DE202004016828U1 - Camera unit for inspecting sewer pipes, consists of wall camera directed towards pipe wall that forms image of surface area of pipe wall essentially perpendicular to channel wall - Google Patents

Abstract

The camera unit is part of an arrangement with an inspection unit (2), an illumination unit (10,11 ) and a camera device consisting of at least two camera units and associated sensors, whereby one camera unit is a front camera (3). At least one second camera unit consists of a wall camera (4) directed towards the pipe wall (14) that forms an image of a surface area of the pipe wall essentially perpendicular to the channel wall.

Description

The Innovation concerns a camera unit for the inspection of sewer pipes according to the preamble of the protection claim 1.

Such a camera unit is, for example, with the subject of DE 199 02 452 C1 known. In this known arrangement, a first fisheye camera is arranged at the front end of the camera unit in the direction of travel looking forward, and a rear fisheye lens is arranged at the rear end of the camera unit.

Out both pictures of the fisheye lenses (and the corresponding sensors) a picture of the channel wall is calculated and finally at one Monitor shown. Disadvantage of using in the direction of travel and fisheye lenses looking in the opposite direction, however, that the main viewing direction points into the empty sewer pipe and therefore the Walls of the sewer pipe only in an insufficient representation be imaged because the representation is distorted.

By the mathematical combination of the two pictures of the fisheye lenses used digital sensors one has a jump in the direction of Length of the Sewer pipe, because the front lens is around the length of the Camera unit is different from the rear lens. Thus is always at the merge the two pictures one in the longitudinal direction to take a running offset between the two images, the optical evaluation is made more difficult.

At the Driving through the camera car through the sewer pipe is indeed every Position of the pipe wall shown, but always always with the before mentioned Leap. This results in a difficult representation of the channel wall, because the camera unit was not driven linearly to the center of the tube can be.

One Another problem is the static photography, because movements within an image can not be detected.

After this for overview purposes the development of the pipe wall is always displayed on the monitor It follows that the pipe wall only with insufficient image quality imaged can be.

Of the Innovation is therefore the object of a camera unit of the aforementioned type so that the figure a channel wall with significantly improved resolution (relative on the number of pixels per unit area at - compared to the state of the art constant inspection speed - be resolved can.

to solution The task is therefore the innovation of a camera unit of the aforementioned type, on its front side a front camera and is essentially characterized in that the camera unit at least one wall camera directed against the duct wall is arranged, which is an approximately encircling, essentially in vertical angle to the duct wall directed Mantelabwicklung maps.

For the front camera Any camera can be used, because these are only for the purpose the position of the camera unit and for determining gross damage in the sewer pipe is determined.

Important is now that on the camera unit and on its inspection unit a so-called wall camera is arranged, consisting of a digital sensor module which is capable of essentially one Angle of 360 ° circumferential lateral surface depict, which is directed approximately perpendicular to the channel wall is.

The Accordingly, the invention favors a wall camera, which is a circulating Picture of 360 ° in Form of a directed against the side wall of the sewer pipe lateral surface maps.

After this this wall camera now preferably perpendicular to the inner surface of the Sewer pipe looks in the connected evaluation units a walking picture is shown, which shows the progress of the camera unit the lateral surface also in the longitudinal direction progressively maps.

These digital unit consists of one or more high resolution imagers in digital form and their optics, which are arranged so that the pipe wall at an optimal angle (preferably perpendicular to Surface) will be added to it later in a unwound tube jacket illustration for one latter To map the evaluation.

In order to For the first time there is the advantage that with the wall camera according to the invention an almost distortion-free recording technique is possible. This is because the wall camera prefers over the Lens looks perpendicular to the pipe wall and this case forms a lateral surface.

Therefore, instead of a single wall camera, a plurality of wall mounted cameras arranged one behind the other can be arranged, the images to be imaged by the respective wall camera Cloak surface is charged with the imaged by the adjacent wall camera lateral surface and thereby an overall surface area of increased depth or thickness is displayed.

Consequently is it possible for the first time with highest resolution accuracy to provide an accurate and distortion-free image of the canal wall, because in the software the optimal composition can be achieved.

A preferred embodiment such a wall camera has, for example, in the horizontal direction a resolution of 3,000 pixels and in the vertical direction a resolution of 2,000 pixels.

