JP2003274228A - Pipe checker - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pipe checker which is easily handled on a site to sufficiently observe an inner wall of a pipe in a simple constitution. <P>SOLUTION: The pipe checker 20 for observing an interior of a pipe 1 sets up a camera 27 for imaging in its axial direction to point its imaging field of view at the inner wall through a metal mirror 28 for observing a weld zone 22, etc., from just above. It rotates the camera 27 and the mirror 28 around the axial line of the pipe 21 by a torque transmitted through an insert mechanism 35 from the outside of the pipe 21, thereby displaying images of the weld zone 22, etc., over the entire circumference on a display 44. A camera holder mechanism 26 for rotatably supporting the camera 27 is supported with wheels 24 and a support mechanism 25 at the center of the pipe 21. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe observing device for observing and inspecting the inside of pipes used for supply of city gas or tap water, factory plants and the like.

[0002]

2. Description of the Related Art Conventionally, various pipes have been subjected to various observations and inspections not only at the time of laying, but also after laying to prevent leakage of fluid flowing inside. City gas pipes are often buried underground, and in particular, inspection after installation is often done from inside the pipes.

FIG. 12 shows a typical in-tube observation method. FIG. 12A shows a method in which the in-tube camera 2 is inserted into the tube 1, the axial direction of the tube 1 is imaged by the camera 3, and the inner peripheral surface of the tube 1 in the imaging visual field is observed. Camera 3
Are held in the pig 4, and the outer circumference of the pig 4 contacts the inner circumferential surface of the tube 1. The pig 4 directs the visual field captured by the camera 3 toward the front, which is one side in the axial direction of the tube 1. A guide ball 6 is connected to the rear side of the pig 4 in the axial direction via a flexible tube 5 having flexibility. With the pig 4, the flexible tube 5 and the guide ball 6, the camera 3
Is held in the center of the tube 1, and the direction of the field of view to be imaged is kept in one axial direction. The in-tube camera 2 is pushed into the tube 1 by the insertion member 7 connected to the rear of the guide ball 6. The insertion member 7 also has flexibility, and even if the curved pipe portion 8 is present in the pipe 1, the insertion member 7 is correspondingly deformed and the in-camera camera 2 can be pushed deep into the curved pipe portion 8. For example, the welded portion 9 is observed by the in-pipe camera 2 to inspect initial defects such as welding defects and defects that progress with time such as corrosion. The in-pipe camera 2 may be formed to have various functions as a self-propelled type or a robot.

FIG. 12B shows a method of inserting the fiberscope 10 into the tube 1 to observe the inside of the tube. In the fiberscope 10, the tip side is inserted into the tube 1, and the wire control device 11, the illumination light source 12, and the camera 13 are arranged on the base side. The tip of the fiberscope 10 is directed toward the inner peripheral surface of the tube 1, and the illumination light from the illumination light source 12 is applied to the inner peripheral surface. The image captured by the camera 13 is also obtained by lateral monitoring on the tip side of the fiberscope 10. On the proximal end side of the fiberscope 10, the direction of lateral monitoring on the distal end side can be changed around the axis of the tube 1,
A tip swing mechanism 14 that can be controlled by the wire control device 11 is provided. The method of inserting the fiberscope 10 is often applied to the inside observation of a tube 1 having a relatively small diameter, such as a heat transfer tube related to nuclear power. There is also a method of looking at the tube wall sideways by using a microminiature CCD camera.

[0005]

In the method of observing by imaging the front of the tube 1 in the axial direction with the in-tube camera 2 as shown in FIG. 12 (a), a wide range of the wall surface is simultaneously imaged,
Moreover, since the imaging direction is inclined with respect to the wall surface, it is not possible to observe the details of the wall surface. Although there is an example in which the in-pipe camera 2 is configured as a robot and has a function of directing the field of view to the wall surface, the configuration is complicated and it is difficult to handle on site. The method of observing the wall surface of the tube 1 with the fiberscope 10 as shown in FIG. 12B is difficult to apply to a tube having a large diameter.

An object of the present invention is to provide an in-tube observing device which has a simple structure, can be easily handled on site, and can sufficiently observe the state of the inner peripheral surface of the tube.

