JP2010218132A - System for development of surface image of tube inner wall - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system for development of surface image of tube inner wall, enabling a worker to stereoscopically recognize a development image of a tubular object. <P>SOLUTION: The system 50 for development of surface image of tube inner wall creates the first and second two development images Sfa, Sfb by sampling the first and second image data SPa, SPb at the first and second two sampling positions Pa, Pb of different viewpoints relative to image data Svp. In addition, the first and second development images Sfa, Sfb at the same position are displayed side by side so that the worker can recognize the first and second development images Sfa, Sfb as one three-dimensional development image. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a tube inner wall image development system that develops an all-sky image obtained by photographing an inner wall surface of a tubular object to create a developed image, and in particular, a tube inner wall image development system that enables an operator to recognize a developed image in three dimensions. It is about.

  In order to find damage such as cracks and cracks and other abnormalities in pipes such as water and sewage pipes, supply / exhaust pipes, tunnels, and cable burial pipes, regular inspection and inspection of the inner wall surface is necessary. is there. In these investigations, the inner wall surface of a tubular object is photographed, and the photographed image is cut in the longitudinal direction of the tube to create a development view in a flat shape. In recent years, instead of the conventional manual operation by human beings, the development of the developed view is such that an image photographing means such as a camera is arranged inside the tubular object, and the inner wall surface of the tubular object is moved while moving the image photographing means along the tubular object. This is often performed by taking a photograph and performing a predetermined image development process on the photographed image data. Examples of such a conventional pipe inner wall surface image developing system for creating a developed image (development drawing) from a photographed image of the inner wall surface of a tubular object include those shown in FIGS.

  The image photographing means 20 of the conventional pipe inner wall surface image development system shown in FIG. 7 has a center axis 13 of the tubular object 10 and the center of the photographed image of the image photographing means 20 inside the tubular object 10 such as a sewer pipe. To be arranged. Further, the image photographing means 20 can photograph the inner wall surface of the tubular object 10 and can move along the tubular object 10. 7 and 8, for the sake of convenience, the upward direction of the tubular object 10 is A, the right direction is B, the downward direction is C, the left direction is D, and the upward direction of the image captured by the image capturing means 20 is A ', Assume that the right direction is B ′, the downward direction is C ′, and the left direction is D ′.

  The image data of the inner wall surface of the tubular object 10 acquired by the image photographing means 20 is such that the central axis 13 of the tubular object 10 is the inner wall image 34 as shown in FIG. For example, the vertical and horizontal directions A ′, B ′, C ′, and D ′ of the inner wall image 34 are circular corresponding to the vertical and horizontal directions A, B, C, and D of the tubular object 10. It becomes the image of. In creating a developed image from the inner wall surface image 34, first, a sampling line 30 having a fixed position and size is set on the inner wall surface image 34 shown by a broken line in FIG. Then, the image data on the sampling line 30 is sampled so as to go around along the sampling line 30 from the sampling start point A ″, for example. Then, image development processing is performed in which the sampled image data is arranged in a straight line of one column to obtain development data, and this development data is recorded. Thereafter, the image photographing means 20 moves to the next sampling position and photographs the inner wall surface. At this time, the next sampling position on the inner wall surface image 34 coincides with the sampling line 30. Similarly, image data sampling by the sampling line 30 and image expansion processing are performed to generate expanded data. Then, this expanded data is arranged in the right column of the expanded data recorded immediately before. By repeating these operations, as shown in FIG. 8B, for example, a developed image is created in which the inner wall surface of the tubular object 10 is cut open in the upward direction A ′ on the screen and spread in a planar shape. When the operator confirms the developed image shown in FIG. 8B, the presence or absence of abnormality (cracks 11 and cracks 12 in FIG. 8B) on the inner wall surface of the tubular object 10, and the position, size, The shape and the like can be grasped.

  In order to increase the speed and efficiency of the developed image creation work in such an in-pipe wall surface image development system, the moving speed of the image photographing means 20 is set so that the sampling position interval and the photographing interval of the image photographing means 20 match. It is desirable to perform image expansion processing as needed by continuously capturing images while moving the image capturing means 20 at this moving speed.

