JP2005172667A - Industrial endoscope device, and shape dimension measuring method using it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a means capable of measuring accurately the shape dimension of a measuring object such as a flaw. <P>SOLUTION: In this shape dimension measuring method, the length dimension L3 of the flaw b is measured by using a three-dimensional shape dimension of a computer model c as a reference standard, and the length dimension L3 is compared with a length dimension determined based on parallax. This industrial endoscope device is equipped with a control part for executing the shape dimension measuring method. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an industrial endoscope apparatus and a shape dimension measuring method using the industrial endoscope apparatus.

Industrial endoscope apparatuses are used in various applications such as, for example, blade inspection of aircraft engines and internal inspection of power pipes.
This type of industrial endoscope apparatus is, as shown in Patent Document 1 below, an elongated and flexible endoscope probe that is inserted into a subject to be examined, and a built-in endoscope probe. A light source device that supplies illumination light to the light guide, a control device that generates an image signal based on an electrical signal from a CCD (Charge Coupled Device) that is an imaging device built in the tip of the endoscope probe, A schematic configuration includes a television monitor for displaying the image signal.

  For example, when inspecting an aircraft engine using this industrial endoscope apparatus, first, the power is turned on to emit illumination light from the tip of the endoscope probe, and the CCD image is taken. An image is displayed on the television monitor. Thereafter, the endoscope probe is inserted into the aircraft engine while being pulled out from the apparatus main body. The operator who performs the inspection performs the internal inspection by inserting the endoscope probe so as to guide to a predetermined observation point while observing the real-time video displayed on the television monitor. Furthermore, with this industrial endoscope apparatus, it is also possible to measure the length of scratches and the like found during inspection.

  When determining the shape and dimension of a measurement object such as a scratch using such an industrial endoscope device, the control device is equipped with an optical adapter that is mounted when converting an electrical signal from the CCD into an image signal. It is necessary to know in advance the type and optical characteristics. The optical characteristics of the optical adapter are composed of a distortion aberration correction coefficient, mounting position information at that time, and the like, and are managed based on an identification number given to the optical adapter.

Therefore, the user inputs the identification number given to the optical adapter to the industrial endoscope apparatus, so that the corresponding optical characteristic is called and read by the control apparatus. Thereby, it is possible to perform highly accurate measurement.
JP-A-8-201706

By the way, this conventional endoscope apparatus has problems described in the following (1) and (2).
(1) When mounting or replacing the optical adapter, the user needs to input the identification number to the endoscope apparatus after confirming the identification number of the optical adapter to be mounted. This is a problem that an incorrect identification number may be input. In this case, since the data of the other optical adapter is read into the control device, an error also occurs in the measurement result.
However, the control device side cannot determine which optical measurement is incorrect, the identification number is incorrect, and which optical adapter is attached. It will be recorded as it is.

(2) When determining the shape and size of a measurement object such as a scratch, it is necessary to hold the distance between the measurement object and the optical adapter after maintaining a distance suitable for measurement. However, operating the distance so as to be suitable for measurement requires some skill. Therefore, when a user unfamiliar with the operation operates, there is a possibility that the measurement is performed without noticing that the distance deviates from the distance suitable for the measurement, and an erroneous measurement result is recorded.

  This invention is made | formed in view of the said situation, Comprising: It aims at provision of the means which can measure the shape dimension of measuring objects, such as a crack, accurately.

The present invention employs the following means in order to solve the above problems.
That is, the industrial endoscope apparatus according to claim 1 includes an endoscope probe that captures an image of an object to be observed and a display unit that displays the image, and is attached to the endoscope probe. In an industrial endoscope apparatus capable of measuring a three-dimensional shape dimension of a measurement object on the object to be observed based on parallax of the image obtained through a stereo optical adapter, a three-dimensional image of at least a part of the object to be observed The shape data indicating the shape dimensions are matched with the image, the three-dimensional shape dimensions of the measurement object are measured using the three-dimensional shape dimensions of the shape data as a reference standard, and the result of the measurement is obtained based on the parallax. A control unit for comparing with a three-dimensional shape dimension is provided.
According to the industrial endoscope apparatus according to the first aspect, when a large opening is seen in both measurement results, the type of the stereo optical adapter attached and the industrial endoscope apparatus side It can be determined that the input stereo optical adapter does not match the type and the three-dimensional shape dimension obtained based on the parallax may not be accurate. On the other hand, if there is no significant difference between the two measurement results, the type of stereo optical adapter installed and the type of stereo optical adapter input to the industrial endoscope device must match correctly. Therefore, it can be determined that the three-dimensional shape dimension obtained based on the parallax is accurate.

