JP2019190973A - Inner-conduit imaging system - Google Patents

Abstract

To provide images that enables grasping of a state of an inner wall part of a conduit.SOLUTION: An inner-conduit imaging system S has: an imaging device main body 1 that is arranged inside a conduit P; an imaging unit 3 that is provided in the imaging device main body 1, and outputs images of an interior of the conduit P; and an image processing unit C that performs prescribed processing to the image. The imaging unit 3 has, in a photographing plane 31a,: an image pick-up element 31 that has an inner side area 31d broadening from a center point 31b of the photographing plane to a peripheral rim part 31c thereof, and an outer side area 31e excluding the inner side area 31d; and a photographing-purpose lens 32 that has an optical axis 33 arranged so as to run along a center axis of the conduit P, and causes an optical image of the interior W of the conduit P to be image-formed on the photographing plane 31a of the image pick-up element 31. The image processing unit C is configured to denote the outer side area 31e as an image use area, and cut out the image of the image use area.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an in-pipe imaging system.

  Conventionally, an apparatus for imaging an inner wall portion of a pipe line is known.

  For example, Patent Document 1 discloses an in-pipe working apparatus monitor system that moves along the pipe along the pipe and takes an image inside the pipe with the central axis of the pipe as the image center. It is shown.

  By the way, an imaging device such as a camera device is configured to form an image on the imaging surface of an imaging element, and output an image based on the optical image formed on the imaging surface, with light incident from an imaging lens incident from the outside. It has become. The imaging lens has a feature of forming an optical image so that the closer the optical axis of the lens is to the optical axis of the imaging element, the higher the resolution. For this reason, the imaging apparatus generally has an inner region (that is, a resolution as high as possible) that extends from the center of the imaging surface of the imaging device (intersection of the imaging surface and the optical axis of the lens) toward the periphery of the imaging surface. An image is output based on the optical image formed in (region).

  Here, in patent document 1, the camera apparatus as an imaging device is orient | assigned to the longitudinal direction of the pipe line. For this reason, the lens of the imaging device is configured so that the depth of the pipeline viewed from the imaging device decreases toward the center of the imaging surface of the imaging device, and the front side of the pipeline viewed from the imaging device is the imaging of the imaging device. An optical image is formed on the imaging surface of the imaging device so as to spread outside the surface. Moreover, since the inside of a pipe line is dark, in patent document 1, an imaging device illuminates an inner wall part with the illuminating device provided in the imaging device, and images the said inner wall part.

Japanese Patent No. 5330778

  However, since the depth of the pipeline viewed from the imaging device is dark, the central portion of the image to be captured is dark. In other words, when imaging the inside of a pipeline, an image is output based on the dark optical image formed in the inner area of the center of the imaging surface of the image sensor, and as a result, damage on the inner wall is confirmed from the image It was not possible to grasp the state of the inner wall.

  This invention is made | formed in view of such a point, The objective is to provide the image which can grasp | ascertain the state of the inner wall part of a pipe line.

  In order to achieve the above object, according to the present invention, an image is obtained from an optical image formed on an outer region excluding the inner region including the center (intersection with the optical axis of the lens) on the imaging surface of the image sensor. The image was cut out.

  Specifically, the first invention includes an imaging device main body disposed inside a pipeline, an imaging unit provided in the imaging device main body for outputting an image inside the pipeline, and the image An image processing unit that performs a predetermined process, and the imaging unit has an inner area that extends from the center point toward the peripheral part on the imaging surface, and an outer area excluding the inner area; and An image pickup lens that is arranged so that an optical axis is along the central axis of the pipe, and forms an optical image inside the pipe on the image pickup surface of the image pickup device, and the image processing unit Is an in-pipe imaging system characterized in that the outer area is used as an image use area, and an image of the image use area is cut out.

  In the first aspect of the invention, since the outer area excluding the inner area that spreads toward the peripheral edge of the imaging surface around the optical axis of the imaging lens on the imaging surface of the imaging device is used as the image usage area. The area does not include the periphery of the center of the optical image corresponding to the back of the dark pipe, but includes the optical image of the bright inner wall of the pipe. In addition, since the image processing unit cuts out the image in the image use area, an image that can confirm damage or the like on the inner wall portion can be obtained.

  According to a second invention, in the first invention, the image use area is a ring-shaped intermediate area centering on the optical axis in the outer area on the imaging surface of the imaging element. This is a road imaging system.

