subject, a propulsion unit, and an illumination unit. A camera, remote control means for remotely controlling the underwater television camera via a cable, display means for displaying an image from the television camera, and combining or editing an image and character information different from the image from the television camera Editing means to display the combined or edited image on the display means, or
An underwater television camera device that records or prints on a recording medium.

Propulsion means for moving and propelling the underwater television camera apparatus in water; and extending from both sides of a transparent window of the confidential housing of the underwater television camera apparatus so as to abut on the tip and slide the object surface. A vertical / horizontal sliding vehicle having a sliding vehicle that moves the vehicle. While applying a propulsive force to the camera device, when the underwater television camera device slides the subject, the vertical and horizontal sliding vehicle of the underwater television camera device maintains the contact state with the subject while the propulsion means An underwater television camera device for moving the underwater television camera device.

Telescopic gauge means provided near the transparent window of the confidential housing of the underwater television camera device;
Installed in the confidential housing, expanding and contracting the gauge means,
And a gauge driving means for measuring an extension dimension, a video signal of the subject taken by a television camera in the confidential housing, and a gauge extension dimension value to the subject measured by the gauge driving means, to calculate the dimension of the subject. An underwater television camera device.

Further, there is provided an underwater television camera device capable of easy underwater work by merely changing the gauge means to various work tool means and changing the gauge drive means to work tool drive control means.

Further, diving movement driving means for dive-moving the underwater television camera apparatus in water, display means for capturing and reproducing and displaying a video signal picked up by the underwater television camera, and based on the video reproduced on the display means. An operation control means for supplying a control signal to the diving movement driving means from underwater and outside; and a tiltable base for tilting the installation base of the operation control means vertically and horizontally according to a control signal from the operation control means. The operation control means has a virtual video signal for underwater swimming, and combines the virtual video signal and a video signal captured during the dive movement of the underwater television camera to generate a pseudo-submersible underwater image to be displayed on the display means. It is a television camera system.

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a diagram showing a position embodiment of an underwater television camera apparatus according to the present invention. In the figure, reference numeral 1 denotes an underwater television camera, in which a television camera 2 is built in a confidential housing, and illumination, It is composed of an underwater camera propulsion device, a control device for the TV camera 2, and the like. The underwater television camera 1
Are connected to the control device 4 by a cable 3 and to the edit generation device 5 by a cable 3 '. Further, the editing and generating device 5 includes a fixed television camera 6, a display device 7 for displaying images captured by the underwater television camera 1 and the fixed television camera 6, the control device 4, a database device 8, and an output device 9. Is connected. The database device 8 stores various data such as the name, position, and shape / dimension measurement and calculation of the subject video imaged by the underwater television camera 1 and image synthesis of the underwater television camera 1 or the fixed television camera 6. I have. The edit generation device 5 has a function of synthesizing or editing an image with an image signal from the underwater television camera 1 or the fixed television camera 6 or data from the database device 8 according to a control signal from the control device 4. ing. The output device 9 includes:
It has printing means and various medium recording means. The image signal synthesized or edited by the edit generation device 5 is displayed on the display device 7 and, for example, output by the output device 9.
When the image displayed on the display device 7 is printed on paper, it is printed by a printer, or when an image signal or data extracted from the database device 8 is recorded and stored, various magnetic or optical recording media are used. To record. Further, the control device 4 is connected to an operating device 10 from which the underwater television camera 1 drives underwater to drive the vehicle to dive and controls the direction, lighting power, and the TV camera 2. Of the TV camera 2, the fixed TV camera 6, and the data from the database device 8, and the editing and generating device 5 synthesizes or edits the image and data. .

In this underwater television camera device, the driving force supply and the propulsion direction of the underwater television camera 1 are input from the operating device 10, and based on the input, the driving force supply and the propulsion direction control signal are sent from the control device 4. It is generated and supplied to the underwater television camera 1, and is guided to the installation position of the inspection object of the underwater subject to be imaged by the television camera 2. An image of a subject is captured by the editing and generating device 5.
And display it on the display device 6. At this time, the subject imaged by the television camera 2 is confirmed in the image displayed on the display device 5, and the name of the subject and the inspection location are transmitted from the operation device 10 via the control device 4 to the database device 8 in the database. The data is read from the underwater subject building name and inspection location data stored in advance in the device 8, synthesized by the editing device 7, and displayed on the display device 7. Further, the result of synthesizing the image captured by the television camera 2 and the information from the database device 8 is output to the output device 9 and printed on paper by a printing means or recorded on a recording medium. The output of the image and the information to the output device 9 and the control of printing or medium recording are performed via the control device 4.

