JP4209276B2 - Pipe wall inner surface inspection system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a system in which the inner wall of a pipe tub used for sewers is photographed in the circumferential direction and the length direction, and the state of the inner wall surface can be observed by an image. The present invention relates to a pipe inner wall surface inspection system that records and measures numerically and provides data useful for the maintenance of the inner wall surface of the pipe through the accumulation and analysis of the records.
[0002]
[Prior art]
Sewerage is one of the indispensable functions of the city, but the main part of the facility is a sewage channel, and this channel contains pipes in modern large cities. The pipes require regular inspection and maintenance, especially for the inner wall surface.
[0003]
Here, in the case of a sewage pipe with a small diameter, after stopping running water inside, the person enters the pipe and observes it, or operates a camera such as a still camera or a video camera. Conventionally, a method of observing an image of a corresponding portion of the wall surface and observing the image to determine the degree of damage to the inner wall surface of the tube has been used.
[0004]
At this time, there has also been conventionally used a method in which a moving type photographing machine equipped with an interchangeable lens, a fish-eye lens and the like is used to photograph while moving the inside of the tube by remote control.
[0005]
However, in the case of a pipe dredging that becomes a sewage main line, it is always used continuously, so even if the water level can be lowered to some extent, it is difficult to stop the flow of the running water itself, which is almost impossible.
[0006]
Therefore, in response to such a case, a pipe wall inner surface investigation system has been conventionally used in which a TV camera (video camera) is mounted on a floating body, and the wall surface of the pipe wall is photographed while floating on a floating water. It is known (for example, see Patent Document 1).
[0007]
In addition, using a video camera equipped with a fisheye lens, etc., the entire inner wall surface of the tub is photographed at once, and the image captured on the whole sky is converted into a flat image to observe the inner wall surface of the tub wall. The system which performs is also proposed conventionally (for example, refer patent document 2).
[0008]
Next, as a device that travels in a pipeline with wheels, a device that measures the undulation shape of the entire pipeline by irradiating a light beam to measure the pipeline is also known in the past (for example, Patent Documents). 3).
[0009]
Furthermore, an apparatus that mounts an optical scanner on a moving device that moves along the central axis in the tube and creates a continuously developed image of the wall surface of the tube is also conventionally known (see, for example, Patent Document 4). .
[0010]
[Patent Document 1]
JP 7-216972 A
[0011]
[Patent Document 2]
JP 2000-331168 A
[0012]
[Patent Document 3]
Japanese Patent Laid-Open No. 7-311022
[0013]
[Patent Document 4]
JP-A-8-262332
[0014]
[Problems to be solved by the invention]
In the above prior art, it cannot be said that sufficient consideration has been given to the continuous capture of accurate images of the inner wall surface of the pipe wall in a state where it floats on the flowing water in the pipe wall. There was a problem in that the image was used as data for predicting the extent of damage and maintenance of the tube by comprehensively using the image.
[0015]
For example, in the prior art described in Patent Document 1, only the situation of the inner wall surface of the pipe rod is photographed, and measurement up to the shape of the inner wall surface of the pipe rod cannot be performed. In this case, since a general television camera is used, it is not clear for a request to save a still image as an inspection result.
[0016]
In addition, for example, in the case of the prior art described in Patent Document 2, the shape of the inner wall surface of the tube cannot be measured.
[0017]
Furthermore, for example, the conventional technique described in Patent Document 3 cannot be applied to measurement in a state where it floats on the flowing water in the pipe tube.
[0018]
Here, the same applies to the prior art described in Patent Document 4, and it cannot be applied to measurement in a state where it floats on the flowing water in the pipe tube.
[0019]
In this way, the conventional technology is limited to only taking images with a television camera, taking an image with an all-sky camera, or measuring the shape of the inner wall surface of the tube. Could not be treated as data for making predictions for
[0020]
The present invention was made in view of the above-mentioned problems of the prior art, and its purpose is to accurately grasp the situation of the inner wall surface of the sewer, such as the sewer, even in the state where running water is present in the sewer, An object of the present invention is to provide a tube inspection system that can be recorded.