[0007]

DISCLOSURE OF THE INVENTION The present invention is an in-pipe observation apparatus for observing an internal condition while moving in a pipe, and an imaging means capable of partially imaging the inner peripheral surface of the pipe, and an imaging means. In a state in which the direction of imaging the inner peripheral surface of the tube can be changed around the axis of the tube, the tube is supported in the center of the tube and is movable in the axial direction of the tube. Have,
One end is connected to the imaging means, and the thrust force to be inserted into the inside of the tube along the axial direction of the tube and the torque around the axial line of the tube can be transmitted to the imaging means from the other end side exposed outside the tube. And a display means for displaying an image captured by the image capturing means outside the tube.

According to the present invention, the in-tube observing device comprises an image pickup means for observing an internal condition while moving in the tube.
It includes an in-tube support mechanism, an insertion mechanism, and a display means. Since the imaging means can partially image the inner peripheral surface of the tube, the inner peripheral surface of the tube can be sufficiently observed within the field of view for imaging. The in-pipe support mechanism supports the imaging means at the center of the pipe in a state in which the direction of imaging the inner peripheral surface of the pipe can be changed around the axis of the pipe, and is movable in the axial direction of the pipe. The portion to be observed by the means can be moved in the circumferential direction and the axial direction of the tube so that the entire inner peripheral surface of the tube can be sufficiently observed. The insertion mechanism has a roughly rod shape, one end of which is connected to the imaging means, and the thrust which is inserted into the inside of the tube along the axial direction of the tube from the other end exposed to the outside of the tube to the imaging means. Since the torque around the axis of the tube can be transmitted, the imaging position can be moved by the imaging means by an operation from outside the tube even if the in-tube support mechanism is not provided with power. Since it is not necessary to provide power to the in-pipe support mechanism, the structure can be simplified, the size and weight can be reduced, and the on-site handling can be facilitated. Since the display means displays the image captured by the image capturing means outside the tube,
The inside of the tube can be sufficiently observed from the image of the display means.

In the present invention, the image pickup means includes a camera for taking an image with one of the axial directions of the tube as a visual field direction, and an optical means for directing the visual field direction of the camera to the inner peripheral surface side of the tube. Illuminating means for illuminating the direction of the field of view provided by the optical means.

According to the present invention, the camera takes an image with one of the axial directions of the tube as the direction of the visual field, and the optical field such as a mirror directs the visual field of the camera toward the inner peripheral surface of the tube to illuminate the illumination means. Since it illuminates the direction of the visual field, it is possible to sufficiently image the inner peripheral surface of the tube while it is illuminated.

According to the present invention, the camera has an autofocus function and an image pickup condition control function.

According to the present invention, since the camera is provided with the autofocus function, the image to be picked up can be clearly observed. Since the camera is also provided with the imaging condition control function, an appropriate image can be taken by controlling the iris, the imaging sensitivity, the shutter speed, and the like.

Further, according to the present invention, the image pickup means and one end of the insertion mechanism can be attached / detached to / from both the axial direction, which is the direction of the field of view of the camera, and the other axial direction. Characterize.

According to the present invention, when it is necessary to take an image of the vicinity of a curved pipe portion such as an elbow joint, the direction of the image pickup means is switched so that the image pickup means does not hang on the curved pipe portion.
The inner peripheral surface of the tube can be imaged around the axis.

Further, according to the present invention, the insertion mechanism is characterized in that a plurality of rod-shaped members are detachably connected by a universal joint.

According to the present invention, since the insertion mechanism is detachably formed by the plurality of rod-shaped members and the universal joint connecting the rod-shaped members, the number of rod-shaped members can be increased to accommodate a long distance. The universal joint can be adapted to the curved pipe section. If all the rod-shaped members and the universal joint are removed and disassembled, the transportability to the site where observation is required can be improved.

Further, in the present invention, the support mechanism supports a rotary bearing for rotatably supporting the image pickup means around the axis of the tube, and a rotary bearing on the basis of the inner peripheral surface of the tube for impact and vibration. And a support buffering means for buffering.

According to the invention, the support mechanism includes a rotary bearing, a support cushioning means, and a seal mechanism. Since the rotary bearing supports the imaging means so as to be rotatable about the axis between them, the imaging position can be smoothly moved along the circumferential direction of the tube. The support buffering means supports the rotary bearing based on the inner peripheral surface of the tube and buffers the shock and vibration, so that the imaging means can be protected from the shock and vibration when it is inserted into the tube. Further, the shock can be buffered even when passing through a welded portion in the pipe.