As a result, the name and location of the subject in the image taken by the television camera 2 become clear, and the inspection result is input from the image from the operation device 10, and the inspection result is also displayed in the image and information. By printing, printing or recording, the efficiency of inspection management can be improved.

Next, the configuration of the underwater television camera will be described with reference to FIG. 2A is a perspective view showing the entire structure, FIG. 2B is a side sectional view, and FIG.
(C) is a top sectional view.

In the underwater television camera 1 of the present invention, a television camera 2 is installed in a housing 11 which has been subjected to waterproof and security processing. The television camera 2 includes an optical lens unit 12a for taking in light from a subject, and A camera body in which an electronic tube or a liquid crystal element for photoelectrically converting the subject light captured by the optical lens unit 12a and a signal processing circuit for converting and generating an electronic signal generated by the image sensor into a television signal are incorporated. 12b.

In addition to the television camera 2, an electric motor 13a for adjusting the imaging angle of the television camera 2 with respect to the subject is provided inside the housing 11 for adjusting the imaging angle.
And a camera angle adjustment drive source 13 comprising a drive gear 13b provided between the electric motor 13a and the television camera 2.
And a propulsion drive source 14 having an electric motor for supplying a propulsion force for moving the housing 11 underwater, and the television camera 2, the camera angle adjustment drive source 13, and the propulsion drive source 1.
Control means 1 for supplying operating power and control signals to
5 are arranged.

Further, the upper and lower surfaces, both side surfaces, and the rear surface of the housing 11 are formed of an opaque member, and the front surface is formed of a transparent window 11 made of a transparent member such as tempered glass or resin.
a. The optical lens portion 12a of the television camera 2 is arranged on the inner surface side of the transmission window 11a of the housing 11, and the inner surface of the imaging window 11a is
A light source 16 for illuminating a subject and a reflector 17 having a concave cross section for reflecting illumination light from the light source 16 are arranged.

On the outer surface of the back surface of the housing 11, four propelling propellers 18a formed by propellers or screws rotating by the driving force from the propulsion driving source 14,
18b, 18c and 18d are provided.

Further, both side surfaces of the casing 11 have side extending portions 11b, 1b extending on both side surfaces of the transmission window 11a.
1c, longitudinal movement vehicles 19a, 19b are arranged at the upper end and lateral movement vehicles 20a, 20b are arranged at the lower end, and a gauge 21 for distance measurement is provided near the lower end of the side extending portion 11b. Is arranged. In addition, this gauge part 2
1 has a structure that expands and contracts by a control signal of the control unit 15 using a drive source (not shown).

Although not shown, the television camera 2, the camera angle control drive source 13, the propulsion drive source 14, the control unit 15, and the gauge unit 21 built in the confidential housing 11 are supplied with operating power and various Various cables for supplying control signals are connected via waterproof cable connectors provided on the confidential housing 11.

In the underwater television camera 1 having such a configuration,
When capturing an image of an object under water, the light source 1
The direct light projected from the light source 6 and the reflected light reflected from the reflector 17 (hereinafter, referred to as illumination light for direct light and reflected light) are irradiated. The control unit in the confidential housing 11 is monitored via the operation device 10, the control device 4, and the cable 3 while monitoring the image of the television camera 2 capturing an image of the subject irradiated with the illumination light by the display device 7. When a diving propulsion control signal of the underwater television camera 1 is supplied to the control unit 15, a signal for driving the propulsion drive source 14 and electric power are supplied from the control unit 15. The rotational power of the propulsion drive source 14 is transmitted to the propulsion propellers 18a to 18d, and the underwater television camera 1 is propelled by the rotation of each propeller. At this time, by changing the rotation speed or the direction of each of the propulsion propellers 18a to 18d, it is possible to perform diving propulsion in water vertically and horizontally.

The operation when the underwater television camera 1 is driven to dive as described above and a desired underwater subject is imaged will be described with reference to FIG.

As shown in FIG. 3A, the underwater television camera 1 is brought close to a target subject, and
Side extending portion 11 extended from both side surfaces of security housing 11
b, 11c vertical moving vehicle 1 attached to the tip
9a, 19b and the laterally moving vehicles 20a, 20b are brought into contact with a subject, for example, a pipe 31. This pipe 31
The vertical and horizontal moving vehicles 19a, 19b, 20a, 20
When a uniform propulsion rotational force is applied to the propelling propellers 18a to 18d so as to maintain the state in which the b is kept in contact, the underwater television camera 1 is in a state of being constantly pressed at the contact point of the pipe 31. As a result, the underwater television camera 1 can maintain a state in which the underwater television camera 1 is fixed to the pipe 31 without any influence even if a water current or a wave occurs. When the surface state of the pipe 31 as an object is imaged by the television camera 2 while the underwater television camera 1 is maintained in such a state, the captured image in which the distance between the object and the television camera 2 is maintained constant without shaking. It is possible to obtain a proper image.