[0021]
[Means for Solving the Problems]
The above object is equipped with an imaging means on a hull floated on running water in the pipe, and is mounted on the hull in a system for inspecting the inner wall surface of the pipe using the whole sky image taken by the imaging means. A laser pointer for irradiating at least three laser light spots on different positions on the inner wall surface of the tube so that images of the at least three laser light spots are taken by the imaging means; and the imaging means Image processing means for processing captured image data and calculating the position and orientation of the hull in the cross-section of the tube from the mutual positional relationship of the images of the at least three laser light spots; Correction when converting the whole sky image captured by the imaging unit into a rectangular planar image is performed based on at least one of the position and attitude of the hull calculated by the image processing unit. In this way, a primary survey of the inner wall surface of the pipe rod is performed, and there is a means for removing foreign matter that is mounted on the hull and adhered to the inner wall surface of the pipe rod. This is accomplished by measuring and conducting a secondary survey.
[0022]
At this time, the above-mentioned object can be achieved even if the hull is constituted by a catamaran, and the object can be achieved even if the catamaran has a member for improving the stability in the traveling direction. .
[0023]
Further, here, when the water level in the pipe is low, the water level is raised by installing a resistor such as a weir or a columnar body or a plate having an opening on the downstream side of the inspection target range of the pipe, and the flow velocity The above-mentioned object can be achieved even if the inner wall surface of the tube rod can be inspected by reducing the amount of.
[0024]
Similarly, at this time, the hull is provided with at least one of wheels and dredging at the bottom, or at least one of wheels and dredging instead of the hull, and when the water level in the pipe is low or when there is no water In addition, even if the inner wall surface of the tube can be inspected, the above object can be achieved.
[0025]
As a result of the provision of the above-mentioned means, the present invention observes the situation in the pipe wall by a preliminary investigation on the inner wall surface of the pipe wall such as a sewer, and the result is obtained over the entire length of the pipe wall to be inspected. A record that can be grasped can be kept, and from this record, a more detailed secondary investigation is performed according to the damage situation of the inner wall surface of the pipe fistula. It becomes possible to grasp and record.
[0026]
At this time, the shape of the part with a large degree of damage (degree) is converted into numerical data, and based on this, a maintenance plan such as the period from pipe material, wall thickness and damage status to life prediction and repair is prepared. Data useful for clarity can be provided.
[0027]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a tubular inner wall surface inspection system according to the present invention will be described in detail with reference to embodiments shown in the drawings.
[0028]
FIG. 1 shows an embodiment of the present invention. At this time, the main parts of the system are an omnidirectional mirror 1, an electronic still camera 2, a strobe light emitting device 3, a tilt angle detector 5, a laser pointer 6, An imaging control device 7 is also mounted on the hull S.
[0029]
First, as shown in FIG. 2, the hull S has two struts S1 and the bottoms of two small hulls SA and SB arranged in parallel at predetermined intervals on the left and right sides of the moving direction. This is a so-called catamaran, which is brought into a pipe T such as a sewer, and is floated on the surface of a running water F such as sewage flowing in the pipe T as shown in the figure.
[0030]
At this time, a base board S2 is provided between the hulls SA and SB, and a skeg S3 is provided at the rear of each hull SA and SB. An omnidirectional mirror 1, an electronic still camera 2, a strobe light emitting device 3, a tilt angle detector 5, a laser pointer 6, and an imaging control device 7 are mounted on the base board S 2.
[0031]
However, in the embodiment of the present invention, the hull S is not limited to the catamaran, and can be implemented by a hull having an arbitrary shape.
[0032]
At this time, it is assumed that running water F such as sewage flows in the direction of the arrow f, and therefore, in this figure, the right side is the upstream side and the left side is the downstream side. Therefore, among the members described below, those with the subscript a represent members on the upstream side, and those with the subscript b represent members on the downstream side.
[0033]
Here, the hull S is moved from the upstream side to the downstream side. Therefore, the upstream side is the front portion of the hull S, the downstream side is the rear portion, the feeding wire 8a is provided at the front portion, and A pulling wire 8b is connected to each rear portion.