  However, when the image photographing means 20 becomes slower than the predetermined moving speed due to some obstacle, the developed image of the portion becomes an image extending in the longitudinal direction of the tubular object 10, and conversely, the image photographing means 20 moves to the predetermined movement. When it becomes faster than the speed, the developed image of that portion becomes an image shrunk in the longitudinal direction of the tubular object 10. As described above, it is impossible to accurately grasp the position, size, shape, etc. of the abnormality in the developed image with distortion. For this reason, the image capturing means 20 needs to be controlled with high accuracy so as to have a constant moving speed, but in particular, the tubular object 10 such as a sewer pipe whose surface state of the inner wall changes from place to place. In particular, it is difficult to control the moving speed of the image photographing means 20 to be constant, which hinders the speeding up and efficiency of the developed image creation work.

  The inventor of the present application has proposed the invention disclosed in the following [Patent Document 1] for this problem. According to the invention described in [Patent Document 1], the image data is sampled after the sampling line closest to the sampling position is selected from the plurality of sampling lines based on the position information of the image capturing means 20, and thus the image capturing is performed. Even if the moving speed of the means 20 is not constant, a developed image without distortion can be created.

JP 2008-90782 A

  According to the invention described in [Patent Document 1], it is possible to obtain a developed image free from distortion at high speed without making the moving speed of the image capturing means 20 constant. However, in order for the operator to intuitively grasp the degree of abnormality of the inner wall surface of the tubular object 10, it is preferable that the developed image can be recognized three-dimensionally.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a pipe inner wall surface image development system that allows an operator to recognize a developed image of a tubular object in three dimensions.

The present invention
(1) The position information Sp of the image photographing means 20 at the time of photographing the image data Sv is inserted into the image data Sv of the whole sky image in the tubular thing 10 photographed by the image photographing means 20 moving inside the tubular object 10. A position information insertion unit 22 to perform,
While setting a sampling line group composed of a plurality of sampling lines that are substantially similar to the inner shape of the tubular object 10 and have different sizes, based on the position information Sp inserted by the position information insertion unit 22, An image capturing unit 23 that selects a predetermined sampling line from the sampling line group and samples image data along the selected sampling line;
An image processing unit 24 that linearly arranges the image data sampled by the image capturing unit 23 and outputs the data as expanded data;
A recording unit 25 for recording the developed data to form a developed image;
An image output unit 27 for displaying the developed image;
In the pipe inner wall surface image development system 50,
The image capturing unit 23 sets the first sampling line group 300 at a predetermined position on the image data Svp, and sets the second sampling line group 400 at a predetermined interval inside or outside the first sampling line group 300. In addition, a sampling line corresponding to the first sampling Pa position is selected from the first sampling line group 300 to sample the first image data SPa, and a second distance separated from the first sampling position Pa by a predetermined distance L is set. A sampling line corresponding to the sampling position Pb is selected from the second sampling line group 400 to sample the second image data SPb,
The image processing unit 24 linearly arranges the first image data SPa and outputs it as the first development data SPa ′, and arranges the second image data SPb linearly and outputs it as the second development data SPb ′.
The recording unit 25 records the first development data SPa ′ in the first recording area 25a to form the first development image Sfa, and also records the second development data SPb ′ in the second recording area 25b. Forming an image Sfb,
The image output unit 27 displays the first developed image Sfa and the second developed image Sfb at the same position in the tubular object 10 side by side so that the developed image can be recognized three-dimensionally. By providing the deployment system 50, the above problem is solved.

  According to the pipe inner wall surface image development system of the present invention, the operator can recognize the development image of the tubular object in three dimensions, so that the degree of abnormality of the inner wall surface of the tubular object can be intuitively grasped. it can.

