JP3359137B2 - Method for photographing and creating a stereoscopic image of the entire circumference of a hole wall, and a stereoscopic prism and its device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic image photographing method and a stereoscopic image producing method capable of stereoscopically observing the entire circumference of a hole wall such as an underground boring hole, and a cylindrical prism and a stereoscopic image photographing apparatus used therefor. It is.

[0002]

2. Description of the Related Art Conventionally, in geological surveys, it is necessary to know the continuous state of the direction of a surface element such as a stratum surface, a joint surface, and a crack surface. For this reason, in the above-mentioned geological survey, a probe was used in which a sonde was raised and lowered in a hole excavated by boring, and a borehole television camera capable of directly observing a hole wall in the sonde was used. In this apparatus, the hole wall is projected on a plane mirror inclined at an angle of 45 ° with respect to the hole wall surface and photographed by a borehole television camera.

[0003] As another device, as shown in FIG.
The entire circumference of a part of the side wall of the cylindrical lifting probe (31) is formed in a transparent window (39), and a through hole (20) is formed in the center of the transparent window in the center in the axial direction. A frusto-conical mirror (6
1) is mounted so as to axially reflect the incident light from the entire periphery of the borehole wall incident through the transparent window (39), and the magnetic compass (35) is provided below the truncated cone mirror (61) on its axis. And a television camera (34) for photographing the azimuth compass (35) through the reflected light and the through hole (20) above the truncated cone mirror (61) has also been developed.

[0004]

The above conventional hole wall observation means can only obtain a plane image of the hole wall. Therefore, even if there are cavities or cracks in the hole wall, or if the hole is deformed or sheared by ground stress, the information is unclear and it is difficult to tell whether such a defect actually exists. Was.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above problems, and as a result, a method of capturing a stereoscopic image capable of stereoscopically viewing the entire circumference of a hole wall, a method of creating such an image, and a cylindrical Fresnel used therefor Prism was developed.

That is, according to the photographing method of the present invention, the entire peripheral image of the inner periphery of the hole wall is introduced into the inside of the prism from two different directions by cylindrical prisms arranged on a circumference along the inner periphery. Is photographed separately.

In this case, a plane including the center axis of the transparent cylindrical member intersects the plane within the thick portion of the cylindrical member and is parallel to the center axis sandwiching the central axis on one side of the plane. A cylindrical straight positive Fresnel prism having a substantially right-angled triangular prism-shaped axial sawtooth-shaped groove continuously cut all around the plane, a plane including the central axis of a transparent cylindrical material, A substantially right-angled triangular prism-shaped sawtooth-shaped groove in the entire circumference cut along a plane intersecting within the thick portion of the cylindrical material and a plane parallel to the center axis and sandwiching the center axis side on the other side with respect to the plane. By continuously arranging the cylindrical straight-line inverted Fresnel prisms provided in the axial direction and moving these Fresnel prisms in the axial direction in the axial direction, the entire circumferential image of the inner circumference of the hole wall is converted into the cylindrical straight line. The image passed through the normal Fresnel prism and the cylindrical straight inverted Fresnel prism Was the use a method for capturing an image to each other is effective.

Further, in this case, approximately two planes which are symmetrical with respect to a plane including the central axis of the transparent cylindrical member, intersect within a thick portion of the cylindrical member, and are cut off in two planes parallel to the central axis sandwiching the central axis. A prism formed by cutting off a plane on one side with respect to each plane including the central axis, using a cylindrical linear bi-Fresnel prism having an equilateral triangular prism-shaped axial concave groove continuously provided on the entire circumference. Full-circumferential image of the circumferentially divided hole wall inner periphery obtained through the surface and simultaneously with the circumferentially divided hole wall inner periphery obtained through the prism surface cut and formed on the other side plane It is also effective to use a method of separately capturing the images.

In the method of producing a three-dimensional image according to the present invention, the whole peripheral image of the inner periphery of the hole wall is introduced into the inside of the prism from two different directions by cylindrical prisms arranged on a circumference along the inner periphery. Then, two types of ring-shaped full-circumferential images obtained by reflecting each full-circumferential image in the axial direction of the hole with a conical mirror surface installed inside the prism are subdivided in the circumferential direction and the radial direction, respectively. An operation of sequentially rearranging the divided pixels in the horizontal direction is repeated in the radial direction, and these are arranged in the vertical direction to obtain a right eye hole wall developed image and a left eye hole wall developed image.

In this case, a plane including the central axis of the transparent cylindrical member is parallel to the central axis intersecting the plane within the thick portion of the cylindrical member and sandwiching the central axis on one side of the plane. A cylindrical straight positive Fresnel prism having a substantially right-angled triangular prism-shaped axial saw-tooth concave groove continuously provided on the entire circumference and a plane including the central axis of a transparent cylindrical material, A substantially right-angled triangular prism-shaped sawtooth-shaped concave groove cut along a plane that intersects within the thick portion of the cylindrical material and that is parallel to the central axis on the other side of the plane and sandwiches the central axis side. A cylindrical linear inverted Fresnel prism provided continuously in the axial direction is arranged in an axial direction, and these forward and reverse Fresnel prisms are moved in the axial direction, and at the same time, the entire circumference of the hole wall inner circumference passing through these Fresnel prisms. Conical mirror with image placed inside these Fresnel prisms How to obtain two kinds of eye hole wall expansion image and the hole wall expanded image for the left eye as a ring-shaped all around image obtained by reflection in the axial direction it is effective.

