JP2022010579A - Pillar internal imaging system - Google Patents

Abstract

To provide a pillar internal imaging system that can improve workability in inspecting a steel tower.SOLUTION: A pillar internal imaging system 1 comprises an imaging system 10 arranged inside a pillar P and having an imaging part 11 for imaging an inside of the pillar, an upper system 20 arranged on an upper end T side of the pillar P and hanging the imaging system 10 and moving the imaging system 10 up and down inside the pillar P, a terminal 30 capable of receiving image data obtained by imaging the inside of the pillar P from the imaging system 10, and relay devices 40 relaying wireless communication between the imaging system 10 and the terminal 30 and installed on the upper and lower end sides of the pillar. The imaging system 10 transmits the image data to the terminal 30 via the relay device 40.SELECTED DRAWING: Figure 2

Description

The present invention relates to a column internal imaging system.

Conventionally, steel pipes have been used as columns in transmission line towers and the like. Where the steel pipe deteriorates over time, the outside can be visually inspected, but the inside cannot be visually inspected.

For this reason, the image detection unit that is inserted inside the steel pipe and moved is covered with a holder body provided at the tip of the video transmission cable, and this holder body is deformed and expanded in the radial direction of the steel pipe by a sliding sleeve. A technique has been proposed in which a telescopic guide portion for pressing a wheel provided at a connecting point of these links is provided on an inner surface of a pipe, and an image detection portion is always held at the center position of a steel pipe (Patent Document 1).

Japanese Unexamined Patent Publication No. 9-229868

By the way, some steel towers have a height of up to 100 m. In such a case, when the video detection unit (for example, a camera, etc.) is hung by a video transmission cable, the video transmission cable also needs to be at least the height of the transmission line steel tower, and the video transmission cable becomes bulky, which is used in the inspection of the steel tower. There was a problem that workability was reduced.

It is an object of the present invention to provide a column internal imaging system capable of improving workability in inspection of a steel tower.

(1) An image pickup system inside a support column that images the inside of a tube-shaped support column.
An imaging system arranged inside the column and having an imaging unit for imaging the inside of the column, and an imaging system.
An upper system installed on the upper end side of the column, suspending the imaging system, and moving the imaging system up and down inside the column.
A terminal capable of receiving image data obtained by imaging the inside of the support column from the imaging system, and
A relay device that relays wireless communication between the image pickup system and the terminal and is arranged on the upper end side and the lower end side of the support column, respectively.
Equipped with
The relay device on the upper end side and the lower end side has an antenna arranged in the support column, and can communicate with the upper system, the imaging system, and the terminal.
The image pickup system is a support column internal image pickup system characterized in that the image data is transmitted to the terminal via the relay device.

According to the configuration of (1), the column internal imaging system captures the inside of the tube-shaped column, and includes an imaging system, an upper system, a terminal, and a relay device.
The image pickup system is arranged inside the support column and has an image pickup unit that images the inside of the support column.
The upper system is installed on the upper end side of the stanchion, suspends the imaging system, and moves the imaging system up and down inside the stanchion.
The terminal can receive image data obtained by imaging the inside of the support column from the imaging system.
The relay devices on the upper end side and the lower end side relay the communication between the image pickup system and the terminal, and are installed on the upper end side and the lower end side of the column, respectively.
The relay device on the upper end side and the lower end side can communicate with the upper system, the image pickup system, and the terminal.
The imaging system transmits image data to the terminal via a nearby relay device.

In this way, by relaying the communication between the image pickup system and the terminal and providing the relay devices installed on the upper end side and the lower end side of the column, respectively, the terminal can reliably receive the image data. As described above, it is not necessary to provide a video transmission cable for transmitting image data, and it is possible to improve workability in inspection of a steel tower.

Further, in short-range wireless communication such as wireless LAN, the communicable range is limited.
For this reason, for example, when an imaging system (wireless transmitter) is installed inside the column and a terminal (wireless transmitter) is installed outside the column, the column itself blocks radio waves, and image data from the imaging system is output. , The terminal may not be able to receive.
In addition, when the height of the tower reaches 100 m, the image pickup system is located on the upper end side of the column of the tower, and when the inspector inspecting the tower operates the terminal on the ground, the image pickup system and the terminal However, it may be out of the range in which they can communicate with each other, and the terminal may not be able to receive the image data obtained by capturing the inside of the column. As described above, in short-range wireless communication, the conditions and range in which communication is possible are limited.

