JP2018151540A - Inspection device for cylindrical member - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a detection device for a cylindrical member capable of accurately grasping a state of an interior of the cylindrical member in association with position information.SOLUTION: When a user sends a distal part 9a of an insertion part 9 to a guide part 17 of a mounting part 16, the distal part 9a of the insertion part 9 is inserted into a main pipe 7a. When the user switches a switching operation part 21c of an operation part 21, a positioning part 19 is switched from a contracted state to a stretched state, and an inner peripheral surface of the main pipe 7a is brought into contact with the positioning part 19. When the user operates an imaging operation part 21b of the operation part 21 to select a start of imaging operation, upper, lower, right and left imaging regions on the inner peripheral surface of the main pipe 7a are imaged by the imaging part, and image information is output to a control part 24, and a position measurement part 15 outputs position information to the control part 24. The image information of the overall circumference of the inner peripheral surface of the main pipe 7a corresponding to the position information is generated by an image information synthesis part 14, and the image information of the overall circumference of the inner peripheral surface of the main pipe 7a is stored in association with the position information by a storage part 18.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a cylindrical member inspection apparatus for inspecting a state of an inner peripheral surface of a cylindrical member.

  Pipes used in movable brackets and the like used in train line facilities are corroded and damaged due to long-term use. Furthermore, the life of pipes is shortened in salt damage areas. This corrosion often occurs from the inside of the pipes, and inspection from the outside of the pipes is very difficult and difficult to detect. For this reason, when inspecting the inside of pipes in detail, the movable bracket is actually removed from the site before the material of the cross section of the pipes is examined. Conventional methods for investigating damage to pipes used in movable brackets, etc., include inferring the internal state from the external state of the pipe, or inserting a fiberscope through the fitting mounting hole of the pipe. There is a method of observing the inside of pipes with a fiberscope.

 A conventional endoscope apparatus has a long insertion member that is inserted into a pipe, a camera head that is attached to the distal end of the insertion member and photographs the inside of the pipe, and is attached to the rear end of the insertion member. A monitor that displays an image captured by the camera head, and a lead wire that is inserted into the insertion member and connects the camera head and the monitor (see, for example, Patent Document 1). In such a conventional endoscope apparatus, an insertion member is inserted into the pipe and the camera head is moved to a desired location, and a still image or a video in the pipe is shot by the camera head. It is displayed on the monitor to inspect the corrosion status in pipes, that is, the condition.

JP 2012-132970 A

  In a conventional endoscope device, in order to monitor the state in the pipe and confirm damage such as corrosion of the pipe, still images or videos in the pipe taken continuously by the camera head are used as observation data on the monitor. it's shown. For this reason, in the conventional endoscope apparatus, when there are many confirmation parts, there is a problem that a still image or a moving image is simply recorded and cannot be organized. Further, in the conventional endoscope apparatus, since it is difficult to accurately grasp the position of the camera head in the pipe, there is a problem that the image and the position information cannot be accurately linked.

  The subject of this invention is providing the inspection apparatus of the cylindrical member which can grasp | ascertain correctly the internal state of a cylindrical member corresponding to position information.

The present invention solves the above-mentioned problems by the solving means described below.
In addition, although the code | symbol corresponding to embodiment of this invention is attached | subjected and demonstrated, it is not limited to this embodiment.
The invention of claim 1 is a cylindrical member inspection device for inspecting the state of the inner peripheral surface of the cylindrical member (7a) as shown in FIG. 3 and FIG. 5 to FIG. An imaging unit (12U, 12R, 12D, 12L) that moves in the length direction and images the inner peripheral surface of the cylindrical member, and image information (D _C1 ,. , D _CN ) and the cylindrical member inspection device (8) including a storage unit (19) that stores the positional information (D _P1 ,..., D _PN ) in the length direction of the cylindrical member in association with each other. is there.

According to a second aspect of the present invention, in the cylindrical member inspection apparatus according to the first aspect, as shown in FIGS. 3, 4, 7 and 9, the imaging position (P ₁ ,..., P _N ), a position measuring unit (15) that measures the position information as the position information.

The invention of claim 3 is a cylindrical member inspection device for inspecting the state of the inner peripheral surface of the cylindrical member (7a) as shown in FIGS. An imaging unit (12U, 12R, 12D, 12L) that moves in the length direction to image the inner peripheral surface of the cylindrical member, and an imaging position (P ₁ ,..., P _{N in} the length direction of the cylindrical member ) As position information (D _P1 ,..., D _PN ), image information (D _C1 ,..., D _CN ) of the entire inner peripheral surface of the cylindrical member and the position The image information (D _U1 ,..., D _UN , D _R1 ,..., D _RN , D _D1 ,..., D is displayed on the portable terminal device (26) that displays the information in correspondence with each other. _DN , D _L1 ,..., D _LN ) and an output unit (25) for outputting this position information.

According to a fourth aspect of the present invention, in the cylindrical member inspection apparatus according to any one of the first to third aspects, as shown in FIG. 5, the imaging unit has an inner periphery of the cylindrical member. The cylindrical member inspection apparatus is characterized in that the imaging regions (A _U , A _R , A _D , A _L ) on the upper, lower, left, and right sides of the surface are imaged.

According to a fifth aspect of the present invention, in the cylindrical member inspection apparatus according to any one of the first to fourth aspects, as shown in FIGS. Each image information (D _U1 ,..., D _UN , D _R1 ,..., D _RN , D _D1 ,..., D _DN , D _L1 ,..., D _LN ) of the upper, lower, left and right imaging regions An image information synthesis unit (14) that synthesizes the image information (D _C1 ,..., D _CN ) of the entire circumference of the surface, and the storage unit includes the image information of the entire circumference of the inner circumferential surface of the cylindrical member and the image information It is a cylindrical member inspection apparatus characterized by storing position information in association with each other.

  A sixth aspect of the present invention is the cylindrical member inspection apparatus according to any one of the first to fifth aspects of the present invention, as shown in FIGS. 7 and 8, of the inner peripheral surface of the cylindrical member. An inspection apparatus for a cylindrical member, comprising a display unit (22) for displaying image information of the entire circumference and the position information in association with each other.

  A seventh aspect of the invention is the cylindrical member inspection apparatus according to any one of the first to sixth aspects, wherein, as shown in FIGS. The cylindrical member has a through hole (7j) that penetrates the cylindrical member at a predetermined interval in the length direction of the cylindrical member, and the imaging unit is inserted into the cylindrical member from the through hole of the cylindrical member. It is an inspection apparatus of a cylindrical member characterized by being inserted.

  The invention of claim 8 is the cylindrical member inspection apparatus according to any one of claims 1 to 7, wherein, as shown in FIG. ) Is a main pipe (7a) of a movable bracket (7) that is movably supported in the length direction.

  A ninth aspect of the present invention is the cylindrical member inspection apparatus according to any one of the first to eighth aspects, wherein the imaging unit is a videoscope or a fiberscope. This is a member inspection apparatus.

  According to the present invention, the internal state of the cylindrical member can be accurately grasped in correspondence with the position information.

It is a front view of the movable bracket inspected by the cylindrical member inspection apparatus according to the first embodiment of the present invention. 1 is an overall view of a cylindrical member inspection apparatus according to a first embodiment of the present invention. It is sectional drawing which shows the state which inserted the insertion part of the inspection apparatus of the cylindrical member which concerns on 1st Embodiment of this invention in the main pipe of a movable bracket. It is a perspective view which shows the state which inserted the insertion part of the inspection apparatus of the cylindrical member which concerns on 1st Embodiment of this invention in the main pipe of a movable bracket. It is a front view which shows typically the front-end | tip part of the insertion part of the inspection apparatus of the cylindrical member which concerns on 1st Embodiment of this invention. It is sectional drawing which shows the state cut | disconnected by the VI-VI line of FIG. It is a lineblock diagram of the inspection device of the cylindrical member concerning a 1st embodiment of this invention. It is a schematic diagram which shows as an example the captured image which the image information synthetic | combination part of the inspection apparatus of the cylindrical member which concerns on 1st Embodiment of this invention synthesize | combined. It is sectional drawing of the position measurement part of the inspection apparatus of the cylindrical member which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the data structure of the memory | storage part of the inspection apparatus of the cylindrical member which concerns on 1st Embodiment of this invention. It is a flowchart for demonstrating operation | movement of the inspection apparatus of the cylindrical member which concerns on 1st Embodiment of this invention. It is a front view which shows typically the front-end | tip part of the insertion part of the inspection apparatus of the cylindrical member which concerns on 2nd Embodiment of this invention. It is sectional drawing which shows the state cut | disconnected by the XIII-XIII line | wire of FIG. It is sectional drawing which shows the state which inserted the insertion part of the inspection apparatus of the cylindrical member which concerns on 3rd Embodiment of this invention in the main pipe of a movable bracket. It is sectional drawing which shows the state which inserted the insertion part of the inspection apparatus of the cylindrical member which concerns on 4th Embodiment of this invention in the main pipe of a movable bracket. It is a block diagram of the cylindrical member inspection apparatus which concerns on 4th Embodiment of this invention.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
An overhead line 1 shown in FIG. 1 is an overhead train line installed over the track. The overhead wire 1 is supported at the support points by the support structure 3 at a predetermined interval so that the distance (diameter) between the support points becomes a predetermined length. The overhead line 1 is erected over a track on which an electric vehicle (railway vehicle) such as a train or an electric locomotive travels, and includes a trolley line 1a and a butterfly line 1b. The trolley wire 1a is an electric wire that contacts a sliding plate of a current collector of an electric vehicle, and supplies a load current to the electric vehicle by sliding the sliding plate. The butterfly wire 1b is a filament that supports the trolley wire 1a so that the slack (sag) due to the weight of the trolley wire 1a is reduced. The overhead wire 1 shown in FIG. 1 is a simple catenary type overhead wire that hangs the trolley wire 1a from the hinge wire 1b by a hanger.