Next, in such a state, when the underwater television camera 1 is sequentially moved up and down with respect to the pipe of the subject to image the surface of the pipe 31, the laterally moving vehicle 20 is moved, for example, by By making the outer shape a barrel shape, by changing the direction of the propelling propeller 18 and applying a propulsion rotational force for vertically moving the underwater television camera 1, the vertical movement is performed together with the movement of the underwater television camera 1. The vehicle 19 rotates along the surface of the pipe 31, and the laterally moving vehicle 20 slides on the surface of the pipe 31. During this vertical movement, the vertical and horizontal moving vehicles 19 and 20 are constantly moved while maintaining the contact state with the object pipe 31, so that the distance between the object pipe 31 and the television camera 2 is sequentially kept constant. Can be obtained.

In the case where, for example, a welded portion 32 is present in the pipe 31 as a subject, the welded portion 32 is imaged not only from the front but also from above and below to obtain an inspection image of the welded portion 32. The electric motor 1 of the camera angle adjustment drive source 13 for adjusting the imaging angle of the TV camera 2 up and down
By controlling and rotating 3a and changing the rotational force of the television camera 2 to the subject via the driving gear 13b at an angle (indicated by a dotted line in the figure), images with different imaging angles of the welding portion 32 are obtained. Becomes possible.

Next, when sequentially photographing the outer peripheral surface of the pipe 31 which is the subject in the circumferential direction, as shown in FIG. In the case of a car, it may become an obstacle when the pipe 31 of the underwater television camera 1 moves in the circumferential direction. In such a case, the propulsion direction and the rotational force of the propulsion propeller 18 are controlled so that, for example, the vertical moving vehicle 19 is slightly separated from the pipe 31 and only the lateral moving vehicle 20 is brought into contact with the pipe 31. The underwater television camera 1 is sequentially moved in the circumferential direction on the outer periphery of the pipe 31 in a state where the television camera 2 and the pipe 31 are moved in the same manner as the above-described vertical imaging.
It is possible to take an image while maintaining a constant distance from.

At this time, since the underwater television camera 1 is in contact with the surface of the pipe 31 of the subject at a certain inclination angle, the television camera 2 is moved using the camera angle adjustment drive source 13. It is also possible to adjust the angle so that the television camera 2 and the surface of the pipe 31 face each other.

In this way, even if the subject is circular or planar, the distance between the subject and the underwater camera 1 is always kept constant up and down or left and right, and there is no camera shake. It is possible to capture a natural image.

Although the vertical moving vehicle 19 has a circular shape and the horizontal moving vehicle 20 has a barrel-shaped rectangular shape, the two moving vehicles 19 and 20 are spherical moving vehicles. When the subject moves up, down, left, and right, both the vertical and horizontal moving vehicles 19, 20 may be movable while always in contact with the subject.

By using the underwater television camera 1 as described above, it is possible to capture an image of a subject placed underwater.
An image without camera shake can be obtained.

Next, when it is found from an image captured by the underwater television camera 1 that an underwater subject has a defect such as corrosion or a crack, the measurement of the size of the defect is shown in FIG. This will be described using c).

When a corroded or cracked portion (hereinafter referred to as a defective portion) 33 exists in a pipe 31 as an object, the size t1 of the defective portion 33 and the size of the defective portion displayed on the image pickup device of the television camera 2 are determined. The size t2 of the image 34 is the distance L1 between the optical lens portion 12a of the television camera 2 and the defective portion 33 of the pipe 31 of the subject, and the image display surface of the optical lens portion 12a of the television camera 2 and the image sensor. Shows a proportional relationship with the distance L2 to the distance.

That is, the relational expression of t1: t2 = L1: L2 holds. In this relational expression, L2 is determined and fixed at the time of designing and manufacturing the television camera 2, and can be treated as a fixed value.
Further, the size t2 of the defective portion image 34 displayed on the image sensor of the television camera 2 can be obtained by counting the number of pixels. Therefore, the TV camera 2
If the distance from the object to the pipe 31 can be measured, the size t1 of the defective portion 33 can be easily calculated from the above relational expression.