It is a block diagram of the pipe inner wall surface image expansion system concerning the present invention. It is a figure explaining the sampling line which concerns on this invention. It is a schematic diagram explaining operation | movement of the pipe inner wall surface image expansion | deployment system which concerns on this invention. It is a figure explaining the three-dimensional display of the pipe inner wall surface image expansion | deployment system which concerns on this invention. It is a figure which shows the example which installed the box-type window in the display means. It is a figure explaining the example of sampling of the pipe inner wall surface image expansion | deployment system which concerns on this invention. It is a figure explaining operation | movement of the conventional pipe inner wall surface image expansion | deployment system. It is a figure explaining operation | movement of the conventional pipe inner wall surface image expansion | deployment system.

  An embodiment of a pipe inner wall surface image development system according to the present invention will be described with reference to the drawings. Note that members similar to those in FIGS. 7 and 8 according to the prior art are denoted by the same reference numerals. Also, description and explanation of blocks related to the drive device and control device of the image photographing means 20 and the configuration of remote operation, which are not directly related to the present invention, will be omitted.

  FIG. 1 is a block diagram showing an outline of a pipe inner wall image developing system 50 according to the present invention. The position information insertion unit 22 of the inner wall image development system 50 according to the present invention receives the image data Sv captured by the image capturing unit 20 and the position information of the image capturing unit 20 output from the position information acquiring unit 26. Sp is always input. Then, the position information insertion unit 22 acquires the position information Sp of the image photographing unit 20 at the time of photographing the image data Sv from the position information obtaining unit 26 and inserts it into the image data Sv photographed by the image photographing unit 20. The data is output to the image capturing unit 23 as data Svp. As an insertion method of the position information Sp, for example, as shown in FIG. 2, the position information Sp is converted into a digital signal, and the screen is scanned at a portion that does not greatly affect the image data Sv such as the head portion and the tail portion of the image data Sv. It is preferably inserted as a dot row 32 of light and dark (black and white in a general display) parallel to the direction.

  As shown in FIG. 3, the image photographing means 20 is arranged inside a tubular object 10 such as a water and sewage pipe, a supply / exhaust pipe, a tunnel, and a cable burying pipe, and is self-propelled along the tubular object 10 or pulled by a cable or the like. Move forward or backward. At this time, the image photographing unit 20 is preferably arranged so that the center of the photographed image photographed by the image photographing unit 20 and the central axis 13 of the tubular object 10 substantially coincide with each other. Generally, wheels or the like are used as the moving means of the image capturing means 20, but when water is accumulated in the tubular object 10, a floating body is attached to the image capturing means 20 to float and move the water. It is also possible. Further, the image photographing means 20 is provided with a lighting device (not shown) so that the inside of the tubular object 10 can be illuminated.

  Further, the image photographing means 20 includes a photographing unit 41 for photographing a whole sky image of the inner wall surface of the tubular object 10. As the photographing unit 41, a known image photographing device such as a CCD camera or CMOS can be used. In addition, if an optical fiber is used for the photographing unit 41, it is possible to photograph the inner wall surface of the tubular object 10 even when the size of the tubular object 10 is small. As the lens of the imaging unit 41, it is preferable to use a wide-angle lens capable of capturing an all-sky image in the longitudinal direction of the inner wall surface of the tubular object 10, and in particular, imaging at a substantially right angle (180 ° diagonal) or more with respect to the optical axis of the lens. It is preferable to use a super wide angle lens having an angle. Further, a reflecting mirror having a predetermined angle or curvature may be provided in the photographing direction of the photographing unit 41 so that the inner wall surface around the photographing unit 41 is indirectly photographed. When an ultra-wide-angle lens is used for the image capturing unit 41, the image capturing unit 20 moves from the inner wall surface (P0) around the image capturing unit 41 indicated by the one-dot chain line in FIG. 3 to the depth direction of the tubular object 10 (right direction in FIG. 3). Can be taken.