  In the second aspect of the invention, on the imaging surface of the image sensor, the image use area is an annular intermediate area centered on the optical axis in the outer area. As a result, the image use area does not include the periphery of the center portion of the optical image corresponding to the back of the dark pipeline, and the center point of the imaging surface (with respect to the optical axis of the lens) at which the resolution of the optical image is significantly reduced. The peripheral portion of the optical image far from the intersection) is not included. Therefore, a relatively high resolution portion of the optical image of the bright inner wall is captured in the image use area. As a result, an image capable of confirming damage or the like on the inner wall portion is obtained.

  In a third aspect based on the second aspect, the shape of the annular intermediate region that is the image use region is an annular shape, and the inner diameter of the ring is set so that the formed optical image has a predetermined brightness or more. An in-pipe imaging system, characterized in that the outer diameter of the ring is set so that the optical image that is set has a predetermined resolution or more.

  In the third aspect of the present invention, the annular inner area, which is the image use area, has an annular inner diameter set so that the formed optical image has a predetermined brightness or more, and the formed optical image has the predetermined optical image. The outer diameter of the ring is set to be equal to or higher than the resolution. Therefore, a relatively high resolution portion of the optical image of the bright inner wall is captured in the image use area. As a result, an image capable of confirming damage or the like on the inner wall portion is obtained.

  A fourth invention is the light source according to any one of the first to third inventions, which is arranged around the imaging unit and irradiates a direction shifted by a predetermined angle from the optical axis of the imaging lens toward the inner wall side. It is an in-pipe imaging system characterized by further including a section.

  In the fourth aspect of the invention, the plurality of light source units are arranged around the imaging unit and irradiate a direction shifted by a predetermined angle from the optical axis of the imaging lens to the inner wall side. Light is irradiated on the inner wall portion of the pipe line in the circumferential direction (in a ring shape). As a result, the optical image of the inner wall portion reflected on the imaging surface of the image sensor becomes brighter outside the periphery of the center portion of the optical image. As a result, an image capable of confirming damage or the like on the inner wall portion is obtained.

  According to a fifth aspect, in the fourth aspect, when the positional relationship between the optical axis of the imaging lens and the central axis of the conduit is out of a predetermined relationship, each of the plurality of light source units is the tube. An in-pipe imaging system, further comprising an irradiation correction unit that corrects an irradiation direction so as to irradiate a direction shifted by a predetermined angle from the central axis of the road toward the inner wall side.

  In the fifth aspect of the invention, when the positional relationship between the optical axis of the imaging lens and the central axis of the conduit deviates from the predetermined relationship, the plurality of light source units correct the irradiation direction to correct the center of the conduit Since the irradiation direction is corrected so as to irradiate a direction deviated by a predetermined angle from the axis toward the inner wall, the inner wall of the duct in front of the imaging lens is irradiated with light in the circumferential direction (in a ring shape). Accordingly, light can be irradiated in the circumferential direction of the inner wall without being affected by the position and orientation of the imaging device main body, so that the optical image reflected in the image use area can be stably brightened. As a result, even if the orientation of the imaging lens changes, it is possible to obtain an image that can stably check damage on the inner wall.

  According to a sixth aspect of the present invention, in any one of the third to fifth aspects, the image use region is obtained when a positional relationship between the optical axis of the imaging lens and the central axis of the conduit is out of a predetermined relationship. An in-pipe imaging system, further comprising: an area correction unit that corrects the image use area so that the brightness and resolution of an optical image formed on the image becomes equal to or greater than a predetermined value.

  In the sixth aspect of the invention, when the positional relationship between the optical axis of the imaging lens and the central axis of the conduit deviates from the predetermined relationship, the brightness and resolution of the optical image formed in the image use area are predetermined. Since the image usage area is corrected so as to be greater than or equal to the value, light is irradiated in the circumferential direction of the inner wall without being affected by the position and orientation of the imaging device main body deviating from the central axis inside the conduit. Can do. As a result, it is possible to obtain an image capable of confirming damage or the like on the inner wall portion stably regardless of the position and orientation of the imaging device main body.

  A seventh aspect of the present invention is the brightness according to any one of the first to sixth aspects, wherein at least one of an aperture amount and a shutter speed in automatic exposure is controlled based on a brightness of an image formed in the image use area. An in-pipe imaging system, further comprising a control unit.

  In the seventh invention, the in-pipe imaging system includes a brightness control unit that controls automatic exposure based on the brightness of the optical image formed in the image use area. The image which can confirm the damage etc. which exists in is obtained.

  An eighth invention is an in-pipe imaging system according to any one of the first to seventh inventions, wherein the imaging device main body moves along a central axis of the pipeline.