For this reason, the gauge 21 provided at the lower end of the side extension 11b of the confidential housing 11 is extended by the control signal of the control unit 15, for example, by the driving force from the propulsion drive source 14, The extension distance L1 'of the gauge section 21 when the tip of the gauge section 21 contacts the pipe 31 as the subject, and the optical lens section 12a of the television camera 2 when the gauge section 21 expands and contracts to the minimum. Distance L1 ″ (fixed) to L1 (L1 = L1 ′ + L
1 ") is detected.

As a method of measuring the extension distance of the gauge section 21, the control section 4 extends the gauge section 21 at a constant speed in response to an operation input of an operation device 10 for remotely controlling the underwater television camera 1 from outside. The extension distance of the gauge unit 21 is calculated using the supply time of the control signal to be caused. The defect image 34 displayed on the image sensor of the television camera 12 can also calculate the size t2 of the defective image 34 by counting at least the number of pixels in the vertical direction and the horizontal direction of the defective image in the captured image. . This allows
T1: t2 = L1: L2 (where L1 = L1 ′ +
From the relational expression of L1 ″), the defective portion 33 of the pipe 31 of the subject
And the actual defect size in the vertical and horizontal directions can be calculated, and can be used as a judgment factor for maintenance or replacement of the pipe 31.

In addition, instead of the gauge 21 for measuring the distance between the underwater television camera 1 and the pipe 31 of the object, both sides of the confidential housing 11 provided with vertical and horizontal moving vehicles 19 and 20 at the end are provided. The portions 11b and 11c are made to be expandable and contractable, and the extension portions 11b and 11c are extended, and the extension dimension when the vertical and horizontal moving vehicles 19 and 20 at the tips come into contact with the pipe 31 of the subject is measured. It is also possible.

Next, a description will be given of arithmetic processing such as discrimination or measurement of a subject from an image captured by the underwater television camera 1 described above.

The editing and generating device 5 shown in FIG.
An image signal of the television camera 2 and extension distance data of the gauge unit 21 are captured. The edit generation device 5 receives pixel data from the operation device 10 and, through the control device 4, from the database device 8 recognizes the shape of the subject in the image and counts the number of pixels. A calculating means for calculating the shape and size of the subject from the number of pixels and the extension distance data of the gauge is read. The shape and dimensions of the subject and the defective portion 33 can be calculated by the pixel counting means and the calculating means using the image signal of the television camera 2 and the extension distance data of the gauge section 21.

The calculated shape and size of the subject are displayed on the display device 6 and, if necessary, printed by an output device 9 and recorded on a medium.

Next, instead of the gauge section 21, tools for various operations, for example, tools with a rotary brush for cleaning,
Alternatively, a gripping tool or the like for sampling is prepared in advance, and work drive data corresponding to the work tool is stored in the data pace device 8 in advance, and the tool according to the work content of the tool attached via the control device 4 is prepared. Supply drive control power. Specifically, in the case of a tool with a rotary brush for cleaning, a brush rotation start input is performed from the operating device 10, and the control device 4 reads the corresponding drive data from the database device 8 by the input, and according to the drive data, A driving force is supplied to the cleaning brush-equipped tool. The underwater television camera 1 having the rotary brush-equipped tool provided with the rotational driving force is moved closer to the target portion, and the rotary brush is brought into contact with the target object to remove dust adhering to the target object by the rotational force of the brush. Remove. In addition, in the case of a holding tool for sampling, the holding tool is moved closer to the target together with the underwater television camera, and the tool is controlled so as to hold the target portion to be collected. It is moved and transported together with the underwater television camera device. Alternatively, when simplifying the tool and tool drive control, the tool is a cleaning brush and a spoon for sampling, and the brush and the spoon are attached and fixed to the underwater television camera 1;
When cleaning the object, the underwater television camera 1 is moved back and forth, and an operation of wiping the object with the brush is performed. When collecting the sample, the sample is placed on a spoon fixed to the underwater television camera 1. It is also possible to perform the operation of mounting.

That is, simple work can be performed while monitoring the image taken by the television camera only by using the tool according to the work and by giving the drive control according to the work tool to the tool.

As described above, according to the present invention, when an image of a subject in water is taken by using the underwater television camera device, the subject is provided with a moving vehicle for contacting the subject provided in the confidential housing of the underwater television camera. Abuts, and the state can be maintained by the driving force of the dive progress driving source of the underwater television camera, so that the underwater television camera is not affected by water currents and waves at the time of imaging the subject, and the television camera can be easily operated. When the underwater television camera is moved along the subject, the camera can be fixed and the underwater television camera can be moved in the diving direction of the underwater television camera in a state where the underwater television camera is brought into contact with the moving vehicle of the confidential housing on the subject surface. It is possible to continuously move only by controlling the traveling force and to obtain a sharp image of the subject at all times.