Further, in the present invention, the support cushioning means has a shape extending from the central portion of the pipe toward the inner peripheral surface, and a plurality of types having different lengths can be exchanged depending on the pipe diameter. ,
It is characterized in that it includes three or more leg members arranged at equal angular intervals in the circumferential direction of the pipe, and a wheel provided at the tip of each leg member and having an outer peripheral surface in contact with the inner peripheral surface of the pipe.

According to the present invention, the support cushioning means includes three or more leg members and wheels provided at the tips of the leg members. Each leg member has a shape that extends from the center of the pipe toward the inner peripheral surface, and it is possible to replace multiple types with different lengths according to the pipe diameter, and to make uniform angular intervals in the circumferential direction of the pipe. Since it is arranged at, it is possible to perform observations on tubes of many diameters. The wheel is provided at the tip of each leg member, and the outer peripheral surface abuts the inner peripheral surface of the pipe, so that even a non-smooth surface such as a welded portion in the pipe can easily pass through.

Further, in the present invention, the support cushioning means has a shape extending in the axial direction from the central portion of the tube so as to face the inner peripheral surface, and is arranged at equal angular intervals in the circumferential direction of the tube. It is characterized by including the above leaf spring member and a wheel provided at the tip of each leaf spring member and having an outer peripheral surface in contact with the inner peripheral surface of the pipe.

According to the present invention, since the wheel is provided at the tip of the leaf spring member having a shape extending in the axial direction, the deflection of the leaf spring member prevents the pipe diameter from varying and the passage of non-smooth portions such as welded portions. A corresponding buffering effect can be provided. Since the leaf spring member does not project outward in the radial direction, it can function as a support cushioning means even when the distance between the outer circumference of the image pickup means and the inner circumference of the tube is narrow, and it is possible to observe a relatively small diameter tube. It can be done easily.

Further, the present invention is characterized in that it further comprises reference dimension means arranged in the field of view imaged by said image pickup means and for picking up an image of a reference dimension.

According to the present invention, the image is picked up by the reference dimension means for picking up the image of the reference dimension by picking up the image of the jig or the image of the laser marker in the visual field picked up by the image pickup means. The size of the inside can be known, and the degree can be evaluated from the size of the corrosion state.

In the present invention, the image pickup means picks up a color image of the inner peripheral surface of the pipe, and the display means displays the color image together with the image by the reference dimension means.
It is characterized by further including image processing means for detecting the change state of the imaging target portion by the gradation processing and the hue processing of the color image.

According to the present invention, it is possible to judge the presence or absence of discoloration or corrosion by looking at the inner peripheral surface of the pipe color-displayed on the display means, and to judge the degree thereof by comparing with the reference size. The image processing means can also automatically detect a change state due to discoloration or corrosion.

Further, in the present invention, the change state detected by the image processing means is evaluated based on the size of the image by the reference dimension means, and the corrosion state in the pipe is judged according to a preset judgment standard. It is characterized in that it further comprises corrosion determining means.

According to the present invention, the corrosion determining means evaluates the change state detected by the image processing means based on the size of the image by the reference dimension means, and corrodes the inside of the pipe in accordance with the preset determination criteria. Since the state is determined, the corrosion state in the pipe can be automatically determined.

[0029]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a state in which an in-tube observation device 20 according to an embodiment of the present invention is viewed from the side and a schematic electrical configuration. FIG. 2 shows a state in which the in-tube observation device 20 is viewed from the front. The in-pipe observation device 20 is movable in the axial direction inside the pipe 21, and has an observation hood 23 that directs a visual field toward the pipe wall in order to observe the inner peripheral surface such as the welded portion 22.
Is equipped with. The outer peripheral surface of the wheel 24 contacts the inner peripheral surface of the pipe 21, and each wheel 24 is provided at the tip of the support mechanism 25. The support mechanism 25 supports the camera holder mechanism section 26 so as to be located at the center of the tube 2 based on the inner peripheral surface of the tube 21. A camera 27 is housed inside the camera holder mechanism portion 26, and is rotatable about the axis of the tube 21 with respect to the camera holder mechanism portion 26. The observation hood 23 also rotates with the camera 27 around the axis of the tube 21.