  The insulator (insulator) 2 is a member that insulates and supports the electrical conductor. The insulator 2 is an insulator used between a pressurizing part and ground for insulation in an electric railway. The insulator 2 shown in FIG. 1 is a long insulator that electrically insulates between the utility pole 4 and the movable bracket 7 when the movable bracket 7 is supported by the utility pole 4 of the support structure 3. A connecting cap is attached to a rod-shaped ceramic or polymer insulator having pleats with equal intervals and a large creepage distance. The insulator 2 includes metal parts (cap metal parts) 2 a at the end part connected to the utility pole band 6 and the end part connected to the main pipe 7 a of the movable bracket 7.

  The support structure 3 is a train line support for supporting the overhead wire 1 and the insulator 2. As shown in FIG. 1, the support structure 3 includes a utility pole 4, a curved metal fitting 5, a utility pole band 6, a movable bracket 7, and the like. The utility pole 4 is a member that supports the components of the train track. A utility pole 4 shown in FIG. 1 supports a movable bracket 7 and has a base portion fixed along a track along which an electric vehicle travels. The curved metal fitting 5 is a member that supports the trolley wire 1a and pulls the trolley wire 1a outward in the curved section. The curve drawing metal fitting 5 shown in FIG. 1 includes an arm pipe 5a, an arm support metal fitting 5b, a mounting metal fitting 5c, and the like. The arm pipe 5a holds the trolley wire 1a at the tip, and has a function of suppressing the vibration of the trolley wire 1a in a straight section and imparting a zigzag deviation to the trolley wire 1a. The arm support fitting 5b is a member that supports the arm pipe 5a on the anti-vibration pipe 7d. The arm support fitting 5b supports the rear end portion of the arm pipe 5a so as to be rotatable in the vertical direction. The mounting bracket 5c is a bracket that detachably attaches the arm support bracket 5b to the anti-vibration pipe 7d. The mounting bracket 5c is attached to the outer peripheral surface of the anti-vibration pipe 7d so that the position can be adjusted. The utility pole band 6 is a member for attaching the movable bracket 7 to the utility pole 4. The utility pole band 6 is an annular fitting that is detachably wound around and fixed to the utility pole 4 while supporting the overhead wire 1, the insulator 2, the curved metal fitting 5 and the movable bracket 7. The utility pole band 6 is hinged to the metal fitting 2a of the insulator 2 so that the insulator 2 can rotate in the horizontal direction.

  The movable bracket 7 is a member that supports the overhead wire 1 movably in the length direction. The movable bracket 7 can be rotated horizontally around the support point so as to be able to cope with the movement of the train line due to temperature change, and allows the movement of the overhead line 1 in the length direction (track direction), and the vertical direction. A slight adjustment of the movement is also possible. The movable bracket 7 includes a main pipe (horizontal main pipe) 7a, a main pipe (oblique main pipe) 7b, a bridge wire support metal fitting 7c, an anti-vibration pipe 7d, an anti-vibration pipe mounting metal fitting 7e, a dropper 7f, A dropper mounting bracket 7g and a reinforcing member 7h are provided.

  The main pipe 7a is a member extending in the horizontal direction. The main pipe 7a is a cylindrical member having a circular cross-sectional shape, and hot dip galvanizing is applied to the inside and the outside of a general structural carbon steel pipe (STK400). The main pipe 7a has an inner diameter of about 35 to 70 mm, for example. The main pipe 7a includes through holes 7i and 7j, a closing member 7k, a connecting portion 7m, and the like. The through holes 7i and 7j are portions that penetrate the main pipe 7a with a predetermined interval in the length direction of the main pipe 7a. The through hole 7i is a connecting through hole for connecting the metal fitting 2a of the insulator 2 and the main pipe 7a. The through hole 7j is a through hole for position adjustment for positioning and mounting the overhead wire support fitting 7c at an arbitrary position on the main pipe 7a. The through hole 7j has a hole diameter of about 10 to 15 mm, for example. The closing member 7k is a member that closes the opening of the main pipe 7a. The blocking member 7k is welded to the end opening of the main pipe 7a in order to prevent rainwater and the like from entering the inside from the end opening of the main pipe 7a. The connecting portion 7m is a portion that connects the main pipe 7a and the main pipe 7b. The connecting portion 7m is fixed to the outer peripheral surface of the main pipe 7a, and rotatably supports and supports the upper end portion of the main pipe 7b. The main pipe 7a supports the main pipe 7b, the overhead wire support fitting 7c, and the reinforcing material 7h, and the rear end of the main pipe 7a is connected to the metal fitting 2a of the insulator 2.

  The main pipe 7b is a member that extends in an oblique direction. The main pipe 7b is a cylindrical member having a circular cross section like the main pipe 7a, and hot dip galvanizing treatment is performed on the inside and outside of the general structural carbon steel pipe (STK400). The main pipe 7b includes a connecting portion 7n to which the upper end portion of the dropper 7f is connected. The main pipe 7b supports the main pipe 7a, the anti-vibration pipe 7d, the dropper 7f, and the reinforcing material 7h, and the lower end portion of the main pipe 7b is connected to the insulator 2.

  The overhead wire support bracket 7 c is a member that supports the overhead wire 1 b of the overhead wire 1. The butterfly wire support fitting 7c is a general structural rolled steel (SS400) fitting having a hook portion for latching the hinge wire 1b, and is attached to the outer peripheral surface of the main pipe 7a. The overhead wire support fitting 7c is detachably attached to the main pipe 7a so as to be position-adjustable by a bolt penetrating the through hole 7j of the main pipe 7a and a fastening member 7p such as a nut attached to the bolt. Yes.

  The bracing pipe 7d is a member that supports the curved metal fitting 5. Like the main pipes 7a and 7b, the anti-rest pipe 7d is a cylindrical member having a circular cross-sectional shape, and hot dip galvanizing treatment is applied to the inside and outside of the general structural carbon steel pipe (STK400). The bracing pipe 7d is arranged to extend in parallel with the main pipe 7a, and the curved metal fitting 5 is detachably attached thereto.

  The anti-vibration pipe mounting bracket 7e is a member for attaching the anti-vibration pipe 7d to the main pipe 7b. The bracing pipe mounting bracket 7e is a bracket of a general structural rolled steel (SS400) having a hook portion for latching the bracing pipe 7d, and the main pipe 7b is supported in a state where the rear end portion of the bracing pipe 7d is supported. It is detachably attached to the outer peripheral surface.

  The dropper 7f is a member that connects the main pipe 7b and the swing pipe 7d. The dropper 7f is a plate-like member of general structural rolled steel (SS400), and supports the bracing pipe 7d so that the bracing pipe 7d is suspended from the main pipe 7b. In the dropper 7f, the upper end portion of the dropper 7f is connected to the connecting portion 7n of the main pipe 7b, and the lower end portion of the dropper 7f is connected to the dropper mounting bracket 7g.

  The dropper mounting bracket 7g is a member that attaches the anti-vibration pipe 7d to the dropper 7f. The dropper mounting bracket 7g is a bracket of general structural rolled steel (SS400), and is detachably mounted on the outer peripheral surface near the tip of the anti-vibration pipe 7d in a state of being connected to the lower end of the dropper 7f. .