Here, the inventor has found through experiments that the straightness of the wireless communication radio wave is improved and the communication range distance is dramatically improved if the inside is tubular like a pillar of a steel tower.

According to the invention of (1), relay devices are provided on the upper end side and the lower end side of the support column, the antenna of the relay device is installed inside the support column, and the image pickup system transmits image data to the terminal via the relay device. do. As a result, even if the image pickup system is inside the support column and the terminal is outside the support column, the height of the tower to be inspected is 100 m or more, and the image pickup system and the terminal can communicate with each other. Even when it is outside, the image data can be reliably received by the terminal.

(2) The upper system is
A string-shaped member that suspends the imaging system, and
A winding unit capable of sending out and winding the string-shaped member, and
A measuring unit for measuring the length of the string-shaped member sent out from the winding unit is provided.
The column internal imaging according to (1), wherein the upper system transmits measurement data indicating a value obtained by measuring the length of the string-shaped member to the terminal via the relay device on the upper end side. system.

According to the configuration of (2), the upper system includes a string-shaped member, a winding unit, and a measuring unit.
The string-shaped member has a string shape that suspends the imaging system.
The take-up unit can send out and wind up the string-shaped member.
The measuring unit measures the length of the string-shaped member sent out from the winding unit.
Then, the upper system transmits measurement data indicating a value obtained by measuring the length of the string-shaped member to the terminal via the relay device on the upper end side.

Here, even if it is found from the image data that the inside of the column is corroded, if the corroded position cannot be specified, the repair work efficiency is lowered.

According to the invention of (2), the position of the image pickup system inside the support column can be specified by transmitting the measurement data indicating the measured value of the length of the string-shaped member sent out from the winding unit to the terminal. This makes it possible to identify the corroded position found from the image data, and improve the repair work efficiency.

(3) The imaging system is
A detection unit for detecting the orientation of the image pickup unit is provided.
At a certain position, the direction data indicating the direction detected by the detection unit is transmitted to the terminal together with the image data via the relay device on the upper end side and the lower end side (1) or (1). The image pickup system inside the column according to 2).

According to the configuration of (3), the image pickup system includes a detection unit that detects the orientation of the image pickup unit.
Then, at a certain position, the image pickup system transmits the image data and the direction data indicating the direction detected by the detection unit to the terminal via the relay devices on the upper end side and the lower end side.

This makes it possible to identify the orientation of the imaging system inside the column, identify the corroded orientation found from the image data (for example, the inside or outside of the column), and improve repair work efficiency. It becomes possible to do.

According to the present invention, it is possible to provide a column internal imaging system capable of improving workability in inspection of a steel tower.

It is a figure which shows typically the steel tower to which the column internal image pickup system which concerns on one Embodiment of this invention is applied. It is a figure explaining the outline of the pillar internal image pickup system which concerns on one Embodiment of this invention. It is a functional block diagram of the support column internal image pickup system which concerns on one Embodiment of this invention. It is a figure explaining the outline of the image pickup system of the support column internal image pickup system which concerns on one Embodiment of this invention. It is a figure explaining the outline of the upper system of the support column internal image pickup system which concerns on one Embodiment of this invention.

The configuration of the column internal imaging system 1 according to the embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram schematically showing a steel tower to which an image pickup system inside a support column according to an embodiment of the present invention is applied.
FIG. 2 is a diagram illustrating an outline of a support column internal imaging system according to an embodiment of the present invention.
FIG. 3 is a functional block diagram of a support column internal imaging system according to an embodiment of the present invention.

As shown in FIG. 1, the tower 100 has a plurality of columns P formed of pipe-shaped steel pipes extending upward from the ground G and sloping toward the center C of the tower 100 as they go upward, for example, horizontally. It is configured by being connected by materials, bracing members, and the like.

As shown in FIGS. 2 and 3, the support column internal imaging system 1 is arranged inside the support column P, and is installed on the image pickup system 10 having an image pickup unit 11 for imaging the inside of the support column P and on the upper end T side of the support column P. , An upper system 20 that suspends the image pickup system 10 and moves the image pickup system 10 up and down inside the support column P, and a terminal 30 that can receive image data obtained by imaging the inside of the support column P from the image pickup system 10 and the upper system 20. And, the wireless communication between the image pickup system 1 or the upper system 20 and the terminal 30 is relayed, and a plurality of relay devices 40 (L1) installed on the upper end side (upper end T side) and the lower end side (ground G side) of the support column P, respectively.・ L2) and.