Further, in this case, the transparent cylindrical member is cut substantially in two planes which are symmetrical with respect to a plane including the central axis, intersect in the thick portion of the cylindrical member, and are parallel to the central axis sandwiching the central axis. Using a cylindrical linear double Fresnel prism provided with an isosceles triangular prism-shaped axially-shaped concave groove continuously on the entire circumference, each plane including the central axis is cut out and formed on one side plane. Of the inner periphery of the hole wall divided in the circumferential direction obtained through the prism surface, and simultaneously with the whole of the inner periphery of the hole wall divided in the circumferential direction obtained through the prism surface cut out and formed on the other side plane. The peripheral wall image is reflected by the conical mirror surface set inside the Fresnel prism in the axial direction, and two types of ring-shaped divided peripheral images alternately divided and arranged in the peripheral direction are obtained. To obtain an image and a left-eye hole wall development image It is effective.

Next, as the cylindrical prism used for capturing and creating a stereoscopic image of the present invention, a plane including the center axis of the transparent cylindrical material, and the plane intersects the thick part of the cylindrical material and one side of the plane is formed. Characterized in that a substantially right-angled triangular prism-shaped axial sawtooth-shaped groove cut continuously with a plane parallel to the central axis sandwiching the central axis side is continuously provided on the entire circumference, or transparent. A substantially isosceles triangular prism-shaped chevron, which is symmetrical with respect to a plane including the central axis of the cylindrical material, intersects within the thick portion of the cylindrical material, and is cut in two planes parallel to the central axis sandwiching the central axis. The groove is provided continuously over the entire circumference.

Further, in the stereoscopic image photographing apparatus of the present invention, a plane including the central axis of the transparent cylindrical member intersects the plane within the thick portion of the cylindrical member, and the central axis is sandwiched on one side with respect to the plane. A plane including the center axis of a transparent cylindrical material, and a cylindrical straight positive Fresnel prism having a substantially right-angled triangular prism-shaped axial sawtooth-shaped groove continuously cut all around the plane parallel to the central axis; And a substantially right-angled triangular prism-shaped axial sawtooth cut at a plane that intersects the thick portion of the cylindrical material and intersects with the plane and is parallel to the center axis on the other side of the plane and sandwiching the center axis side. A cylindrical linear inverted Fresnel prism having a concave groove continuously provided on the entire circumference is overlapped in the axial direction, and the inside of the hole is installed in the observation portion main body movable in the longitudinal direction of the hole, and these forward and reverse Fresnel prisms are installed. An axially matched conical mirror is installed inside the A camera for capturing two types of hole wall inner periphery of all Shuzo from the ring-shaped two directions are reflected in the axial direction by the conical mirror observation unit installed in the main body through beam,
Further, an image processing unit that converts the entire peripheral image of the inner circumference of the ring-shaped hole wall obtained by the camera into a rectangular right-eye hole wall developed image and a left-eye hole wall developed image, respectively, and a driving unit that moves the observation unit body. And a direction indicator. And using an integral conical mirror having a height larger than the total dimension of the axial length of at least these Fresnel prisms inside the cylindrical straight positive and reverse Fresnel prisms,
It is effective to install one camera in the vertex direction of the conical mirror.

Another aspect of the photographing apparatus according to the present invention is a photographic apparatus which is symmetrical with respect to a plane including the central axis of the transparent cylindrical member, intersects within the thick portion of the cylindrical member and is parallel to the central axis sandwiching the central axis. A cylindrical linear double Fresnel prism provided with an approximately isosceles triangular prism-shaped axially-shaped concave groove continuously cut all around the plane, inside the observation unit main body that is movable in the longitudinal direction of the hole. And a conical mirror whose axial direction is matched to the inside of the Fresnel prism is installed, and from two directions arranged alternately in the circumferential direction, which are axially reflected by the conical mirror through the Fresnel prism. A camera that simultaneously captures two types of ring-shaped divided full-circumferential images of the inner circumference of the hole wall is installed in the observation unit main body, and further, each of the cameras is separately divided and arranged alternately in a ring-shaped circumferential direction obtained by the camera. All right images are rectangular right eye hole wall development image and left eye hole image respectively. An image processing unit for converting the developed image, a driving unit for moving the observation main body, is characterized in that a bearing indicator.

In these photographing apparatuses, by providing a correction lens between the photographing lens of the camera and the conical mirror, all lines of sight passing through the cylindrical Fresnel prism can be made orthogonal to the central axis of the conical mirror, Alternatively, it is effective to make all the lines of sight passing through the cylindrical Fresnel prism orthogonal to the central axis of the conical mirror by using a conical mirror as a rotating parabolic mirror. Further, in any of the photographing devices, the conical mirror is a cylindrical truncated conical mirror formed of a through-hole or a transparent material along a central axis thereof, and simultaneously photographing an azimuth compass with the camera through the through-hole or the transparent material is difficult. It is valid.

[0016]

In order to obtain a three-dimensional image of the inner peripheral surface of a structure such as a cylindrical boring hole or a sewer pipe, two types of images having a parallax angle are required for all portions of the inner peripheral surface. In order to obtain these two types of hole wall developed images, it is conceivable to simply use two cameras at the same time. However, the structure becomes extremely complicated and the apparatus becomes large, so that it is practical. is not. In addition, in the case of a device that captures the entire circumference of the hole wall using only a conical mirror for the purpose of full-circle image capturing, the line of sight going to each point on the hole wall always travels in the radial direction from the center of the conical mirror, so parallax It is impossible to obtain an image with a shadow.