As shown in FIG. 2, the camera holder mechanism section 2
The wheel 6 and the support mechanism 25 cause the pipe 2 to
It is supported at the center of 1. The support mechanism 25 includes the pipe 21.
It functions as a leg member having a shape that extends radially from the center of the wheel, and a wheel 24 is provided at the tip. The support mechanism 25 of the present embodiment is arranged in three directions at an angle of 120 ° around the axis so as to uniformly support the inner peripheral surface of the pipe 21 at three points. It is also possible to arrange them in four directions with an angular interval of 90 °, or evenly arrange them in five or more directions. A spring is provided in the support mechanism 25 so that the support mechanism 25 contracts within a permissible range of change in the diameter of the pipe 21 and can absorb a step when passing through the welded portion 22. For a difference in pipe diameter exceeding the range of contraction due to a spring, a plurality of sets of support mechanisms 25 having different lengths may be prepared and replaced according to the difference in pipe diameter.

The camera 27 is attached by a platform or a fixed portion provided in the camera holder mechanism section 26, and if these attachment mechanisms are adapted to a general CCD camera or the like,
Their use is possible. Mass-produced camera 27
By using, the manufacturing cost of the in-tube observation device 20 can be reduced. The camera 27 preferably has an autofocus function, and can also control zoom magnification, iris, imaging sensitivity, shutter speed, and the like. Camera 2 used in this embodiment
7 shall have those functions.

A metal mirror 28 is provided in the observation hood 23. If the angle of the metal mirror 28 is inclined at 45 ° with respect to the axis of the tube 21, the direction of the field of view of the tube 21 is bent even if the direction of the field of view captured by the camera 27 is the axis of the tube 21. It functions as an optical means that allows the inner wall surface to be observed from directly above the tube wall. Instead of the metal mirror 28, a prism or the like can be used.
Further, the angle of the reflecting surface of the metal mirror 28 can be changed and can be adjusted so that an image can be taken from the observation hood 23 in the axial direction of the tube 21 and the direction of the inner peripheral surface. An observation window 29 made of a transparent resin or the like is provided at the opening of the observation hood 23 to protect the internal structure of the metal mirror 28 and the like from moisture and dust. Around the observation window 29, a plurality of LED (light emitting diode) lamps 30 capable of emitting high-intensity white light are arranged as illumination means. In the present embodiment, the camera 27 and the observation hood 23 function as an image capturing unit that captures an image of the inner peripheral surface of the tube 21.

With respect to the axial direction of the tube 21, the observation hood 2
Connection fittings 31 and 32 are provided on the rear surface side where 3 is not provided and at the tip of the observation hood 23, respectively. Further, connectors 33 and 34 for electrically connecting the camera 27 to the outside are also provided.

The tip of the insertion mechanism 35 can be attached to and detached from the connection fittings 31, 32. The insertion mechanism 35 has a roughly rod shape, and its tip is connected to the camera 27 via the connection fittings 31 and 32, and the rotation mechanism 36 on the other end side exposed to the outside of the tube 21 is connected to the imaging means. It is possible to transmit the thrust force that is inserted into the pipe 21 along the axial direction of the pipe 21 and the torque around the axial line of the pipe 21. The image pickup means including the camera 27 and the observation hood 23 is supported by the camera holder mechanism portion 26 so as to be rotatable around the axis of the tube 21, so that the observation hood 23 is moved by transmitting the torque through the insertion mechanism 35. The position of the inner peripheral surface of the tube 21 to be imaged via the can be moved in the circumferential direction. If the thrust in the axial direction of the pipe 21 is applied via the insertion mechanism 35,
The camera holder mechanism 26 is connected to the pipe 21 via the camera 27.
Can be pushed in the axial direction.

The tips of the camera control cable 37 can be connected to the connectors 33 and 34. The camera control cable 37 transmits a signal representing an image captured by the camera 27, supplies power to the camera 27 and the LED lamp 30, and controls the zoom function of the camera 27, iris, imaging sensitivity, shutter speed, and the like. Signal transmission. The base end of the camera control cable 37 can be pulled out to the outside of the tube 21.

The insertion mechanism 35 of the present embodiment is constituted by connecting a plurality of rod-shaped members 38 such as rods and steel wires with a universal joint 39. The insertion mechanism 35 includes a plurality of rod-shaped members 38,
Since it is detachably formed with the universal joint 39 connecting the rod-shaped members 38, the number of the rod-shaped members 38 can be increased to accommodate a long distance, and the universal joint 39 can be associated with a curved pipe portion. . All rod members 38 and universal joint 39
By removing and disassembling, it is possible to enhance the transportability to the site where observation is required.