In the support column internal image pickup system 1, the image pickup system 10 is suspended from the upper system 20 while descending from the inside of the support column P by its own weight, and is lifted by the upper system 20 to raise the inside of the support column P.

Further, the support column internal imaging system 1 can control the imaging system 10 and the upper system 20 based on the operation of the terminal 30 by the inspector.

The dotted line in FIG. 2 indicates that wireless communication is possible between the devices connected by the dotted line. Although not shown, the image pickup system 10, the upper system 20, the terminal 30, and the relay devices 40 (L1 and L2) on the upper end side and the lower end side are supplied with power by a battery.

As shown in FIG. 3, the image pickup system 10 includes an image pickup unit 11 and a support unit 12 that supports the image pickup unit 11.
The image pickup unit 11 includes a camera 111 that images the inside of the support column P, a detection unit 112, and a transmission / reception unit 113.

FIG. 4 is a diagram illustrating an outline of an image pickup system of a support column internal image pickup system according to an embodiment of the present invention.

The camera 111 is a known camera provided at the tip end (lower end in FIG. 4) of the image pickup unit 11 and capable of capturing a still image or a moving image. For example, the camera 111 has a fisheye lens having an angle of view of 160 °, a 1/4 inch image sensor (CMOS-CCD), and a memory for storing image data acquired by the image sensor.

Returning to FIG. 3, the detection unit 112 detects the orientation of the image pickup unit 11. The detection unit 112 is composed of a known direction detection sensor.

At a certain position, the transmission / reception unit 113 indicates a direction detected by the detection unit 112 together with the image data acquired by the camera 111 to the terminal 30 via the relay devices 40 (L1 and L2) on the upper end side and the lower end side. Send the data.

Here, the image pickup system 10 may rotate while moving inside the support column P. When the image pickup system 10 rotates, the image data also rotates, and even if the image data shows that the image data is corroded, it is difficult to know which direction inside the support column P is corroded.

According to the support column internal imaging system 1, for example, based on the operation of the terminal 30 by the inspector, a predetermined direction (for example, the center C of the steel tower 100 (see FIG. 2)) is set as the reference of the orientation at a certain position. The direction data makes it possible for the terminal 30 to recognize how much the imaging system 10 has rotated from a predetermined direction at the position.

As shown in FIG. 4, the support portion 12 has an imaging unit 11 connected to the tip end (lower end in FIG. 4), is sent to the upper system 20 (see FIG. 2) at the base end (upper end in FIG. 4), and is wound up. The string-shaped member described later is connected. The support portion 12 includes a plurality of (for example, 3 to 4) stays 120 to which the imaging unit 11 is connected, a proximal end portion 121 to which the proximal ends (upper end in FIG. 4) of the plurality of stays 120 are connected, and stays. A pulley 122 rotatably provided on the 120 is provided.

The stay 120 includes a first member 120a, a second member 120b, a third member 120c, and an urging member 120d.
The first member 120a is a shaft member, and one end thereof is rotatably connected to the base end (upper end in FIG. 4) of the image pickup unit 11.
The second member 120b is a shaft member, and one end thereof is rotatably connected to the other end of the first member 120a.
The third member 120c is a shaft member, one end of which is rotatably connected to the other end of the second member 120b, and the other end of which is rotatably connected to the base end portion 121.

The urging member 120d is composed of, for example, a spring member, connects the first member 120a and the second member 120b, rotates around the connecting portion of the first member 120a and the second member 120b, and is close to each other. Elevate in the direction. Similarly, the urging member 120d is also provided on the second member 120b and the third member 120c, connects the second member 120b and the third member 120c, and connects the second member 120b and the third member 120c. Rotates around the center and urges them in directions close to each other.

The base end portion 121 is rotatably connected to the other end of each third member 120c of the plurality of stays 120, and the connecting portion 121a to which the string-shaped member of the upper system 20 (see FIG. 2) described later is connected. Have.

The pulley 122 is rotatably attached to the second member 120b at both ends and substantially in the center of the second member 120b.

With such a configuration, in the support portion 12, each second member 120b of the plurality of stays 120 is urged by the urging member 120d in a direction away from the center line passing through the proximal end portion 121 and the imaging unit 11. There is. As a result, each second member 120b is in a posture along the direction in which the support column P extends. Then, a plurality of pulleys 122 provided on each second member 120b come into contact with the inner wall of the support column P.