  The reinforcing material 7h is a member that maintains the connection state between the main pipes 7a and 7b and the anti-vibration pipe 7d. The reinforcing material 7h is a plate member of general structural rolled steel (SS400), and the lower end of the reinforcing material 7h is the anti-vibration pipe in a state where the main pipes 7a and 7b and the anti-vibration pipe 7d are held therebetween. It is detachably attached to the outer peripheral surface of 7d.

The inspection device 8 shown in FIGS. 2 to 6 and 9 is a device that inspects the state of the inner peripheral surface of the main pipe 7a. As shown in FIG. 10, the inspection apparatus 8 includes image information D _C1 ,..., D _CN of the entire inner peripheral surface of the main pipe 7a and position information D _{P1,. By} storing the _{PN in association} with each other, the state of the inner peripheral surface of the main pipe 7a is inspected, and the damaged portion of the main pipe 7a is managed. The inspection device 8 includes an insertion unit 9 shown in FIGS. 2 to 6 and 9, a bending drive unit 10 shown in FIG. 7, an optical adapter unit 11 shown in FIG. 6, and imaging units 12U, 12R,. 12D, 12L, and 12F, the signal processing unit 13 shown in FIG. 7, the image information combining unit 14 shown in FIG. 7, the position measuring unit 15 shown in FIGS. 3, 7, and 9, and FIGS. 7 shown in FIG. 7, FIG. 7 and FIG. 9, the switching part 20 shown in FIG. 7 and FIG. 9, and the mounting part 16, the guide part 17, the memory | storage part 18 shown in FIG. An operation unit 21 shown in FIG. 7, a display unit 22 shown in FIG. 7, a program storage unit 23, a control unit 24, and the like.

  The insertion portion 9 shown in FIGS. 2 to 6 and 9 is a means to be inserted into the main pipe 7a. The insertion portion 9 is a flexible tubular member, and is inserted into the main pipe 7a from the through hole 7j of the main pipe 7a as shown in FIG. As shown in FIG. 2, the insertion portion 9 includes a hard tip portion 9a, a bending portion 9b that can bend the tip portion 9a vertically and horizontally, a flexible tube portion 9c, and the like. As shown in FIG. 3, the insertion portion 9 is formed such that the outer diameter of the insertion portion 9 is smaller than the inner diameter of the main pipe 7a and the hole diameter of the through hole 7j.

  The bending drive unit 10 shown in FIG. 7 is means for driving the bending unit 9b. As shown by a two-dot chain line in FIG. 2, the bending drive unit 10 drives the bending unit 9b so that the bending unit 9b is bent in the vertical and horizontal directions. For example, the bending drive unit 10 is connected to the bending unit 9b to drive the bending unit 9b vertically and horizontally, and pulls the bending unit 9b to drive the bending unit 9b. A driving force generator such as a motor for generating the driving force is provided.

  The optical adapter unit 11 shown in FIG. 6 is a part in which an optimal optical system can be detachably exchanged according to the object to be imaged. The optical adapter unit 11 can be detachably attached to the distal end portion 9a of the insertion unit 9, and there are a plurality of types depending on the viewing angle (viewing angle) θ shown in FIG. It is selected according to a certain main pipe 7a. As shown in FIG. 6, the optical adapter unit 11 collects the observation window 11a through which the luminous flux from the inner peripheral surface of the main pipe 7a passes, and the luminous flux that passes through the observation window 11a as shown in FIGS. An objective lens 11b that illuminates and forms an image on the imaging surfaces of the imaging units 12U, 12R, 12D, 12L, and 12F, and an illumination unit that irradiates light to an imaging target such as a light emitting diode (LED). 11c and an illumination window 11d through which light from the illumination unit 11c passes as shown in FIG.

Imaging units 12U, 12R, 12D, and 12L shown in FIGS. 5 and 7 are means for moving in the length direction of the main pipe 7a and imaging the inner peripheral surface of the main pipe 7a. As shown in FIG. 5, the imaging units 12U, 12R, 12D, and 12L have upper, lower, left and right imaging regions on the inner peripheral surface of the main pipe 7a (regions obtained by dividing the inner peripheral surface of the main pipe 7a into approximately four equal parts in the circumferential direction. ) A _U , A _R , A _D and A _L are imaged, respectively. The imaging unit 12F is means for moving in the length direction of the main pipe 7a and imaging the end surface of the main pipe 7a. As illustrated in FIG. 6, the imaging unit 12F captures an imaging region _AF on the end side of the main pipe 7a.

As shown in FIG. 3, the imaging units 12U, 12R, 12D, 12L, and 12F are inserted into the main pipe 7a from the through hole 7j of the main pipe 7a. As shown in FIG. 5, the imaging units 12U, 12R, 12D, and 12L function as a circumferential direction imaging camera that continuously images the circumferential direction of the main pipe 7a. As illustrated in FIG. 6, the imaging unit 12F functions as a traveling direction imaging camera that continuously captures the traveling direction of the main pipe 7a. As shown in FIG. 5, the imaging unit 12U is imaged the upper imaging area A _U of the inner peripheral surface of the main pipe 7a, the imaging unit 12R is imaged on the right side of the imaging area A _R of the inner peripheral surface of the main pipe 7a the imaging unit 12D has images the imaging area a _D of the lower of the inner peripheral surface of the main pipe 7a, the imaging unit 12L is imaged on the left side of the imaging area a _L of the inner peripheral surface of the main pipe 7a. As shown in FIG. 5, the imaging units 12U, 12R, 12D, and 12L are configured so that the circumference of the inner peripheral surface of the main pipe 7a is generated in order to generate a continuous captured image on the entire inner peripheral surface of the main pipe 7a. Imaging is performed so that an overlapping imaging area ΔA ₁ is formed at the boundaries between the imaging areas A _U , A _R , A _D , and A _L adjacent in the direction. As shown in FIG. 6, the imaging units 12U, 12R, 12D, and 12L generate a captured image in which the entire circumference of the inner peripheral surface of the main pipe 7a is continuous in the length direction of the main pipe 7a. to be imaged as the imaging region adjacent in the length direction of the inner peripheral surface of the main pipe _{7a a U, a R, a} D, the imaging region .DELTA.A ₂ duplicate the boundary of a _L is formed. The imaging units 12U, 12R, 12D, 12L, and 12F include the photoelectric conversion unit 12a illustrated in FIGS. 5 and 6, the image signal transmission unit 12b illustrated in FIGS. 2, 3, and 6, and the like. The imaging units 12U, 12R, 12D, 12L, and 12F are video scopes that transmit images captured by the photoelectric conversion unit 12a for traveling direction imaging and circumferential direction imaging using the image signal transmission unit 12b.

  The photoelectric conversion unit 12a shown in FIGS. 5 and 6 is means for converting light into an electrical signal. The photoelectric conversion unit 12a is, for example, a photoelectric conversion element (solid imaging device) such as a charge coupled device (CCD) that converts intensity of light transmitted through the objective lens 11b into image information. The photoelectric conversion unit 12 a forms a subject image on the imaging surface, converts the captured image into an electrical signal (image signal (image information)), and outputs the electrical signal to the control unit 24. The image signal transmission unit 12b shown in FIGS. 2, 3 and 6 is means for transmitting the image signal output from the photoelectric conversion unit 12a. The image signal transmission unit 12 b is, for example, a video signal table for image transmission, and transmits the image signal output from the photoelectric conversion unit 12 a to the control unit 24. As shown in FIGS. 3 and 6, the image signal transmission unit 12 b is wired in the insertion unit 9 along the length direction of the insertion unit 9.

The signal processing unit 13 illustrated in FIG. 7 is a unit that processes electrical signals output from the imaging units 12U, 12R, 12D, 12L, and 12F. The signal processing unit 13 converts an analog signal output from the imaging units 12U, 12R, 12D, 12L, and 12F into a digital signal (A / D conversion), performs image processing on the digital signal, and outputs the digital signal to the control unit 24. It is an electric circuit. For example, the image processing units 12U, 12R, 12D, 12L, and 12F correct the illuminance unevenness of the illumination unit 11c and the sensitivity variations of the image capturing units 12U, 12R, 12D, 12L, and 12F, and the signal processing unit 13 The density and color of the captured images captured by 12U, 12R, 12D, 12L, and 12F are corrected, and noise components are removed from the output signals output by the imaging units 12U, 12R, 12D, 12L, and 12F. The signal processing unit 13, image information D _U1 after _{processing, ..., D UN, D R1} , ..., D RN, D D1, ..., D DN, D L1, ..., D LN, D F1, ..., D FN Is output to the control unit 24.