When measuring the size of a subject, only the distance between the television camera and the subject is measured by a measuring gauge, and the video signal of the subject captured by the television camera is binarized and obtained. Using the dimensional value of the subject in the signal, the dimensional value of the subject can be easily obtained using the formula for calculating the actual size of the subject, and a tool such as cleaning or sampling is changed to a measuring gauge and attached. Thereby, easy work can be performed.

Next, another embodiment using the present invention will be described with reference to FIG.
This will be described with reference to FIG. One embodiment of the present invention described with reference to FIGS. 2 and 3 is a self-propelled underwater television camera apparatus including a propulsion drive source 14 and a propulsion propeller 18 for allowing the underwater television camera 1 to freely dive. However, FIG. 4 shows an underwater television camera used for imaging various devices and buildings installed in an aquarium. As a specific example, for example, steam used for monitoring and inspection of a nuclear power reactor and various applications. Used to monitor and inspect the piping in the cooling tank when cooling the water and returning it to water, and for transporting the transport path and transport device provided on the upper surface of the water tank and the underweight rod that drops the underwater television camera underwater This is an underwater television camera that can be moved in a three-dimensional direction in a water tank using guidance and transport means.

Reference numeral 51 in FIG. 4 denotes a water tank. In the water tank 51, a nuclear reactor or piping (not shown) is arranged and filled with cooling water. This water tank 5
The first rails 53, 53 'are installed on the upper surfaces 52, 52' of one of the opposite side surfaces of one. A first drive wheel 55 for moving the stretch bar 54 on the first rails 53, 53 ', and having a stretch bar 54 stretched between the first rails 53, 53'; And a first electric motor 56 that applies a rotational driving force to the first drive wheel 55, and transmits a rotation of the first electric motor 56 to the first drive wheel 55 by a control signal described later. 1 drive wheel 55
Is moved on the rail 53 in the direction of the arrow X in the figure.

The second rails 57 and 57 ′ are provided on the upper surface of the stretch bar 54, and the second rails 57 and 57 ′ are provided.
A second drive wheel 58 that rotates on 7 ′ and a second electric motor 59 that applies a rotational driving force to the second drive wheel 58 are installed on the gantry 60. The gantry 60 transmits the rotation of the second electric motor 59 to the second drive wheel 58 in accordance with a control signal described later, and the second drive wheel 58 rotates on the second rail 57, as shown in FIG. Move in the middle arrow Y direction.

One end of a weight rod 61 which is expanded and contracted by expansion / contraction driving means (not shown) is attached to the gantry 60, and the other end of the weight rod 61 is suspended by the cooling water in the water tank 51. An underwater television camera 1 'is attached to the tip. That is, the lower weight rod 61 expands and contracts in the direction indicated by the arrow H in the drawing. The underwater television camera 1 'attached to the tip of the underweight rod 61 is attached so as to be able to rotate about 360 degrees in the horizontal direction indicated by the arrow Z in the figure by a drive source and a drive means (not shown). I have.

The underwater television camera 1 'has a function excluding at least the propulsion drive source 14 and the propulsion propeller 18 of the underwater television camera 1 shown in FIGS.

Further, an operation control console 62 having various devices 4 to 10 other than the underwater television camera 1 of the underwater television camera device described with reference to FIG. A drive means for extending and contracting the operation control console 62, the first and second electric motors 56 and 59,
Driving means for rotating the underwater television camera 1 ′ in the horizontal direction, and a cable for supplying various drive power, control signal supply, and imaging measurement signal to and from the underwater television camera 1 ′. A water tank see-through window 63 is provided on the side surface of the water tank 51 on which the operation control console 62 is installed, and is provided for directly viewing the underwater television camera 1 ′ moving in the water tank 51 from the see-through window 63. It is.

The operator uses the operating device 10 provided on the operation control console 62 to move and move the tension bar 54 and the gantry 60 to the first and second electric motors 56 and 59, and the weight rod. A drive control signal is supplied to the expansion / contraction drive unit 61, the horizontal rotation drive unit 69 of the underwater television camera 1 ', and the camera angle adjustment drive source 13 to move the inside of the water tank 51 to the target subject. Move 1 '. That is, the underwater television camera 1 'is pointed at the arrows H, X, Y, Z
The underwater television camera 1 ′ moves to the target object visually recognized through the perspective window 63, and the image of the target object captured by the television camera 2 and displayed on the display device 7. The television camera 1 'is guided and moved.

