JP3411997B2 - Work boat support method and work boat support system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work boat support method and a work boat support system. More specifically, the present invention relates to a work boat support method and a work boat support system that support a work boat that conducts an investigation of a submarine oil field or submarine geology. 2. Description of the Related Art Conventionally, for example, when excavating a submarine oil field or conducting a geological survey of a seabed, the seabed was formed by excavating the seabed from a drilling boat or research boat (hereinafter referred to as a work boat) floating on the sea. A pipe called a riser pipe (hereinafter sometimes simply referred to as a pipe) is inserted into a drilled hole, and a sample such as oil or soil is transported to a work boat at sea through the pipe. By the way, for example, when the work boat is moved from the work area by interrupting the work due to deterioration of weather conditions on the sea, it is necessary to insert the pipe into the drill hole again when the work is restarted. . In such a case, attach a camera inside the pipe tip and lower the pipe tip to the seabed,
The operation of inserting the pipe tip into the excavation hole is performed by referring to the image captured by the camera. However, it is not easy to guide the tip of the pipe to the opening of the excavation hole because the sense of distance cannot be grasped only by the image from such a camera. Therefore, for example, a camera is mounted on a remote control type unmanned exploration boat, and the unmanned exploration boat is remotely operated so that the relative positional relationship between the pipe tip and the drill hole can be monitored from an appropriate position. Supporting the work of inserting the tip into the drill hole is performed. However, in such a method, it may be necessary to raise the camera from the seabed at a depth of several thousand meters to the sea after completion of the work, or to reciprocate the unmanned exploration boat between the work ship and the seabed. There is a problem that it takes a lot of time to perform the target work and is inefficient. SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and is a work boat support method and work boat support capable of supporting a seabed survey by a work boat with a simple configuration. The purpose is to provide a system. [0007] A first mode of a work boat support method of the present invention is to attach to a tip portion of a riser pipe from a work boat and hang it down into the sea by an image pickup means. imaging the target mark that is attached to the laid in and cones, the resulting image the image processing to detect the positional relationship between the cone and the riser pipe, previously
The stored riser pipe tip and the stored
The model corresponding to the 3D shape data of each
According to the above-mentioned positional relationship, each is placed in a virtual space and
A virtual three-dimensional model including a riser pipe tip and the cone is generated, and the virtual three-dimensional model is displayed on an image display device.
Set the viewpoint to display on the screen
It is characterized in that an image is generated and displayed on an image display device . A second mode of the work boat support method of the present invention is
By the imaging means attached to the tip of the riser pipe from the work boat and hung in the sea, the target mark attached to the seabed or the cone laid in the sea is imaged, and the obtained image is processed. The positional relationship between the riser pipe and the cone is detected and stored in advance.
Each of the riser pipe tip and the cone
The model corresponding to the 3D shape data of
Depending on the relationship, the riser pipe is placed in the virtual space
A virtual three-dimensional model including a tip and the cone is generated, and the virtual three-dimensional model is displayed on the image display device.
To set a viewpoint and generate a 2D image from the viewpoint.
The riser pipe is inserted into the cone based on the displayed image. In the work boat supporting method of the present invention, the relative distance between the riser pipe and the work target or the speed of the riser pipe is set to the tip of the riser pipe and the cone.
It is preferable to display the image in addition to the two-dimensional image displaying
The tip of the riser pipe and the cone are displayed.
It is also preferable to display the image together with the two-dimensional image, and the trajectory of the riser pipe is imaged afterimage to the tip of the riser pipe.
It is also preferable to display an image together with the two-dimensional image displaying the section and the cone, and to predict the expected course of the riser pipe.
The tip of the riser pipe and the cone are displayed.
It is also preferable to display the image together with the two-dimensional image . On the other hand, a first mode of the work boat support system of the present invention is a work boat support system comprising an image pickup means, an image processing means, and an image display means, wherein the image pickup means is the work boat. Attached to the tip of the riser pipe that hangs in the sea from, and image the target mark attached to the cone laid on the sea floor or in the sea,