  In the eighth aspect of the invention, the imaging device main body moves along the central axis of the pipeline, so that the optical image formed on the imaging surface of the imaging device is behind the pipeline P viewed from the imaging device main body. The optical image is the center. As a result, an in-pipe imaging system that exhibits the effects of the first to seventh inventions can be specifically obtained.

  As described above, according to the present invention, it is possible to provide an image in which the state of the inner wall portion of the pipeline can be grasped.

It is a figure which shows the imaging in a pipe line by the imaging system in a pipe line concerning the embodiment of the present invention. It is a front view of an image pick-up part and a light source part of an in-pipe imaging system. It is a figure which shows the principal part of the imaging part of an imaging system in a pipe line. It is a figure which shows the optical image of the inner wall part imaged on the imaging surface of an image pick-up element. It is a figure which shows the outer side area | region in the imaging surface of an image pick-up element. It is a figure which shows the annular | circular shaped intermediate | middle area | region in the imaging surface of an image pick-up element. It is a schematic diagram of a brightness curve and an MTF curve. It is a figure which shows a control part. It is a figure which shows correction | amendment of the annular | circular shaped intermediate | middle area | region by an area | region correction part.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following embodiments are essentially preferable examples, and are not intended to limit the scope of the present invention, its application, or its use.

<Configuration of in-pipe imaging system>
The in-pipe imaging system S is for creating a developed image of the inner wall W of the pipe P such as a water pipe and finding damages such as cracks in the inner wall W.

  The in-pipe imaging system S outputs an image of the inner wall W of the pipe P while moving along the central axis of the pipe P, and an image of the inner wall W will be described later. And an image processing unit C that performs predetermined processing.

  FIG. 1 shows imaging in the pipeline P by the imaging system S in the pipeline according to the present embodiment. In FIG. 1, the left side corresponds to the depth side (front) of the pipeline P viewed from the in-pipe imaging device D, and the right side corresponds to the front side (rear) of the pipeline P viewed from the in-pipe imaging device D. To do. Further, the in-pipe imaging apparatus D performs imaging in the pipe P while moving toward the depth side of the pipe P (see arrows in FIG. 1).

  The in-pipe imaging device D is arranged inside the pipeline P and moves along the central axis thereof, and a plurality of light source units 2, 2,... , An image pickup unit 3 for picking up an image of the inside (inner wall portion W) of the pipeline P irradiated by each light source unit 2 provided in the image pickup device main body unit 1, a control unit 4, and a memory for recording the picked-up image data A card 5, a memory control circuit 6, and a gyro sensor (not shown) are provided.

  The imaging device main body 1 has a propeller 11 for floating and moving inside the pipe P, and a leg 12 for grounding when landing from the floating state.

  The light source units 2, 2,... And the imaging unit 3 are provided on the front (front) that is the moving direction of the imaging device main body 1. FIG. 2 shows the imaging unit 3 and the light source units 2, 2,... From the front of the in-pipe imaging device D.

-Light source-
Each light source unit 2 is arranged at equal intervals around the imaging lens 32 (in the circumferential direction) as viewed from the front so that the periphery of the imaging lens 32 is equally brightened.

  Moreover, each light source part 2 irradiates the direction 21 which shifted | deviated predetermined angle (alpha) with respect to the optical axis 33 of the lens 32 for imaging toward the inner wall part W (refer FIG. 1). That is, each light source unit 2 is directed in a direction 21 shifted from the optical axis 33 by an angle α in a plane including the optical axis 33 of the lens 32 and the position of the light source unit 2. Each corresponding direction (hereinafter referred to as an irradiation direction) 21 is particularly brightened by light irradiation.

  As will be described later, the imaging lens 32 is oriented in the direction along the central axis of the pipe P so that the optical axis 33 is along the central axis of the pipe P. Here, “the optical axis 33 is along the central axis of the pipe P” means that the optical axis 33 is substantially parallel to the central axis of the pipe P and the center of the lens 32 is the substantially central axis of the pipe P. That is, it means that the optical axis 33 of the lens 32 substantially coincides with the central axis of the pipe P. Therefore, the light source units 2, 2,... Irradiate the inner wall W located in front of the in-pipe imaging device D in the pipe P in the circumferential direction (in a ring shape). As a result, the annular area A in front of the in-pipe imaging device D becomes particularly bright (see the portion surrounded by the rectangular frame in FIG. 1). Moreover, each light source part 2 is comprised so that irradiation direction 21 is movable so that each irradiation direction 21 can be changed so that it may mention later.