These very high resolution must now be visually displayed and for this purpose, the entire picture of the wall camera split on two monitors, taking in one monitor, for example, the left channel wall and in the another monitor the right channel wall can be mapped.

Of course it is the innovation does not depend on a division of the sewer pipe in vertical Direction limited to mapping a left and right channel wall.

It can also three or more monitors are used, in which case the entire, to be imaged circumferential channel wall, for example, at an angle divided accordingly displayed on these monitors becomes.

It is also possible to carry out the division horizontally, for example, the upper channel wall on the left monitor and the lower channel wall on the right monitor.

Important Here is that with the division of the image of the wall camera on two or more monitors for the first time succeeds the sewer wall in the highest resolution suitable screens because the usual television monitors, for example in the vertical direction a resolution of 1,200 pixels and in the vertical direction a resolution of 1,024 pixels, or even less at the moment.

The resolution in the vertical direction does not play a decisive role, because thanks the conversion used by the wall camera imaged lateral surface in one left and right handling of the sewer wall now the two pictures currently at least two monitors go through the top when the Inspection unit moves in the direction of travel along the pipe. It This results in a bottom-up continuous monitor image, or the other way around.

Of the Advantage is that a very simple optical (visual) evaluation the distortion-free image of the channel wall takes place and this Data for a later one electronic evaluation without conversion losses are available.

Under Using the image of the front camera (in any direction is pivotable and therefore preferably gimballed) results the advantage that minor damage can be detected. By further sightseeing along the monitors lateral surface which is displayed as wall processing on the monitors results a particularly high inspection quality.

What the front camera to damage the channel wall determines that can be at short distance on the carriage behind wall mounted high resolution camera.

If For example, the front camera at the bottom left of the sewer pipe damage has stated is sufficient it at the later Evaluation to evaluate the data of the left channel wall and that exactly at this point.

The Data from the right-hand channel wall are then still unaffected to disposal.

A another embodiment forms the positioning of the wall camera in the swivel head already there positioned front camera, thus adding an additional To achieve mobility of the arranged wall camera. Furthermore this arrangement makes the distance between the front and the wall camera significantly reduced.

A another embodiment only forms a rigid arrangement of a camera as a front camera, However, it should be noted in this arrangement that the resolution of the camera module used here is correspondingly high, even small ones Cracks, or water ingress in the pipe wall, or the like to recognize.

Of the Subject of the present innovation does not arise only from the subject of the individual claims, but also from the combination the individual protection claims among themselves.

All in the documents, including Summary of information and features, in particular the spatial training shown in the drawings as claimed essential to the invention, as far as they individually or in Combination opposite the prior art are new.

The following is the innovation based on merely explanatory drawings illustrating an execution path. Here are the drawings and their description further essential features and advantages of the innovation out.

It demonstrate:

1 a plan view of a camera unit in a first embodiment

2 the camera unit after 1 with the inspection unit turned

3 one opposite 1 and 2 modified embodiment of an inspection unit

4 The front view of the inspection unit after 3

5 the front view of the sewer pipe to be examined with a schematic drawing of the image sensor of the wall camera

6 the representation of 2 monitors with illustration of the left and right channel wall

7 in perspective, a sewer pipe with a representation of the channel pipe along along, circumferential circumferential surface

In 1 is in a sewer pipe 17 a camera truck 1 in the direction of the arrow 15 movably driven. He carries at his front end an inspection unit 2 , at the front free end of a rotatable front camera in any direction 3 is arranged.

The front camera 3 can either consist of an analog camera module (video module) or it can also consist of a digital module (image recorder). The viewpoint 6 the front camera 3 is facing forward and the front camera 3 can see in any direction due to its gimbal. That's the front camera 3 in a first pivot axis 5 pivotable about an angle of z. B. 180 ° at the inspection unit 2 pivotable, while another pivoting about a here to the vertical pivot axis 7 can take place, whereby always a horizontal image and pipe representation is guaranteed, insofar as the transport takes place on the lower bottom of the pipe.

According to the invention is now in the inspection unit 2 at least one wall camera 4 arranged, which consists of an approximately rectangular, digital recording module with lens (see 5 ), which is a circumferential, approximately perpendicular to the channel wall 14 directed view 13 has, so that thus an approximately circumferential in the circumferential direction of the channel wall circumferential surface 35 is shown.

The important thing is that the angle of view 13 essentially perpendicular to the channel wall 14 is directed, so as to depict a distortion-free image.