After guiding the underwater television camera 1 ′ to the target subject, the appearance of the subject in the water tank 51 is visually inspected from the captured image of the subject in the same manner as described above.
Is found, measurement and calculation of the shape and dimensions of the defective portion 33 are performed. This makes it possible to easily and reliably carry out inspection and monitoring of structures in the aquarium, even when normal maintenance personnel are not able to enter or require a well-equipped skilled person to enter. If a defect is found, it is easy to determine the progress of the defect and the repair time from the shape and size of the defect.

Further, it is possible to clean dust adhering to the pipe by using a work tool, and to remove dust deposited and accumulated in the cooling tank.

Next, another application example of the present invention will be described. In the first and second embodiments of the present invention, the underwater television camera device of the present invention is used for inspection and monitoring of underwater buildings. It is also applied as a device that can be used.

Recently, an aquarium has been constructed as one of the amusement facilities. In this aquarium, there is provided an apparatus for simulating underwater swimming for a spectator using the underwater television camera apparatus of the present invention in an aquarium in which fish and shellfish inhabit.

Specifically, fish and shellfish are inhabited in a water tank 51 shown in FIG. 4, and rocks and various plant seaweeds are arranged therein.
Create landscapes in rivers and underwater. An observation window 64 is provided on one side surface of the water tank 51 so that a spectator can observe the fish and shellfish in the water tank. The operation control device 62 is likened to a control device such as a submersible swimming in the water, and the see-through window 63 is a large display device.
And a chair on which the operator is seated is formed in a vehicle having a shape like a submarine, for example, and installed in the vehicle.

As a specific example, the configuration of the operation control device 62 will be described with reference to FIG. The same parts as those in FIG. 1 are denoted by the same reference numerals, and detailed description thereof will be omitted.

The difference between FIG. 5 and FIG.
A special effect device 66, a lighting device 67, a speaker 68, a microphone 69, a lighting 70, and a charge settlement device 71 are newly installed. Further, the display device 7 was provided with a projector 7'a and a screen 7'b of a projection projection television 7 'as a large display device, and used two types of display devices of a general monitor 7 ".

In such a configuration, a spectator inputs an operation for driving and driving the underwater television camera 1 from the operation device 10, and the image captured by the television camera 2 is projected on the screen 7 by the projection projection television 7 ′ via the editing device 5. 'b. The image of the underwater television camera 1 projected by the projection projection television 7 ′ is combined with the image of the spectator captured by the fixed camera 6 and various data stored in the database device 8, and the transmission projection television 7 is synthesized. '

The specific method will be described with reference to FIG. An image (a) taken by the underwater television camera 1;
The image (b) of the spectator captured by the fixed camera 6 is supplied to the editing device 7, while the data of the additional image or character / numerical information selected by the spectator from the operation device 10 is transmitted to the database via the control device 4. As shown in the data image (C) read from the device 8, for example, the date, place, audience name, decoration image, and the like are supplied to the editing device 5. The editing device 5 synthesizes and edits the image and the data,
The composite image (d) is displayed on the monitor or on the screen 7'b of the transparent projection television 7 'in the figure.
The synthesized image is recorded on a magnetic tape, an optical disk, and a floppy disk by the output device 9, or printed on paper and provided to the audience.

Further, in order to give the audience a sense of realism of swimming underwater, the special effect device 66 is prepared in advance, for example,
An image captured by the television camera 2 or an underwater television camera from sound effect data such as underwater propulsion sound of a submarine, sound of air bubbles, sound of underwater creatures, or sound when a submarine collides with an obstacle. 1 is read out by the data readout signal from the control device 4, the effect sound data is converted into an analog signal by the editing device 7, output from the speaker, and the underwater sound is given to the audience. Enhance the effect of swimming. When the special effect device 66 is used, the sound emitted when the spectator operates the operation device 10 is captured by the microphone 69, and the sound is combined with the sound effect data and output from the speaker. Can also.