The industrial endoscope apparatus according to claim 2, comprising: an endoscope probe that captures an image of an object to be observed; and a display unit that displays the image; and a stereo optical device attached to the endoscope probe. In an industrial endoscope apparatus capable of measuring a three-dimensional shape dimension of a measurement object on the object to be observed based on parallax of the image obtained through an adapter, the image is displayed in a three-dimensional manner in the object to be observed. A control unit is provided that obtains a distance of the stereo optical adapter relative to the measurement object by comparing with shape data indicating a shape dimension, and determines whether or not the distance is within a predetermined distance.
According to the industrial endoscope apparatus of the second aspect, the control unit, not the user, determines whether the distance of the stereo optical adapter with respect to the measurement target is a distance suitable for measurement.

The industrial endoscope apparatus according to claim 3 is the industrial endoscope apparatus according to claim 1 or 2, wherein the control unit does not fit the measurement object in the single image. In this case, a plurality of partial images of the measurement object are obtained, and the three-dimensional shape dimension of the entire measurement object is obtained by the sum of the partial three-dimensional shape dimensions of the measurement object obtained for each of the images. It is characterized by.
According to the industrial endoscope apparatus according to the third aspect, even if the size of the measurement target is a size that does not fit in a single image, it can be measured.

The shape dimension measuring method using the industrial endoscope apparatus according to claim 4 is based on a step of capturing an image of an object to be observed with an endoscope probe to which a stereo optical adapter is attached, and parallax of the image. Measuring the three-dimensional shape dimension of the object to be measured on the object to be observed, reading the shape data indicating the three-dimensional shape dimension of at least a part of the object to be observed, and matching the shape data to the image. Determining the three-dimensional shape dimension of the measurement object using the three-dimensional shape dimension of the shape data as a reference standard, and obtaining the three-dimensional shape dimension of the measurement object obtained based on the parallax and the shape data And comparing the three-dimensional shape dimensions of the measurement object.
According to the shape dimension measuring method using the industrial endoscope apparatus according to claim 4, when a large opening is seen in both measurement results, the type of the stereo optical adapter attached and the industrial It can be determined that the type of the stereo optical adapter input to the endoscope apparatus side does not match and the three-dimensional shape dimension obtained based on the parallax may not be accurate. On the other hand, if there is no significant difference between the two measurement results, the type of stereo optical adapter installed and the type of stereo optical adapter input to the industrial endoscope device must match correctly. Therefore, it can be determined that the three-dimensional shape dimension obtained based on the parallax is accurate.

According to a fifth aspect of the present invention, there is provided a method for measuring a shape and dimension of an industrial endoscope apparatus, the step of capturing an image of an object to be observed with an endoscope probe equipped with a stereo optical adapter, and at least the object to be observed. A step of reading shape data indicating a three-dimensional shape dimension of a part, a step of obtaining a distance of the stereo optical adapter relative to a measurement object on the object to be observed by comparing the image with the shape data, and the distance is And determining whether or not the distance is within a predetermined distance.
According to the shape dimension measuring method using the industrial endoscope apparatus according to claim 5 above, the determination of whether the distance of the stereo optical adapter with respect to the measurement target is a distance suitable for measurement is based on the user's intuition. Instead, it is based on shape data.

The shape dimension measuring method using the industrial endoscope apparatus according to claim 6 is the shape dimension measuring method using the industrial endoscope apparatus according to claim 4 or 5, wherein the measurement object is In the case where it does not fit within a single image, the step of obtaining a plurality of partial images of the measurement object, and the sum of the partial three-dimensional shape dimensions of the measurement object obtained for each of the images, And a step of obtaining a three-dimensional shape dimension of the entire measurement object.
According to the shape dimension measuring method using the industrial endoscope apparatus according to the sixth aspect, even if the size of the measurement target is a size that does not fit in a single image, the measurement is performed. Can do.

  The industrial endoscope apparatus according to claim 1 of the present invention measures the three-dimensional shape dimension of the measurement object using the three-dimensional shape dimension of the shape data as a reference standard, and obtains the measurement result based on the parallax. In addition, a configuration including a control unit for comparison with the three-dimensional shape dimensions was adopted. According to this configuration, it is possible to objectively determine whether the three-dimensional shape dimension obtained based on the parallax is an appropriate value. Therefore, it is possible to accurately measure the shape dimension of the measurement object such as a scratch.