The insertion mechanism 35 can also be a single seamless steel wire. For example, a spring steel wire having a diameter of 2 to 8 mm can be used to push the in-tube observation device 20 into a tube having a length of several tens of meters.

A control device 40 is provided outside the pipe 21. The control device 40 includes a camera control unit 41, an image analysis device 42, a data processing device 43, and a display device 44.
including. The camera control unit 41 gives a control signal and power to the camera 27 via the camera control cable 37. The image captured by the camera 27 is input to the image analysis device 42, and image processing is performed. Data processing device 4
3 processes the observation result in the tube 21 as data based on the image processing result by the image analysis device 42. The display device 44 displays the image captured by the camera 27, the image processing result by the image analysis device 42, and the data processing device 4.
The result of data processing by 3 is displayed.

FIG. 3 shows the connection fittings 31 and 32 and the connector 3.
The reason why 3, 34 and 34 are provided on both sides of the tube 21 in the axial direction will be described. FIG. 3A shows a state where the in-tube observation device 20 inspects the inside of the tube 21, which is a straight tube. FIG. 3B shows a state where the inspection is performed in the vicinity of the curved pipe portion such as the elbow joint 45.
In the inspection of the straight pipe shown in FIG. 3A, the imaging field of view from the observation hood 23 is moved around the axis of the pipe 21 and is not moved in the axial direction, thereby facilitating observation over the entire circumference of the welded portion 22 and the like. Can be done. In the vicinity of the curved pipe portion shown in FIG. 3B, the same observation as in FIG. 3A cannot be performed unless the in-tube observation device 20 is positioned on the straight pipe side. When the in-pipe observation device 20 is located inside the elbow joint 45, the axis becomes a curve, and it is difficult to support the camera 27 and the observation hood 23 at the center part, and movement of the imaging position along the welded part 22 is not possible. It will be very difficult.
Therefore, the connection fittings 31 and 32 are provided on both sides of the pipe 21 in the axial direction so that the position where the insertion mechanism 35 is connected can be selected according to the position where the image is taken. Similarly, the connectors 33 and 34 for connecting the camera control cable 37 are also provided on both sides.

FIG. 4 shows the camera holder mechanism section 2 shown in FIG.
6 and the internal structure of the observation hood 23 are shown. The camera holder mechanism unit 26 includes a cylindrical camera holder 46 to which the base end of the support mechanism 25 is joined, and a rotary bearing 47 that holds an outer ring on the inner peripheral surface side of the camera holder 46. The inner ring of the rotary bearing 47 holds a cylindrical camera case 48 that houses the camera 27. The axis of the camera case 48 coincides with the optical axis of the camera 27 in the image pickup direction, and the observation hood 23 is attached to the front side of the image pickup direction. The components including the rotary bearing 47 are protected from moisture and dust by the seal 49. A connection fitting 31 and a connector 33 are provided on the rear side of the camera case 48 in the axial direction. A connection fitting 32 and a connector 34 are provided at the tip of the observation hood 23.

FIG. 5 shows a configuration relating to a reference dimension means for calibrating the dimensions and the like in the measurement field of view imaged by the in-tube observation device 20. As shown in the front cross-sectional view of FIG. 5A, a pair of spot lasers 50 are arranged on both sides of the observation window 29 in the observation hood 23 to generate parallel beams at regular intervals. As shown in the side cross-sectional view of FIG.
The camera 27 includes an electric zoom lens unit 51 having a zoom function for changing the imaging magnification as a function capable of controlling imaging conditions. Since the imaging magnification is changed by the electric zoom lens unit 50, the angle gauge 52 is provided in order to secure the reference dimension within the measurement visual field. Also,
In order to detect the tilt angle of the camera 27, the tilt sensor 5
3 is provided.