Wherein the image processing means, image picked up by the image pickup means
Image processing the image of the riser pipe and the cone
Detecting a positional relationship, the temporary depending the riser pipe tip which has been previously stored and the respective model in accordance with the three-dimensional shape data <br/> over data of the cone to the positional relationship respectively
A virtual three-dimensional model including the tip portion of the riser pipe and the cone is generated by arranging in the virtual space, and the virtual cubic
Generates a 2D image from the set viewpoint of the original model
However , the image display means displays the generated two-dimensional image as an image. A second form of the work boat support system of the present invention is a work boat support system comprising an image pickup means, an image processing means, an image display means, and a control means, wherein the image pickup means is The target mark attached to the tip of a riser pipe hanging from the work boat into the sea and attached to a cone laid on the sea floor or in the sea is imaged, and the image processing means is imaged by the imaging means. The processed image is processed to obtain the riser pipe and the coat.
Detecting a positional relationship between emissions, the line <br/> stored beforehand Zapaipu tip and each of the three-dimensional of the cone
The model corresponding to the shape data is adapted to the above-mentioned positional relationship.
Flip disposed in the virtual space to generate a virtual three-dimensional model including said cone and said riser pipe tip portion, the temporary
A 2D image from the set viewpoint of the 3D model
And the image display means generates the generated two-dimensional image.
The control means for displaying an image as an image is characterized in that the tip of the riser pipe is inserted into the cone based on the image. In the work boat support system of the present invention, the relative distance between the riser pipe and the cone or the speed of the riser pipe is set to the riser pipe tip and the coater.
It is preferable to display the image together with the two-dimensional image showing the riser and the riser pipe speed by using the velocity vector to display the riser pipe tip and the cone.
It is preferable to display the image together with the two-dimensional image
The riser pipe traces the afterimage of the riser pipe
Combine with the two-dimensional image showing the tip and the cone.
It is preferable to display an image of the expected course of the riser pipe by displaying the tip of the riser pipe and the cone.
It is preferable to display the image together with the two-dimensional image . Thus, the work boat support system is mounted on the work boat. Since the present invention is configured as described above, for example, a virtual three-dimensional model relating to a work target and work members under the sea or under the sea under conditions where it is difficult to visually check is performed by a work boat. Can be assisted or controlled. The present invention will be described below based on the embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments. FIG. 1 is a block diagram showing a work boat support system applied to a work boat support method according to an embodiment of the present invention. The work boat support system A includes an image pickup means 10.
, Image processing means 20, display means 30, and control means 4
0 is provided as a main component. The image pickup means 10 is, for example, a CCD camera (hereinafter, simply referred to as a camera) 10 and is attached to, for example, the tip of a surveying instrument or a surveying jig hanging from the work boat to the seabed. The image processing means 20 processes the image information captured by the camera 10, and is, for example, the image processing unit 20. The display means 30 displays the image information processed by the image processing unit 20, and is, for example, a CRT display 30. The control means 40 controls the operation of adjusting the positional relationship of the plurality of objects based on the image information processed by the image processing unit 20, and is a control device 40 such as a computer. It Specifically, as shown in FIG. 2, the work boat support system A of the present embodiment is lowered from a work boat floating on the ocean to a drilling hole on the seabed T for the purpose of, for example, a submarine oil field or submarine geological survey. The riser pipe 50 is for assisting or controlling the work of inserting the tip end portion of the riser pipe 50 into the funnel-shaped cone 51 installed in the opening of the drill hole. The camera 10 is mounted at a position near the tip of the riser pipe 50 that does not hinder the suction of excavated material into the pipe and the insertion of the riser pipe 50 into the excavation hole. Further, the camera head 11 of the camera 10 is provided with a light source including, for example, a large number of high-luminance light emitting diodes. The camera 10 may have a single eye or a compound eye. The image processing unit 20 includes an arithmetic unit 21 including a CPU and a storage unit 22 for storing various data including three-dimensional shape data of the tip end of the riser pipe 50 and the cone 51 and various programs such as an image processing program.