Further, the attitude of the spectator is changed in accordance with the attitude of the underwater television camera 1 during the dive promotion, and the attitude control data or the gravity imparting data is given to the bodily sensation device 65 in order to give a further sense of realism of underwater swimming. Prepare in advance. Further, the operation control device 62 is a device imitating a submersible boat as shown in FIG. In FIG. 7, a chair 82 on which a spectator sits is provided in a housing 81 imitating a submersible boat. This chair 82
Before, the operation stick 10 ′ is arranged so that a spectator of the operation device 10 operates the underwater television camera 1 and operates the housing 81, and the chair 8.
Two speakers 68 near the head of the audience at the backrest portion
And a fixed television camera 6, a monitor 7 ″ and a microphone 69 are disposed in a panel portion in front of the operation stick 10 ′. In front of the housing 81, a transmission projection television 7 ′ is disposed. The screen 7 # b is disposed, and the projector 7 # a is disposed at a lower front side of the housing 81. A tiltable base 83 is provided below the housing 81, and the sensation device is provided. 65
A drive source and a drive function for tilting the housing 81 forward, backward, left and right in response to a control signal from the controller 81. Further, in the vicinity of the housing 81, a fare settlement device 71 and an output device 9 are arranged, and illumination for projecting illumination light to the housing 81 from above the housing 81 is provided. The control device 4 is located away from the housing 81 and not in the eyes of the audience.
The editing device 5 and the database device 8 are installed, and each device installed in the housing 81 and the tilt movable base 8
3, connected to the projector 7 #a, the fee settlement device 71 and the output device 9.

In the bodily sensation device having such a configuration, when the spectator operates the device stick 10 #, the image captured by the underwater television camera 1 is displayed on the screen 7 # b while the housing 8 is tilted in accordance with the operation. It displays or displays an image synthesized and edited with data taken from the database device 8. In particular, the housing 81 reads a signal for driving the tiltable base 83 from the sensation device 65 in response to the operation of the operation stick 10 テ ッ ク, and the underwater television camera 1 performs tilting forward and backward and left and right. Is tilted back and forth and left and right. Furthermore, giving vibration while tilting,
They also give gravity to the audience. And the lighting device 6
From 7, a signal for changing the illumination color or blinking of the illumination 70 is given in accordance with the movable propulsion of the underwater television camera 1, so that the illumination around the audience is changed. Further, by adding the above-mentioned sound effects from the special effect device 66, a realistic bodily swimming can be realized.

The fee settlement device 71 collects a usage fee when the spectator uses the sensation device, controls the control device 4 so that the spectator can experience the sensation for a predetermined time, and outputs the output desired by the spectator. It is also possible to set a fee by a form, for example, a hard print of a certain scene, or recording of a synthetic image under sensation on a magnetic tape or a recording medium.

As described above, according to the present invention, by synthesizing and editing an image of an object captured by an underwater television camera and data from various databases, the captured image can be recorded and stored and organized quickly.

Further, while applying a propulsive force to the apparatus from the underwater television so as to maintain a state in which the vehicle for vertical and horizontal movement provided on both sides of the transparent window of the confidential housing of the underwater television camera is in contact with the subject. By taking an image, it is possible to eliminate displacement and blurring of the image taken by the television camera due to the influence of the water flow and the waves.

Further, at the time of measuring the shape and dimensions of the subject, it is possible to easily calculate the actual measurement value of the subject from the captured video simply by measuring the distance between the underwater television camera device and the subject.

Further, the underwater television camera device is provided in a water tank in which fish and shellfish inhabit, and the inclination and acceleration according to the progress of the underwater television camera device in the water tank are given to the operation control device of the underwater television camera device. This makes it possible to simulate an operator of an underwater television camera apparatus swimming underwater.

[0070]

According to the present invention, it is possible to clarify the name and location of a subject in an image captured by an underwater television camera, input an inspection result from the image from an operation device, and add the inspection result to the image and information. By displaying, printing or recording, the efficiency of inspection management can be improved.

Further, it is possible to secure a captured image free from displacement and blurring due to the influence of the water current or the wave of the underwater television camera device. Further, the shape and size of the subject can be obtained only by measuring the distance between the underwater television camera device and the subject. Calculation can be performed, and simple operations such as cleaning and sampling can be performed by using a work tool. This makes it possible to carry out surveillance inspections of underwater buildings at any time upon request, and obtains data necessary for inspection and maintenance based on captured images,
This has the effect that simple maintenance work can be performed.

Further, the underwater television camera device of the present invention is provided in an aquarium aquarium, and a viewer can operate the underwater television camera device by himself / herself, thereby easily realizing the simulated feeling of swimming in the water. Has an effect.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of an underwater television camera device according to the present invention.

2A and 2B show an embodiment of an underwater television camera device according to the present invention. FIG. 2A is a perspective view showing the whole, and FIG.
Is a top sectional view, and FIG. 2C is a side sectional view.