FIG. 6 shows a method of calibrating the measurement field of view by the reference dimension means such as the spot laser 50 and the angle gauge 52 of FIG. FIG. 6A shows a state where the spot point 55 by the spot laser 50 shown in FIG. 5A is displayed together with the image of the subject 54. Spot point 55
The distance between them is the reference dimension, and the dimension of the subject 54 can be known by comparison. Spot laser 50 tube 21
By arranging them at regular intervals also in the axial direction, the reference dimensions can be displayed in the direction perpendicular to the direction connecting the spot points 55 shown in the drawing. Figure 6 (b)
Is the tip 56 of the angle gauge 52 shown in FIG.
Is displayed together with the subject 54. The width of the tip 56 is the reference dimension, and the dimension of the subject 54 can be known by comparison. Angle gauge 52 is pipe 2
It is preferable to bring the inner peripheral surface of No. 1 as close as possible. By changing the shape of the tip 56 of the angle gauge 52, not only the width direction but also the reference dimension in the direction perpendicular to the width direction can be displayed. FIG. 6C shows a state in which the dimensions are calibrated in both the X direction, which is the width direction, and the Y direction, which is perpendicular to the X direction, within the visual field for imaging. As described above, if the reference dimensions are displayed in both directions, or if the optical system for capturing images is isotropic so that the imaging magnifications in both directions are the same, it is possible to easily perform calibration in both directions. . Further, when the inclination sensor 53 detects the inclination, the correction may be performed according to the detected inclination angle.

FIG. 7 shows the tube observation device 20 of FIG.
The structure for measuring the insertion distance at the time of inserting in is shown. The insertion mechanism 35 connects a plurality of rod-shaped members 38 such as steel wires with a universal joint 39, and inserts the in-tube observation device 20 into the tube 21, while imaging the inner peripheral surface. Each rod-shaped member 38
Is marked with a reference scale 57, and the insertion distance of the in-tube observation device 20 can be calculated based on the number used in the tube 21 and the partial insertion length based on the marking 57. Each rod-shaped member 38 has the same length, and is made of a steel wire or the like having an appropriate diameter so as to have both rigidity capable of sufficiently transmitting thrust and flexibility capable of passing through a curved pipe portion. To do. Further, from the change in the inclination detected by the inclination sensor 53, it is determined whether or not the in-tube observation device 20 is passing through the curved pipe section, and a history of passing through the curved pipe section is recorded,
The overall shape of the pipe 21 is estimated, and the insertion distance is corrected based on the estimated overall shape.

FIG. 8 shows the camera control unit 4 shown in FIG.
1 shows a schematic configuration of 1. The camera control unit 41 is
A control circuit 60 that performs overall control, an illumination drive circuit 61 that drives the LED lamp 30, a spot laser drive circuit 62 that drives the spot laser 50, and an inclination sensor 53.
A tilt angle calculation circuit 63 for calculating a tilt angle based on the output from the power source, a power supply 64, and a setting switch 65 for inputting settings such as the zoom magnification of the camera 27, the iris, the imaging sensitivity, and the shutter speed. With the setting switch 65,
It is possible to adjust the light amount of the LED lamp 30 to correspond to the illuminance of the tube wall and the change in distance. Also, the setting switch 65
Thus, the spot laser 50 can be made to emit light only when dimensional calibration is required.

FIG. 9 shows a state in which measurement processing is performed based on the image of the subject 54 displayed on the display device 44 of FIG. FIG. 9A shows a case of manual measurement. Pointing point 66 to be measured by the image of the subject 54
Is operated by operating the mouse cursor 67. When the designation of the two pointing points 66 is completed, the image analysis device 42 automatically calculates the dimension between the pointing points 66 based on the calibration method as shown in FIG. Figure 9 (b)
Captures a color image with the camera 27, and the image analysis device 4
2 shows a processing state in which the degree of color change and the degree of corrosion are automatically determined from the hue value in the color tone processed image 70 obtained by performing the image processing such as the tone processing and the hue determination. The area of the color gradation processed image 70, the major axis length L, the principal axis direction angle θ, etc. can also be automatically measured from the image.

10 and 11 show a schematic structure of an in-tube observation apparatus 80 which is another embodiment of the present invention.
FIG. 10 shows a side sectional view, and FIG. 11 shows a front sectional view. In the present embodiment, parts corresponding to those in the embodiment of FIG. 1 are designated by the same reference numerals, and redundant description will be omitted. The in-tube observation device 80 of the present embodiment has a smaller diameter than the in-tube observation device 20 of the embodiment of FIG.
It is intended to be inserted in 1. Therefore, the connector 83 for connecting the camera control cable 37 is provided only on one side. The greatest feature of this embodiment is that the wheels 84
Is attached to the end of the leaf spring 85 to absorb the change in diameter when the leaf spring 85 bends and passes through a curved portion or a welded portion.