-Imaging unit-
FIG. 3 shows a main part of the imaging unit 3. The imaging unit 3 includes an imaging element (image sensor) 31 and an imaging lens 32 disposed in front of the imaging element (image sensor) 31. The surface of the imaging lens 32 faces the front of the in-pipe imaging device D. For this reason, the imaging lens 32 is arranged so that the optical axis 33 is along the central axis of the pipe P when the imaging apparatus main body 1 moves inside the pipe P along the central axis. Yes.

  The imaging lens 32 forms an optical image of the inner wall portion W on the imaging surface (light receiving surface) 31 a of the imaging element 31. An optical image of the subject (inner wall portion W) is formed on the imaging surface 31 a of the imaging element 31 via the imaging lens 32.

  FIG. 4 shows an optical image formed on the imaging surface 31 a of the imaging device 31. Since the imaging surface 31a of the imaging element 31 faces the depth side in the longitudinal direction of the pipeline P (left side in FIG. 1), the pipeline P has a depth side (in FIG. 1) from the position of the in-pipe imaging device D. An optical image of the inner wall portion W on the left side is formed.

  Specifically, the imaging lens 32 is arranged so that its optical axis 33 is along the central axis of the pipe line P. Therefore, as shown in FIG. The depth of the path P becomes smaller toward the center point 31b (intersection with the optical axis 33) of the imaging surface 31a, and the front side (right side in FIG. 1) of the pipe P extends to the peripheral edge 31c of the imaging surface 31a. Thus, an optical image of the inner wall W is formed (see the arrow in FIG. 4).

  Further, since the inner wall W located in front of the in-pipe imaging device D in the pipe P is irradiated in the circumferential direction (in a ring shape) by the light source unit 2 as shown in FIG. The ring-shaped area A of the inner wall W in front of D becomes particularly bright and forms an image on the area outside the imaging surface 31a (the hatched area in FIG. 4).

  As will be described later, the optical image formed on the imaging surface 31a of the imaging device 31 is subjected to predetermined processing by the signal processing circuit 34 and is output as image data. Among the output image data, an image in the image use area is output. Cut out. The control unit 4 sets the image use area on the imaging surface 31 a of the imaging element 31. Hereinafter, a method for setting the image use area will be described.

  As shown in FIG. 5, the imaging element 31 has an inner area 31 d that spreads toward the peripheral edge 31 c of the imaging surface 31 a with the intersection point with the optical axis 33 of the imaging lens 32 as a center point 31 b on the imaging surface 31 a. And an outer region 31e excluding the inner region 31d.

  As shown in FIG. 6, the imaging element 31 has an annular intermediate region 31f just outside the inner region 31d in the outer region 31e, and this intermediate region 31f is used as an image use region. Hereinafter, a method in which the control unit 4 sets the inner diameter r and the outer diameter R, where r is the inner diameter of the ring of the annular intermediate region 31f and R is the outer diameter of the ring, will be described in detail.

  The upper graph in FIG. 7 schematically shows a curve (brightness curve) indicating the brightness when the inner wall portion W forms an image on the imaging surface 31a of the imaging device 31. The horizontal axis of the brightness curve indicates the distance (image height) from the center point 31b of the imaging surface 31a (the optical axis 33 of the imaging lens 32) to the peripheral edge 31c of the imaging surface 31a in the imaging device 31. The vertical axis of the curve indicates the brightness when the inner wall W is imaged on the imaging surface 31a. As described above, the ring-shaped region A of the inner wall portion W that is particularly brightly irradiated forms an image on a region outside the imaging surface 31a (the hatched region in FIG. 4), and therefore the inner wall portion W imaged on the imaging surface 31a. The brightness of the image is larger in the periphery of the peripheral portion 31c than in the vicinity of the center point 31b of the imaging surface 31a.

  The lower graph in FIG. 7 schematically shows the MTF curve of the imaging lens 32 with the brightness curve and the horizontal axis coinciding with each other. The vertical axis of the MTF curve indicates the resolution of the imaging lens 32. The resolution of the imaging lens 32 decreases from the center (optical axis 33) toward the edge 32a of the lens 32.

  The annular inner region 31f, which is an image use region, has an annular inner diameter r set so that an optical image formed on the intermediate region 31f has a predetermined brightness or more (see the upper graph in FIG. 7). . The annular intermediate region 31f, which is an image use region, has an annular outer diameter R set so that an optical image formed on the intermediate region 31f has a predetermined resolution or more (see the lower side of FIG. 7). See graph). That is, in the present embodiment, not the inner region 31d in which only the resolution of the optical image by the lens 32 is emphasized, but an annular intermediate region 31f that considers both the resolution and the brightness of the optical image is set as the image use region. The above is the method for setting the image use area.