It is of course possible the wall camera 4 in the back of the camera unit 1 to arrange or at any other points of the inspection unit 2 , especially in the area of the swivel head 8th ,

In the illustrated embodiment, the wall camera 4 however in a housing 9 arranged, which is preferably designed as a transparent tube, which therefore also a 360 ° circumferential angle 13 allows. By mounting in the interior of the tube, the wall camera is protected against damage and contamination.

It is still shown that in the front and in the back of the case 9 each spaced apart lighting units 10 . 11 available.

In the embodiment according to 2 are instead of a wall camera 4 now two wall cameras 4a . 4b arranged, each one on a circular disk rotating angle 13a . 13b to have. The two images are then later by appropriate settlement methods to a common outer surface 35a . 35b composed. Ideally, the Verbindungszuganker are offset from one another, so as to ensure a complete trouble-free settlement of the lateral surface.

In 3 is shown that the two wall cameras 4a . 4b another middle lighting unit 12 is assigned, each of the lighting units 10-12 consists of evenly distributed around the circumference arranged light-emitting diodes, which provide a suitable, circumferential illumination of the channel wall 14 produce.

Instead of the arrangement of evenly on the circumference distributed light emitting diodes can also be used a light ring become. Such a light ring can be realized, for example, in the form of a gas discharge tube become.

As a further embodiment of the inspection unit 2 is another type of swivel head 18 shown. The vertical pivot axis 19 is at the bottom of the front camera 3 arranged and the Carrier of the pivot axis 19 is at a circular gear 21 Flanged, which is about the pivot axis 20 is formed rotatable, in which case the horizontal image representation is no longer guaranteed.

4 shows the front view of the front camera 3 and an associated front lighting 16 ,

The 5 and 6 Now show the advantageous resolution of the one or more wall-mounted cameras 4 . 4a . 4b pictured, circumferential recording image of the channel wall 14 ,

According to the innovation, the channel wall is used for the evaluation 14 in a left channel wall 22 and a right channel wall 23 divided up. Thus, the digital camera image of the wall camera created with the highest resolution can be transmitted to at least two monitors having a lower resolution, wherein the addition of the two camera images forms the image of the high-resolution representation.

That of the recording sensor of the wall camera 4 Created electronic image of the channel wall is thus as a settlement 26 on a high-resolution monitor, on two monitors or multiple monitors, depending on the image resolution of the camera with respect to the representative image resolution of the respective monitor.

After another feature of the innovation, the wall camera a horizontal resolution 24 from Z. B. 3,000 pixels and a vertical resolution 25 of 2,000 pixels, it is now necessary to have this relatively high resolution on the two monitors 28 . 29 to distribute, to allow a large-scale, lossless mapping. This can be done even with even larger photo resolution with additional or even better performing monitors.

This has the advantage that that of the image converter of the wall camera 4 did not produce digital signal on a single monitor 28 . 29 compressed, which impairs the clarity and examination accuracy. When using two monitors 28 . 29 is thus a much better inspection quality possible. This can also be the case for even larger photo resolution on additional or even better performing monitors 28 . 29 respectively.

The usual PC monitors have a resolution in the horizontal direction 30 from Z. From 1,024 to 1,200 pixels, while the resolution 31 varies in the vertical direction between 1,000 and 1,500 pixels, with no further development limits.

As an example, be in 7 illustrated how the inventive, high inspection quality can be achieved, the screen resolution is dependent on the resolution of the camera and the monitor type.

According to the above explanation, the one wall camera forms 4 a jacket handling 35 off in the direction of the arrow 36 along with the procedure of the camera unit 1 in the longitudinal direction of the sewer pipe 17 walks along. The composition of the image is done via appropriate software.

Now reach the lateral surface 35 in the area of the pipe connection 32 , then this pipe connection 32 as a continuous, black line on both the right monitor 29 as well as on the left monitor 28 shown. The migration of the lateral surface 35 therefore takes place in the direction of the arrow 36 on the two monitors from bottom to top, or from top to bottom, or with monitors arranged one above the other from left to right or vice versa.

Thus wanders the pipe connection 32 as a broad horizontal line across both monitors and can be so well observed and evaluated.

On the other hand, if there is a page entry on the left side wall, for example 33 that with an unwanted root system 34 is overgrown, so this is perfectly on the left monitor 28 displayed. The right monitor 29 remains free, because this represents only the right (undisturbed) channel wall.