  As the position information acquisition means 26 for acquiring the position of the image photographing means 20, a known position detection system such as one using laser light or radio waves can be used. In particular, it is preferable to hold a cable, a wire, or the like connected to the image photographing unit 20 so as not to loosen, detect the movement amount of the image photographing unit 20 from the feed amount of the cable, the wire, etc., and output it as position information Sp. Note that the position detection accuracy of the position of the image capturing means 20 by the position information acquisition means 26 is desirably one-fifth to a few tenths of the sampling interval of the tubular object 10.

  When acquiring the image data Svp from the position information insertion unit 22, the image capturing unit 23 of the pipe inner wall surface image development system 50 according to the present invention performs sampling of the image data on the image data Svp by a method described later to obtain the first image data. SPa and second image data SPb are output to the image processing unit 24.

  The image processing unit 24 performs image expansion processing on the first image data SPa and the second image data SPb to obtain first expansion data SPa ′ and second expansion data SPb ′, and the first expansion data SPa ′ is stored in the recording unit 25. The second expanded data SPb ′ is recorded in the second recording area 25b of the recording unit 25 in the first recording area 25a.

  The first recording area 25a of the recording unit 25 accumulates the first development data SPa ', thereby forming a first development image Sfa in the first recording area 25a. Further, the second recording area 25b of the recording unit 25 accumulates the second development data SPb ', thereby forming a second development image Sfb in the second recording area 25b. As the recording unit 25, a known recording medium such as a DVD, a hard disk, a semiconductor memory, or a semiconductor memory card can be used.

  The image output unit 27 displays the first developed image Sfa and the second developed image Sfb at the same position on the tubular object 10 as necessary after the formation of the first developed image Sfa and the second developed image Sfb. 45 are displayed side by side.

  Note that the image data Svp may be once recorded on a recording medium such as a hard disk or a DVD, and a sampling process and an image development process to be described later may be performed after all the image data Svp is acquired. Further, the image data Sv or the image data Svp may be displayed on the display unit 45 as needed so that the operator can observe the image captured by the image capturing unit 20.

  Next, a sampling line set by the inner wall surface image development system 50 will be described with reference to FIG. Here, the description will be made assuming that the image photographing means 20 moves forward along the tubular object 10 from the near side toward the far side (right direction in FIG. 3). In FIG. 2, the sampling lines are indicated by broken lines for convenience. However, since the sampling of the image data by the sampling lines is actually performed inside the image capturing unit 23, there is no need to display it on the screen. . In addition, here, the number of sampling lines constituting a first sampling line group 300 and a second sampling line group 400, which will be described later, will be described as 100 lines, but only 10 lines are shown in FIG.

  When the image data Svp is input to the image capturing unit 23, the image capturing unit 23 includes, on the image data Svp, a first sampling line group including a plurality of sampling lines 3000 to 3100 having the same central point and different sizes. 300 and the second sampling line group 400 configured by the sampling lines 4000 to 4100 are set. At this time, the centers of all sampling lines coincide with the central axis 13 of the tubular object 10. The number of sampling lines constituting the first sampling line group 300 and the second sampling line group 400 is not particularly limited, but is preferably about 50 to 500 lines, and particularly preferably about 100 to 200 lines.

  In FIG. 2, since the tubular object 10 is circular, the sampling line is also circular. However, when the inner shape of the tubular object 10 is an ellipse, a polygon, or an arch shape, the shape of the sampling line Is similar to or substantially similar to the inner shape of the tubular article 10. In particular, when a wide-angle lens is used for the photographing unit 41 and the inner shape of the tubular object 10 is other than a circle, the photographed image is distorted. It is possible to create a developed image of the inner wall surface of the tubular object 10.

  For example, the sampling line 3000 positioned at the innermost circumference serving as a reference for the first sampling line group 300 and the sampling line 4000 serving as a reference for the second sampling line group 400 may be fixed on the image data Svp. This is preferable from the viewpoint of reducing the load on the unit 23. In this case, since the angle θa of the first sampling position Pa and the angle θb of the second sampling position Pb in FIG. 3 are constant, the distance L between the first sampling position Pa and the second sampling position Pb is equal to that of the tubular object 10. It depends on the diameter. The distance L is ideally about 5 cm to 8 cm corresponding to the distance between the eyes of the operator.

  The diameter of each sampling line is set so that the intervals between adjacent sampling lines are equal. If the positions of the reference sampling lines 3000 and 4000 are fixed and the interval between the adjacent sampling lines is fixed on the image data Svp, the adjacent sampling lines can be input by inputting the value of the diameter of the tubular object 10. It is possible to calculate how many mm of the tubular object 10 corresponds to the line interval. If the position of the reference sampling line 3000 is fixed and the interval between the adjacent sampling lines is fixed to 0.2 mm of the tubular object 10, for example, the diameter of each sampling line and the interval between the adjacent sampling lines are It changes depending on the value of the diameter of the tubular object 10.

  In this example, since the image photographing means 20 advances along the tubular object 10 from the near side to the far side, the outermost sampling line 4100 on the screen is closest to the moving direction of the image photographing means 20. The innermost sampling line 3000 is the farthest sampling line in the traveling direction.

  In addition, how many mm interval (sampling interval in the present application) the image data of the inner wall surface of the tubular object 10 is sampled depends on the value of the diameter of the tubular object 10 and the width direction of the developed image created by the tube inner wall image developing system 50 ( When the first development data SPa ′ and the second development data SPb ′ are arranged in the vertical direction, the width of the development image is determined by the number of dots in the vertical direction). For example, when image data is sampled along the innermost sampling line 3000 and the image data is linearly arranged, the width of the arranged linear image data, that is, the developed image, is the inner circumference of the tubular object 10 in the sampling line 3000. It becomes. The sampling interval is set so that the aspect ratio of the developed image does not change. For example, if the width of the developed image is 640 dots and the inner circumference of the tubular object 10 is 1.28 m, the length of the developed image in the length direction of 640 dots is 1.28 m, and 1 dot is 2 mm. Therefore, the sampling interval is basically 2 mm. The image capturing unit 23 changes the interval of the image data to be sampled according to the diameter of the sampling line so that the total number of image data to be sampled is constant. Therefore, even if the diameters of the sampling lines are different, the amount of image data to be sampled is constant, and the developed image is not distorted in the width direction.

  Next, the operation of the pipe inner wall surface image development system 50 will be described. Here, similarly to the above, it is assumed that the image capturing means 20 advances along the tubular object 10 from the near side to the far side, and the interval between adjacent sampling lines corresponds to 0.2 mm of the tubular object 10, Sampling interval is 1 mm. Therefore, in this case, the first sampling position Pa and the second sampling position Pb in FIG. 3 respectively advance to the back side by 1 mm after capturing the first image data SPa and the second image data SPb.

  First, as shown in FIG. 3, the image photographing means 20 is installed inside the tubular object 10. Here, when the image capturing means 20 is in the initial position, the image capturing means 20 captures the inner wall surface of the tubular object 10 and outputs the image data Sv to the position information insertion unit 22. Further, the position information acquisition unit 26 of the inner wall surface image development system 50 outputs the position information Sp of the image capturing unit 20 (the position information Sp is “0” because of the initial position at the present time) to the position information insertion unit 22. To do. As shown in FIG. 2, the position information insertion unit 22 inserts the position information Sp as a dot string 32 at the head portion of the image data Sv and outputs it as image data Svp to the image capture unit 23.

  The image capturing unit 23 sets the first sampling line group 300 and the second sampling line group 400 shown in FIG. 2 for the image data Svp. For example, the sampling lines 3000 and 4000 are set as the first sampling position Pa and the second sampling position Pb at the initial position. Then, the image data on the sampling lines 3000 and 4000 are sampled and taken from the sampling start point, and output to the image processing unit 24 as the first image data SPa and the second image data SPb, respectively. Thereafter, the first sampling position Pa and the second sampling position Pb move to the back side of the tubular object 10 by 1 mm, respectively.

  Next, the image photographing means 20 continuously photographs the inner wall surface of the tubular object 10 while moving forward along the tubular object 10, and outputs image data Sv. Similarly, the output image data Sv is inserted with the position information Sp by the position information insertion unit 22 and output to the image capture unit 23 as image data Svp. The image capturing unit 23 determines the shooting position of the image data Svp from the position information Sp of the input image data Svp.

  For example, when the image data Svp input to the image capturing unit 23 is captured at a position that does not reach the next first sampling position Pa, the image capturing unit 23 uses the first image data SPa and the second image data. Wait until the next image data Svp is input without fetching SPb.

  When the image data Svp input to the image capturing unit 23 is taken at a position that coincides with the next first sampling position Pa (here, a position advanced by 1.0 mm from the initial position), the image capturing unit 23 samples and captures the image data on the sampling line 3000 and the image data on the sampling line 4000, and outputs them to the image processing unit 24 as first image data SPa and second image data SPb, respectively.

  When it is determined that the image data Svp input to the image capturing unit 23 is image data Svp photographed at a position that is 1.2 mm past the next first sampling position Pa, the image capturing unit 23 performs sampling line processing. A sampling line 3006 corresponding to a position before 3000 to 1.2 mm is selected, sampled, and output to the image processing unit 24 as first image data SPa. In addition, the sampling line 4006 is selected to perform sampling, and the second image data SPb is output to the image processing unit 24. Thereafter, the first sampling position Pa and the second sampling position Pb move to the back side of the 1 mm tubular object 10 respectively. Since the new first sampling position Pa and second sampling position Pb correspond to the sampling line 3001 and sampling line 4001 on the currently input image data Svp, the image capturing unit 23 selects the sampling line 3001. Are sampled and output to the image processing unit 24 as the first image data SPa. In addition, the sampling line 4001 is selected to perform sampling, and the second image data SPb is output to the image processing unit 24. Therefore, in this case, a total of four samplings can be performed from one image data Svp, two for the first sampling position Pa and two for the second sampling position Pb.

  When the first sampling position Pa and the second sampling position Pb are located between the sampling lines, the image capturing unit 23 selects the sampling line closest to the first sampling position Pa and the second sampling position Pb. Then, the first image data SPa and the second image data SPb are sampled.

  The first image data SPa output from the image capturing unit 23 is subjected to an image expansion process in which the image processing unit 24 arranges it in a straight line in the vertical direction, and then the first image data SPa ′ is stored in the recording unit 25 as the first expansion data SPa ′. It is recorded in the first recording area 25a. The second image data SPb is recorded in the second recording area 25b of the recording unit 25 as the second development data SPb ′ after being subjected to image development processing arranged in a straight line of one column in the image processing unit 24. Is done. At this time, the first recording area 25a and the second recording area 25b are arranged in the right pixel row of the first development data SPa ′ and the second development data SPb ′ recorded immediately before (the image photographing means 20 retracts the tubular object 10). In the case where the process proceeds, the first first development data SPa ′ and the second development data SPb ′ are arranged and recorded in the left pixel column).

  By repeating these operations, the first developed image Sfa at the first sampling position Pa is recorded in the first recording area 25a, and the second developed image Sfb at the second sampling position Pb is recorded in the second recording area 25b. To be recorded.

  When the image photographing means 20 moves forward and reaches position A in FIG. 3, the first sampling position Pa at the initial position and the second sampling position Pb at position A coincide. For this reason, in the region B of the tubular object 10 after the position A, the same position is sampled at both the first sampling position Pa and the second sampling position Pb. Accordingly, the developed image of the region B of the tubular object 10 is sampled in the first developed image Sfa formed by sampling at the first sampling position Pa (angle θa) and at the second sampling position Pb (angle θb). It exists in both in the formed 2nd expansion | deployment image Sfb.

  When the creation of the first developed image Sfa and the second developed image Sfb in the predetermined range of the tubular object 10 is completed as described above, for example, the image output unit 27 of the inner wall surface image developing system 50 performs the first developed image Sfa or the second developed image Sfa. Either one of the developed images Sfb is displayed on the display means 45. Then, when the worker indicates a region to be displayed in a three-dimensional manner in the developed image displayed on the display means 45, the image output unit 27, as shown in FIG. 4, displays the first developed image in the region designated by the worker. Sfa and the second developed image Sfb are displayed side by side on the display means 45. FIG. 4 shows a display example using the parallel method. In this case, the first developed image Sfa is displayed on the left and the second developed image Sfb is displayed on the right. In the case of the cross method, the first developed image Sfa is displayed. The display position of the second developed image Sfb is reversed. Since the displayed first developed image Sfa and second developed image Sfb are developed images obtained from different viewpoints at the same position, that is, the first sampling position Pa and the second sampling position Pb, these are displayed side by side. In addition, the operator can recognize the first developed image Sfa and the second developed image Sfb as one stereoscopic developed image by shifting the focus of both eyes and viewing the stereogram. . Thus, the operator can intuitively grasp the degree of abnormality such as cracks 11 and cracks 12 on the inner wall surface of the tubular object 10, the depth, and the like. Further, as shown in FIG. 5, a box-shaped window 45a having a shielding plate between both eyes of the worker is installed on the display means 45, and one unfolded image (the first image in FIG. 4 is displayed with the left eye of the worker). Only the developed image Sfa) and only the other developed image (second developed image Sfb in FIG. 4) may be viewed with the right eye.

  In addition, the Japanese TV image display method employs an interlace method in which even field images and odd field images are alternately displayed. Therefore, the inner wall image development system 50 uses one frame of image data Svp. After dividing the image data Svp of the even field and the image data Svp of the odd field and confirming the position information of the image data Svp of each field, the above sampling operation is performed, and the first developed image Sfa and the first A two-deployed image Sfb may be created. According to the above configuration, since two shot images of the even field image data Svp and the odd field image data Svp can be obtained from one image data Svp, the moving speed of the image shooting means 20 is reduced. It is possible to double the speed, and it is possible to further speed up the development image creation work.

  Further, when sampling by the inner wall surface image development system 50, as described below, image data of pixels located in the vicinity of the sampling line may be combined and captured at a ratio based on the position of the ideal sampling point. good.

  FIG. 6 is a conceptual diagram illustrating the sampling of the image data. The squares surrounded by the solid lines in FIG. 6 indicate screen pixels when the image data Svp is displayed on the screen. Here, for convenience, the eighth to tenth scanning lines in the vertical direction and those in the horizontal direction are shown. The fourth to eighth pixels of the scanning line are represented. Here, when the image data is sampled by the selected sampling line, the ideal sampling point R1, which is an individual point constituting the sampling line, is always located at the center of the pixel to be sampled as shown in FIG. is not.

  If the center of the eighth scanning line α is 8.0 and the center of the fifth pixel row is 5.0, the coordinates of the ideal sampling point R1 are at the position of (5.2, 8.3). Consider the case where it exists virtually. Naturally, the fifth pixel α5 of the scanning line α has only one image data, and only one image data can be provided no matter where the ideal sampling point R1 is located in the pixel α5. . In such a case, the image capturing unit 23 performs ideal sampling on the image data of the sixth pixel α6 of the scanning line α and the fifth and sixth pixels β5 and β6 of the scanning line β located in the vicinity of the pixel α5. Synthesis is performed at a ratio based on the position of the point R1, and the synthesized image data is used as sampled image data.

  That is, since the horizontal coordinate of the ideal sampling point R1 is 5.2, the image data of the pixel α5 is combined at a ratio of 80% and the image data of the pixel α6 is combined at a ratio of 20%. Similarly, the image data of the pixel β5 is combined at a ratio of 80% and the image data of the pixel β6 is combined at a ratio of 20%. Further, since the vertical coordinate of the ideal sampling point R1 is 8.3, the synthesized image data of the scanning line α is synthesized at a ratio of 70%, and the synthesized image data of the scanned line β is synthesized at a ratio of 30%. That is, the image data sampled at the ideal sampling point R1 is 56% of the image data of the pixel α5, 14% of the image data of the pixel α6, 24% of the image data of the pixel β5, and 6% of the image data of the pixel β6. It will be synthesized at the ratio of In this way, image data of pixels located near the ideal sampling point is synthesized at a ratio based on the position of the ideal sampling point, and this is used as sampled image data to create a smoother and more accurate developed image. It becomes possible to do.

  Further, the inner wall surface image developing system 50 according to the present invention can be provided with well-known posture detecting means such as a gyro sensor or a piazo type three-dimensional acceleration sensor in the image photographing means 20. The posture detection unit provided in the image photographing unit 20 outputs the change in the posture of the image photographing unit 20 in the X-axis, Y-axis, and Z-axis directions to the position information insertion unit 22 as posture information. The position information insertion unit 22 inserts the posture information from the posture detection unit into the image data Sv from the image photographing unit 20 as a digital signal in addition to the position information Sp from the position information acquisition unit 26, and the image processing unit as the image data Svp 24. The image processing unit 24 corrects the shape and position of the sampling line 300 on the screen and the position of the sampling start point based on the attitude information of the input image data Svp. According to this configuration, even if the posture of the image photographing unit 20 changes while moving inside the tubular object 10, the obtained developed image is not distorted.

  From the above, according to the pipe inner wall surface image development system 50 according to the present invention, two first sampling positions Pa and second sampling positions Pb having different viewpoints with respect to the image data Svp acquired through the image capturing means 20. The first image data SPa and the second image data SPb are sampled, and two first developed images Sfa and second developed images Sfb are created using the first image data SPa and the second image data SPb. Then, by displaying the first developed image Sfa and the second developed image Sfb at the same position side by side, the operator recognizes the first developed image Sfa and the second developed image Sfb as one three-dimensional developed image. be able to. Thus, the operator can intuitively grasp the degree of abnormality such as cracks 11 and cracks 12 on the inner wall surface of the tubular object 10, the depth, and the like.

  In addition, this invention can be changed and implemented in the range which does not deviate from the summary of this invention.

10 Tubular material
20 Image photographing means
22 Position information insertion part
23 Image capture unit
24 Image processing unit
25 Recording section
25a First recording area
25b Second recording area
27 Image output unit
50 In-pipe wall image expansion system
300 First sampling line group
400 Second sampling line group
Sv, Svp image data
Sp location information
Pa first sampling position
Pb Second sampling position
L distance
SPa first image data
SPb Second image data
SPa 'first expansion data
SPb 'second expansion data
Sfa first developed image
Sfb second development image

Claims (1)

A position information insertion unit for inserting the position information of the image photographing means at the time of photographing the image data into the image data of the whole sky image in the tubular thing photographed by the image photographing means moving inside the tubular object;
A sampling line group configured by a plurality of sampling lines that are substantially similar to the inner shape of the tubular object and have different sizes is set, and the sampling line is based on the position information inserted by the position information insertion unit. An image capturing unit that selects a predetermined sampling line from the group and samples the image data along the selected sampling line;
An image processing unit that linearly arranges the image data sampled by the image capturing unit and outputs the developed data;
A recording unit for recording the developed data to form a developed image;
An image output unit for displaying the developed image;
In the pipe inner wall image development system,
The image capturing unit sets a first sampling line group at a predetermined position on the image data, sets a second sampling line group at a predetermined interval inside or outside the first sampling line group, and further The sampling line corresponding to the first sampling position is selected from one sampling line group to sample the first image data, and the second sampling line corresponding to the second sampling position separated from the first sampling position by a predetermined distance is selected. Sampling the second image data by selecting from the sampling line group,
The image processing unit arranges the first image data linearly and outputs it as first development data, and arranges the second image data linearly and outputs it as second development data,
The recording unit records first development data in a first recording area to form a first development image, and records second development data in a second recording area to form a second development image;
An image development system for an inner wall surface of a tube, wherein the image output unit enables a three-dimensional recognition of the developed image by displaying the first developed image and the second developed image at the same position side by side in the tubular object.

Images