  The imaging unit 3 performs photoelectric conversion on the optical image formed on the entire imaging surface 31a, and outputs a raw image signal (digital signal) corresponding to the optical image.

  The imaging unit 3 further includes a signal processing circuit 34 as shown in FIG. The signal processing circuit 34 performs processing on the raw image signal output from the image sensor 31. Examples of the processing include color separation processing, sharpness adjustment processing, color adjustment processing, and YUV conversion processing. The processed image data is recorded in the memory of the control unit 4. Also, coordinates indicating the position of the image use area on the imaging surface 31a of the imaging element 31 are recorded in the memory.

  The image data recorded in the memory and the coordinates of the image use area are recorded on the memory card 5 by the memory control circuit 6.

-Control unit-
FIG. 8 shows the control unit 4. The control unit 4 includes a CPU (not shown), a memory (not shown), an irradiation correction unit 41 that controls the orientation of each light source unit 2, and an imaging control unit 42 that controls the operation and functions of the imaging unit 3. Have.

  The irradiation correction unit 41 detects the positional relationship between the optical axis 33 of the imaging lens 32 and the central axis of the pipe line P based on the attitude of the imaging device main body 1 detected by the gyro sensor. When the positional relationship between the optical axis 33 of the imaging lens 32 and the central axis of the pipe line P deviates from the predetermined relationship, the irradiation correction unit 41 causes the light source parts 2, 2,. The irradiation directions 21, 21,... Are corrected so as to irradiate the inner wall W side with a direction shifted by a predetermined angle α. Here, “the positional relationship between the optical axis 33 of the imaging lens 32 and the central axis of the pipeline P is in a predetermined relationship” means that the optical axis 33 of the imaging lens 32 is along the central axis of the pipeline. (That is, the optical axis 33 of the lens 32 substantially coincides with the central axis of the pipe P). The state in which the optical axis 33 of the imaging lens 32 does not follow the central axis of the conduit is, for example, that the optical axis 33 of the imaging lens 32 is substantially the same as the central axis of the conduit P by changing the orientation of the imaging device body 1. Occurs when they are no longer parallel or when the center of the imaging lens 32 is no longer positioned on the central axis of the pipeline P due to a change in the position of the imaging device main body 1.

  The imaging control unit 42 includes an area correction unit 42a and a brightness control unit 42b.

  When the positional relationship between the optical axis 33 of the imaging lens 32 and the central axis of the pipeline P deviates from the predetermined relationship (that is, the optical axis 33 of the lens 32 is not in the pipeline P). When it is not substantially coincident with the central axis), the annular intermediate region 31f is corrected so that the brightness and resolution of the optical image formed on the annular intermediate region 31f are equal to or higher than a predetermined value.

  As an example, when the direction of the imaging apparatus main body 1 is changed and the direction of the optical axis of the imaging lens 32 is shifted by a predetermined angle from the direction of the central axis of the pipe P (upward in FIG. 1), The correction of the intermediate area 31f by the correction unit 42a will be described. First, the region correction unit 42a confirms that the direction of the optical axis 33 has shifted by a predetermined angle from the direction of the central axis of the pipe P based on the attitude of the imaging device main body 1 detected by the gyro sensor. To detect. In this case, when the inner wall portion W is viewed from the intra-pipe imaging device D around the optical axis 33 of the lens 32, the upper side of the inner wall portion W enters the field of view more than the lower side of the inner wall surface W. Shift to the upper side of P. Since the optical image of the inner wall portion W is inverted and formed on the imaging surface 31a of the imaging element 31, in this case, the upper side of the inner wall portion W is imaged from the lower side to the center of the imaging surface 31a of the imaging element 31.

  FIG. 9 shows a state where the upper side of the inner wall portion W forms an image from the lower side of the imaging surface 31 a of the imaging device 31 to the center. As shown in FIG. 9, the optical image of the inner wall portion W is formed on the imaging surface 31a of the imaging device 31 so that the depth of the pipe P decreases toward a position shifted upward from the center point 31b of the imaging surface 31a. An image is formed (see arrow in FIG. 9). As a result, an optical image in the dark interior of the pipe P is captured in the original image use area (an annulus represented by a one-dot chain line in FIG. 9) that has not been corrected. At this time, the area correction unit 42a performs correction so that the image use area is shifted upward by an amount corresponding to the shift of the optical image (ring shown by a solid line in FIG. 9).