The leaf spring 85 becomes substantially parallel to the axis when the in-tube observation device 80 is inserted into a straight tube. Camera 27
Is attachable to and detachable from the camera holder mechanism 86. Wheel 8
4, a combination of the leaf spring 85 and the camera holder mechanism 86 can be prepared according to the diameter of the tube 21, and the camera 27 can be attached to be used as the in-tube observation device 80. This combination is lightweight and can be easily transported in preparation for many types of tubing.

As the insertion mechanism 35 of this embodiment, it is preferable to form a flexible structure by winding a coil spring around an elastic steel wire such as a piano wire.

[0049]

As described above, according to the present invention, while the inner peripheral surface of the tube is partially imaged, the position to be imaged is controlled around the axis of the tube and in the axial direction by operating the insertion mechanism from outside the tube. It is possible to sufficiently observe the entire inner peripheral surface of the tube with the display means by changing to. Since it is not necessary to provide power to the in-pipe support mechanism, the structure can be simplified, the size and weight can be reduced, and the on-site handling can be facilitated.

Further, according to the present invention, a camera whose field of view is oriented in the axial direction of the tube can sufficiently capture an image while the inner peripheral surface is illuminated.

Further, according to the present invention, it is possible to observe an image captured by a camera under clear and appropriate conditions.

Further, according to the present invention, it is possible to change the direction of the image pickup means so that the image pickup means does not hang on the curved tube portion to pick up an image.

Further, according to the present invention, since the insertion mechanism is attachable / detachable by the plurality of rod-shaped members and the universal joint connecting the rod-shaped members, it is possible to cope with a long distance or disassemble to enhance the transportability. You can

Further, according to the present invention, it is possible to smoothly move the position where the image pickup means picks up the image along the circumferential direction of the tube, and to protect the image pickup means from shock and vibration when the tube is inserted into the tube.

Further, according to the present invention, the support cushioning means can perform observations corresponding to pipes having many pipe diameters, and can easily pass through even a non-smooth surface such as a welded portion in the pipe by the wheel. be able to.

Further, according to the present invention, it is possible to make the cushioning action correspond to the variation of the pipe diameter and the passage of the non-smooth portion such as the welded portion by the bending deformation of the leaf spring member, and the outer periphery of the image pickup means and the pipe. It is possible to easily observe a tube having a relatively small diameter, which has a narrow interval with the inner circumference of the tube.

Further, according to the present invention, it is possible to know the dimensions in the visual image picked up by the image pickup means, and it is possible to evaluate the degree of corrosion or the like from the size of the corrosion state or the like.

Further, according to the present invention, it is possible to judge the presence or absence of discoloration or corrosion from the inner peripheral surface of the tube which is displayed in color, and to judge the degree thereof by comparing with the reference dimension. The image processing means can also automatically detect a change state due to discoloration or corrosion.

Further, according to the present invention, since the corrosion determination means determines the change state detected by the image processing means based on the size of the image by the reference dimension means, the corrosion state inside the pipe is automatically determined. be able to.

[Brief description of drawings]

FIG. 1 is a tube observation device 20 according to an embodiment of the present invention.
FIG. 3 is a side view and a block diagram showing a schematic configuration of the.

FIG. 2 is a front view of the in-tube observation device 20 of FIG.

FIG. 3 is a simplified side view showing the reason for allowing the in-tube observation device 20 of FIG. 1 to be connected to the insertion mechanism 35 on both sides in the axial direction.

FIG. 4 is a side sectional view showing a configuration of a camera holder mechanism section 26 of FIG.

5A and 5B are a partial front cross-sectional view and a partial side cross-sectional view showing a configuration for calibrating a measurement visual field in the in-tube observation device 20 of FIG.

FIG. 6 is an image showing a state in which the measurement visual field is calibrated with the configuration of FIG.

7 is a simplified side cross-sectional view showing a state in which the insertion distance of the in-tube observation device 20 of FIG. 1 is measured.

8 is a block diagram showing an electrical configuration of a camera control unit 41 of FIG.

9 is an image showing a state in which measurement is performed by the in-tube observation device 20 of FIG.

FIG. 10 is a side sectional view showing a schematic configuration of an in-tube observation device 80 according to another embodiment of the present invention.

11 is a front sectional view of the in-tube observation device 80 of FIG.