In this way, in undistorted form with high resolution, the erroneous page entry 33 shown on the left monitor, which previously was not possible in detail.

at The arrangements of the prior art could such a Seiteneinlauf only greatly reduced in distorted form and with calculated sectional images being represented.

This now avoids the innovation, since neither positional deviations and the Cut edges the quality influence negatively.

1

Camera unit

2

inspection unit

3

front camera

4

wall camera 4a . 4b

5

swivel axis (first)

6

perspective (Front)

7

swivel axis (second)

8th

swivel head

9

casing

10

lighting unit

11

lighting unit

12

lighting unit

13

Angle of view (circle) 13a . 13b

14

channel wall

15

direction of travel

16

front lighting

17

sewer pipe

18

swivel head

19

swivel axis

20

swivel axis

21

circular gear

22

left channel wall

23

right channel wall

24

Horizontal resolution

25

vertical resolution

26

completion (Left)

27

completion (right)

28

monitor 1

29

monitor 2

30

Resolution (horizontal)

31

Resolution (vertical)

32

pipe connection

33

side inlet

34

roots

35

lateral surface 35a . 35b

36

arrow

Claims (11)

Camera unit ( 1 ) for the inspection of sewer pipes ( 17 ) with an inspection unit ( 2 ), a lighting unit ( 10 . 11 . 12 . 16 ) and one of at least two camera units ( 3 . 4a . 4b ) existing camera device with respectively associated sensors, wherein the one camera unit a front camera arranged ( 3 ), characterized in that at least one second camera unit from a against the channel wall ( 14 ) directed wall camera ( 4a . 4b ), which is an approximately circumferential, substantially perpendicular to the channel wall ( 14 ) directed lateral surface ( 35a . 35b ) of the channel wall ( 14 ) maps. Camera unit ( 1 ) according to claim 1, characterized in that the front camera ( 3 ) only the positioning of the camera unit ( 1 ) and has a gimbal bearing, which is arranged pivotably in any direction. Camera unit ( 1 ) according to claims 1 and 2, characterized in that the wall camera ( 4a . 4b ) has a digital sensor module. Camera unit ( 1 ) according to claims 1 to 3, characterized in that the digital sensor module has a substantially 360 ° circumferential surface ( 35a . 35b ) maps. Camera unit according to claims 1 to 4, characterized in that the imaging surface ( 35a . 35b ) substantially perpendicular to the channel wall ( 14 ) and from the entire circumferential sewer pipe ( 14 ) at the level of the inspection unit ( 2 ) is formed. Camera unit according to claims 1 to 5, characterized in that on the inner surface of the channel wall ( 14 ) looking wall camera ( 4a . 4b ) with the progress of the camera unit ( 1 ) images a mural, which the imaged lateral surface ( 35a . 35b ) can also proceed in the longitudinal direction. Camera unit according to claims 1 to 6, characterized in that the wall camera ( 4a . 4b ) has at least one high-resolution, digital image pickup, which provides the representation of a developed lateral surface and which is designed to be used vertically both horizontally and in a 90 ° rotation. Camera unit according to claims 1 to 7, characterized in that the wall camera ( 4a . 4b ) has a distortion-free recording technique and the at the pipe wall ( 14 ) along migrating imaged lateral surface ( 35a . 35b ) has a slice thickness of 10mm to 100mm, wherein the generated lateral surface ( 35a . 35b ) another, adjacent wall camera ( 4a . 4b ) forms an overall surface area of increased depth and thickness by means of accounting. Camera unit according to claims 1 to 8, characterized in that the of the wall camera ( 4a . 4b ) taken a vertical division of the channel wall ( 14 ), which are based on two separate monitors ( 28 . 29 ), where, for example, a monitor ( 28 ) the left channel wall ( 22 ), the second monitor ( 29 ) the right channel wall ( 23 ), or a horizontal division of the channel wall ( 14 ), or vice versa. Camera unit according to claims 1 to 9, characterized in that the division of the image on two separate monitors ( 28 . 29 ) has a horizontal resolution rate and a vertical resolution rate. Camera unit according to claims 1 to 10, characterized in that this image of the channel wall ( 14 ) a very simple, visual evaluation of the image of the channel wall ( 14 ), wherein the determined data have a loss-free conversion for an electronic evaluation.