  The brightness control unit 42b has an autofocus function in which the imaging unit 3 automatically focuses on the main subject, and an automatic exposure function in which exposure (aperture opening amount and exposure period) is automatically controlled. The brightness control unit 42b is based on the brightness of an optical image that forms at least one of an aperture amount (aperture amount) and a shutter speed (exposure period) in the automatic exposure in an annular intermediate region 31f (image use region). Control.

-Image processing section-
The image processing unit C performs the following processing on the image on the inner wall W. In the present embodiment, the image processing unit C performs the following processing on the image data output by the imaging unit 3, that is, the image data of the inner wall portion W recorded on the memory card 5. The image processing unit C cuts out an image corresponding to the image use area of the imaging surface 31 a of the imaging element 31 from the image data of the inner wall W. Specifically, the image processing unit C cuts out the image of the image use area in the image data of the inner wall W based on the image data of the inner wall W recorded in the memory card 5 and the coordinates of the image use area. The above is the processing performed by the image processing unit C on the image data of the inner wall portion W. The image processing unit C is, for example, a computer outside the in-pipe imaging device D.

  Further, the image processing unit C joins the cut images of the inner wall portion W to generate a developed image of the inner wall portion W.

<Operation>
Hereinafter, a specific operation of imaging the inside of the pipeline P by the in-pipe imaging system S will be described. The in-pipe imaging device D is operated from the outside of the pipeline P by an operator from the outside of the pipeline P of the imaging device body 1 by the remote control unit (not shown) and from the start to the end of imaging. The

  First, an imaging start signal is transmitted from the remote control unit, and when the imaging unit 3 receives this imaging start signal, imaging of the following plurality of frames is started. First, the image sensor 31 performs exposure, and supplies a signal processing circuit 34 with one frame of raw image signal obtained by the exposure. The signal processing circuit 34 processes the raw image signal and records the processed image in the memory of the control unit 4. Here, the control unit 4 sets the image use area on the image pickup surface 31a of the image pickup element 31 as described above, and also records the coordinates of the image use area in the memory subjected to the above processing.

  The memory control circuit 6 records the image recorded in the memory and the coordinates of the image use area on the memory card 5. This completes the imaging of one frame. The in-pipe imaging device D records a series of a plurality of frames of image data on the memory card 5 by repeating the imaging of the one frame while moving along the central axis of the pipeline P. Note that image data is recorded as one frame of image data as a still image in one file.

  Since the in-pipe imaging device D performs imaging of the one frame while moving in the pipeline P, the in-pipe imaging device D has a predetermined value at the time of imaging of the next frame after the imaging of one frame. It is moving a distance. What is recorded on the memory card 5 by imaging of each frame is a still image of the inner wall portion W in front of the position of the in-pipe imaging device D when the image sensor 31 performs exposure. The in-pipe imaging device D controls the imaging of each frame at an appropriate timing according to the moving speed of the in-pipe imaging device D so that all images of the inner wall portion W are obtained.

  When the imaging operation end signal is sent by the remote control unit and the imaging unit 3 receives the imaging completion signal, the imaging of the plurality of frames is completed. Through the above imaging, the memory card 5 records a plurality of still images of the inner wall W captured by the intra-pipe imaging device D while moving along the pipeline P, and the coordinates of the image use area of each still image. The

  Thereafter, the plurality of still images recorded on the inner wall W recorded in the memory card 5 are joined together in time series by the image processing unit C. Here, for each still image, an image in the image use area is cut out by the image processing unit C based on the coordinates of the image use area in each still image recorded in the memory card 5. Then, the cut out images are connected in time series by the image processing unit C to obtain a developed image in the longitudinal direction of the inner wall surface W of the pipe P.

<Effect>
In the present embodiment, on the imaging surface 31a of the imaging device 31, the image use area is an annular intermediate area 31f centered on the optical axis in the outer area 31e. As a result, the image use region does not include the periphery of the center of the optical image corresponding to the back of the dark pipe P, and the optical image far from the center point 31b of the imaging surface 31a where the resolution of the optical image is significantly reduced. The peripheral part of is also not included. Therefore, a relatively high resolution portion of the optical image of the bright inner wall W is captured in the image use area. As a result, an image capable of confirming damage or the like on the inner wall portion W is obtained.

  In the present embodiment, the annular inner area 31f, which is an image use area, has an inner ring diameter r so that the formed optical image has a predetermined brightness or more, and the formed optical image The ring outer diameter R is set so as to be equal to or higher than a predetermined resolution. Therefore, a relatively high resolution portion of the optical image of the bright inner wall W is captured in the image use area. As a result, an image that can confirm damage or the like on the inner wall portion W is obtained.

  In this embodiment, a plurality of light source units 2, 2,... Are arranged around the imaging unit 3, and the direction 21 deviates from the optical axis 33 of the imaging lens 32 toward the inner wall W side by a predetermined angle α. Therefore, the inner wall W of the pipeline P in front of the imaging lens 32 is irradiated with light in the circumferential direction (in a ring shape). Thereby, the outer side of the optical image of the inner wall portion W that appears on the imaging surface 31a of the imaging device 31 becomes brighter than the periphery of the central portion of the optical image. As a result, an image that can confirm damage or the like on the inner wall portion W is obtained.

  In the present embodiment, when the optical axis 33 of the imaging lens 32 deviates from the axial direction of the pipe P, the plurality of light source units 2, 2,... Correct the irradiation directions 21, 21,. Since the irradiation direction 21 is corrected so as to irradiate a direction shifted by a predetermined angle α from the central axis of the pipe P toward the inner wall W side, the inner wall W in front of the imaging lens 32 is moved in the circumferential direction ( Irradiate light. Accordingly, since light can be irradiated in the circumferential direction of the inner wall portion P without being affected by the position and orientation of the imaging device main body 1, it is possible to stably brighten the optical image reflected in the image usage region. it can. As a result, even if the orientation of the imaging lens 32 is changed, an image can be obtained in which the damage or the like on the inner wall portion P can be confirmed stably.

  Further, in the present embodiment, when the positional relationship between the optical axis 33 of the imaging lens 32 and the central axis of the pipeline P is out of a predetermined relationship (that is, the optical axis 33 of the lens 32 is the central axis of the pipeline P). The image use area is corrected so that the brightness and resolution of the optical image formed in the image use area are equal to or greater than a predetermined value. Can be irradiated in the circumferential direction of the inner wall W without being affected by the deviation from the central axis inside the pipe P. As a result, an image can be obtained in which the damage or the like on the inner wall portion W can be confirmed stably regardless of the position and orientation of the imaging device main body 1.

  In the present embodiment, the in-pipe imaging system includes the brightness control unit 42b that controls the automatic exposure based on the brightness of the optical image formed in the image use area. An image capable of confirming damage or the like in the portion W is obtained.

  In the present embodiment, since the imaging device main body 1 moves along the central axis of the pipeline P, the optical image formed on the imaging surface 31a of the imaging device 31 is viewed from the imaging device D in the pipeline. The optical image is centered on the back of the pipe P. Accordingly, the image use area does not include the periphery of the center of the optical image corresponding to the back of the dark pipe P, but includes the optical image of the bright inner wall W of the pipe P. As a result, an image that can confirm damage or the like on the inner wall portion W is obtained.

(Other embodiments)
In the above embodiment, the imaging unit 3 uses the annular intermediate region 31f on the imaging surface 31a of the imaging element 31 as the image use region, but this is not limiting, and as shown in FIG. The outer area 31e excluding the inner area 31d made of a circle centered on the point 31b may be used as the image use area.

  As a result, the image use area does not include the periphery of the center of the optical image corresponding to the back of the dark pipe P, but includes the optical image of the bright inner wall W of the pipe P. In addition, since the image processing unit C cuts out the image in the image use area, an image that can confirm damage or the like on the inner wall W can be obtained.

  Moreover, in the said embodiment, although the imaging device D in a pipe line was provided with the light source parts 2, 2, ..., it is not restricted to this, For example, it is not provided, and is installed in the pipe line P, for example. The inner wall portion W irradiated with the illumination may be imaged.

  Moreover, in the said embodiment, although the inner side area | region 31d in the image pick-up surface 31a of the image pick-up element 31 was circular, it is good not only in this but the shape match | combined with the shape of the pipe line P. For example, if the cross-sectional shape of the pipeline P is rectangular, the inner region 31d on the imaging surface 31a may also be rectangular.

  In the above embodiment, a plurality of light source units 2 are arranged around the imaging unit 3 and irradiate a direction shifted by a predetermined angle from the optical axis 33 of the imaging lens 32 toward the inner wall W side. However, the present invention is not limited to this, and for example, a single light source that brightly irradiates the annular region A of the inner wall W may be disposed in the imaging device main body 1.

  Moreover, in the said embodiment, although the shape of the annular | circular shaped intermediate | middle area | region 31f was a ring, it is not restricted to this, It is good also as a shape match | combined with the shape of the pipe line P.

  Moreover, in the said embodiment, although the control part 4 had a gyro sensor and detected the attitude | position of the imaging device main-body part 1 with a gyro sensor, it has not only this but an acceleration sensor, for example, You may detect the attitude | position of the imaging device main-body part 1 with an acceleration sensor.