  The industrial endoscope apparatus according to claim 2 determines the distance of the stereo optical adapter with respect to the measurement target by comparing the image with the shape data, and determines whether or not the distance is within a predetermined distance. A configuration including a control unit is employed. According to this configuration, it is possible to objectively determine whether the distance of the stereo optical adapter with respect to the measurement target is a distance suitable for measurement. Therefore, it is possible to accurately measure the shape dimension of the measurement object such as a scratch.

  Further, in the industrial endoscope apparatus according to claim 3, the control unit acquires a plurality of partial images of the measurement object, and the partial three-dimensional shape dimensions of the measurement object obtained for each of the images. The structure which calculates | requires the three-dimensional shape dimension of the whole measuring object by the sum was adopted. According to this configuration, it is possible to ensure a wide measurement range from a relatively small measurement object to a relatively large measurement object.

  According to a fourth aspect of the present invention, there is provided a shape dimension measuring method using the industrial endoscope apparatus for measuring a three-dimensional shape dimension of a measurement object based on a step of capturing an image of an object to be observed and a parallax of the image. The step of reading the shape data of the object to be observed, the step of obtaining the three-dimensional shape size of the measurement object using the three-dimensional shape size of the shape data as a reference standard, and the three-dimensional shape size and shape obtained based on the parallax And a method of comparing the three-dimensional shape dimensions obtained based on the data. According to this method, it is possible to objectively determine whether the three-dimensional shape dimension obtained based on the parallax is an appropriate value. Therefore, it is possible to accurately measure the shape dimension of the measurement object such as a scratch.

  According to a fifth aspect of the present invention, there is provided a shape dimension measuring method using an industrial endoscope apparatus, a step of capturing an image of an object to be observed, a step of reading shape data of the object to be observed, and the shape data as shape data. The method which has the process of calculating | requiring the distance of the stereo optical adapter with respect to a measuring object, and the process of determining whether the said distance is in a predetermined distance was employ | adopted. According to this method, it is possible to objectively determine whether the distance of the stereo optical adapter with respect to the measurement target is a distance suitable for measurement. Therefore, it is possible to accurately measure the shape dimension of the measurement object such as a scratch.

  Moreover, the shape dimension measuring method using the industrial endoscope apparatus according to claim 6 acquires a plurality of partial images of the measurement target, and the partial three-dimensional shape of the measurement target obtained for each of these images A method of obtaining the three-dimensional shape dimension of the entire measurement object by using the sum of dimensions was adopted. According to this method, it is possible to ensure a wide measurement range from a relatively small measurement object to a relatively large measurement object.

The embodiments of the industrial endoscope apparatus and the shape dimension measuring method using the same according to the present invention will be described below with reference to the drawings, but the present invention is not limited to these. Of course.
In the following description, first, an overall configuration and an internal configuration of an industrial endoscope apparatus that is common to each embodiment will be described based on FIGS. 1 and 2, and subsequently, features of each embodiment will be described. Shall. FIG. 1 is a view showing an embodiment of the industrial endoscope apparatus of the present invention, and is a perspective view showing the entire configuration. FIG. 2 is a block diagram for explaining the internal structure centering on the control unit of the industrial endoscope apparatus.

With reference to FIG. 1, the system configuration | structure of the industrial endoscope apparatus 1 of this embodiment is demonstrated.
As shown in FIG. 1, an industrial endoscope apparatus 1 includes an optical adapter (stereo optical adapter) 2 and an endoscope 4 having an endoscope probe 3 to which the optical adapter 2 is detachably connected. A control unit (main body) 6 in which the endoscope 4 is housed, a remote controller 7 for performing operations for executing various operation controls, an endoscope image, operation control contents (for example, a processing menu), and the like are displayed. A liquid crystal monitor (hereinafter referred to as LCD) 8 which is a display device, and a normal endoscopic image, or a face-mounted display (hereinafter referred to as FMD) 9 capable of stereoscopically viewing the endoscopic image as a stereo image. And an FMD adapter 9 a for supplying image data to the FMD 9.

The endoscope probe 3 is an elongated cable having a built-in CCD (optical image pickup device, not shown) at its distal end portion 3a, and can be pulled out from the control unit 6 and inserted into an object to be inspected. ing. In addition to the stereo measurement optical adapter 2 for stereoscopic observation, an optical adapter (not shown) for normal observation can be detachably connected to the distal end portion 3a of the endoscope probe 3. It has become. However, in the description of each embodiment described later, a length measurement method in a state where the compound-eye optical adapter 2 for stereoscopic observation is mounted will be described.
1 indicates an external video input terminal for inputting video to the video signal processing circuit without going through the CCU 17 described later. Reference numeral 12 denotes an outlet cable for taking in electric power from the outside.

Next, a detailed description of the internal structure of the industrial endoscope apparatus 1 will be given below with reference to FIG.
As shown in the figure, the proximal end portion of the endoscope probe 3 is connected to an endoscope unit 15 in the control unit 6. Inside the endoscope unit 15, a light source 16 that supplies illumination light necessary for photographing to a light guide built in the endoscope probe 3 and a curved portion (not shown) built in the endoscope probe 3. An electric bending device (not shown) and the like for electrically bending the Furthermore, an endoscope insertion length sensor (rotary encoder) RE that detects the insertion length of the endoscope probe 3 (that is, the pull-out length of the endoscope probe 3 from the control unit 6) is provided in the control unit 6. Built in.

  The distal end portion 3a of the endoscope probe 3 incorporates the CCD, and an imaging signal output from the CCD is input to a camera control unit (hereinafter referred to as CCU) 17 that is an image processing unit. It has become so. The CCU 17 is configured to convert the input image pickup signal into a video signal such as an NTSC signal and supply it to the control unit CU in the control unit 6.

  The control unit CU mounted in the control unit 6 is described as a CPU 18, a ROM 19, a RAM 20, a PC card interface (hereinafter referred to as a PC card I / F) 21a, a USB interface (hereinafter referred to as a USB I / F). ) 21b, RS-232C interface (hereinafter referred to as RS-232C I / F) 21c, audio signal processing circuit 22, video signal processing circuit 23, and recording unit R.

The CPU 18 is a microprocessor that performs control for executing / operating various functions based on a main program and measurement processing. The CPU 18 executes the program stored in the ROM 19 and controls the operation of the entire system by performing processing according to the purpose.
The RS-232C I / F 21c is an interface for performing communication necessary for controlling the operation of the entire control unit 6 based on an operation by the remote controller 7, and includes the CCU 17, the endoscope unit 15, and the endoscope insertion. Each of the long sensor RE and the remote controller 7 is connected. Further, it is connected to the CPU 18 via a bus. Thereby, the remote controller 7 can perform an operation instruction and control to the CCU 17 and the endoscope unit 15.

  The USB I / F 21 b is an interface for electrically connecting the control unit 6 and the personal computer 25. When the control unit 6 and the personal computer 25 are connected via the USB I / F 21b, an instruction to display an endoscope image and a measurement time are also given from the personal computer 25 side as in the case of an operation instruction from the remote controller 7. Various control instructions such as image processing in can be performed to the control unit 6. Furthermore, input / output of control information and data required for various processes between the control unit 6 and the personal computer 25 is also possible.

  In addition to the PCMCIA memory card 26, an external storage medium such as a compact flash (registered trademark) memory card 27 is detachably mounted on the PC card I / F 21a via a PCMCIA card adapter. When this external storage medium is installed, the control processing information and data such as inspection records stored in the external storage medium are stored in the control unit 6 via the PC card I / F 21a under the control of the CPU 18. Data such as control processing information and inspection records can be supplied to the external storage medium and recorded via the PC card I / F 21a.

The video signal processing circuit 23 has a function of displaying a composite image obtained by synthesizing an endoscopic image supplied from the CCU 17 and a graphically displayed operation menu. The video signal processing circuit 23 generates a video signal from the CCU 17 and the CPU 18. The display signal of the operation menu thus generated is combined and further subjected to processing necessary for display on the screen of the LCD 8 before being supplied to the LCD 8. As a result, a composite image of the endoscopic image and the operation menu is displayed on the LCD 8. Note that the video signal processing circuit 23 can also simply perform processing for displaying an endoscopic image or an image such as an operation menu alone.
The LCD 8 is a touch panel type liquid crystal monitor that is a display unit that displays an endoscopic image (video) from the endoscopic probe 3 and operation control content (for example, a processing menu).

  The control unit 6 is provided with the external video input terminal 11 for inputting video to the video signal processing circuit 23 without going through the CCU 17. When a video signal is input to the external video input terminal 11, the video signal processing circuit 23 outputs a composite image based on the video signal in preference to the endoscopic image from the CCU 17.

The audio signal processing circuit 22 is supplied with an audio signal collected by the microphone 28 and recorded on the external storage medium, an audio signal obtained by reproducing the external storage medium, and an audio signal generated by the CPU 18. It has come to be. Then, the audio signal processing circuit 22 performs processing (amplification processing or the like) necessary for reproducing the supplied audio signal, and then outputs it to the speaker 22a. Thereby, an audio signal is reproduced from the speaker 22a.
The remote controller 7 is provided with a joystick for bending operation, a joystick for menu selection, a freeze switch, an image recording switch, and the like so that various remote control operations can be performed.

(First embodiment)
The first embodiment of the present invention will be described below. In the present embodiment, the measurement target is a scratch on a part, and the case where the length of the scratch is measured will be described as an example. However, the present invention is not limited to the scratch measurement, and the length, area, etc. of an arbitrary measurement target. It can also be applied to measure.
In the shape dimension measuring method using the industrial endoscope apparatus 1 of the present embodiment, first, a real-time image (part to be observed) of a component (observed object) with an endoscope probe 3 to which an optical adapter (stereo optical adapter) 2 is attached. Image) and a length dimension (three-dimensional shape dimension) of a scratch on the object to be observed based on the parallax of two real-time images projected on the CCD via the optical adapter 2 Are measured.

As shown in FIG. 3, in the optical adapter 2, since two optical lenses are arranged in parallel at a predetermined distance s, parallax occurs between the two images projected on the CCD via these lenses. . In addition, the codes | symbols b1 and b2 in the figure show the both-ends position of the flaw which is a measuring object, and the thick line formed between these two points b1 and b2 has shown the flaw b. Moreover, the broken line in the same figure has shown the visual field range of each optical lens. That is, the two broken lines indicated by reference sign v1 indicate the field of view range of one optical lens, and the other two broken lines indicated by reference sign v2 indicate the field of view range of the other optical lens.
The real-time video imaged by the CCD in this way is transmitted to the LCD 8 and the FMD 9 via the control unit CU. Then, the observer operating the industrial endoscope apparatus 1 operates the remote controller 7 in order to make the control unit CU recognize the scratch b, and the positions of both ends of the scratch b are displayed on the image of the LCD 8 or the FMD 9. Specify b1 and b2.

Then, as shown in FIG. 4, the control unit CU recognizes both end positions b1 and b2 on coordinates based on the position of the optical adapter 2 (tip of the endoscope probe 3) based on the parallax. In other words, with the current position of the optical adapter 2 (the tip of the endoscope probe 3) as a reference, the relative positions of both end positions b1 and b2 are set on the coordinates set by itself.
When the coordinates of the position b1 are (x1, y1, z1) and the coordinates of the position b2 are (x2, y2, z2), the length dimension L between the both end positions b1, b2 is L = [(( obtained as ^{x2-x1) 2 + (y2} -y1) 2 + (z2-z1) 2] 0.5.
Thus, the step of capturing a real-time video and the step of obtaining the length dimension L of the scratch b based on the parallax are completed.

Subsequently, a step of reading shape data indicating a three-dimensional shape dimension of a part (observed object), and matching the shape data with the real-time image, and using the three-dimensional shape dimension of the shape data as a reference standard, the length of the scratch b The control unit CU executes a process of obtaining the height dimension (three-dimensional shape dimension) again.
Details of the scratch measurement performed by the control unit CU based on the shape data will be described below with reference to FIGS. 5 (a) to 5 (c).

First, the control unit CU reads the design information (CAD data) of the part a stored in the recording unit R. In the present embodiment, the control unit CU reads the design information from the recording unit R. However, the present invention is not limited to this, and the control unit CU can read the design information directly from an external storage medium, or can be remotely located via a communication line. You may make it read directly from a computer (server).
Then, the control unit CU generates a computer model (shape data) c shown in FIG. 5A based on the design information (CAD data) of the part a. The computer model c is a three-dimensional wire model that accurately indicates the three-dimensional shape and dimension of the part a, and represents the outer shape of the part a by braiding a large number of wires w whose distance intervals are known.
By generating the computer model c, the control unit CU grasps the detailed and highly accurate three-dimensional shape dimensions of the part a. In this embodiment, the computer model c is constructed in the control unit CU. However, the present invention is not limited to this. The computer model c constructed in advance by a remote computer (server) is connected via a communication line. You may make it read.

In the next control step, the control unit CU processes the size and orientation of the computer model c so as to match the size and orientation of the component a in the real-time video as shown in FIG. 5B. After that, the computer model c is superimposed on the part a and freeze-displayed (stationary display).
That is, the feature points (ridge line shape, protrusion shape, hole shape, character information, etc., extracted in the real-time video are extracted by discriminating these shapes from the luminance distribution). . Then, feature points corresponding to these feature points are extracted on the computer model c, and the computer model c is overlaid on the video of the part a so that the feature points of both match, and the computer model c and the video of the part a are combined. Freeze each one and fix the relative positional relationship between them. As a result, the surface of the component a is covered with a large number of wires w whose distance dimensions are known. Then, information on the size and shape including the inclination in the depth direction when viewed from the endoscope probe 3 side is given to the part a and the scratch b in the two-dimensional real-time video.

  After making the three-dimensional shape dimension of the part a into a state that can be grasped based on the computer model c in this way, the control unit CU determines the scratch b already specified in the previous step shown in FIG. A length dimension L3 between both end positions b1 and b2 (which will be described using a new code L3 to distinguish it from the length dimension L obtained based on the parallax) is used with the three-dimensional coordinates of the computer model c. Ask.

Subsequently, the control unit CU performs a step of comparing the length dimension L obtained based on the parallax with the length dimension L3 obtained based on the shape data.
And when the difference between these two length dimensions L and L3 is within a preset tolerance, it is confirmed that the length dimension L obtained based on the parallax is accurate, This is displayed on the LCD 8 or the FMD 9. More specifically, the type of optical adapter 2 currently used and the optical information of the optical adapter 2 recognized by the control unit CU (types such as direct view type and side view type, field angle, distortion aberration, internal It is objectively confirmed by the support of the length dimension L3 obtained based on the computer model c that the endoscope diameter dimension and the like correctly match.
On the other hand, when the difference between the two length dimensions L and L3 is equal to or larger than the allowable error, it is confirmed that the length dimension L obtained based on the parallax may be inaccurate, and the LCD 8 and FMD 9 are optically connected. A display prompting confirmation of the adapter 2 or the like is displayed. More specifically, the type of optical adapter 2 currently used and the optical information of the optical adapter 2 recognized by the control unit CU (types such as direct view type and side view type, field angle, distortion aberration, internal It is objectively confirmed by the support of the length dimension L3 obtained based on the computer model c that the endoscope diameter dimension does not match.
As described above, the shape dimension of the scratch b can be accurately measured. In this embodiment, after measuring the scratch b based on the parallax, the scratch b is measured based on the computer model c. However, the present invention is not limited to this, and based on the computer model c first. It is also possible to measure scratch b and then measure scratch b based on parallax.
In the present embodiment, the real-time video and the computer model are matched, but the already recorded playback video and the computer model may be matched. That is, the present invention is not limited to the observation of the observation object and the shape dimension measurement at the same time, and the observation of the observation object is performed in advance to leave the video recording, and then the video recording is reproduced. However, it is good also as what measures a shape dimension using the above-mentioned method. The same applies to other embodiments that follow.

(Second Embodiment)
The second embodiment of the present invention will be described below. In the description of the present embodiment, the description will be focused on the differences from the first embodiment, and the description of the other parts will be omitted because they are the same as those of the first embodiment.
In the present embodiment, is the distance dimension of the optical adapter 2 (the tip of the endoscope probe 3) with respect to the scratch b (measurement object) suitable for performing the length dimension measurement based on the parallax? Is determined based on the distance dimension obtained based on the computer model c, and the determination result is communicated to the observer to assist the observer's operation. .

In the shape dimension measuring method using the industrial endoscope apparatus 1 of the present embodiment, first, a real-time image of the part a is captured by the endoscope probe 3 to which the optical adapter 2 is attached.
Subsequently, the control unit CU reads the shape data indicating the three-dimensional shape dimension of the part a, and compares the real-time image with the shape data, thereby the optical adapter 2 for the scratch b on the part. And a step of determining whether or not the distance is within a predetermined distance.

  That is, as described with reference to FIGS. 5A and 5B, the computer model c is superimposed on the real-time image of the part a, and then the optical for viewing the computer model c in such a size and orientation. The position and posture of the adapter 2 are obtained. Thereby, the distance dimension of the optical adapter 2 with respect to the computer model c, that is, the distance dimension of the optical adapter 2 with respect to the component a is obtained.