In the present invention, two types of images having a parallax for stereoscopic vision are obtained by separately obtaining the entire image of the inner circumference of the hole wall from two different directions by using the following cylindrical prism. It became possible to obtain.

That is, as shown in FIG. 1, a plane (A) including a central axis (C) of a transparent cylindrical member (1) made of glass or plastic, and the plane (A) and a thick portion of the cylindrical member (1). The plane (A) intersects with the plane (A) and the plane (B) that is always parallel to the center axis (C) sandwiching the center axis (C) on one side (the direction of movement of the clock hand in the figure). A cylindrical straight Fresnel prism (2) as shown in FIG. 2 in which a sawtooth-shaped concave groove (3) of a substantially right-angled triangular prism shape (T) on the peripheral surface is formed continuously around the entire circumference.
It has become possible to obtain images from different directions by using. Note that such a concave groove (3) may be provided on the entire outer peripheral surface of the transparent cylindrical member (1).

That is, when such a cylindrical linear Fresnel prism is used, only the optical axis can be changed without changing the size of an image passing therethrough as shown in FIG. That is, when viewing a certain direction with the eyes, by placing the Fresnel prism in the middle of this line of sight, it is possible to see another direction forming a certain angle (θ) from the initial without changing the line of sight. 3 (a) and 3 (b)
As shown in (2), the direction of the line of sight is changed to the opposite side to the incident light beam depending on the installation position of the plane (B) with respect to the plane (A) when cutting the concave groove (3).

Therefore, a cylindrical linear positive Fresnel prism having a concave groove formed over the entire circumference as shown in FIG. 3A and a cylindrical linear inverted Fresnel prism having a concave groove formed over the entire circumference as shown in FIG. In this case, for example, the above-mentioned positive Fresnel prism may be inverted in the axial direction, and the prisms may be overlapped in the axial direction, and their circumferential direction may be adjusted to the inner circumferential direction of the boring hole (that is, the central axis of these prisms). When placed in the hole (with the hole and the axial direction of the hole together), two images are obtained as seen from different directions with respect to the hole wall (4) of the vertical hole as shown in FIG.

That is, from the position of m ₁ on the straight line (M) provided in the longitudinal direction of the hole wall (4), the central axis (C) of the prism passes through the side surface of the upper cylindrical straight Fresnel prism (5). sight (r ₁₎ towards the shall always have an angle of θ relative to a plane containing Anakabetate direction of the straight line (M) and the center axis of the prism (C). According to such a positive Fresnel prism (5), the central axis (C) passes through m ₁ on the hole wall.
Is always obtained inside the positive Fresnel prism (5) as an image viewed from the angle θ with respect to the direction viewed from the central axis (C). On the other hand, in the cylindrical linear inverted Fresnel prism (6) installed at the lower part, if the inverted Fresnel prism has a completely inverted shape of the normal Fresnel prism (5), for example, the normal Fresnel prism (5) is completely different from the normal Fresnel prism (5). Since it has the opposite optical characteristics, the line of sight (r ₂ ) from m ₂ below m ₁ on the straight line (M) of the hole wall (4) is the same as the straight line (M) and the central axis (C ) Always has an angle of -θ. Thus obtained as an image viewed from the angle direction of -θ with respect to the direction in the inside as viewed from the entire circumference is always the central axis of the hole wall through the m ₂ (C) of the inverse Fresnel prism (6).

[0022] Thus by moving the Fresnel prism formed by connecting the positive and reverse Fresnel prisms under example only L, since positive Fresnel prism to a depth position of the m ₂ (5) comes to correspond through said m ₂ An image of the entire circumference of the hole wall is obtained inside the positive Fresnel prism (5) as an image viewed from an angle θ with respect to a direction viewed from the central axis (C). Accordingly, for the entire circumference image of the hole wall passing through m ₂ , an image having a parallax of 2θ can be obtained separately. If these images are plane images as the right-eye image and the left-eye image, respectively, It becomes possible to see. Furthermore, if images obtained from the forward and reverse Fresnel prisms can be separately and continuously obtained by a video device, two types of images can be created in which the same place is viewed from two different directions with a delay of a moving time determined by the distance L, An all-around three-dimensional image of the entire inner periphery of the hole wall is obtained.

In order to capture the hole wall images introduced inside the forward and reverse Fresnel prisms as described above over the entire circumference, for example, a plane mirror installed at an angle of 45 ° on the central axis is used.
The image may be taken by rotating it 360 °, but in the present invention, a conical mirror was used as follows.

That is, as shown in FIG. 5, a forward Fresnel prism (5) and a reverse Fresnel prism (6) are overlapped with each other in the axial direction, and a cone having a height at least equal to the axial length of the overlapped inside. A conical mirror (7) having a mirror-finished surface is set so that the central axes (C) of the two mirrors coincide. The line of sight that passes through the side surfaces of the Fresnel prisms (5) and (6) toward the central axis (C) is reflected by the conical mirror on the extension of the central axis (C). Camera (camera or video camera) that matches (8)
You can shoot with. The full-circumference image of the depth position where these forward and reverse Fresnel prisms are placed as shown in FIG.
A full-circumference image passing through the inverse Fresnel prism (6) and a full-circumference image passing through the positive Fresnel prism (5) are separately obtained at the lower part of the surface. Accordingly, if this conical mirror surface is photographed by the camera (8), as shown in FIG. 6, a ring-shaped upper image (9) formed by a normal Fresnel prism (5) and a reverse Fresnel prism (6) formed outside the ring-shaped image. A ring-shaped lower image (10) is obtained.

As another example, as shown in FIG. 7, a conical mirror for a positive Fresnel prism (11) is installed inside a corresponding to the positive Fresnel prism (5), and the conical mirror for a positive Fresnel prism (11) is provided. A conical mirror for an inverse Fresnel prism (12) is installed symmetrically with respect to the bottom surface, and a conical mirror for a normal Fresnel prism (11) and a conical mirror for an inverse Fresnel prism (12)
It is also possible to adopt a configuration in which cameras (8) for separately photographing are installed. In this case, the ring images are obtained separately.

(Creation Method of Expanded Image) The entire circumference image of the hole wall photographed by the above method is transmitted to a ground device via a cable, for example, but is displayed on a monitor before the expansion processing. Is as shown in FIG. After developing this in the initial image memory and decomposing it into a group of pixels on the matrix, the pixels present on each scan circumference are sequentially extracted from the development start position to the development end position, and an example of a straight line on the development image memory To make a single expansion processing routine. This process is repeated at regular intervals in accordance with the movement of the conical mirror in the hole, and is sequentially arranged in the row direction to create a continuous developed image. The movement of the conical mirror within a predetermined distance within the hole is detected by, for example, a depth measuring instrument. When an electric pulse is generated, the signal can be used as a trigger to automatically repeat the above routine.

In order to create a set of stereoscopically visible images (for the left eye and for the right eye), the following two methods are specifically used.

As shown in FIG. 8, a scan line P on the image corresponding to the normal Fresnel prism and a scan line Q on the image corresponding to the reverse Fresnel prism are determined on the image captured by the conical mirror. Then, these scan lines P,
On Q, the entire circumferential image of the inner circumference of the hole wall moves in the radial direction of the image one after another as the Fresnel prism and the conical mirror move. Then, based on the azimuth information obtained for the image, these scan lines are scanned clockwise starting from the S azimuth and rearranged in a straight line. , A right-eye expanded image is obtained from the scan line Q. Note that the line D in the figure is a boundary between images obtained by the normal Fresnel prism and the reverse Fresnel prism.

That is, the direction of the line of sight of the hole wall surface corresponding to the scan lines P and Q has a parallax angle of 2θ as shown in FIG. 9 and enters the conical mirror with an angle difference of 2α. Therefore, since the image of the scan line P is ahead of the S direction on the ring-shaped image by α, as shown in FIG. 10A, it is ahead of the S position on the developed image memory by a distance corresponding to α. The position is set as the development start position, and the display of the developed image is started from this position, and is set as the left-eye developed image (13). Similarly, since the image of the scan line Q is delayed by α from the S direction on the ring-shaped image, the image is delayed by a distance corresponding to α from the S position on the developed image memory as shown in FIG. The developed position is set as the development start position, and the display of the developed image is started from this position, and is set as the right-eye developed image (14). Further, since the image of the scan line P is photographed from the position higher than the image of the scan line Q by, for example, the length L as shown in FIG. 4, the image of the scan line Q is The display is started ahead of the distance corresponding to.

As described above, scan lines P and Q are determined on a ring-shaped photographed image. Similarly, scanning is performed clockwise in the following manner to obtain left-eye developed images from the scan line P and right-eye developed images from the scan line Q. That is, as shown in FIG. 11, since the image of the scan line P is ahead of the S direction on the ring-shaped image by α, the position of the scan line P is retracted by an angle corresponding to α from the S position on the initial image memory (the reverse position). Clockwise) is the deployment start position,
Start scanning from here. Figure showing each pixel obtained
As shown in FIG. 12 (a), writing is performed from the S position (leftmost) of the developed image memory, and displayed on the monitor to obtain a left-eye developed image (13). Similarly, since the image of the scan line Q is receded by α from the S azimuth on the ring-shaped image, the position (clockwise) ahead of the S position on the initial image memory by an angle corresponding to α is started. And start scanning from here. Each obtained pixel is written from the S position (leftmost) of the developed image memory as shown in FIG. 12B, and is displayed on a monitor to be a right-eye developed image (14). Further, since the image of the scan line P is photographed from the position higher by L than the image of the scan line Q in the same manner as described above, the image of the scan line Q is located on the developed image memory by the distance corresponding to L. To start the display.

As described above, when the orientation of the image is important in the image captured by the conical mirror, the azimuth indicator is used to set the camera so that the upward direction of the image is always in the N direction as shown in FIGS. It is also possible to adopt a structure in which the azimuth is controlled automatically by rotating around. More specifically, as shown in the conventional apparatus of FIG. 30, the compass has a structure in which the compass is viewed through a through-hole penetrating along the central axis. The TV camera is rotated in the axial direction by a built-in motor so that the direction is always on the monitor screen, for example, upward, and the image is controlled in a fixed direction. In this case, the development is performed with the development reference point fixed at a fixed position on the initial image memory, for example, in the S direction. Alternatively, the deployment reference point can be controlled manually or automatically, and for example, the N direction on the ring-shaped image is detected by a direction compass pointer projected at the center of the ring-shaped image, a signal from a magnetic direction sensor, or the like, Based on this, the development reference point is controlled manually or automatically in a fixed direction.

In the present invention, a cylindrical linear double-Fresnel prism (15) as shown in FIG. 13 can also be used. That is, the two planes E and E 'are symmetrical with respect to the plane (A) including the center axis (C) of the transparent cylindrical member (11), and intersects the plane (A) in the thick part of the cylindrical member to form the center. Plane E sandwiching axis (C)
And an approximately isosceles triangular prism-shaped (S) angled groove cut out at E 'and formed on the entire inner periphery of the cylindrical member (1). The chevron groove may be formed on the outer peripheral surface of the cylindrical member.

According to such a cylindrical linear double-Fresnel prism (15), when it is installed along the inner periphery of the hole,
As shown in FIG. 14, the line of sight from the position of one point g of the hole wall (4) to the central axis (C) through the side surfaces of both Fresnel prisms (15) is a plane including g and the central axis (C). two different directions in what will be present between the n ₂ at an angle of n ₁ and -δ an angle of δ for. This corresponds to the two types of prism surfaces of the two Fresnel prisms (15) as shown in FIG.
The prism surface e cut out at the plane E and the plane E '
This is because the optical axis is changed to the opposite side of the line of sight passing through the prism surface e 'cut away by the line connecting the central axis (C) and the hole wall surface g. Accordingly, since the position g of the hole wall can be obtained as an image viewed from two directions, an image passing through the prism surface e and an image passing through the prism surface e ', these images can be used as right-eye and left-eye images for stereoscopic vision. .

Therefore, if a conical mirror is installed inside both Fresnel prisms (15) and the conical mirror surface is photographed by a camera in the same manner as described above, the image passing through the prism surface e and the image passing through the prism surface e 'can be obtained. Two types of ring-shaped divided images arranged alternately are obtained. Therefore, to obtain a developed image for stereoscopic viewing from such ring-shaped divided images, for example, the following is performed.

Now, both Fresnel prisms having 360 chevron-shaped grooves are set in the hole, and the entire circumference of the hole wall in each of the above two directions is set to 3 through a conical mirror disposed inside the hole.
A developed image can be created by taking out the hole wall image divided into 60 parts. That is, each pixel divided into 720 pieces in a ring shape is sequentially taken out from the scan line U shown in FIG. 16 and numbered, and a developed image is separately created using the odd-numbered pixels and the even-numbered pixels, and The right-eye image and the left-eye image may be used. In this case, the method of arranging the images on the development memory corresponds to the angle 2α formed by the pair of lines of sight, as in FIG. 9, and from the odd-numbered pixels to the development image for the right eye in the same manner as described above (FIG. 17A). , Left-eye expanded image from even-numbered pixels (Fig.
17 (b)). When both Fresnel prisms are used, the right and left eye images can be obtained at the same time by the same scan line, so there is no need to change the vertical position. (L = 0 in FIG. 12) It should be noted that which of the pair of developed images becomes the right-eye image or the left-eye image depends on the position of the development start point. If it is created by twisting it for 1/2 cycle in the upper and lower range of the circumferential image, fine adjustment can be made by changing the radius of the scan circumference.

(Stereoscopic Viewing Method of Expanded Image) There are the following methods for stereoscopic viewing using the right-eye and left-eye developed images developed as described above. FIG. 18 shows a plate-like normal Fresnel prism (16) and a plate-like reverse Fresnel prism (17) in which the normal and reverse Fresnel prisms as shown in FIGS. A method of viewing the right-eye developed image (14) and the left-eye developed image (13) as shown in FIG. 19 using the normal / reverse Fresnel prism glasses (18) attached to the lens part of the glasses.

The stereoscopically developed images for the left and right eyes are alternately displayed at the same location on the monitor, and are observed using glasses with a liquid crystal shutter interlocked with the images.

The stereoscopic developed images for the left and right eyes are vertically re-divided and alternately displayed, and observed using a special lens provided on a monitor screen.

[0039]

【Example】

(Example 1) As shown in FIGS. 20 (a), 20 (b) and 20 (c), a cylindrical linear normal Fresnel prism (5) and a cylindrical linear inverted Fresnel prism (6) are joined up and down, and A conical mirror (7) having a circular through hole (20) along the central axis is installed inside, and a correction lens (21) is mounted on the holder (22) above the vertex direction of the conical mirror (7). Thus, an integrated three-dimensional image capturing prism body (23) connected to a Fresnel prism was prepared.

By placing this correction lens in front of the camera (8) as shown in FIG. 21, the vertical line of sight that passes through the vertical Fresnel prism normally shown in FIG. The correction is made so as to be kept perpendicular to the axis (C). Note that such an effect can be obtained by using a conical mirror (2
This can also be achieved using 4). Further, as shown in FIG. 23, the conical surfaces formed of cones having different solid angles between the inside of the cylindrical straight regular prism (5) and the inside of the inverted Fresnel prism (6) are joined to the prisms (5) and (6). Even if a two-stage conical mirror (25) connected in series is used, at least one of the lines of sight passing through the forward and reverse Fresnel prisms (5) and (6) can be made parallel.

As shown in FIG. 24, such a prism body (24) is connected to a wire (30) which is a main body of the observation unit in the borehole.
It was installed in a prog (31) which was hung up and moved up and down in the hole by a driving device (not shown). In the probe (31), a television camera (3) rotated around an axis by a camera direction control motor (33) by a signal from a magnetic direction sensor (32) is provided above the prism body (23) in the axial direction.
4), and a magnetic compass (3) captured by a camera through a through hole below the prism body (23).
5) was installed. In the figure, (36) power supply unit, (37)
Is a hole wall illumination lamp, and (38) is a compass illumination device and a battery. The side face where the prism body (23) of the probe was installed was a transparent window (39).

Such a probe (31) is suspended in a boring hole (40) underground as shown in FIG. 25. At this time, a ground device to be connected is engaged with a wire (30) to engage the probe (31). 31) Depth measuring device (41) for measuring the depth of
And an image recording device (42), an image processing device (43), a probe control device (44), and a dual monitor (45) for projecting two images for stereoscopic vision. When the probe is gradually lowered by such a series of devices, a rectangular planar image is obtained on the dual monitor (45), which looks at the entire inner circumference of the hole wall from different directions. , A stereoscopic image could be observed in a stereoscopic view.

(Example 2) A conical concave mirror (7) having a conical concave part whose axial direction is made coincident with a cylindrical glass and whose surface is a mirror surface is used. The Fresnel prism was installed inside the cylindrical prism (50) connected to the axial direction of the cylindrical prism (50). Then, an integrated stereoscopic image photographing prism body comprising the conical mirror (7) and the cylindrical prism (50) is installed on a moving vehicle (51) in a horizontal shaft as shown in FIG. Wall illumination lamp (52), TV camera (3
4) and an image recording device (4
2) An image processing device (43), a camera / lighting control device (53), and a dual monitor (45) were mounted. In the drawing, reference numeral (54) denotes a moving distance detecting wheel. A continuous three-dimensional image of the wall of the shaft was also obtained with such a device.

[0044]

According to the present invention, the following effects can be obtained. (1) Place one TV camera at the center of the hole wall.
Capable of capturing real-time stereoscopic three-dimensional images of the entire circumference of the hole wall with different viewing angles in the direction perpendicular to the axis. (2) By measuring the image position of the same point on the hole wall on the obtained pair of stereoscopically developed images, the distance (the radius of the hole) from the hole axis of the point can be determined as follows. Can be measured.

Now, as shown in FIG. 27, when the parallax angles are set to intersect on a hole wall surface with a certain radius (standard hole wall surface (60), radius R), and a pair of three-dimensional developed images is created. The point P on the standard hole wall surface (60) is shown in FIGS.
Are displayed at the same position on the left and right eye developed images (13) and (14). That is, ba = 0 in FIGS. 28A and 28B. On the other hand, the point P 'located behind the standard hole wall surface (60) is displayed differently on the left and right eye developed images (13) and (14), and b'-
a ′ = c ≠ 0. As shown in FIG. 27, the magnitude of c correlates with Δθ, and Δθ correlates with the distance ΔR from the standard hole wall of the point P ′.
The change (R + ΔR) in the hole wall can be determined by measuring the position of the hole. If this is measured at many points identified in the developed image, the overall shape of the hole wall can be known as shown in FIGS. 29 (a) and (b).

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating the shape of a cylindrical linear Fresnel prism of the present invention.

FIG. 2 is a perspective view showing a cylindrical linear Fresnel prism of the present invention.

FIG. 3 is an explanatory diagram showing a change in an optical axis using a cylindrical linear Fresnel prism.

FIG. 4 is an explanatory diagram illustrating the principle of stereoscopic image capturing according to the present invention.

FIG. 5 is an explanatory diagram illustrating a stereoscopic image capturing method according to the present invention.

FIG. 6 is a plan view showing a captured image obtained by a conical mirror.

FIG. 7 is an explanatory diagram showing another example of the stereoscopic image capturing method of the present invention.

FIG. 8 is an explanatory diagram illustrating a method of developing a ring-shaped image.

FIG. 9 is an explanatory diagram of a developing method.

FIG. 10 is an explanatory diagram of a developing method.

FIG. 11 is an explanatory diagram for explaining another developing method.

FIG. 12 is an explanatory diagram of the above.

FIG. 13 is an explanatory view showing the shape of a cylindrical linear double-Fresnel prism of the present invention.

FIG. 14 is an explanatory diagram illustrating a method of capturing an image using both Fresnel prisms.

FIG. 15 is an explanatory diagram illustrating a state of change in the line of sight of both Fresnel prisms.

FIG. 16 is an explanatory diagram illustrating a method of obtaining a developed image using both Fresnel prisms.

FIG. 17 is an explanatory diagram of the above.

FIG. 18 is a perspective view showing stereoscopic glasses.

FIG. 19 is an explanatory diagram illustrating an example of a stereoscopic view.

20A and 20B show an integrated stereoscopic image photographing prism used in the embodiment, wherein FIG. 20A is a perspective view, FIG.
(C) is a plan view.

FIG. 21 is an explanatory diagram showing a state in which an auxiliary lens is used.

FIG. 22 is an explanatory view showing a state in which a rotating parabolic conical mirror is used.

FIG. 23 is an explanatory view showing a state in which a two-stage conical mirror is used.

FIG. 24 is an explanatory view showing an example of the device of the present invention.

FIG. 25 is an explanatory diagram of the above.

FIG. 26 is an explanatory view showing another example of the device of the present invention.

FIG. 27 is an explanatory diagram showing an example of measuring the radius of a hole by the method of the present invention.

FIG. 28 is an explanatory diagram of the Ueno.

FIG. 29 is an explanatory diagram showing an example of measuring the shape of a hole by the method of the present invention.

FIG. 30 is an explanatory view showing an example of a conventional hole wall observation device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transparent cylindrical material 2 Cylindrical straight Fresnel prism 3 Serrated concave groove 4 Hole wall 5 Cylindrical straight normal Fresnel prism 5 Cylindrical straight inverted Fresnel prism 7 Conical mirror 8 Camera 9 Ring-shaped normal image 10 Ring-shaped inverted image 11 Normal Conical mirror for Fresnel prism 12 Conical mirror for reverse Fresnel prism 13 Image for left eye 14 Image for right eye 15 Cylindrical linear double Fresnel prism 16 Plate-shaped normal Fresnel prism 17 Plate-shaped reverse Fresnel prism 18 Forward / reverse Fresnel prism glasses 20 Through hole 21 Correction lens 22 Holder 23 Integrated stereoscopic imaging prism body 24 Rotating parabolic conical mirror 25 Two-stage conical mirror 30 Wire 31 Probe 32 Magnetic direction sensor 33 Camera direction control motor 34 TV camera 35 Magnetic direction compass 36 Power supply unit 37 Hole wall illumination lamp 38 Compass illumination device 39 Transparent window 40 Boring hole 41 Depth measuring instrument 42 Image recording Device 43 the image processing apparatus 44 probe control unit 45 duplicates the monitor 50 cylindrical prism 51 adit transport vehicle 52 Yokoanakabe illuminating lamp 53 camera and lighting control apparatus 60 standard hole wall 61 frustoconical mirror

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI H04N 13/00 H04N 13/00 (56) References JP-A-48-90731 (JP, A) JP-A-1-210594 (JP) JP-A-63-81416 (JP, A) JP-A-4-152765 (JP, A) JP-A-5-7374 (JP, A) JP-A-7-140569 (JP, A) 52-151032 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G03B 35/00-37/06 G02B 5/00-5/136 G02B 27/22 H04N 5/222-5 / 257

Claims (17)