  In the above-described embodiment, the irradiation correction unit 41 and the region correction unit 42a determine whether the positional relationship between the optical axis 33 of the imaging lens 32 and the central axis of the pipe P is a predetermined relationship. Although the detection is performed based on the attitude of the unit 1, the detection is not limited thereto, and the detection may be performed based on an optical image formed on the imaging surface 31 a of the imaging element 31.

  Moreover, in the said embodiment, although the irradiation correction | amendment part 41, the area | region correction | amendment part 42a, and the brightness control part 42b were essential, it is not restricted to this, You may lack these or all the structures.

  In the above embodiment, the recording of the image data at the time of imaging the inner wall portion W is performed by recording one frame of image data as a still image in one file. However, the present invention is not limited to this. May be recorded in one file as a moving image.

  In the above-described embodiment, the image processing unit C is a computer outside the in-pipe imaging apparatus D, but is not limited thereto, and may be provided in the imaging apparatus main body 1, for example.

  In the above embodiment, the image processing unit C cuts out the image use area of the image data recorded on the memory card 5. However, the present invention is not limited to this, and the image processing unit C is in a stage before recording on the memory card 5. You may cut out an image. For example, when the image pickup device 31 performs photoelectric conversion on an optical image formed on the image pickup surface 31a, the image processing unit C provided in the in-pipe image pickup device D performs photoelectric conversion only on the optical image in the image use region. You may control to perform conversion. In addition, when the signal processing circuit 34 processes the raw image signal, the image processing unit C included in the in-pipe imaging apparatus D is controlled so as to process only the raw image signal corresponding to the image use area. May be.

  The present invention is useful as an in-pipe imaging device.

P Pipe line W Inner wall part S In-pipe imaging system C Image processing part 1 Imaging device body part 2 Light source part 21 Irradiation direction 3 Imaging part 31 Imaging element 31a Imaging surface 31b Imaging surface center 31c Imaging surface peripheral part 31d Inner region 31e Outside area (image use area)
31f Annular intermediate area (image use area)
32 Imaging lens 33 Optical axis 4 Control unit 41 Irradiation correction unit 42 Imaging control unit 42a Area correction unit 42b Brightness control unit

Claims (8)

An imaging device main body disposed inside the conduit;
An imaging unit that is provided in the imaging device main body and outputs an image inside the pipe;
An image processing unit for performing predetermined processing on the image;
With
The imaging unit
An imaging device having an inner region extending from the center point toward the peripheral portion on the imaging surface and an outer region excluding the inner region;
An imaging lens that is arranged so that the optical axis is along the central axis of the conduit, and forms an optical image inside the conduit on the imaging surface of the imaging element;
Have
The in-pipe imaging system, wherein the image processing unit uses the outer area as an image use area and cuts out an image of the image use area. In claim 1,
The in-pipe imaging system, wherein the image use area is an annular intermediate area centering on the optical axis in the outer area on the imaging surface of the imaging device. In claim 2,
The shape of the annular intermediate region that is the image use region is an annular shape, the inner diameter of the ring is set so that the imaged optical image has a predetermined brightness or more, and the imaged optical image is predetermined. An in-pipe imaging system characterized in that the outer diameter of the ring is set so as to be equal to or higher than the resolution. In any one of Claims 1 thru | or 3,
An intra-pipe imaging system, further comprising a plurality of light source units arranged around the imaging unit and irradiating a direction shifted by a predetermined angle from the optical axis of the imaging lens toward the inner wall side. In claim 4,
When the positional relationship between the optical axis of the imaging lens and the central axis of the conduit is out of the predetermined relationship, each of the plurality of light source units has a predetermined angle from the central axis of the conduit to the inner wall side. An in-pipe imaging system, further comprising an irradiation correction unit that corrects an irradiation direction so as to irradiate a shifted direction. In any of claims 3 to 5,
When the positional relationship between the optical axis of the imaging lens and the central axis of the conduit is out of a predetermined relationship, the brightness and resolution of the optical image formed in the image use area are not less than a predetermined value. An in-pipe imaging system, further comprising an area correction unit that corrects the image usage area. In any one of Claims 1 thru | or 6.
An in-pipe imaging system, further comprising: a brightness control unit that controls at least one of an aperture amount and a shutter speed in automatic exposure based on a brightness of an optical image formed in the image use area. In any one of Claims 1 thru | or 7,
The in-pipe imaging system according to claim 1, wherein the imaging device main body moves along a central axis of the pipeline.

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