The image information synthesizing unit 14 shown in FIG. 7 includes image information D _U1 ,..., D _UN , D _R1 , image information A _U , A _R , A _D , A _L on the upper, lower, left and right imaging areas on the inner peripheral surface of the main pipe 7a. , D _RN , D _D1 ,..., D _DN , D _L1 ,..., D _LN are combined into image information D _{C1 ,.} When the main pipe 7a as shown in FIG. 4 is continuously imaged in the length direction, the image information synthesizing unit 14 connects the four-direction still image output in the vertical and horizontal directions to connect the main pipe as shown in FIG. The cylindrical captured image on the inner peripheral surface of 7a is edited into a captured image (deployed image) developed in a planar shape as shown in FIG. Here, the welding part L shown in FIG.4 and FIG.8 is a junction part produced | generated by the welding machine, when manufacturing the main pipe 7a. The damaged portion C is, for example, a corrosion product generated on the inner peripheral surface of the main pipe 7a. Image-information synthesizing unit 14, vertical and horizontal of the imaging region A _U of the inner peripheral surface of the main pipe 7a as shown in FIGS. 5 and 6, A _R, A _D, the captured images of A _L of the main pipe 7a bound together smoothly connecting the inner peripheral surface circumferential and longitudinal direction of the main pipe 7a of the inner peripheral surface of the entire circumference of the image information D _C1, ..., to produce a D _CN. Image-information synthesizing unit 14, for example, vertically and horizontally of the imaging area A _U of the inner peripheral surface of the main pipe 7a, the difference in A _R, A _D, the exposure amount in the captured images of A _L deficiency and depth of field Is present, the exposure amount and the depth of field of each captured image are corrected and combined with the captured image of the entire circumference of the inner peripheral surface of the main pipe 7a. The image information synthesizing unit 14 outputs a captured image of the entire inner peripheral surface of the main pipe 7a as shown in FIG. 8 to the control unit 24 as image information D _C1 ,..., D _CN shown in FIG.

Position measuring unit 15 shown in FIG. 7 and FIG. 9, FIG. 4 and the imaging position P ₁ the length direction of the main pipe 7a shown in FIG. 10, ..., a P _N, the position information D _P1 shown in FIG. 10, ..., It is a means to measure as _DPN . The position measuring unit 15 measures the distances from the reference position of the main pipe 7a to the imaging positions P ₁ ,..., P _N by the imaging units 12U, 12R, 12D, and 12L. The position measurement unit 15 measures, for example, the distance from the center of the through hole 7j to the center of the imaging surface of the imaging units 12U, 12R, 12D, and 12L. As shown in FIG. 9, the position measurement unit 15 includes a rotating body 15a, a rotation amount detection unit 15b, a position calculation unit 15c, and the like.

The rotating body 15a shown in FIG. 9 is a portion that rotates in accordance with the insertion operation of the insertion portion 9. The rotating body 15a is rotatably supported by the mounting portion 16 so as to face each other with a predetermined gap, and is in rotational contact with the insertion portion 9 so as to sandwich the outer peripheral surface of the insertion portion 9. The rotating body 15a is disposed on the center line of the through hole 7j so that the center line of the rotating shaft of the rotating body 15a and the center line of the through hole 7j are orthogonal to each other, for example. The rotation amount detector 15b is means for detecting the rotation amount of the rotating body 15a. The rotation amount detection unit 15b is, for example, a rotary encoder that is attached to the rotation shaft of the rotation body 15a and generates a pulse signal according to the rotation displacement amount of the rotation body 15a. The rotation amount detection unit 15b outputs rotation amount information (rotation amount detection signal) corresponding to the rotation of the rotating body 15a to the position calculation unit 15c. The position calculation unit 15c is a means for calculating the imaging positions P ₁ ,..., P _N of the imaging units 12U, 12R, 12D, and 12L based on the detection result of the rotation amount detection unit 15b. The position calculation unit 15c determines the imaging positions P ₁ ,..., P _N of the imaging units 12U, 12R, 12D, and 12L in the length direction of the main pipe 7a based on the rotation amount detection signal output from the rotation amount detection unit 15b. Calculate. Position calculating unit 15c, an imaging unit 12U, 12R, 12D, imaging position P ₁ of 12L, ..., position information corresponding to P _N (position signal) D _P1, ..., and outputs the D _PN to the control unit 24.

  3 and 9 is means for detachably mounting the position measuring unit 15 on the main pipe 7a. The mounting portion 16 is detachably mounted on the main pipe 7a by being fitted into the through hole 7j of the main pipe 7a. The mounting unit 16 also functions as a storage unit that stores the position measurement unit 15. As shown in FIG. 9, the mounting portion 16 includes a fitting portion 16 a and a suction portion 16 b. The fitting portion 16a is a portion that fits with the inner peripheral surface of the through hole 7j. The fitting portion 16a is formed with a member having a high friction coefficient such as rubber so that the outer diameter is slightly larger than the diameter of the through hole 7j and does not easily come out of the through hole 7j. The adsorption part 16b is a means for adsorbing with the main pipe 7a. The attracting portion 16b is, for example, a permanent magnet that generates a magnetic force between the outer peripheral surface of the main pipe 7a and is embedded in the mounting portion 16.

  The guide part 17 shown in FIG.3 and FIG.9 is a part which guides the insertion part 9 so that a movement is possible. The guide part 17 changes the insertion direction of the insertion part 9 by guiding the insertion part 9 movably between the through hole 7j and the main pipe 7a. When the guide portion 17 advances the insertion portion 9 into the main pipe 7a, the guide portion 17 changes the moving direction of the insertion portion 9 from the direction perpendicular to the length direction of the main pipe 7a to the length direction of the main pipe 7a. . On the other hand, when the guide portion 17 retracts the insertion portion 9 from the main pipe 7a, the guide portion 17 moves the insertion portion 9 in the direction perpendicular to the length direction of the main pipe 7a from the length direction of the main pipe 7a. change. The guide portion 17 is a through hole (guide hole) formed in the mounting portion 16, and is formed such that the inner diameter of the guide portion 17 is slightly larger than the outer diameter of the insertion portion 9. As shown in FIG. 9, the guide portion 17 includes a straight portion 17a extending in a direction orthogonal to the length direction of the main pipe 7a, a straight portion 17b extending in the length direction of the main pipe 7a, a straight portion 17a, and a straight portion. A curved portion 17c that is curved in a quarter arc shape that connects 17b is provided.

The storage unit 18 shown in FIG. 7 is means for storing the image information D _C1 ,..., D _CN and the position information D _{P1 ,.} For example, the storage unit 18 captures images captured by the imaging units 12U, 12R, 12D, and 12L, and imaging positions P ₁ ,..., P _N of the imaging units 12U, 12R, 12D, and 12L when the captured images are captured. Are stored in correspondence with each other. Storage unit 18, as shown in FIG. 10, the main pipe 7a entire circumference of the image information D _C1 inner peripheral surface of the, ..., and D _CN, the image information D _C1, ..., imaging when imaging the D _CN The position information D _P1 ,..., D _{PN of the} units 12U, 12R, 12D, 12L is stored in association with each other. Further, the storage unit 18 stores image information D _U1 ,..., D _UN , D _R1 ,..., D _{RN for} the upper, lower, left, and right imaging areas A _U , A _R , A _D , A _{L on} the inner peripheral surface of the main pipe 7a. , D _D1 ,..., D _DN , D _L1 ,..., D _LN and the image information D _U1 , ..., D _UN , D _R1 , ..., D _RN , D _D1 , ..., D _DN , D _{L1 ,.} The position information D _P1 ,..., D _PN of the imaging units 12U, 12R, 12D, 12L when the D _LN is imaged are stored in association with each other.