FIG. 12 is a simplified side cross-sectional view showing an example of a conventional in-tube observation device.

[Explanation of symbols]

20,80 In-tube observation device Between 21 22 Weld 23 Observation hood 24, 84 wheels 25 Support mechanism 26,86 Camera holder mechanism 27 cameras 28 metal mirrors 29 Observation window 30 LED lamp 31, 32 Connection fitting 35 insertion mechanism 36 rotation mechanism 37 Camera control cable 38 Rod-shaped member 39 Universal 40 control device 41 Camera control unit 42 Image analysis device 43 Data processing device 44 display device 47 rotary bearing 49 seals 50 spot laser 52 Angle gauge 53 Tilt sensor 60 control circuit 70 color gradation processed image 85 leaf spring

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Keishi Kawaguchi             4-1-2 Hirano-cho, Chuo-ku, Osaka-shi, Osaka Prefecture               Within Osaka Gas Co., Ltd. (72) Inventor Hiroshi Yatabe             2-1-1 Niihama, Arai-cho, Takasago City, Hyogo Prefecture             Takaryo Engineering Co., Ltd. F-term (reference) 5C022 AA02 AB15 AB22 AB62 AC42                       AC51 AC77 AC78

Claims (11)

[Claims] 1. An in-pipe observing device for observing an internal condition while moving in a pipe, comprising: an imaging means capable of partially imaging the inner peripheral surface of the tube; An in-tube support mechanism that supports the central part of the tube and is movable in the axial direction of the tube while the direction of imaging can be changed around the axis of the tube. An insertion mechanism that is connected and that is capable of transmitting a thrust force that is inserted into the pipe along the axial direction of the pipe from the other end side that is exposed to the outside of the pipe along the axial direction of the pipe, and a torque around the axial line of the pipe. An in-tube observation device comprising: a display unit that displays an image captured by the image capturing unit outside the pipe. 2. The image pickup means includes a camera for taking an image with one of the axial directions of the tube as a visual field direction, an optical means for directing the visual field direction of the camera to the inner peripheral surface side of the tube, and the optical means. An illuminating means for illuminating a direction of a visual field given by the means. 3. The camera has an autofocus function and an imaging condition control function.
The in-tube observation device described. 4. The image pickup means and one end of the insertion mechanism are in one of an axial direction which is a direction of a visual field of the camera,
The intraluminal observation device according to claim 2 or 3, wherein the intraluminal observation device is attachable to and detachable from the other side in the axial direction. 5. The in-tube observation device according to claim 1, wherein the insertion mechanism is formed by a plurality of rod-shaped members that are detachably connected by a universal joint. 6. The support mechanism supports a rotary bearing for rotatably supporting the image pickup means around an axis of the tube, and a rotary bearing on the basis of an inner peripheral surface of the tube to buffer shock and vibration. 6. The in-tube observation device according to claim 1, further comprising a support cushioning means. 7. The support cushioning means has a shape extending from a central portion of the pipe toward an inner peripheral surface,
A plurality of types having different lengths can be exchanged according to the pipe diameter, and three or more leg members arranged at equal angular intervals in the circumferential direction of the pipe and the outer peripheral surface provided at the tip of each leg member 7. The in-tube observation device according to claim 6, further comprising: a wheel that abuts on an inner peripheral surface of the tube. 8. The support cushioning means has a shape that extends in the axial direction from the central portion of the pipe so as to face the inner peripheral surface, and is three or more plates arranged at equal angular intervals in the circumferential direction of the pipe. 7. The in-tube observation device according to claim 6, further comprising a spring member and a wheel provided at a tip of each leaf spring member and having an outer peripheral surface in contact with an inner peripheral surface of the tube. 9. The in-tube observation according to claim 1, further comprising a reference dimension unit arranged in a field of view captured by the image capturing unit, for capturing an image having a reference dimension. apparatus. 10. The image pickup means picks up a color image of the inner peripheral surface of the tube, and the display means displays the image by the reference dimension means together with the color image, and the gradation processing and the hue processing of the color image. 10. The in-tube observation device according to claim 9, further comprising image processing means for detecting a change state of the imaging target portion. 11. Corrosion determining means for evaluating the change state detected by the image processing means based on the size of the image by the reference dimension means, and determining the corrosion state in the pipe according to a preset determination standard. The in-tube observation device according to claim 10, further comprising: