JP2007147506A - Piping inspection system and self-propelled piping inspection apparatus used therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a piping inspection system and a self-propelled piping inspection apparatus used therefor, which can effectively carry out an inspection while adapting to conditions in pipes without the need to be monitored by an operator. <P>SOLUTION: When reaching the vicinity of an inspection point, the self-propelled piping inspection apparatus 10 receives photographing condition data R transmitted from an RFID tag by using an RFID reader/writer 13, sends it to a camera section 12 and changes control operations of respective portions of the camera section 12. When reaching the inspection point, a self-propelled vehicle 11 is stopped, and photographing is carried out while changing values such as exposure values and the like based on the photographing condition data. Photographed image data are sent to an outside image analyzing system by using a wireless LAN system 14. The self-propelled piping inspection apparatus 10 receives photographing condition data by using the wireless LAN system 14, which are created based on the analysis of the image analyzing system, activates the RFID reader/writer 13 to write updated photographing condition data in the RFID tag. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a piping inspection system and a self-propelled piping inspection device used therefor.

  Conventionally, there are inspection devices for inspecting the inner walls of pipes, gas pipes, and other pipes that cannot be observed with the naked eye, and the situation in the pipes. Sufficient inspection is difficult due to the effects of dirt in the piping and reflected light during inspection photography, and a long time is required. In order to solve such problems, a self-propelled inspection device that can be inspected by mounting a photographing device such as a video camera on a self-propelled vehicle, running in the piping, and displaying the situation inside the photographed piping on a monitor is provided. Has been proposed. Some of them have a zoom function and an illumination function, enable photographing according to dirt in the pipe and reflectance of specific light, and can perform inspection according to the situation (for example, Patent Document 1). reference).

  However, even when these self-propelled inspection devices are used, the determination of the direction of travel at the branching point or the bent portion of the pipe requires instructions from the worker one by one or is set in advance by a program It is necessary, and it is difficult to inspect a complicated piping group, and a long time is required.

On the other hand, as a self-propelled device whose direction of travel has been controlled in a field other than piping inspection, an RFID tag that has been used in a wide range of fields such as security, logistics management, transportation, and leisure facilities has recently been proposed. (For example, refer to Patent Document 2). This self-propelled device reads data on the position written in the RFID tag arranged in a predetermined interval on the traveling surface and the traveling direction of the self-propelled device with an RFID reader / writer, and self-propelled according to the data. To do.
JP-A-5-164698 JP 2002-306831 A

  However, in the self-propelled piping inspection device of Patent Document 1, it is considered that a sufficient inspection cannot be performed unless a specific person with a certain specialized knowledge monitors the monitor, sequentially judges the situation in the piping, and shoots. It is done. Moreover, even if the work does not correspond to work requiring special knowledge, the worker must always monitor and operate the monitor, which is troublesome.

  In addition, by using the self-propelled device of Patent Document 2 for piping inspection, the device can be operated without monitoring and operation by an operator by automatically controlling the direction of travel at the branching point and the bent portion of the piping. It is not equipped with a camera such as a video camera or a video camera, and the original purpose cannot be achieved as it is.

  The present invention enables a piped inspection system capable of photographing according to dirt in a pipe and reflectance of specific light, and can efficiently perform an inspection according to the situation without monitoring of an operator, and a self-propelled type used for the pipe inspection system. It aims at providing a piping inspection device.

  In order to achieve the above object, the pipe inspection system of the present invention takes a picture of the state inside the pipe while self-propelled by a self-propelled pipe inspection apparatus equipped with a digital camera, and takes an image taken by the digital camera outside the pipe. A pipe inspection system that analyzes with an image analysis device installed in the vicinity of the inspection point of the pipe, an RFID tag to which shooting condition data relating to the shooting control of the digital camera can be written is provided. The apparatus captures an image from an RFID reader / writer that can read and write data from / to the RFID tag, a wireless communication means that transmits / receives data to / from the image analyzer, and an RFID tag that corresponds to the inspection point. When the condition data is read, the digital camera is controlled based on this shooting condition data to Characterized in that a control means to perform photographing. The RFID (Radio Frequency IDentification) is an information transmission element that can write and read data in a non-contact manner using radio waves and electromagnetic waves on a medium. The RFID is omnidirectional and can be read regardless of orientation.

  The image analysis device creates new shooting condition data by analyzing an image shot with a digital camera, and transmits the shooting condition data to the self-propelled piping inspection device via wireless communication means. It is preferable that the type piping inspection device updates the photographing condition data by writing the received photographing condition data in the RFID tag.

  Further, the self-propelled piping inspection device preferably writes inspection history data including at least that the inspection point is either uninspected or inspected into the RFID tag by the RFID reader / writer.

  The self-propelled pipe inspection apparatus of the present invention is a self-propelled pipe inspection apparatus that includes a digital camera and photographs the state in the pipe while self-propelled, and is attached to the RFID tag provided near the inspection point in the pipe. The RFID tag reads / writes data from / to the RFID reader / writer, wireless communication means for wirelessly communicating with an image analyzer provided outside the pipe, and the radiographing condition data written in the RFID tag. Control means for controlling the digital camera based on the photographing condition data and photographing the inspection point.

  The wireless communication means transmits the image data of the inspection point imaged with the digital camera to the image analysis device, receives the imaging condition data created by the image analysis device analyzing the image data, and the RFID reader / writer It is preferable to update the imaging condition data by writing new imaging condition data received from the image analyzer to the RFID tag.

  The RFID reader / writer preferably writes inspection history data including at least that the inspection point is either uninspected or inspected into the RFID tag.

  According to the pipe inspection system of the present invention, an RFID tag to which shooting condition data relating to shooting control of a digital camera can be written is provided in the vicinity of an inspection point of the pipe, and the self-propelled pipe inspection device is attached to the RFID tag. When the RFID reader / writer reads the photographing condition data from the RFID reader / writer capable of reading and writing data, the wireless communication means for transmitting / receiving data to / from the image analyzer, and the RFID tag corresponding to the inspection point. In addition, by providing a control means that controls the digital camera based on this shooting condition data and performs shooting of the inspection point, it is possible to perform shooting according to dirt in the piping and the reflectance of the specific light. Can be performed efficiently without operator supervision.

  In addition, the image analysis device creates new shooting condition data by analyzing an image shot by the digital camera, and transmits the shooting condition data to the self-propelled piping inspection device via a wireless communication means. The pipe-type inspection system writes the received shooting condition data to the RFID tag and updates the shooting condition data, so that even when the situation such as dirt in the pipes or the reflectance of the inherent light changes, the appropriate shooting is always performed. It is possible to perform imaging based on the condition data, and it is possible to perform an inspection according to the situation.

  Furthermore, the self-propelled piping inspection device has been inspected from the inspection history data by writing inspection history data including at least that the inspection point is either uninspected or inspected into the RFID tag by the RFID reader / writer. If it is recognized that there is no need to inspect the target inspection points and only inspect the uninspected inspection points, it will be possible to inspect the piping efficiently, and more depending on the situation Can be inspected.

  According to the self-propelled pipe inspection apparatus of the present invention, an RFID reader / writer that reads and writes data from and to an RFID tag provided near an inspection point in the pipe, and an image analysis provided outside the pipe. Wireless communication means for wirelessly communicating with the apparatus, and control that causes the digital camera to control the imaging of the inspection point based on the imaging condition data when the RFID tag reads the imaging condition data written in the RFID tag By providing the means, it is possible to perform photographing according to dirt in the pipe and the reflectance of the inherent light, and inspection according to the situation can be efficiently performed without monitoring by the operator.

  Further, the wireless communication means transmits the image data of the inspection point imaged by the digital camera to the image analysis device, receives the imaging condition data created by analyzing the image data by the image analysis device, and the RFID reader / writer By writing new shooting condition data received from the image analyzer to the RFID tag and updating the shooting condition data, it is always possible to take appropriate shots even when the situation such as dirt in the pipes or the inherent light reflectance changes. It is possible to perform imaging based on the condition data, and it is possible to perform an inspection according to the situation.

  Further, when the RFID reader / writer recognizes that inspection has been completed from the inspection history data by writing inspection history data including at least that the inspection point is either uninspected or inspected into the RFID tag. Can omit the inspection of the target inspection points and only inspect the uninspected inspection points, so that it is possible to efficiently inspect the piping and to perform inspections according to the situation. .

  Hereinafter, a pipe inspection system 1 to which a first embodiment of the present invention is applied will be described with reference to the drawings. As shown in FIG. 1, the pipe inspection system 1 includes a RFID tag 3 provided in the vicinity of an inspection point of a pipe group (pipe) 2 to be inspected, and self-running that performs imaging while running in the pipe group 2 to be inspected. Type pipe inspection device 10 and an image analysis device 28 (see FIG. 3) provided outside the pipe group 2 to be inspected. The pipe group 2 to be inspected includes a plurality of straight pipes 2 a, elbows 2 b, and teeth 2 c, and is connected by a connecting member 4.

  Specifically, as shown in FIGS. 2A and 2B, the self-propelled piping inspection device 10 includes a self-propelled vehicle 11, a camera unit (digital camera) 12, an RFID reader / writer 13, And a wireless LAN device (wireless communication means) 14. The RFID reader / writer 13 is provided on the front surface of the self-propelled vehicle 11, and the wireless LAN device 14 is provided on the rear surface of the self-propelled vehicle 11. The wireless LAN device 14 includes a communication antenna 14a and a wireless LAN control unit 14b.

  The self-propelled vehicle 11 includes a plurality of drive wheels 17a and 17b provided on the left and right sides, a belt 18 wound around the drive wheels 17a and 17b, and a drive motor 19 serving as a drive source (see FIG. 3). The rotational drive of the drive motor 19 is transmitted to the drive wheels 17a and 17b, and the belt 18 rotates, so that the self-propelled vehicle 11 can travel by belt drive. The self-propelled vehicle 11 rotates either one of the left and right drive wheels 17a and 17b in the forward rotation direction and rotates the other drive wheel 17 in the reverse rotation direction so that the left and right belts 18 are reverse to each other. The direction of travel can be changed by making it move.

  The camera unit 12 holds a turntable 21 attached to the upper surface of the self-propelled vehicle 11, a photographing lens 23 (see FIG. 3), a lens barrel 22 supported by the turntable 21, and the turntable 21. The lighting device 25 is rotatably connected to the left and right side surfaces via a connecting shaft 24. The turntable 21 is rotatable along the arrow A direction with the vertical direction of the self-propelled vehicle 11 as the central axis, and the lens barrel 22 is in the arrow B direction perpendicular to the arrow A direction with respect to the turntable 21. It is freely rotatable along. The illumination device 25 includes, for example, a flash 26 and a light 27. As the light 27, for example, a halogen lamp is used. The lighting device 25 includes both the flash 26 and the light 27, but is not limited thereto, and only one of them may be used. The illumination device 25 rotates in conjunction with the lens barrel 22 so that the illumination direction coincides with the imaging direction of the imaging lens 23.

  A block diagram showing the electrical configuration of the self-propelled piping inspection device 10 is shown in FIG. In the self-propelled piping inspection device 10, various circuits are entirely controlled by the CPU 30. The CPU 30 is connected to the RFID reader / writer 13, the wireless LAN device 14, and the drive motor 19. Further, a camera-side controller (control means) 32 is connected to the CPU 30 via a data bus 31. The CPU 30 transmits a shooting command to the camera-side controller 32 and controls shooting by the camera unit 12.

  The RFID reader / writer 13 can read and write data with respect to the RFID tag 3. The wireless LAN control unit 14b can send image data to the external image analysis device 28 via the connected communication antenna 14a, and obtain an analysis result from the external image analysis device 28 via the communication antenna 14a. The image analysis device 28 can analyze the image data received from the self-propelled piping inspection device 10, determine new imaging condition data, and send it to the self-propelled piping inspection device 10.

  In the camera unit 12, a CCD image sensor 42, which is an imaging unit that images subject light that has passed through the photographic lens 23, is disposed behind the photographic lens 23. The photographing lens 23 includes a fixed lens 29, a zoom lens 35, and a focus lens 36. The zoom lens 35 and the focus lens 36 are moved by driving of a zoom lens driving motor 37 and a focus lens driving motor 38, respectively. A diaphragm mechanism 33 is disposed in front of the CCD image sensor 42. The aperture mechanism 33 switches the F value (aperture value) by driving the aperture drive motor 34.

  The zoom lens drive motor 37, the focus lens drive motor 38, and the aperture drive motor 34 are connected to drivers 39, 40, and 41, respectively, and the drive is controlled by the camera-side controller 32 through these drivers 39 to 41. ing.

  A CCD driver 43 is connected to the CCD image sensor 42. The CCD driver 43 inputs a vertical drive signal and a horizontal drive signal to the CCD image sensor 42 according to the clock pulse input from the timing generator 44 and drives the CCD image sensor 42. The timing generator 44 is connected to the camera-side controller 32, and the camera-side controller 32 controls the driving of the CCD image sensor 42 by controlling the timing generator 44 and generating clock pulses.

  Further, a correlated double sampling circuit (CDS) 45 and an amplifier (AMP) 46 are connected to the CCD image sensor 42. Thus, noise removal and amplification are performed on the image pickup signal output from the CCD image sensor 42.

  Thereafter, the noise-removed and amplified imaging signal is converted from an analog signal to a digital signal by the A / D converter 47 and output to the image input controller 48 as image data.

  The image input controller 48 is connected to the camera side controller 32 via the data bus 31 and is controlled by the camera side controller 32. Further, a memory 50 is connected to the image input controller 48 via the data bus 31. The camera side controller 32 controls the image input controller 48 to store the image data in the memory 50.

  An image signal processing circuit 52 is connected to the camera-side controller 32 via the data bus 31, and tone conversion, white balance correction, γ correction, etc. are performed on the image data temporarily stored in the memory 50. Various image processing, YC conversion processing, and the like are performed.

  An RFID reader / writer 13 and a wireless LAN device 14 are connected to the data bus 31 of the camera unit 12. In the present embodiment, when the RFID reader / writer 13 acquires shooting condition data from the RFID tag 3, the shooting condition data is transmitted to the camera unit 12, and control of each unit based on the shooting condition data, that is, shooting is performed. Control of drivers 39 to 41 and CCD driver 43 for driving lens 23 and CCD image sensor 42, correlated double sampling circuit (CDS) 45, amplifier (AMP) 46, image input controller 48, image The signal processing circuit 52 is controlled. The photographing condition data stored in the RFID tag 3 includes, for example, values relating to photographing exposure such as an aperture, shutter speed, ISO sensitivity and exposure correction value, focal length, zoom magnification, focus accuracy, white balance, sharpness (contour). Values related to image processing such as (enhancement degree) and γ correction values, values related to the presence or absence of flash and light emission, and the amount of light emission are stored.

  In addition, the illumination device 25 is connected to the camera-side controller 32 via the data bus 31. The camera-side controller 32 controls the illumination device 25 to emit illumination light from the flash 26 or the light 27 toward the subject.

  The operation of the above configuration will be described below with reference to the flowcharts of FIGS. When the inspection pipe group 2 is inspected by the self-propelled piping inspection device 10, first, the drive motor 19 is turned on to start the self-propelled vehicle 11 and the RFID reader / writer 13 is activated. The data from the RFID tag 3 can be received. When the inspection is performed for the first time, the initial value photographing condition data is written in the RFID tag 3, and the self-propelled piping inspection device 10 photographs the inspection point based on the initial value photographing condition data. Do.

  When the self-propelled pipe inspection device 10 reaches the vicinity of the first inspection point, the RFID reader / writer 13 receives imaging condition data transmitted from the RFID tag 3, and this imaging condition data is sent to the camera unit 12. When the shooting condition data is sent, the camera-side controller 32 switches the control of each part of the camera unit 12. Then, when the inspection point is reached, the self-propelled vehicle 11 is stopped, and photographing is performed by switching values such as exposure amount, zoom magnification, focus accuracy, and white balance based on the photographing condition data. If the photographing condition data includes a value related to the illumination amount, the illumination device 25 is controlled to adjust the light emission amounts of the flash 26 and the light 27. Further, when performing this shooting, the CPU 30 drives the camera driving unit 53 to rotate the turntable 21 and the lens barrel unit 22 to change the direction of the shooting lens 23 in accordance with a predetermined shooting direction. Take control. Image data photographed by the camera unit 12 at the inspection point is temporarily stored in the memory 50 and then sent to the external image analysis device 28 by the wireless LAN device 14.

  In the image analysis device 28, as shown in the flowchart of FIG. 5, the image data sent from the self-propelled piping inspection device 10 is received, and the captured image is analyzed based on the image data. New shooting condition data is determined in order to obtain a more appropriate shot image. For example, by changing the exposure conditions such as the aperture and shutter, the white balance value, and the shooting condition data such as the illumination amount from the light / dark ratio of the image data, the actual subject distance at the inspection point and the set distance are shifted. If there is any, correct it, or change the focus accuracy, zoom magnification, etc. if the image is out of focus. The new photographing condition data determined in this way is transmitted to the self-propelled piping inspection device 10 via the wireless LAN device 14.

  When new imaging condition data is received from the image analyzer 28, the CPU 30 operates the RFID reader / writer 13 to write the latest imaging condition data to the RFID tag 3. In this way, the latest imaging condition data is updated in the RFID tag 3 every time inspection is performed. Similarly, the inspection of the piping group 2 to be inspected is completed by repeating the imaging of all inspection points, self-running between inspection points, and rewriting of new imaging condition data.

  In this way, in the present embodiment, the self-propelled piping inspection device 10 performs imaging within the piping group 2 to be inspected based on appropriate imaging condition data, acquires image data, and further analyzes based on the image data. Since the new imaging condition data can be updated and used in the next inspection, when the situation in the inspected pipe group 2 changes, for example, dirt or the reflectance of light in the inspected pipe group 2 Even when the situation changes, it is always possible to perform imaging based on appropriate imaging condition data, and an inspection corresponding to the situation can be performed.

  In the first embodiment, the RFID tag 3 stores only the imaging condition data and inspects the inspected piping group 2. However, the present invention is not limited to this. In the second embodiment of the present invention described below, in consideration of using the alternative self-propelled piping inspection device 10 when the self-propelled piping inspection device 10 breaks down, the inspection is performed together with the photographing condition data. The inspection history data indicating whether or not has been written is written in the RFID tag 3. In addition, as a structure of the piping inspection system 1 of this embodiment, it is the same as that of the said 1st Embodiment.

  The operation of the pipe inspection system 1 of the present embodiment will be described with reference to the flowchart of FIG. When inspecting the pipe group 2 to be inspected, self-running is started in the same manner as in the above-described embodiment, and the RFID reader / writer 13 is activated so that data from the RFID tag 3 can be received. When the inspection is performed for the first time, inspection history data indicating that the inspection has not been performed is written in the RFID tag 3 together with the initial imaging condition data. When the self-propelled piping inspection device 10 reaches the vicinity of the inspection point, the RFID reader / writer 13 receives imaging condition data and inspection history data transmitted from the RFID tag 3, and this imaging condition data is stored in the camera unit 12. The inspection history data is sent to the CPU 30.

  The CPU 30 recognizes whether or not the target inspection point has been inspected from the inspection history data. If the target inspection point has already been inspected, the direction of travel is corrected so that the inspection point passes through to the next inspection point, and self-running continues. On the other hand, if the target inspection point has not been inspected, the vehicle 12 continues to travel to the target inspection point, and the camera unit 12 switches control based on the imaging condition data and performs imaging at the inspection point. The image data photographed by the camera unit 12 at the inspection point is sent to the external image analysis device 28 by the wireless LAN device 14. In the image analyzer 28, new imaging condition data is created from the image data and sent to the self-propelled piping inspection device 10 as in the first embodiment.

  In the self-propelled piping inspection device 10, when new imaging condition data is received from the image analysis device 28, the CPU 30 operates the RFID reader / writer 13 and the RFID tag 3 has been inspected together with the latest imaging condition data. The inspection history data indicating that is written. In this way, by writing the inspection history data together with the imaging condition data to the RFID tag 3, it is possible to inspect by imaging based on the appropriate imaging condition data and recognize that the inspection history data has already been inspected. In this case, it is only necessary to inspect only the uninspected inspection points by omitting the inspection of the target inspection points, so that it is possible to efficiently inspect the inspected piping group 2 and more appropriately. Inspection can be performed.

It is an external appearance perspective view of the piping inspection system of the present invention. It is an external appearance perspective view of a self-propelled piping inspection device. It is a block diagram which shows the electric constitution of a piping inspection system. It is a flowchart which shows the inspection process sequence of the self-propelled piping inspection apparatus of 1st Embodiment. It is a flowchart of an effect | action of an image analyzer. It is a flowchart which shows the inspection process procedure of the self-propelled piping inspection apparatus of 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Piping inspection system 2 Pipe group to be inspected 3 RFID tag 10 Self-propelled piping inspection apparatus 11 Self-propelled vehicle 12 Camera part 13 RFID reader / writer 14 Wireless LAN apparatus 28 Image analysis apparatus

Claims (6)

In a pipe inspection system that photographs the state inside the pipe while self-propelled by a self-propelled pipe inspection apparatus equipped with a digital camera, and analyzes the image photographed by the digital camera with an image analyzer installed outside the pipe,
In the vicinity of the inspection point of the pipe, an RFID tag capable of writing photographing condition data related to photographing control of the digital camera is provided,
The self-propelled piping inspection device corresponds to an RFID reader / writer capable of reading and writing data with respect to the RFID tag, wireless communication means for transmitting / receiving data to / from the image analysis device, and the inspection point. When the RFID reader / writer reads the photographing condition data from the RFID tag, the image forming apparatus includes a control unit that controls the digital camera based on the photographing condition data to photograph the inspection point. Piping inspection system.   The image analysis device creates new shooting condition data by analyzing an image shot by the digital camera, and transmits the shooting condition data to the self-propelled piping inspection device via the wireless communication unit. The piping inspection system according to claim 1, wherein the self-propelled piping inspection device updates the imaging condition data by writing the received imaging condition data to the RFID tag.   The self-propelled piping inspection device writes inspection history data including at least that the inspection point is either uninspected or inspected into the RFID tag by the RFID reader / writer. Or the piping inspection system of 2. In a self-propelled pipe inspection device that has a digital camera and photographs the state of the pipe while self-propelled,
An RFID reader / writer that reads and writes data to and from an RFID tag provided near an inspection point in the pipe, a wireless communication means that wirelessly communicates with an image analyzer provided outside the pipe, and Control means for controlling the digital camera based on the photographing condition data and photographing the inspection point when the photographing condition data written in the RFID tag is read by the RFID tag. Self-propelled piping inspection device.   The wireless communication means transmits image data of the inspection point imaged by the digital camera to the image analysis device, and receives imaging condition data created by the image analysis device analyzing the image data, 5. The self-propelled piping inspection device according to claim 4, wherein the RFID reader / writer updates the photographing condition data by writing new photographing condition data received from the image analysis device into the RFID tag.   6. The self-propelled piping according to claim 4, wherein the RFID reader / writer writes inspection history data including at least that the inspection point is either uninspected or inspected into the RFID tag. Inspection device.

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