  The positioning portion 19 shown in FIGS. 3 and 9 is a portion for positioning the insertion portion 9 at a predetermined position with respect to the main pipe 7a. The positioning portion 19 is an annular member that is detachably attached to the insertion portion 9, and moves together with the insertion portion 9 while being attached to the outer peripheral surface of the insertion portion 9. The positioning portion 19 positions the insertion portion 9 so that the distal end portion 9a of the insertion portion 9 is positioned on the center line of the main pipe 7a when the insertion portion 9 is moved along the length direction of the main pipe 7a. It functions as a part. As shown by a solid line in FIG. 9, the positioning portion 19 is in an extended state when used and is deployed from the outer peripheral surface of the insertion portion 9, and the outer peripheral portion of the positioning portion 19 comes into contact with the inner peripheral surface of the main pipe 7 a. . On the other hand, as shown by a two-dot chain line in FIG. 9, the positioning portion 19 is in a reduced state when not in use and is housed on the outer peripheral surface of the insertion portion 9, and the outer peripheral portion of the positioning portion 19 is the inner part of the main pipe 7a. Separate from the peripheral surface. The positioning part 19 is formed of, for example, a flexible and elastic flexible resin or rubber. The positioning unit 19 includes a fluid pressure chamber 19a shown in FIGS.

  The fluid pressure chamber 19a shown in FIGS. 3 and 9 is a portion to which the working fluid is supplied and discharged. The fluid pressure chamber 19a is a bag-like member that is accommodated in the positioning portion 19 and into which working fluid can flow in and out. When the working fluid is supplied, the fluid pressure chamber 19a expands due to an increase in the internal fluid pressure, so that the positioning portion 19 comes into contact with the inner peripheral surface of the main pipe 7a. 19 is extended. On the other hand, when the working fluid is discharged, the fluid pressure chamber 19a contracts due to a decrease in the internal fluid pressure, and the positioning portion 19 is separated from the inner peripheral surface of the main pipe 7a. The positioning part 19 is reduced.

  The switching unit 20 shown in FIGS. 7 and 9 is means for switching the positioning unit 19 between the extended state and the reduced state. As shown in FIG. 9, the switching unit 20 switches the positioning unit 19 from the contracted state to the expanded state when in use, and switches the positioning unit 19 from the expanded state to the contracted state when not in use. The switching unit 20 constitutes a fluid pressure circuit for expanding and contracting the positioning unit 19 by fluid pressure, and includes a pump 20a, a direction switching valve 20b, a flow path 20c, and the like.

  A pump 20 a shown in FIG. 9 is a device that supplies a working fluid to the fluid pressure chamber 19 a of the positioning unit 19. The pump 20a is, for example, a fluid pressure source such as a bi-directional flow constant displacement pump that rotates in a direction in which the working fluid is supplied to the fluid pressure chamber 19a and a direction in which the working fluid is discharged from the fluid pressure chamber 19a. The direction switching valve 20b is means for switching between expansion, contraction, and stop of the fluid pressure chamber 19a. The direction switching valve 20b supplies the working fluid from the pump 20a to the fluid pressure chamber 19a so that the flow path 20c is switched when the right solenoid SOL-a is energized and the positioning unit 19 extends. On the other hand, the direction switching valve 20b discharges the working fluid from the fluid pressure chamber 19a to the pump 20a so that the flow path 20c is switched and the positioning unit 19 is contracted when the left solenoid SOL-b is energized. Further, the direction switching valve 20b switches the flow path 20c when the solenoids SOL-a and SOL-b are de-energized, and the working fluid to the fluid pressure chamber 19a is stopped so that the expansion and contraction of the positioning unit 19 is stopped. Stop supplying and discharging. The flow path 20c is a pipe through which the working fluid flows. The flow path 20c is piped in the insertion portion 9 so that the working fluid flows between the fluid pressure chamber 19a and the direction switching valve 20b and between the direction switching valve 20b and the pump 20a.

  The operation unit 21 shown in FIGS. 2, 3, and 7 is a unit that is operated by the user when the user selects various operations related to the inspection apparatus 8. The operation unit 21 includes a bending operation unit 21a, an imaging operation unit 21b, a switching operation unit 21c, and the like. The bending operation part 21a is a means operated by the user when the bending part 9b of the insertion part 9 is bent in the vertical and horizontal directions. The bending operation unit 21a is, for example, a joystick that selects the bending direction of the bending unit 9b by inputting a direction in which the lever is inclined. The bending operation unit 21a outputs a bending operation signal corresponding to the bending direction of the bending unit 9b to the control unit 24. The imaging operation unit 21b is a means operated by the user when the imaging units 12U, 12R, 12D, 12L, and 12F start and end the imaging operation. The imaging operation unit 21b is, for example, a changeover switch for selecting a shooting operation start and a shooting operation end by the imaging units 12U, 12R, 12D, 12L, and 12F. The imaging operation unit 21b outputs an imaging operation start signal to the control unit 24 when starting the imaging operation, and outputs an imaging operation end signal to the control unit 24 when ending the imaging operation. The switching operation part 21c is a means operated by the user when the positioning part 19 is expanded and contracted. The switching operation unit 21c is, for example, a changeover switch for selecting the extended state and the reduced state of the positioning unit 19. The switching operation unit 21c outputs an expansion operation start signal to the control unit 24 when starting the expansion operation, and outputs a reduction operation start signal to the control unit 24 when starting the reduction operation.

The display unit 22 illustrated in FIG. 7 is a unit that displays captured images captured by the imaging units 12U, 12R, 12D, 12L, and 12F. For example, as shown in FIG. 10, the display unit 22 has image information D _U1 ,..., D _UN , D _R1 ,..., D _RN , D _D1 , ..., D _DN , D _{L1 ,.} , D _LN , D _C1 ,..., D _CN and position information D _P1 ,..., _DPN are displayed on the screen. The display unit 22 associates the image information D _F1 ,..., D _FN and the position information D _P1 ,..., D _PN of the imaging region A _F at the end in the length direction of the main pipe 7a imaged by the imaging unit 12F. and displays Te, imaging unit 12U, 12R, 12D, imaging region of the upper, lower, left and right main pipes 7a to 12L takes an image _{a U, a R, a D} , a L image information D _U1 of, ..., D _UN, D _R1 , ..., D _RN , D _D1 , ..., D _DN , D _L1 , ..., D _LN and the positional information D _P1 , ..., D _PN are displayed in correspondence with each other. As shown in FIG. 8, the display unit 22 displays image information D _U1 ,..., D _UN , D of each of the upper, lower, left and right imaging areas A _U , A _R , A _D , A _{L on} the inner peripheral surface of the main pipe 7a. _{R1, ..., D RN, D} D1, ..., D DN, D L1, ..., D LN and the position information D _P1, ..., and display in correspondence with a D _PN, the total of the inner peripheral surface of the main pipe 7a The peripheral image information D _C1 ,..., _DCN and the position information D _{P1 ,.}

  The program storage unit 23 shown in FIG. 7 is means for storing an inspection program for inspecting the state of the inner peripheral surface of the main pipe 7a. The program storage unit 23 is a memory that stores an information providing program read from an information recording medium or an information providing program fetched through an electric communication line.

The control unit 24 shown in FIG. 7 is means (central processing unit (CPU)) for controlling various operations related to the inspection apparatus 8. The control unit 24 is configured mainly with a personal computer or the like, and executes predetermined processing according to an inspection program for inspecting the state of the inner peripheral surface of the main pipe 7a. For example, the control unit 24 controls driving of the bending drive unit 10 based on a bending operation signal output from the bending operation unit 21a, or performs illumination based on an imaging operation start signal and an imaging operation end signal output from the imaging operation unit 21b. Commands the imaging unit 12U, 12R, 12D, 12L, and 12F to start the imaging operation based on the imaging operation start signal and the imaging operation end signal output by the imaging operation unit 21b. The imaging operation end is commanded, the switching unit 20 is commanded to supply, discharge and stop the working fluid based on the expansion operation start signal and the reduction operation start signal output from the switching operation unit 21c, and the signal processing unit 13 outputs image information D _{U1 to, ..., D UN, D R1} , ..., D RN, D D1, ..., D DN, D L1, ..., or direct the storage of D _LN in the storage unit 18, the signal processing unit 13 output Image information D _F1, ..., or instructs the display unit 22 to display the D _FN, image information _{D U1, ..., D UN,} D R1, ..., D RN, D D1, ..., D DN, D L1, .., D _LN is instructed to the image information synthesizing unit 14, the image information D _C1 ,..., D _CN is instructed to the storage unit 18, and the position information D _P1 ,. , or instructs the storing of D _PN in the storage unit 18, the image information _{D U1, ..., D UN,} D R1, ..., D RN, D D1, ..., D DN, D L1, ..., D LN, D C1 ,..., _DCN and the position information D _{P1 ,.} The control unit 24 includes a bending drive unit 10, imaging units 12U, 12R, 12D, 12L, and 12F, a signal processing unit 13, an image information synthesis unit 14, a position measurement unit 15, a storage unit 18, a switching unit 20, and an operation unit 21. The display unit 22 and the program storage unit 23 are connected so that they can communicate with each other.

Next, a method of using the cylindrical member inspection apparatus according to the first embodiment of the present invention will be described.
When inspecting the main pipe 7a of the movable bracket 7 shown in FIG. 1, with the main pipe 7a attached to the movable bracket 7, as shown in FIG. 3 and FIG. A user fits into the through hole 7j of 7a. As a result, the attachment portion 16 is attracted to the main pipe 7a by the magnetic force generated by the adsorption portion 16b of the attachment portion 16, and the attachment portion 16 is attached to the main pipe 7a. Next, the user selects an optical adapter portion 11 suitable for the main pipe 7 a shown in FIG. 6, attaches the optical adapter portion 11 to the distal end portion 9 a of the insertion portion 9, and attaches it to the guide portion 17 of the attachment portion 16. The user feeds the distal end portion 9 a of the insertion portion 9. As a result, the distal end portion 9 a of the insertion portion 9 moves along the straight portion 17 a of the guide portion 17, the movement direction is changed by the curved portion 17 c, and is guided to the straight portion 17 b. 9 is inserted into the main pipe 7a. Next, when the user operates the bending operation unit 21a of the operation unit 21, the bending operation unit 21a outputs a bending operation signal to the control unit 24, and the control unit 24 controls the bending driving unit 10 based on the bending operation signal. Drive control. As a result, the bending drive section 10 bends the bending section 9b in the vertical and horizontal directions, and the posture of the insertion section 9 in the main pipe 7a changes linearly. In this state, when the user switches the switching operation unit 21c of the operation unit 21 to the extended state, the switching operation unit 21c outputs an expansion operation start signal to the control unit 24, and the control unit 24 based on the expansion operation start signal. Controls the switching unit 20. For this reason, the solenoid SOL-a shown in FIG. 9 is energized, the direction switching valve 20b is switched, the pump 20a supplies the working fluid to the fluid pressure chamber 19a, and the positioning unit 19 is switched from the contracted state to the expanded state. The inner peripheral surface of the pipe 7a comes into contact with the positioning portion 19. As a result, the imaging units 12U, 12R, 12D, 12L, and 12F can move in the length direction of the main pipe 7a in a state where the optical adapter unit 11 is positioned at the center of the main pipe 7a.

  When the inspection of the main pipe 7a shown in FIG. 1 is completed, when the user switches the switching operation unit 21c of the operation unit 21 shown in FIG. 7 to the reduced state, the switching operation unit 21c sends a reduction operation start signal to the control unit 24. The control unit 24 drives and controls the switching unit 20 based on the reduction operation start signal. For this reason, the solenoid SOL-b shown in FIG. 9 is energized, the direction switching valve 20b is switched, the pump 20a discharges the working fluid from the fluid pressure chamber 19a, and the positioning unit 19 is switched from the expanded state to the contracted state, and the main pipe 7a. Are spaced apart from the inner peripheral surface. When the user pulls out the insertion portion 9 in this state, the distal end portion 9a of the insertion portion 9 moves along the straight portion 17b of the guide portion 17, and the moving direction is changed by the curved portion 17c and is guided to the straight portion 17a. Thus, the distal end portion 9a of the insertion portion 9 comes out of the main pipe 7a. Next, the user pulls out the fitting portion 16a of the mounting portion 16 from the through hole 7j of the main pipe 7a against the magnetic force between the adsorption portion 16b and the main pipe 7a, and the mounting portion 16 is removed from the main pipe 7a. Removed.

Next, the operation of the cylindrical member inspection apparatus according to the first embodiment of the present invention will be described.
Below, it demonstrates centering around operation | movement of the control part 24 shown in FIG.
In step (hereinafter referred to as S) 100 shown in FIG. 11, the control unit 24 determines whether or not to start the imaging operation. When the user turns on the power supply of the inspection apparatus 8 and power is supplied to the inspection apparatus 8, the control section 24 reads the inspection program from the program storage section 23 shown in FIG. 24 executes. As shown in FIGS. 3 and 9, the insertion portion 9 is inserted into the main pipe 7a, and the optical adapter portion 11 is manually positioned by the positioning portion 19 on the center line of the main pipe 7a. The part 9 is fed into the main pipe 7a. When the user operates the imaging operation unit 21 b of the operation unit 21 and the start of the imaging operation is selected, the imaging operation unit 21 b outputs an imaging operation start signal to the control unit 24. When the control unit 24 determines that the imaging operation start signal has been input, the process proceeds to S110, and when the control unit 24 determines that the imaging operation start signal has not been input, the series of inspection processing ends.

In S110, the control unit 24 instructs the imaging units 12U, 12R, 12D, 12L, and 12F to start the imaging operation. When the imaging operation start signal is input from the imaging operation unit 21b to the control unit 24, the control unit 24 instructs the imaging units 12U, 12R, 12D, 12L, and 12F to start the imaging operation. As a result, captured image pickup unit 12U, 12R, 12D, 12L are vertically and horizontally of the imaging area A _U of the inner peripheral surface of the main pipe 7a, A _R, A _D, the A _L, as shown in FIGS. 5 and 6, image information _{D U1, ..., D UN,} D R1, ..., D RN, D D1, ..., D DN, D L1, ..., and outputs the D _LN to the control unit 24. When the image information D _U1 ,..., D _UN , D _R1 ,..., D _RN , D _D1 , ..., D _DN , D _L1 , ..., D _LN are input to the control unit 24, the image information D _{U1,. The} control unit 24 outputs _UN , D _R1 ,..., D _RN , D _D1 ,..., D _DN , D _{L1 ,.} As a result, as shown in FIG. 10, the upper and lower left and right imaging area A _U of the inner peripheral surface of the main pipe _{7a, A R, A D,} A L image information D _{U1 of, ..., D UN, D R1} , ..., The storage unit 18 stores D _RN , D _D1 ,..., D _DN , D _{L1 ,.}

In S120, the control unit 24 instructs the position measurement unit 15 to start position measurement. As shown in FIGS. 3 and 9, when the user feeds the insertion portion 9 into the main pipe 7a, the rotating body 15a rotates as shown in FIG. 9, and the position calculation portion 15c receives position information D _P1 ,. D _PN is output to the control unit 24. When the position information D _P1 ,..., D _PN is input to the control unit 24, the position information D _P1 ,..., D _PN is output to the storage unit 18, and the position of the main pipe 7 a in the length direction as shown in FIG. The storage unit 18 associates the information D _P1 ,..., _DPN with the image information D _U1 ,..., D _UN , D _R1 , ..., D _RN , D _D1 , ..., D _DN , D _{L1 ,.} Remember.

In S130, the image information _{D U1, ..., D UN,} D R1, ..., D RN, D D1, ..., D DN, D L1, ..., the control unit 24 directs the synthesis of D _LN on the image-information synthesizing unit 14 To do. Each position information D _P1, ..., image information D _U1 corresponding to _{D PN, ..., D UN,} D R1, ..., D RN, D D1, ..., D DN, D L1, ..., stores D _LN 18 the control unit 24 reads from the image information _{D U1, ..., D UN,} D R1, ..., D RN, D D1, ..., D DN, D L1, ..., control section D _LN on the image-information synthesizing unit 14 24 outputs. For this reason, as shown in FIG. 8, the image information synthesis unit 14 generates image information D _C1 ,..., _DCN of the entire circumference of the inner peripheral surface of the main pipe 7a corresponding to the position information D _{P1 ,.} The image information synthesis unit 14 outputs the image information D _C1 ,..., D _CN to the control unit 24. As a result, as shown in FIG. 10, the storage unit 18 stores the image information D _C1 ,..., D _CN of the entire inner peripheral surface of the main pipe 7a in association with the position information D _{P1 ,.} .

In S140, the control unit 24 determines whether or not to end the imaging operation. When the user operates the imaging operation unit 21 b of the operation unit 21 and the end of the imaging operation is selected, the imaging operation unit 21 b outputs an imaging operation end signal to the control unit 24. When the control unit 24 determines that an imaging operation end signal has been input, a series of inspection processes is ended. On the other hand, when the control unit 24 determines that the imaging operation end signal has not been input, the process returns to S120, and the control unit 24 repeats the processes after S130. As a result, when the insertion portion 9 is continuously inserted into the main pipe 7a as shown by a two-dot chain line in FIGS. 3, 4 and 6, the inner peripheral surface of the main pipe 7a as shown in FIG. entire circumference of the image information D _C1 of, ..., is generated by D _CN are continuous, the image information D _C1, ..., D _CN and position information D _P1, ..., and the D _PN are recorded corresponding.

The cylindrical member inspection apparatus according to the first embodiment of the present invention has the following effects.
(1) In the first embodiment, the imaging section 12U, 12R, 12D, and 12L images the inner peripheral surface of the main pipe 7a by moving in the length direction of the main pipe 7a, and the inner periphery of the main pipe 7a. image information D _C1 of the entire periphery of the face, ..., D _CN positional information of the length direction of the main pipe 7a of Toko D _P1, ..., the storage unit 18 in correspondence with the D _PN stores. Therefore, the image information D _C1, ..., D _CN positional information D _P1, ..., it is possible to accurately grasp with D _PN, to investigate the entire periphery inside of the main pipe 7a of the movable bracket 7 in a short time be able to. As a result, the damaged portion of the movable bracket 7 can be accurately maintained and managed, and the reliability of the train line equipment can be improved.

(2) In the first embodiment, the position measuring unit 15 measures the imaging positions P ₁ ,..., P _N in the length direction of the main pipe 7a as the position information D _{P1 ,.} Therefore, by accurately measuring the imaging positions P ₁ ,..., P _N of the imaging units 12U, 12R, 12D, 12L, the image information D _C1 ,..., D _CN and the position information D _{P1 ,.} The internal state of the main pipe 7a can be grasped with high accuracy.

(3) In the first embodiment, vertical and horizontal of the imaging region A _U of the inner peripheral surface of the main pipe 7a, A _R, A _D, the A _L each imaging unit 12U, 12R, 12D, 12L is imaged. For this reason, the entire circumference of the inner peripheral surface of the main pipe 7a can be imaged seamlessly by the imaging units 12U, 12R, 12D, and 12L.

(4) In this first embodiment, the image information D _U1 ,..., D _UN , D _R1 ,... Of the imaging areas A _U , A _R , A _D , A _L on the upper, lower, left and right of the inner peripheral surface of the main pipe 7a. , D _RN , D _D1 ,..., D _DN , D _L1 ,..., D _LN are synthesized by the image information synthesis unit 14 into the image information D _{C1 ,.} . In the first embodiment, the storage unit 18 stores the image information D _C1 ,..., D _CN of the entire inner peripheral surface of the main pipe 7a in association with the position information D _{P1 ,.} For this reason, when a damaged part etc. exists in the internal peripheral surface of the main pipe 7a, this damaged part can be identified easily and recorded, and a damaged part etc. can be repaired quickly as needed.

(5) In the first embodiment, the display unit 22 displays the image information D _C1 ,..., D _CN of the entire circumference of the inner peripheral surface of the main pipe 7a and the position information D _{P1 ,.} To do. For this reason, the state inside this main pipe 7a can be test | inspected in real time in the state which installed the main pipe 7a in the field.

(6) In the first embodiment, the imaging units 12U, 12R, 12D, and 12L are connected to the inside of the main pipe 7a from a through hole 7j that penetrates the main pipe 7a with a predetermined interval in the length direction of the main pipe 7a. Inserted into. Therefore, it is possible to easily inspect the inside of the main pipe 7a by inserting the imaging units 12U, 12R, 12D, and 12L from the existing through holes 7j for position adjustment of the main pipe 7a.

(7) In the first embodiment, the imaging units 12U, 12R, 12D, and 12L are video scopes. For this reason, all the azimuths inside the main pipe 7a can be continuously recorded, and the camera photographing position information D _P1 ,..., D _PN is _added to the image information D _{C1 ,.} The internal state of the main pipe 7a can be easily monitored, and damage such as corrosion of the main pipe 7a can be confirmed.

(Second Embodiment)
In the following, the same parts as those shown in FIGS. 1 to 10 are denoted by the same reference numerals and detailed description thereof is omitted.
The imaging units 12U, 12R, 12D, 12L, and 12F shown in FIGS. 12 and 13 are configured to capture an image by the image signal transmission unit 12c for traveling direction imaging and circumferential direction imaging in which thousands to tens of thousands of optical fibers are bundled. It is a fiberscope to transmit. The imaging units 12U, 12R, 12D, 12L, and 12F include a photoelectric conversion unit 12a and an image signal transmission unit 12c. The photoelectric conversion unit 12a illustrated in FIG. 13 converts the intensity of light from the emission end 12e of the image signal transmission unit 12c into an image signal (image information) and outputs the image signal (image information) to the control unit 24. The image signal transmission unit 12c is a unit that transmits the light transmitted through the objective lens 11b. The image signal transmission unit 12c is, for example, an image guide fiber for image transmission and the like. As shown in FIGS. 12 and 13, an incident end 12d where light enters and an exit where light incident from the incident end 12d exits. An end 12e is provided. The image signal transmission unit 12c causes the light transmitted through the objective lens 11b to enter from the incident end 12d and transmit the light to the output end 12e. The image signal transmission unit 12 c is wired in the insertion unit 9 along the length direction of the insertion unit 9.

The cylindrical member inspection apparatus according to the second embodiment of the present invention has the following effects in addition to the effects of the first embodiment.
In the second embodiment, the imaging units 12U, 12R, 12D, and 12L are fiberscopes. For this reason, all the azimuths inside the main pipe 7a can be continuously recorded, and the camera photographing position information D _P1 ,..., D _PN is _added to the image information D _{C1 ,.} The internal state of the main pipe 7a can be easily monitored, and damage such as corrosion of the main pipe 7a can be confirmed.

(Third embodiment)
In the inspection apparatus 8 shown in FIG. 14, the positioning unit 19 and the switching unit 20 shown in FIGS. 3 and 9 are omitted. The inspection apparatus 8 bends the bending portion 9b upward by the user operating the bending operation portion 21a of the operation portion 21 shown in FIG. 14, and positions the distal end portion 9a of the insertion portion 9 on the center line of the main pipe 7a. To do. As shown by the two-dot chain line in the figure, the inspection device 8 advances the insertion portion 9 inserted into the main pipe 7a so as to crawl under the inner peripheral surface of the main pipe 7a. The inner peripheral surface of the main pipe 7a is imaged by the imaging units 12U, 12R, 12D, and 12L shown in FIGS. The third embodiment has the same effects as the first embodiment and the second embodiment.

(Third embodiment)
The inspection device 8 shown in FIGS. 15 and 16 is connected to the portable terminal device 26 through a communication line and inspects the state of the inner peripheral surface of the main pipe 7a. The input / output unit 25 is means for inputting / outputting various kinds of information when communicating various kinds of information between the inspection device 8 and the portable terminal device 26. The input / output unit 25 is an interface (I / O) circuit that inputs and outputs various types of information between the inspection device 8 and the portable terminal device 26. The input / output unit 25 includes the image information D _U1 ,..., D _UN , D _R1 ,..., D _RN , D _D1 , ..., D _DN , D _{L1 ,.} D _P1 ,..., D _PN are transmitted to the mobile terminal device 26. The input / output unit 25 is, for example, a detachable unit that inputs and outputs control signals between the inspection device 8 side and the portable terminal device 26 side, and supplies power to the inspection device 8 side from the portable terminal device 26 side. USB (Universal Serial Bus) connector. As shown in FIG. 16, the input / output unit 25 connects the bending drive unit 10, the illumination unit 11c, the imaging units 12U, 12R, 12D, 12L, and 12F, the signal processing unit 13, the position calculation unit 15c, and the control unit 24. doing.

The mobile terminal device 26 shown in FIGS. 15 and 16 is a device that inputs and displays various information by being connected to other devices through a communication line. The portable terminal device 26 is a kind of information device, and can be connected to the end of a line or a network, and is a portable small terminal device that is a main body that communicates with other devices. The portable terminal device 26 displays the image information D _C1 ,..., _DCN and the position information D _{P1 ,.} The mobile terminal device 26 is an information processing terminal such as a smartphone, a mobile phone, or a tablet terminal. The mobile terminal device 26 includes an image information synthesis unit 14 shown in FIG. 16, a storage unit 18 shown in FIG. 16, an operation unit 21 shown in FIGS. 15 and 16, a display unit 22, and a program storage unit shown in FIG. 23, a control unit 24, and the like.

The cylindrical member inspection apparatus according to the fourth embodiment of the present invention has the following effects in addition to the effects of the first to third embodiments.
In the fourth embodiment, the imaging section 12U, 12R, 12D, 12L moves in the length direction of the main pipe 7a and images the inner peripheral surface of the main pipe 7a, and the length direction of the main pipe 7a is imaged. The position measuring unit 15 measures the positions P ₁ ,..., P _N as the position information D _{P1 ,.} In the fourth embodiment, the portable terminal device 26 displays the image information D _C1 ,..., D _CN and the position information D _{P1 ,.} the image information D _U1 of the inner peripheral surface of the main pipe _{7a, ..., D UN, D} R1, ..., D RN, D D1, ..., D DN, D L1, ..., D LN and the position information D _P1, ..., _DPN is output by the input / output unit 25. For this reason, the user can inspect the inner peripheral surface of the main pipe 7a easily in a short time at the site. For example, a USB fiber scope including an illumination unit 11c and imaging units 12U, 12R, 12D, 12L, and 12F is connected to a portable terminal device 26 possessed by a user, and the inner peripheral surface of the main pipe 7a is inspected. Can do.

(Other embodiments)
The present invention is not limited to the embodiment described above, and various modifications or changes can be made as described below, and these are also within the scope of the present invention.
(1) In this embodiment, the case where the support structure 3 includes the curved drawing metal fitting 5 has been described as an example. However, in the straight section, the vibration of the trolley wire 1a is suppressed and the vibration that gives the zigzag deviation to the trolley wire 1a is described. The present invention can also be applied to the case where the support structure 3 includes a fastener. Further, in this embodiment, the case where the insertion portion 9 is inserted from the through hole 7j for position adjustment and the inspection is described as an example. However, the insertion portion 9 is inserted and inspected from the through hole 7i for connection. You can also. In this embodiment, the case of inspecting the state of the inner peripheral surface of the main pipe 7a of the movable bracket 7 has been described as an example, but the case of inspecting the inner peripheral surface of various pipes other than the main pipe 7a. The present invention can also be applied to. For example, it is possible to inspect the inner peripheral surface in the piping of a nuclear reactor or plant. Furthermore, in this embodiment, the main pipe 7a having an inner diameter of about 35 to 70 mm has been described as an example. However, the present invention is also applied to a train line support (support structure) having an inner diameter of about 35 to 400 mm. Can do. For example, it is also possible to inspect by inserting the insertion portion 9 from a drain hole of a steel pipe beam or steel pipe column which is a train wire support such as a steel pipe beam or steel pipe column.

(2) In this embodiment, the case of inspecting the state of the inner peripheral surface of the main pipe 7a of the movable bracket 7 has been described as an example, but the state of the inner peripheral surface of the main pipe 7b can also be inspected. In this embodiment, the case where the distal end portion 9a of the insertion portion 9 is positioned on the center line of the main pipe 7a and the inner peripheral surface of the main pipe 7a is imaged is described as an example. The inner peripheral surface of the main pipe 7a can also be imaged at a position where the portion 9a is slightly displaced from the center line of the main pipe 7a. In this case, the signal processing unit 13 can correct the blur of the captured image caused by the defocus. Furthermore, in this embodiment, the case where the position information D _P1 ,..., D _PN is measured according to the amount of rotation of the rotating body 15a of the position measuring unit 15 has been described as an example. It is not limited. For example, the position information D _P1 ,..., D _PN can be measured by irradiating light from the mounting portion 16 side to the distal end portion 9a of the insertion portion 9 and receiving reflected light from the distal end portion 9a.

(3) In this embodiment, the imaging surfaces of the photoelectric conversion units 12a of the imaging units 12U, 12R, 12D, and 12L are directed to the inner peripheral surface of the main pipe 7a, or images of the imaging units 12U, 12R, 12D, and 12L. Although the case where the incident end 12d of the signal transmission unit 12c is directed to the inner peripheral surface of the main pipe 7a has been described as an example, the present invention is not limited to such a structure. For example, the imaging surfaces of the photoelectric conversion units 12a of the imaging units 12U, 12R, 12D, and 12L are imaged on the imaging surface by a reflecting mirror in the length direction of the main pipe 7a, or the imaging units 12U, 12R, 12D, The incident end 12d of the 12L image signal transmission unit 12c may be imaged on the incident end 12d by a reflecting mirror in the length direction of the main pipe 7a. Further, in this embodiment, the case where imaging is performed by a plurality of imaging units 12U, 12R, 12D, 12L, and 12F has been described as an example, but signal processing is performed by forming light that passes through the fisheye lens on one imaging unit. The section 13 can also edit the captured image of the entire inner peripheral surface of the main pipe 7a. Further, in the fourth embodiment, the case where a wired communication USB is used as the communication line as the input / output unit 25 has been described as an example, but wireless communication such as infrared or Bluetooth (registered trademark) is performed by the input / output unit 25. The present invention can also be applied to the case where it is used.

1 overhead line (train line)
DESCRIPTION OF SYMBOLS 1a Trolley wire 1b Hanging wire 2 Insulator 3 Support structure 4 Electric pole 5 Curved fitting 6 Electric pole band 7 Movable bracket 7a, 7b Main pipe (tubular member)
7i, 7j Through-hole 8 Inspection device 9 Insertion part 9a Tip part 9b Bending part 9c Pipe line 10 Bending drive part 11 Optical adapter part 12U, 12R, 12D, 12L, 12F Imaging part 12a Photoelectric conversion part 12b, 12c Image signal transmission Unit 12d entrance end 12e exit end 13 signal processing unit 14 image information synthesis unit 15 position measurement unit 16 mounting unit 17 guide unit 18 storage unit 19 positioning unit 20 switching unit 21 operation unit 22 display unit 23 program storage unit 24 control unit 25 input output unit 26 portable terminal apparatus θ viewing angle _{A U, A R, A D} , A L imaging region D _U1, ..., D _UN image information D _R1, ..., D _RN image information D _D1, ..., D _DN image information D _L1, ..., D _LN image information D _C1, ..., D _CN image information D _P1, ..., D _PN position information P _1, ..., P _N imaging position L welds C lesions

Claims (9)

An inspection device for a cylindrical member that inspects the state of the inner peripheral surface of the cylindrical member,
An imaging unit that moves in the length direction of the cylindrical member and images the inner peripheral surface of the cylindrical member;
A storage unit that stores image information of the entire circumference of the inner peripheral surface of the cylindrical member and positional information in the length direction of the cylindrical member in association with each other;
A cylindrical member inspection apparatus. The cylindrical member inspection apparatus according to claim 1,
A position measuring unit that measures an imaging position in the length direction of the cylindrical member as the position information;
A cylindrical member inspection apparatus characterized by the above. An inspection device for a cylindrical member that inspects the state of the inner peripheral surface of the cylindrical member,
An imaging unit that moves in the length direction of the cylindrical member and images the inner peripheral surface of the cylindrical member;
A position measuring unit that measures the position in the length direction of the cylindrical member as position information;
Output that outputs the image information of the inner peripheral surface of the cylindrical member and the position information to a portable terminal device that displays the image information of the entire inner peripheral surface of the cylindrical member in association with the position information. And
A cylindrical member inspection apparatus. In the cylindrical member inspection apparatus according to any one of claims 1 to 3,
The imaging unit images the imaging regions on the upper, lower, left and right of the inner peripheral surface of the cylindrical member
A cylindrical member inspection apparatus characterized by the above. In the cylindrical member inspection device according to any one of claims 1 to 4,
An image information synthesis unit that synthesizes the image information of the upper, lower, left, and right imaging regions of the inner circumferential surface of the cylindrical member with the image information of the entire circumference of the inner circumferential surface of the cylindrical member;
The storage unit stores the image information of the entire circumference of the inner peripheral surface of the cylindrical member in association with the position information;
A cylindrical member inspection apparatus characterized by the above. In the cylindrical member inspection apparatus according to any one of claims 1 to 5,
Including a display unit that displays image information of the entire circumference of the inner circumferential surface of the cylindrical member and the position information in association with each other;
A cylindrical member inspection apparatus characterized by the above. The cylindrical member inspection apparatus according to any one of claims 1 to 6,
The tubular member has a through hole that penetrates the tubular member at a predetermined interval in the length direction of the tubular member;
The imaging unit is inserted into the cylindrical member from the through-hole of the cylindrical member;
A cylindrical member inspection apparatus characterized by the above. The cylindrical member inspection apparatus according to any one of claims 1 to 7,
The cylindrical member is a main pipe of a movable bracket that supports the train line so as to be movable in the length direction;
A cylindrical member inspection apparatus characterized by the above. In the cylindrical member inspection device according to any one of claims 1 to 8,
The imaging unit is a videoscope or a fiberscope;
A cylindrical member inspection apparatus characterized by the above.

Images