Then, the control unit CU compares this distance dimension with a distance dimension range suitable for shape dimension measurement (preliminarily input to the control unit CU as optical data of the optical adapter 2). As a result, if it is within the distance dimension range suitable for the shape dimension measurement, the fact that the measurement can be started is displayed on the LCD 8 or the FMD 9. On the other hand, when the distance is outside the range suitable for the shape dimension measurement, the LCD 8 or FMD 9 displays that measurement cannot be started. In addition to the display on the LCD 8 or the FMD 9, this determination result may be transmitted to the observer from the sound emitted from the speaker 22 a.
The observer who has received the notification of the determination result starts the measurement as long as the measurement can be started. On the other hand, if the measurement cannot be performed, the observer moves the tip position of the endoscope probe 3 to a position where the measurement can be started. Move to start measurement.

  According to the shape dimension measuring method of the present embodiment described above, it is determined whether the distance of the optical adapter 2 with respect to the scratch b is a distance suitable for measurement based on the computer model c, not the observer's intuition. Can be judged objectively. Therefore, the length dimension of the scratch b can be measured with high accuracy.

(Third embodiment)
The third embodiment of the present invention will be described below. Since this embodiment corresponds to a modification of the first embodiment and the second embodiment, the description will focus on differences from the first embodiment and the second embodiment.
As shown in FIG. 6, the present embodiment is a measurement method when the length of the scratch b is long and does not fit within a single real-time image. As shown in FIG. 6, in this embodiment, a plurality of partial real-time images of scratch b (three in the example of FIG. 6) are acquired, and partial scratch b obtained for each of these real-time images is acquired. The length measurement is performed by obtaining the length dimension of the entire scratch b from the sum of the length dimensions.

  More specifically, first, the movement of the tip of the endoscope probe 3 is stopped (frozen) while the tip of the endoscope probe 3 is placed in the screen so that one end of the scratch b is within the screen. A first image X is captured. Then, the observer designates a length measurement start point Pa in the image X. Then, the control unit CU designates a point near the frame of the image X of the scratch b as much as possible as a length measurement midpoint Pb, and at the same time, a partial scratch b from the length measurement start point Pa to the length measurement midpoint Pb. The length La is obtained by the above-described procedure, and is temporarily stored together with the position information of the length measurement midpoint Pb. It should be noted that the operation of the control unit CU at this time (such as the length measurement midpoint Pb) may be performed manually by an observer instead of the control unit CU. In addition, designation of a scratch b in the following images Y and Z (that is, designation of a measurement midpoint Pc and a measurement end point Pd, and also swinging operation and stopping of the distal end of the endoscope probe 3) Instead of the CU, an observer may perform the operation manually.

  Subsequently, the control unit CU swings the direction of the tip of the endoscope probe 3 along the extending direction of the scratch b by driving the motor, and ends the endoscope probe at one point where the length measurement midpoint Pb does not deviate from the field of view. 3 is fixed (frozen), and a second image Y is captured. Further, the control unit CU designates a point near the frame of the same image Y as much as possible of the scratch b as a second length measuring midpoint Pc, and at the same time, a portion of the scratch b from the length measuring midpoint Pb to the length measuring midpoint Pc. A typical length Lb is obtained by the above-described procedure, and temporarily stored together with the position information of the length measurement midpoint Pc.

Subsequently, the control unit CU further swings the direction of the tip of the endoscope probe 3 along the extending direction of the scratch b by driving the motor, so that the length measurement midpoint Pc does not deviate from the field of view. The tip of the probe 3 is fixed (frozen), and a third image Z is captured. Then, the observer designates the length measurement end point Pd in the image Z. The control unit CU obtains the partial length Lc of the scratch b from the length measurement midpoint Pc to the length measurement end point Pd by the above-described procedure.
In this way, the control unit CU can obtain the total length of the scratch b by obtaining the sum of the lengths La, Lb, and Lc, which are the three length measurement results.
In measuring the length from the length measurement start point Pa to the length measurement end point Pd, based on the swing angle of the tip of the endoscope probe 3 and the distance dimension from the tip of the endoscope probe 3 to the scratch b. It is also possible to adopt a configuration in which the values are obtained continuously.
In addition, although the control unit CU designates the length measurement midpoints Pb and Pc, the observer may designate them.

In the description of the first to third embodiments, the case where the measurement target is a flaw has been described as an example. However, the present invention is not limited to this, and the three-dimensional shape dimensions of other measurement targets such as deposits are obtained. It is good as a thing.
In the description of the first to third embodiments, the case where the length measurement is performed has been described as an example. However, the present invention is not limited thereto, and the area (size, width) may be measured. .

1 is a diagram showing an embodiment of an industrial endoscope apparatus of the present invention, and is a perspective view showing an overall configuration. FIG. It is a block diagram for demonstrating the internal structure centering on the control part of the same endoscope apparatus for industry. It is a figure for demonstrating 1st Embodiment of the crack measuring method using the industrial endoscope apparatus, Comprising: It is explanatory drawing for demonstrating the measuring method based on a parallax. It is explanatory drawing for demonstrating the same measuring method based on parallax, Comprising: It is a figure which shows the both ends position of the crack on the coordinate reference | standard which an optical adapter has. It is a figure for demonstrating 2nd Embodiment of the crack measuring method using the industrial endoscope apparatus of this invention, Comprising: (a) is a state before superimposing a computer model on the components in a real-time image | video. (B) is a figure which shows the state after superimposition, (c) is the figure which enlargedly displayed the A section of (b) figure by electronic zoom. It is a figure which shows the modification of the said 1st Embodiment and 2nd Embodiment, Comprising: The upper surface of a paper shows the state which covered the crack which is a length measurement object with the screen of several real-time images, and the lower surface of paper is the said It is a figure which shows the motion of the endoscope probe tip at the time of acquiring the screen of a some real-time image | video.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Industrial endoscope apparatus 2 ... Optical adapter (stereo optical adapter)
3 ... Endoscopic probe 8 ... LCD (display unit)
b ... Scratches (measurement target)
c: Computer model (shape data)
CU ... Control unit

Claims (6)

An endoscopic probe that captures an image of an object to be observed; and a display unit that displays the image; and based on the parallax of the image obtained through a stereo optical adapter attached to the endoscopic probe. In an industrial endoscope apparatus capable of measuring the three-dimensional shape of a measurement object on an observation object,
The shape data indicating the three-dimensional shape dimension of at least a part of the object to be observed is matched with the image, and the three-dimensional shape dimension of the measurement object is measured using the three-dimensional shape dimension of the shape data as a reference standard. An industrial endoscope apparatus comprising a control unit that compares a result with a three-dimensional shape dimension obtained based on the parallax. An endoscopic probe that captures an image of an object to be observed; and a display unit that displays the image; and based on the parallax of the image obtained through a stereo optical adapter attached to the endoscopic probe. In an industrial endoscope apparatus capable of measuring the three-dimensional shape of a measurement object on an observation object,
The distance between the stereo optical adapter and the object to be measured is obtained by comparing the image with shape data indicating a three-dimensional shape dimension in the object to be observed, and it is determined whether the distance is within a predetermined distance. An industrial endoscope apparatus comprising a control unit. The industrial endoscope apparatus according to claim 1 or 2,
The control unit acquires a plurality of partial images of the measurement object when the measurement object does not fit in the single image, and the partial three-dimensional measurement object obtained for each of the images An industrial endoscope apparatus characterized in that a three-dimensional shape dimension of the entire measurement object is obtained from a sum of shape dimensions. Capturing an image of an object to be observed with an endoscope probe equipped with a stereo optical adapter; measuring a three-dimensional shape dimension of a measurement object on the object to be observed based on parallax of the image; and A step of reading shape data indicating a three-dimensional shape dimension of at least a part of the object to be observed; and matching the shape data with the image, and using the three-dimensional shape dimension of the shape data as a reference standard, the three-dimensional shape dimension of the measurement object And a step of comparing between the three-dimensional shape dimension of the measurement object obtained based on the parallax and the three-dimensional shape dimension of the measurement object obtained based on the shape data. A shape dimension measuring method using an industrial endoscope apparatus. A step of capturing an image of an object to be observed with an endoscope probe equipped with a stereo optical adapter; a step of reading shape data indicating a three-dimensional shape dimension of at least a part of the object to be observed; and And a step of determining a distance of the stereo optical adapter with respect to a measurement target on the object to be observed, and a step of determining whether or not the distance is within a predetermined distance. Shape measurement method using an endoscope apparatus for medical use. In the shape dimension measuring method using the industrial endoscope apparatus according to claim 4 or 5,
When the measurement object does not fit in a single image, a step of acquiring a plurality of partial images of the measurement object, and a partial three-dimensional shape dimension of the measurement object obtained for each of the images And a step of obtaining a three-dimensional shape dimension of the entire measurement object by summation. A shape dimension measurement method using an industrial endoscope apparatus, characterized by comprising:

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