[0034]
The other ends of the wires 8a and 8b are drawn out to the ground surface E through the manholes 15a and 15b, the wire 8a is drawn out from the winch 9a, and the wire 8b is wound around the winch 9b. .
[0035]
At this time, these wires 8a and 8b are guided in the manholes 15a and 15b by the wire guides 17a, 17b, 18a and 18b, and are wound around the winches 9a and 9b.
[0036]
And these guide rollers are provided in the support | pillars 19a and 19b which carried in the pipe rod T from the manholes 15a and 15b and were fixed. Here, as illustrated, guide rollers are used as the wire guides 17a, 17b, 18a, and 18b.
[0037]
At this time, the cable 10 is extended from the ground through the manhole 15a in the pipe rod T and connected to the imaging control device 7 on the hull S. The other end of the cable 10 is connected to the image processing apparatus 11, the rotation detector 13, and the information processing apparatus 14 on the ground.
[0038]
Here, the rotation detector 13 measures the number of rotations of the winch 9a, supplies the measured signal to the image processing device 11, and the information processing device 14 captures information such as setting values necessary for image processing on the hull S. This is supplied to the control device 7.
[0039]
Next, the operation of the image photographing means according to this embodiment will be described. This means comprises an omnidirectional mirror 1, a still camera 2, and a strobe light emitting device 3.
[0040]
First, the omnidirectional mirror 1 is a convex mirror having a rotating hyperbolic surface. When combined with the still camera 2 as shown in the figure, the range extending around 360 ° around the inner wall surface of the tube T is the still camera 2. It works the same as a so-called fish-eye lens.
[0041]
Next, the still camera 2 operates as a so-called digital still camera that acquires still image data by photographing one frame at a predetermined shutter timing.
[0042]
The strobe light emitting device 3 works to illuminate the inner wall surface of the tube lamp T, and emits light at each shutter timing of the still camera 2, so that even if the tube lamp T is in a dark state close to darkness, A clear all-sky image of the inner wall surface can be taken by the still camera 2.
[0043]
The image photographing means configured in this way is mounted on the hull S floating on the running water F in the pipe T. At this time, the winch 9a is located in the vicinity of the upstream manhole 15a, and the vicinity of the downstream manhole 15b. Each winch 9b is installed on the ground surface E.
[0044]
Therefore, the hull S can be moved from upstream to downstream in the same direction as the water flow f by winding the downstream wire 8b while loosening the wire 8a wound around the upstream winch 9a.
[0045]
At this time, tension is applied to the wires 8a and 8b by synchronizing the rotational speeds of the upstream winch 9a and the downstream winch 9b, or by synchronizing the drawing length of the wire 8a and the drawing length of the wire 8b. The hull S can be moved while being restrained in the pipe rod T.
[0046]
At this time, since the wire guides 17a, 17b, 18a, 18b are provided, the wires 8a, 8b can smoothly move the hull S without contacting the walls of the manholes 15a, 15b.
[0047]
Furthermore, by measuring the rotation speed of the wire winding portion of the winch 9a with the rotation detector 13, it is possible to know the position of the hull S in the pipe rod T from the relationship between the rotation speed of the wire winding portion and the wire length. it can. At this time, a scale indicating the length may be provided on the wire 8a, and the position of the hull S in the pipe rod T may be known by reading the scale.
[0048]
Here, as described above, the omnidirectional mirror 1 can project an image in a range of 360 degrees on the inner periphery of the tube T, and the still camera 2 captures the image. The range indicated by the arrow A1 is the imaging range of the all-sky image in the traveling direction of the hull S.
[0049]
The irradiation range of the strobe light emitting device 3 at this time is set to be larger than the imaging range of the all-sky image indicated by the arrow A1 as indicated by the arrow A2 on the inner wall surface of the tube lamp T. Since the inner wall surface is irradiated for a moment in the dark tube rod T due to the large amount of light of the light emitting device 3, the high-speed shutter is in a state of being cut off. A clear still image can be acquired by adjusting.
[0050]
Since the still image photographed by the still camera 2 in this way is an all-sky image covering 360 degrees around the same as when photographed with a fisheye lens, it is developed by image data processing and converted into a rectangular planar image.
[0051]
It should be noted that such a technique for converting an all-sky image into a rectangular (rectangular) planar image is disclosed in, for example, Patent Document 2 and therefore may be applied. Therefore, description thereof is omitted here. .
[0052]
At this time, in order to obtain a rectangular (rectangular) planar image without distortion, the hull S on which the image photographing means is mounted moves while being positioned at the center of the cross section of the tube rod T, that is, along the tube axis center. It is necessary to move.
[0053]
However, in this embodiment, no means for mechanically positioning the hull S at the center of the tube axis is provided, so that the position and posture of the hull S change due to changes in the water level of the running water F and the water flow f. There may be cases.
[0054]
Therefore, in this embodiment, a laser pointer 6 is provided, and thereby, laser light is emitted to at least three points, two on the left and right in the horizontal direction on the inner wall surface of the tube T and one on the upper portion in the vertical direction. An image of the point (laser beam spot) irradiated with the laser beam on the T inner wall surface is taken by the still camera 2 via the omnidirectional mirror 1.
[0055]
Here, in FIG. 1, the emission direction of the laser beam by the laser pointer 6 is represented by a dashed arrow, and it is shown that the laser beam spot is irradiated to three points on the inner wall surface of the tube rod T. Sometimes, these three laser light spots are not limited to two places on the inner wall surface of the tube rod T on the left and right in the horizontal direction and one place on the upper part in the vertical direction. If it is good.
[0056]
Then, the mutual position of the three laser light spots on the inner wall surface of the pipe rod T changes according to the position and attitude of the hull S in the cross section of the pipe rod T. Therefore, the position and posture of the hull S in the cross section of the pipe rod T are detected from the mutual positions of these laser light spots.
[0057]
Therefore, the image processing apparatus 11 processes the image data photographed by the still camera 2 in this way, and detects the position and posture of the hull S in the cross section of the pipe rod T from the image position of the laser light spot. Then, the detected values of the position and orientation are used for correction when the whole sky image is developed and converted into a rectangular planar image.
[0058]
The correction at this time is performed mainly with respect to the position of the image data in the cross section of the tube rod T and the inclination in the width direction in the tube rod T (rolling angle β). It is applied based on the pitching angle α measured by the inclination angle detector 5 mounted on the hull S.
[0059]
For this reason, the image data of the still camera 2 and the tilt angle detection data of the tilt angle detector 5 are transmitted from the imaging control device 7 of the hull S to the image processing device 11 on the ground via the cable 10 and, if necessary, a recording device 12 or displayed as a raw image by the image display device 16 as it is.
[0060]
The detected values of the position and orientation of the hull S detected by the image processing device 11 and the pitching angle α measured by the tilt angle detector 5 are both input to the information processing device 14 and executed here. Used for correction in the program.
[0061]
At this time, the image processing device 11 performs image processing on these data, and then analyzes the position and orientation of the hull as described above. If the whole sky image is distorted, the information processing device 14 is based on the analysis result. The whole sky image is developed and converted into a rectangular flat image.
[0062]
As a result, the whole sky image is converted into a flat image without distortion, and the inspection record necessary for visually grasping the state of the inner wall of the tube culvert T and conducting a preliminary survey is created. become.
[0063]
According to this embodiment, even if the position or posture of the hull S in the pipe rod T changes, it can always be converted into a rectangular (rectangular) planar image without distortion. Therefore, it is not necessary to maintain the position of the hull S in the pipe rod T using such means.
[0064]
By the way, in a narrow water channel such as the pipe dredger T, the hull cross-sectional area occupies the cross-sectional area of the flowing water, and therefore the hull S may behave unstablely due to the flowing water F. Therefore, in this embodiment, a catamaran is adopted as the hull S as already described with reference to FIG. 2, and further, at this time, in the rear part of each hull SA, SB, the stability in the traveling direction is increased. As the member, a stabilizing plate called skeg is provided.
[0065]
Therefore, according to this embodiment, since the rolling stability is improved by adopting the catamaran as the hull S, the flow of water flowing between the hulls is rectified by the skeg, so that the stability can be improved. As a result, there is less possibility of so-called blurring in capturing an image by the still camera 2, and it is possible to contribute to acquisition of a clear still image.
[0066]
More specifically, the hull S in this embodiment has a limited channel width, and inspects and measures the inner wall surface of the pipe rod T while navigating the water surface in the pipe rod T having a change in the water flow due to sediment or the like. Therefore, if pitching or yawing occurs in the hull S due to the water flow, the inspection and measurement will be hindered.
[0067]
At this time, the struts S1 provided on the bottoms of the hulls SA and SB act in a direction to suppress the occurrence of pitching by the water flow, and stably maintain the bow of the hull S.
[0068]
Further, the skeg S3 provided at the stern of each hull SA, SB acts in a direction to suppress the occurrence of yawing by the water flow, and stably maintains the direction of the hull S. At this time, since the skeg S3 is formed in parallel to the stern of each hull SA, SB, it functions to rectify the water flow flowing from the bow.
[0069]
Therefore, according to this embodiment, especially in a narrow water channel in the pipe rod T, the stabilizing action by these struts S1 and Skegs S3 works effectively, and stable navigation becomes possible. As a result, inspection and measurement are possible. It is possible to reduce the influence of the hull shaking at the time.
[0070]
By the way, in such an image photographing means, if the hull S is located on the central axis of the inner wall cross section of the pipe rod T, the photographing position is the center of the pipe axis. It can be said that there is no need to correct the posture.
[0071]
Therefore, although not shown, if the traveling device using the inner wall surface of the pipe rod T is attached to the hull S, for example, as in the prior art disclosed in Patent Document 3, the hull is inside the pipe rod T. In this case, correction by laser light can be eliminated, or correction corresponding to a slight change in posture can be performed, so that the developed sky image is converted with higher accuracy. Can do.
[0072]
However, the subject of the present invention is an image photographing means in a state where the running water F is present in the pipe rod T. In this case, it is unavoidable that the water level of the running water F changes. Therefore, it is difficult to apply the above-described traveling device. Therefore, in the embodiment of the present invention, correction of the position and attitude of the hull S by irradiation with the laser pointer 6 is an essential requirement.
[0073]
Next, FIG. 3 demonstrates one Embodiment at the time of applying this invention to the removal of the foreign material adhering to the pipe wall T inner wall surface.
[0074]
Here, in FIG. 3, 21 is a high-pressure water injection device, 22 is a monitoring camera, 23 is a control device, 24 is a high-pressure water supply hose, and 25 is a high-pressure water supply device. However, other components are the same as those of the embodiment described with reference to FIG.
[0075]
At this time, the high-pressure water injection device 21, the monitoring camera 22, and the control device 23 are mounted on the hull S, and the cable 10 is connected to the control device 23. A high pressure water supply hose 24 is provided between the control device 23 of the hull S and the high pressure water supply device 25 on the ground.
[0076]
Therefore, as described above, the embodiment of FIG. 3 is basically the same as the embodiment described with reference to FIG. 1 except for the foreign matter removing means. Therefore, the embodiment of FIG. Explain with emphasis.
[0077]
As a result of acquiring the image by the above-mentioned primary investigation, as for the place where there is a lot of adhesion of foreign matters especially on the inner wall surface of the tube rod T, or where damage is seen (hereinafter, these may be collectively referred to as a damaged part), It is necessary to measure the shape of the inner wall surface in detail and to quantify the deterioration and thinning of the situation and the degree of damage. For this purpose, remove foreign substances and remove the base of the inner wall surface of the tube T It is necessary to show up.
[0078]
Here, when it is determined as a damaged part by the primary investigation, the image information and the position information of the corresponding part are already recorded, so that the position of the damaged part can be immediately determined from this recording.