(57) [Claims] 1. A full-circle image of the inner circumference of a hole wall is introduced into the inside of the prism from two different directions by cylindrical prisms arranged on a circumference along the inner circumference, and each full-circle image is obtained. A method of capturing a stereoscopic image of the entire circumference of a hole wall, which is performed separately. 2. A plane including a central axis of the transparent cylindrical member, and a plane that intersects the plane within the thick portion of the cylindrical member and is parallel to the central axis on one side of the plane and sandwiches the central axis side. A cylindrical straight positive Fresnel prism having a substantially right-angled triangular prism-shaped axially sawtooth-shaped concave groove continuously cut along the entire circumference, a plane including the central axis of a transparent cylindrical material, and the flat surface and the cylindrical material A substantially right-angled triangular prism-shaped axial sawtooth-shaped groove intersecting within the thick part of the plane and being cut off by a plane parallel to the center axis on the other side of the plane with respect to the center axis side is continuous with the entire circumference. By disposing the cylindrical linear inverted Fresnel prisms arranged in the axial direction and moving these Fresnel prisms in the axial direction in the axial direction, the entire circumferential image of the inner periphery of the hole wall can be obtained by the cylindrical linear normal Fresnel prism. The image passed through the prism and the image passed through the cylindrical straight inverted Fresnel prism are separately 3. The method of capturing a three-dimensional image of the entire circumference of a hole wall according to claim 1, wherein the image is captured at a predetermined distance. 3. A method according to claim 2, wherein the cylindrical linear inverse Fresnel prism is obtained by inverting the cylindrical linear normal Fresnel prism in the axial direction. 4. A substantially isosceles triangle which is symmetrical with respect to a plane including the central axis of the transparent cylindrical member, cuts in two planes which intersect within the thick portion of the cylindrical member and are parallel to the central axis sandwiching the central axis. A prism surface formed by using a cylindrical linear double Fresnel prism having a columnar axial chevron groove continuously provided on the entire circumference, and being cut off by a plane on one side with respect to each plane including the central axis. A full-circumference image of the hole wall inner circumference divided in the circumferential direction obtained through the prism surface formed by being cut out on the other side plane at the same time as a full-circumference image of the hole wall inner circumference divided in the circumferential direction obtained through The stereoscopic image photographing method of claim 1, wherein the photographing is performed separately. 5. A full-circle image of the inner circumference of the hole wall is introduced into the inside of the prism from two different directions by cylindrical prisms arranged on a circumference along the inner circumference, and each full-circle image is obtained. Two types of ring-shaped full-circumferential images obtained by reflecting in the axial direction of the hole with a conical mirror surface installed inside the prism are subdivided in the circumferential direction and radial direction, respectively, and the divided pixels in the circumferential direction are sequentially rearranged in the horizontal direction A three-dimensional image creating method for the entire perimeter of a perforated wall, characterized by obtaining a right-eye perforated wall developed image and a left-eye perforated wall developed image by repeatedly performing an operation in the radial direction and arranging these in the vertical direction. 6. A plane including the central axis of the transparent cylindrical member, and a plane that intersects the plane within the thick portion of the cylindrical member and is parallel to the central axis on one side of the plane with respect to the central axis. A cylindrical straight positive Fresnel prism having a substantially right-angled triangular prism-shaped axially sawtooth-shaped concave groove continuously cut along the entire circumference, a plane including the central axis of a transparent cylindrical material, and the flat surface and the cylindrical material A substantially right-angled triangular prism-shaped axial sawtooth-shaped groove intersecting within the thick part of the plane and being cut off by a plane parallel to the center axis on the other side of the plane with respect to the center axis side is continuous with the entire circumference. A cylindrical linear inverted Fresnel prism provided in the above manner is superposed in the axial direction, these forward and reverse Fresnel prisms are moved in the axial direction, and at the same time, the full-circumferential images of the inner circumference of the hole wall passing through these Fresnel prisms are obtained. It is obtained by axially reflecting on a conical mirror placed inside the Fresnel prism. 6. The method for creating a three-dimensional image of the entire circumference of a hole wall according to claim 5, wherein a right-eye hole wall development image and a left-eye hole wall development image are obtained as two types of ring-shaped full-circle images. 7. The method according to claim 6, wherein the cylindrical linear inverse Fresnel prism is obtained by inverting the cylindrical linear normal Fresnel prism in the axial direction. 8. A substantially isosceles triangle which is symmetrical with respect to a plane including the central axis of the transparent cylindrical member, cuts in two planes which intersect within the thick portion of the cylindrical member and are parallel to the central axis sandwiching the central axis. A prism surface formed by using a cylindrical linear double Fresnel prism having a columnar axial chevron groove continuously provided on the entire circumference, and being cut off by a plane on one side with respect to each plane including the central axis. A full-circumference image of the hole wall inner circumference divided in the circumferential direction obtained through the prism surface formed by being cut out on the other side plane at the same time as a full-circumference image of the hole wall inner circumference divided in the circumferential direction obtained through Are obtained by reflecting in the axial direction by a conical mirror provided inside the Fresnel prism, two types of ring-shaped divided full-circumference images alternately divided and arranged in the circumferential direction, and a right-eye hole wall development image and a left-eye development image, respectively. 6. A development image of a hole wall development.
A method for creating a three-dimensional image of the entire circumference of the hole wall described. 9. A plane including the central axis of the transparent cylindrical member, and a plane that intersects the plane within the thick portion of the cylindrical member and is parallel to the central axis on one side of the plane and sandwiching the central axis side. A prism for taking a three-dimensional image of the entire circumference of a hole wall, characterized in that a substantially right-angled triangular prism-shaped axial sawtooth-shaped groove which is cut off in step (1) is continuously provided on the entire circumference. 10. A substantially isosceles triangle which is symmetrical with respect to a plane including the central axis of the transparent cylindrical member, intersects in a thick portion of the cylindrical member, and is cut in two planes parallel to the central axis sandwiching the central axis. A prism for photographing a three-dimensional image on the entire circumference of a hole wall, wherein a column-shaped axial concave groove is provided continuously on the entire circumference. 11. A plane including a central axis of the transparent cylindrical member, and a plane that intersects the plane within the thick portion of the cylindrical member and is parallel to the central axis on one side of the plane and sandwiching the central axis side. A cylindrical straight positive Fresnel prism having a substantially right-angled triangular prism-shaped axially sawtooth-shaped concave groove continuously cut along the entire circumference, a plane including the central axis of a transparent cylindrical material, and the flat surface and the cylindrical material A substantially right-angled triangular prism-shaped axial sawtooth-shaped groove intersecting within the thick part of the plane and being cut off by a plane parallel to the center axis on the other side of the plane with respect to the center axis side is continuous with the entire circumference. The cylindrical linear inverted Fresnel prism provided in the above is superposed in the axial direction, and the inside of the hole is installed in the observation portion main body which is movable in the longitudinal direction of the hole, and the axial direction coincides with the inside of these forward and reverse Fresnel prisms. A conical mirror is set up, and the conical mirror is used to move the conical mirror through these forward and reverse Fresnel prisms. A camera that captures a full-circumferential image of the inner circumference of two types of hole walls from two directions reflected in two directions is installed in the observation unit main body, and two types of ring-shaped hole walls obtained by the cameras are further provided. An image processing unit that converts the entire inner circumferential image into a rectangular right-eye hole wall developed image and a left-eye hole wall developed image, a driving unit that moves the observation unit body, and a direction indicator. A three-dimensional image capturing device for the entire circumference of the hole wall. 12. A single conical mirror having a height greater than at least the sum of the axial lengths of these Fresnel prisms is used inside the cylindrical straight forward and reverse Fresnel prisms. 12. The three-dimensional image photographing apparatus of claim 11, wherein one camera is installed. 13. The stereoscopic image photographing apparatus according to claim 11, wherein a two-stage conical mirror in which conical surfaces having different solid angles are continuously connected to each other inside the cylindrical linear positive and reverse Fresnel prisms. 14. A substantially isosceles triangle which is symmetrical with respect to a plane including the central axis of the transparent cylindrical member, cuts in two planes which intersect within the thick portion of the cylindrical member and are parallel to the central axis sandwiching the central axis. A cylindrical linear double Fresnel prism having a columnar axial chevron groove continuously provided on the entire circumference is installed in the observation unit main body that is movable in the longitudinal direction of the hole, and the inside of the Fresnel prism is disposed inside the hole. And the inner circumference of the hole wall from two directions, which are arranged alternately in the circumferential direction and are reflected alternately in the axial direction by the conical mirror through the Fresnel prism through the Fresnel prism. A camera that simultaneously captures the ring-shaped divided full-circumference images is installed in the observation unit main body, and the other full-circle images obtained by the camera, which are alternately divided and arranged in the ring-shaped circumferential direction, are each used for a rectangular right eye. Image processing unit that converts the image to the hole wall developed image and the left eye hole wall developed image And a driving unit for moving the main body of the observation unit, and a direction indicator. 15. A lens according to claim 11, wherein a line of sight passing through the cylindrical Fresnel prism is made orthogonal to the central axis of the conical mirror by providing a correction lens between the taking lens of the camera and the conical mirror. The stereoscopic image photographing device for the entire circumference of the hole wall according to claim 1. 16. The method according to claim 11, wherein all the lines of sight passing through the cylindrical Fresnel prism are orthogonal to the central axis of the conical mirror by using a conical mirror as a rotating parabolic mirror.
Item 3. A stereoscopic image photographing device for the entire circumference of a hole wall. 17. The mirror according to claim 11, wherein the conical mirror is a truncated conical mirror formed of a cylindrical through-hole or a transparent material along a central axis thereof, and the azimuth compass is simultaneously photographed by the camera through the through-hole or the transparent material. 17. The three-dimensional image photographing device for the entire circumference of a hole wall according to any one of items 16.