FIG. 3 is an operation explanatory diagram showing the operation of the underwater television camera device of the present invention in water.

FIG. 4 is a perspective view showing another embodiment of the underwater television camera device of the present invention.

FIG. 5 is a block diagram showing a configuration of an application example of the present invention.

FIG. 6 is a block diagram showing a configuration of an embodiment of an application example of the present invention.

FIG. 7 is a perspective view showing a configuration of another embodiment of an application example of the present invention.

[Explanation of symbols]

1: Underwater TV camera, 2: TV camera, 3, 3 ...
Cable: 4 control device, 5: edit generation device, 6: fixed television camera, 7: display device, 8: database device,
9 output device, 10 operating device.

Claims (8)

[Claims] 1. An underwater television camera having at least a television camera built in a waterproof casing and having a transmission window through which the television camera passes through a subject, moving means, and lighting means in the security casing. Remote control means for remotely controlling the underwater television camera via a cable, display means for displaying an image from the television camera, and editing means for synthesizing or editing an image different from the image from the television camera and character information. An underwater television camera device, comprising: displaying an image synthesized or edited on the display means, or recording or printing the image on a recording medium. 2. An underwater television camera device having at least a television camera built in a waterproof casing and having a transmission window through which the television camera passes through the subject, wherein the underwater television camera device comprises: Moving means for moving underwater; remote control means for remotely controlling the underwater television camera device via a cable; A vertical / horizontal sliding vehicle having a sliding vehicle that contacts and slides on the surface of the subject, and when the subject is imaged by the underwater television camera device, the vertical / horizontal sliding vehicle of the confidential housing is kept in contact with the subject. When the moving means gives a moving force to the underwater television camera device and the underwater television camera device slides the subject, the underwater television camera While the location of the vertical and horizontal Suridosha maintaining the abutting state with the object, underwater television camera apparatus, characterized in that moving the underwater television camera device by said propulsion means. 3. An extensible gauge means provided near a transparent window of the confidential housing of the underwater television camera device; and
And a gauge driving means for measuring an extension dimension, and calculating a dimension of the subject using a video signal of the subject imaged by a television camera in the confidential housing and a gauge extension dimension value to the subject measured by the gauge driving means. The underwater television camera device according to claim 2, comprising: a calculation unit. 4. A camera angle adjustment drive source that is installed in the confidential housing of the underwater television camera device and adjusts an imaging angle of a television camera with respect to a subject. TV camera imaging angle control means for supplying a drive control signal; and when the TV camera captures an object, the camera angle adjustment drive source is driven by a control signal from the TV camera imaging control means to perform optimal imaging. 3. The underwater television camera device according to claim 1, wherein the angle is adjusted. 5. An underwater television camera device having at least a television camera built in a waterproof casing and having a transmission window through which the television camera passes through the subject, wherein the underwater television camera device is underwater. A moving means for moving at a distance, a work tool mounting means provided near the transparent window of the confidential housing, and various tools mounted on the work tool mounting means, comprising: The underwater television camera device is moved to the subject by driving and controlling the moving means with the control force, and a predetermined operation is performed on the subject using the tool. An underwater television camera device as described. 6. An underwater television camera having at least a television camera built in a watertight confidential housing, diving movement driving means for diving the underwater television camera in water, and a video signal captured by the underwater television camera. Display means for capturing and reproducing the image, operation control means for supplying a control signal to the diving movement drive means from underwater or outside based on the image reproduced on the display means, and a control signal from the operation control means. And a tiltable base that tilts the installation base of the operation control means vertically and horizontally, and the tiltable base is vertically and horizontally moved according to the diving movement of the underwater television camera by a control signal from the operation control means. In which the operator of the operation control means obtains a simulated experience of swimming underwater with the underwater television camera. Water in the television camera system. 7. The operation control means has a phantom video signal, a special effect sound signal, or a special illumination signal for underwater swimming, and the phantom video signal and a video signal captured during a dive movement of the underwater television camera are provided. 7. The underwater simulated underwater television camera according to claim 6, wherein the synthesized video is displayed on the display unit, or the sound effect of the special sound effect signal or the illumination from the special lighting unit is generated in the synthesized video. system. 8. A fixed television camera for photographing an operator provided in the operation control means, a video image captured by the fixed television camera, a video signal captured during a dive movement of the underwater television camera, and a video signal captured by the operation control means. 7. A synthesizing means for synthesizing a virtual image signal, wherein the video synthesized by the synthesizing means is displayed on the display means, or printed by a printer means or recorded on a recording medium means. Or the simulated underwater television camera system according to 7.