And an operation unit 23 for the operator to perform various operations. As shown in FIG. 3, the cone 51 is specially designed so that the relative positional relationship between the tip of the riser pipe 50 and the cone 51 can be grasped by using image information taken by the monocular camera 10. A target mark 60 having the above structure is attached. The target mark 6
The number 0 is not limited to that shown in the figure as long as the above function is satisfied. Specifically, the target mark 60 includes
A required number of holes having a predetermined radius are drilled in a predetermined array, and the plurality of holes are provided so as to have openings in at least two planes. That is, the first to fourth holes H1 to H4 are opened on the first plane L1, and the fifth hole H5 is opened on the second plane L2. Next, the principle for detecting the positional relationship between the tip of the riser pipe 50 and the cone 51 from the image information of the target mark 60 will be described. The coordinates (homogeneous coordinate system) of known points P _k (k = 1 to n, here n = 3) on the target mark 60 are represented by the following equation (1). P _k = [x _k y _k z _k 1] ^t (1) The target mark 60 has an angle α with respect to the x-axis direction, an angle β with respect to the y-axis direction, and with respect to the z-axis direction. The coordinate Ptk of each point Pk when rotated by an angle γ and translated in parallel with x _{0 in} the x-axis direction, y ₀ in the y-axis direction and z _{0 in the} z-axis direction is represented by the following equation (2). . [0031] _{Ptk = T off · T α ·} T β · T γ · P k (2) [0032] However, [0033] [number 1] The point Pt _k [x yz 1] ^t
And the coordinates H _k [f _k · h _k , f _k · v _k , on the image plane of the camera,
The relationship of f _k ] ^t is ^expressed by the following equation (4). H _k = C · Pt _k (4) However, since hk and vk are positions on the imaging screen, C is represented by the following equation (5). [Equation 2] Here, when the position and orientation of the target mark 60 changes, the position H _k of the point P _k is calculated by the following equation (6).
Represented by H _k = C · T _off · T _α · T _β · T _γ · P _k (6) Here, each element of C can be calculated by calibration and three or more points P _k Α, β, γ and the movement amount can be calculated by the pair of the position H _k and the position H _k . Now, the point P _k is selected by the following equation (7). P ₁ = [0 r 0 1] ^t P ₂ = [0−r 0 1] ^t (7) P ₃ = [− m 0 0 1] ^{t [ 0042 ]} Movement of the target mark 60 and change in posture For Pt _k [x _k y _k z _k 1] ^t (k = 1, 2,
Each of 3) is represented by the following formula (8). [Equation 3] Further, the camera parameters are C ₂ , C ₇ , C
_If only ₉ is set to 1 and the others are set to 0, the coordinate system shown in FIG. 4 is obtained with the principal point of the lens as the origin and the optical axis as the X axis. in this case,
Since each component of H _{k is} the same as each component of P t _k , the following equation (9) is established. [Equation 4] The position and orientation can be calculated by solving the non-linear simultaneous equation (9). Next, the work boat support system A having such a configuration.
The operation of will be described. When the camera 10 catches the cone 51 in the field of view and the image information from the camera 10 is sent to the image processing unit 20, the image processing unit 20 receives the image of the target mark 60, and then the riser pipe. A relative positional relationship such as a relative distance and a relative angle between the tip end portion 50 and the cone 51 is detected. When the relative positional relationship between the tip of the riser pipe 50 and the cone 51 is detected, the three-dimensional shape data of the tip of the riser pipe 50 and the cone 51 stored in the storage unit 22 in advance are read out. And this 3
A model corresponding to the three-dimensional shape data is arranged in the virtual space according to the detected positional relationship, and virtual three-dimensional image information, that is, a virtual three-dimensional model is generated. In this way, when virtual three-dimensional image information (hereinafter referred to as a scene) representing the relative positional relationship between the tip portion of the riser pipe 50 and the cone 51 at a certain point in time is generated, this scene is displayed on the CRT display 30. The viewpoint is set. That is, the operator sets the distance from which direction the models of the riser pipe 50 and the cone 51 are viewed in the virtual space by operating the operation unit 23. The setting of the viewpoint by the operator can be changed at any time while referring to the display on the CRT display 30. The processing function can be realized by appropriately using a known processing technique conventionally used in image processing, and the configuration thereof is not particularly limited. When the viewpoint for viewing the scene is set in this way, two-dimensional image information is generated from that viewpoint,
As shown in FIG. 5, the video corresponding to this image information is CR
It is displayed on the T display 30. On the CRT display 30, various data calculated on the basis of the generated virtual three-dimensional image information is displayed in the data display area 70. The data display area 70 is a moving speed display area 71 for displaying the moving speed of the tip portion of the riser pipe 50, and the riser pipe 5.
No. 0 tip portion and the cone 51 are composed of various display areas such as a relative distance display area 72 for displaying the relative distance. In addition to the numerical display in the moving speed display area 71, the moving speed of the tip portion of the riser pipe 50 is C
It is displayed sensuously on the RT display 30. That is, by performing a process of leaving the image of the tip of the riser pipe 50 as an afterimage for a predetermined time, it becomes possible to intuitively grasp the moving speed of the tip of the riser pipe 50. In addition, by displaying an arrow B having a length corresponding to the moving speed of the tip of the riser pipe 50 on the CRT display 30, the arrow B of the tip of the riser pipe 50 is displayed.
It is also possible to sensuously grasp the moving speed in the direction of, that is, the direction of the vector B. In such processing, the relative positional relationship between the tip of the riser pipe 50 and the cone 51 within a predetermined time is recorded, and the moving speed and moving direction of the tip of the riser pipe 50 are calculated. Can be easily realized by As the display means 30, for example, a head mount type stereo display device is used, and two two-dimensional images corresponding to the parallax of both eyes are generated.
If they are displayed on the stereo display devices, respectively, the relative positional relationship between the tip portion of the riser pipe 50 and the cone 51 can be stereoscopically viewed, and the operator can see the scene in a manner closer to that of the actual scene. It is possible to perform the work of adjusting the relative positional relationship between the tip portion of the riser pipe 50 and the cone 51. Further, the movement of the tip of the riser pipe 50 is predicted on the basis of the detected relative positional relationship and the marine vessel maneuvering information, and the virtual three-dimensional processing is performed based on the prediction result by the same processing as described above. If the image information and the two-dimensional image information are generated and displayed on the display device 30 as the predicted movement route, the work can be further facilitated. Furthermore, if the control device 40 is configured to control the operation of the work boat using the prediction result, it is possible to automatically perform the work of inserting the tip portion of the riser pipe 50 into the cone 51. As described above, according to the work boat support system A of this embodiment, the relative positional relationship between the tip portion of the riser pipe 50 and the cone 51 is detected and detected based on the image information taken by the camera 10. The riser pipe 50 and the cone 5 in the virtual space according to the positional relationship.
Since the model No. 1 is arranged and the virtual three-dimensional image information is generated thereby, the virtual three-dimensional image information representing the relative positional relationship between the tip end portion of the riser pipe 50 and the cone 51 by a relatively simple device and image processing. Can be generated. Thereby, the two-dimensional image information from an arbitrary viewpoint set by the operator can be displayed on the CRT display 30, so that the work of inserting the riser pipe 50 tip into the cone 51 can be supported. Further, the movement of the tip of the riser pipe 50 is predicted on the CRT display 30 based on the detected relative positional relationship, and the controller 40 automatically adjusts the cone of the tip of the riser pipe 50 according to the prediction result. It is possible to further improve the efficiency by controlling the work to be inserted into 51. As described above in detail, according to the work boat support method and the work boat support system of the present invention, the virtual space can be obtained only by detecting the relative positional relationship between the work target and the work member. Since it is possible to generate virtual three-dimensional image information in which the work target and the work member are arranged, the image when the relative positional relationship between the work target and the work member is viewed from any direction and distance is relatively obtained. A simple system and image processing can be displayed to the operator, thereby providing an excellent effect that the operator can assist the processing work on the work target of the work member. Further, an excellent effect that the relative positional relationship of a plurality of objects can be automatically adjusted based on the generated virtual three-dimensional image information can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a work boat support system to which a relative positional relationship adjusting method according to an embodiment of the present invention is applied.

FIG. 2 is an explanatory diagram illustrating a specific application scene of the system.

FIG. 3 is a diagram showing an example of a configuration of a target mark.

FIG. 4 is an explanatory diagram showing the principle of calculating the position and orientation of a target mark.

5 is a diagram showing a display example on a CRT display of the work boat support system of FIG.

[Explanation of symbols]

10 cameras 20 Image processing unit 30 display device 40 control device 50 riser pipe 51 cones 60 target mark 70 data display area A work boat support system

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuo Saito 3-1-1 Higashikawasakicho, Kobe City Kawasaki Heavy Industries, Ltd. Inside the Kobe factory (56) Reference JP-A-8-216985 (JP, A) Japanese Patent Laid-Open No. 5-312521 (JP, A) Japanese Patent Laid-Open No. 8-62377 (JP, A) Japanese Patent Laid-Open No. 60-82989 (JP, A) Japanese Patent Laid-Open No. 8-216984 (JP, A) Japanese Patent Laid-Open No. 5-323089 (JP , A) JP-A-5-133715 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B63B 35/00 G06T 7/00 G06T 17/00

Claims (13)

(57) [Claims] 1. An image obtained by picking up an image of a target mark attached to a bottom of a sea or a cone laid in the sea by an image pickup means which is attached to a tip portion of a riser pipe from a work boat and hangs down into the sea. an image processing to detect the positional relationship between the cone and the riser pipe, previously
The stored riser pipe tip and the stored
The model corresponding to the 3D shape data of each
According to the above-mentioned positional relationship, each is placed in a virtual space and
A virtual three-dimensional model including a riser pipe tip and the cone is generated, and the virtual three-dimensional model is displayed on an image display device.
Set the viewpoint to display on the screen
A work boat support method comprising generating an image and displaying the image on an image display device . 2. An image obtained by picking up an image of a target mark attached to a bottom of a sea or a cone laid in the sea by an image pickup means which is attached to a tip portion of a riser pipe from a work boat and hangs down into the sea. an image processing to detect the positional relationship between the cone and the riser pipe, previously
The stored riser pipe tip and the stored
The model corresponding to the 3D shape data of each
According to the above-mentioned positional relationship, each is placed in a virtual space and
A virtual three-dimensional model including a riser pipe tip and the cone is generated, and the virtual three-dimensional model is displayed on an image display device.
Set the viewpoint to display on the screen
And generates an image displayed on the image display device, work ship support method is characterized in that to the cone insert the leading edge of the riser pipe on the basis of the display image. 3. The relative distance between the riser pipe and the work object or the speed of the riser pipe is determined by the riser pipe tip.
The work boat support method according to claim 1 or 2, wherein the image is displayed together with the two-dimensional image displaying the section and the cone . 4. The riser pipe velocity is displayed by using a velocity vector to display the riser pipe tip and the cone.
The work boat support method according to claim 1 or 2, wherein the image is displayed together with the displayed two-dimensional image . Wherein said by afterimage the trajectory of the riser pipe
2 showing the tip of the riser pipe and the cone
The work boat support method according to claim 1 or 2, wherein the image is displayed together with the three-dimensional image . Wherein said riser the predicted course of the riser pipe
-Two-dimensional image showing the tip of the pipe and the cone
The work boat support method according to claim 1 or 2, wherein an image is displayed together with the image. 7. Image pickup means, image processing means, and image display
A work boat support system comprising means and The imaging means is a riser that is suspended from the work boat into the sea.
-Installed on the tip of the pipe and laid on the seabed or underwater
The target mark attached to the cone
Take an image, The image processing means is imaged by the imaging means.Picture
Image processing the image of the riser pipe and the cone
The positional relationship is detected, and the previously storedRiser power
IpTipandThe abovecornEach three-dimensional shape ofDe
DataModel according to the above
Place it in your thought spaceThe riser pipeTipAnd the above
A virtual 3D model containing, The virtual tertiary
Generates a 2D image from the set viewpoint of the original model
Then The image display means, The generated two-dimensional imageThe image
Work boat support system characterized by displaying. 8. An image pickup means, an image processing means, and an image display
With a work boat support system comprising means and control means
There The imaging means is a riser that is suspended from the work boat into the sea.
-Installed on the tip of the pipe and laid on the seabed or underwater
The target mark attached to the cone
Take an image, The image processing means is imaged by the imaging means.Picture
Image processing the image of the riser pipe and the cone
The positional relationship is detected, and the previously storedRiser power
IpTipandThe abovecornEach three-dimensional shape ofDe
DataModel according to the above
Place it in your thought spaceThe riser pipeTipAnd the above
A virtual 3D model containing, The virtual tertiary
Generates a 2D image from the set viewpoint of the original model
Then The image display means, The generated two-dimensional imageThe image
The control means for displaying is based on the image.
The tip of the Zar pipe is inserted into the cone,
Work boat support system. 9. The relative distance between the riser pipe and the cone or the speed of the riser pipe is determined by the riser pipe tip.
9. The work boat support system according to claim 7 or 8 , wherein an image is displayed together with the two-dimensional image displaying the cone and the cone . 10. The speed of the riser pipe is represented by using a velocity vector to represent the riser pipe tip and the cone.
9. The work boat support system according to claim 7, wherein an image is displayed together with the two-dimensional image shown . 11.] before the afterimage the trajectory of the riser pipe
The riser pipe tip and the cone are displayed.
The work boat support system according to claim 7 or 8, wherein the image is displayed together with the two-dimensional image . 12. The line a predicted course of the riser pipe
2D showing the tip of the pipe and the cone
The work boat support system according to claim 7 or 8, wherein the image is displayed together with the image. 13. A work boat comprising the work boat support system according to any one of claims 7 to 12.