In this way, a second member 120b is provided between the first member 120a and the third member 120c, and the second member 120b is urged toward the inner wall side of the support column P and is provided on the second member 120b. By abutting the plurality of pulleys 122 on the inner wall of the support column P, it is possible to suppress lateral blurring of the image pickup unit 11, and it is possible to improve the sharpness of the image captured by the image pickup unit 11.

FIG. 5 is a diagram illustrating an outline of an upper system of a support column internal imaging system according to an embodiment of the present invention.
The upper system 20 includes a string-shaped member 21, a winding unit 22, and a measuring unit 23.

The string-shaped member 21 has a string shape, and is composed of, for example, PE line No. 30 (reference direct strength 100 kg) or the like, and suspends the imaging system. The string-shaped member 21 is not limited to the PE line, and may be made of, for example, a steel wire or the like.

The take-up portion 22 is attached to the upper end T of the steel tower 100, and is composed of, for example, an electric reel for fishing, which is capable of sending out and winding the string-shaped member 21. The take-up unit 22 is not limited to the electric reel for fishing, and may have any configuration as long as the string-shaped member 21 can be sent out and taken up. Further, the take-up unit 22 is communicably connected to the terminal 30 via the relay device 40 (L1) (see FIG. 2) on the upper end side, and the string-shaped member 21 is sent out and taken up under the control of the terminal 30. You may.

The measuring unit 23 is attached between the winding unit 22 and the support column P to be inspected at the upper end T of the tower 100, and includes an encoder unit 231 and a control unit 232.

The encoder unit 231 is rotatably attached to the arm 231a rotatably attached to the upper end T of the steel tower 100 and the arm 231a, and the string-shaped member 21 extending from the winding unit 22 is wound around the string-shaped member. It comprises an encoder 231b that rotates according to the delivery or winding of the 21.

The control unit 232 measures the length of the string-shaped member 21 sent out by the take-up unit 22 based on the rotation speed of the encode 231b, and the measurement data indicating the measured value is collected by the relay device 40 (L1) on the upper end side. It is transmitted to the terminal 30 via (see FIG. 2).

Returning to FIG. 3, the terminal 30 includes a reception means 31, a control means 32, and an input / output means 33. The terminal 30 is composed of a general computer (personal computer, smartphone, tablet, etc.), includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and has a hard disk as a storage unit. A data storage unit using a semiconductor memory or a semiconductor memory is provided, and as a communication unit, for example, a WiFi (Wiress Fidelity) compatible device compliant with IEEE802.11 is provided.

The receiving means 31 receives image data and direction data from the image pickup system 10 via the relay device 40, receives measurement data from the upper system 20, and outputs a signal for controlling the image pickup system 10 and the upper system 20 to the image pickup system. It is transmitted to 10 and the upper system 20.

The control means 32 controls the operation of the image pickup system 10 and the upper system 20 based on the operation of the inspector, and the image data and the direction data from the image pickup system 10 received by the reception means 31 and the measurement data from the upper system 20. Is controlled to be displayed on the input / output means 33.

The input / output means 33 accepts the operation of the inspector and displays an image controlled by the control means 32. The input / output means 33 is composed of, for example, an input / output device such as a keyboard and a mouse, a display device such as a display, and a touch panel that also serves as an input / output device and a display device.

Each of the above-mentioned function processing means was executed by the CPU after the CPU built in the terminal 30 read out a computer program (for example, core software) stored in the storage means such as ROM, flash memory, SSD, and hard disk. It is realized by a computer program. That is, each functional processing unit reads and writes necessary data such as a table from a database stored in a storage means or a storage area on a memory, and in some cases, related hardware (for example, a keyboard). It is realized by controlling an input / output device such as a mouse, a display device such as a display, and a communication interface device).

The relay device 40 has an antenna 41 (see FIG. 2) extending inside the support column P, and is composed of, for example, a WiFi router compliant with 802.11, and within a range in which wireless communication is possible, the image pickup unit 11 and the control unit Data communication is possible with 232 and the terminal 30.

In the present embodiment, as shown in FIG. 2, the relay device 40 (L1) installed on the upper end side has a control unit 232 (see FIG. 3) and a transmission / reception unit 113 (see FIG. 3) arranged inside the support column P. ) And the terminal 30 arranged at the upper part (upper end T side) of the tower 100 in a communicable range.
Further, the relay device 40 (L2) is arranged within a range capable of communicating with the transmission / reception unit 113 (see FIG. 3) arranged inside the support column P and the terminal 30 arranged at the lower part (ground G side) of the tower 100. It has been installed.

The photographing unit 11 transmits image data to the terminal 30 arranged at the upper part (upper end T side) of the steel tower 100 via the relay device 40 (L1) in the process of the image pickup system 10 moving inside the support column P. ..
Further, in the process of the image pickup system 10 moving inside the support column P, the photographing unit 11 transfers the image data to the terminal 30 arranged at the lower part (ground G side) of the steel tower 100 via the relay device 40 (L2). Send.

Next, the operation of the column internal imaging system 1 will be described.
The inspector installs the column internal imaging system 1 on the tower 100, for example, as shown in FIG.
At the upper end T of the tower 100, the inspector inserts the image pickup system 10 into the support column P, stops the delivery of the string-shaped member 21 by the winding unit 22, and the upper part of the image captured by the camera 111 is the center of the tower 100. The posture of the image pickup system 10 is adjusted so as to face C. Then, the inspector resets the value indicating the direction of the image pickup unit 11 at the terminal 30. Thereby, the reference of the orientation of the imaging unit 11 by the detection unit 112 can be set to the orientation in the predetermined direction (for example, the center C of the steel tower 100 (see FIG. 2)).

Next, the inspector resets the value indicating the height of the imaging system 10 at the terminal 30. After that, the winding unit 22 starts sending out the string-shaped member 21. As a result, the image pickup system 10 descends inside the support column P by its own weight while being suspended from the upper system 20.

Then, the image pickup system 10 transmits the image data inside the support column P captured by the camera 111 and the direction data to the terminal 30 at any time via the relay devices 40 (L1 and L2) on the upper end side and the lower end side. .. Further, the measurement unit 23 of the upper system 20 transmits the measurement data to the terminal 30 at any time via the relay device 40 (L1) on the upper end side.

The terminal 30 stores the received image data, direction data, and measurement data at any time, and displays an image based on these data on the input / output means 33.

The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like to the extent that the object of the present invention can be achieved are included in the present invention.

1 Pillar internal imaging system 10 Imaging system 11 Imaging unit 12 Support unit 20 Upper system 21 String-shaped member 22 Winding unit 23 Measuring unit 30 Terminal 31 Reception means 32 Control means 33 Input / output means 40 Relay device 41 Antenna 100 Tower 111 Camera 112 Detection unit 113 Transmission / reception unit 120 Stay 120a First member 120b Each second member 120b Second member 120c Each third member 120c Third member 120d Bounce member 121 Base end 121a Connection unit 122 Slipper 231 Encoder unit 231a Arm 231b Encode 232 Control unit P Strut C Center of tower G Ground

Claims (3)

It is a support internal imaging system that images the inside of a tube-shaped column.
An imaging system arranged inside the column and having an imaging unit for imaging the inside of the column, and an imaging system.
An upper system installed on the upper end side of the column, suspending the imaging system, and moving the imaging system up and down inside the column.
A terminal capable of receiving image data obtained by imaging the inside of the support column from the imaging system, and
A relay device that relays wireless communication between the image pickup system and the terminal and is arranged on the upper end side and the lower end side of the support column, respectively.
Equipped with
The relay device on the upper end side and the lower end side has an antenna arranged in the support column, and can communicate with the upper system, the imaging system, and the terminal.
The image pickup system is a support column internal image pickup system characterized in that the image data is transmitted to the terminal via the relay device. The upper system
A string-shaped member that suspends the imaging system, and
A winding unit capable of sending out and winding the string-shaped member, and
A measuring unit for measuring the length of the string-shaped member sent out from the winding unit is provided.
The column internal imaging according to claim 1, wherein the upper system transmits measurement data indicating a value obtained by measuring the length of the string-shaped member to the terminal via the relay device on the upper end side. system. The imaging system is
A detection unit for detecting the orientation of the image pickup unit is provided.
Claim 1 or 2 is characterized in that at a certain position, direction data indicating a direction detected by the detection unit is transmitted to the terminal together with the image data via the relay device on the upper end side and the lower end side. The column internal imaging system described in.

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