[0079]
Therefore, once the position is specified in this way, the hull S on which the foreign substance removing means is mounted is introduced into the pipe rod T in the same manner as in the above-described primary investigation, floated on the water surface, and moved to the specified position. At this time, the inner wall surface of the tube T is imaged by the monitoring camera 22, and the situation is displayed on the monitor surface of the image display device 16.
[0080]
When the hull S moves to the position in this way, the image of the image display device 16 is looked at to determine the state of foreign matter adhesion or damage, and from the high-pressure water jetting device 21, it is necessary to expose the substrate in the damaged part Spray high pressure water on the top.
[0081]
Here, the high-pressure water injection device 21 includes a nozzle attached to a rotating body, and has a structure in which the rotating body rotates by a reaction force of water sprayed from the nozzle. The high-pressure water supply device 25 is configured to supply high-pressure water.
[0082]
At this time, the range in which the high-pressure water flow J is sprayed from the high-pressure water injection device 21 to the inner wall surface of the pipe rod T is the range (removal range) indicated by the arrow B in FIG. 3, and the high-pressure water flow J is injected into this portion. As a result, the foreign matter adhering to the inner wall surface of the pipe rod T is removed, and the substrate of the inner wall surface of the pipe rod T can be exposed.
[0083]
Here, as described above, the high-pressure water injection device 21 can rotate using the component force of the jet flow, and is set to a rotation speed and injection pressure suitable for removing foreign matter.
[0084]
Specifically, the hull S equipped with this foreign matter removing means is installed with winches 9a and 9b and wires 8a and 8b as in the case of the image photographing means described with reference to FIG. It is carried into T, floats in the running water F, flows down to the downstream manhole 15b, and is moved.
[0085]
Also in this case, since the position of the hull S can be measured by the rotation speed of the winch 9a or the length of the wires 8a and 8b drawn or retracted, the position where foreign matter should be removed from the position data measured and recorded by the image photographing means of the primary investigation. Thus, the hull can easily reach the corresponding member, and the true surface shape of the tube can be revealed by the substrate after removing the foreign matter at the damaged part.
[0086]
Next, an embodiment of the present invention provided with the pipe wall inner wall surface shape measuring means which is the purpose of the secondary investigation will be described with reference to FIG.
[0087]
Here, in FIG. 4, reference numeral 31 denotes a laser scanner, but the other components are the same as those of the embodiment described in FIG. 1. Therefore, the embodiment of FIG. 4 is the same as the embodiment of FIG. It corresponds to the one in which the laser scanner 31 is mounted on the hull S instead of the strobe light emitting device 3, and for this reason, the omnidirectional mirror 1, the still camera 2, the laser scanner 31, the tilt angle detector 5, the laser pointer 6, and the imaging control. A hull S equipped with the device 7 is provided.
[0088]
On the other hand, the pipe wall T inner wall surface shape measuring means also processes wires 8a and 8b, winches 9a and 9b, a cable 10 for transmitting data from the imaging control device 7 on the hull S, and a captured image. Image processing apparatus 11, recording apparatus 12 for recording image data, rotation detector 13 for measuring the rotation speed of winch 9a, and information processing apparatus for transmitting image photographing information such as setting values necessary for image photographing to hull S 14 is the same as the embodiment of FIG.
[0089]
Next, the operation of the embodiment of FIG. 4 will be described. First, the foreign matter removing means removes the foreign matter on the inner wall surface of the tube rod T, exposes the substrate on the inner wall surface of the tube rod T, The measurement target position.
[0090]
Then, the hull S is moved with respect to the measurement target position in the same manner as the foreign matter removing means described above. The moving method at this time may be the same as the foreign matter removing means described above.
[0091]
When the hull S is moved to the measurement target position in this way, the omnidirectional mirror 1 displays a 360-degree range of the entire circumference including the measurement target portion on the inner wall surface of the tube T, and this image is introduced to the still camera 2. Is done.
[0092]
At this time, the laser beam irradiation range by the laser scanner 31 is also a portion including the measurement target portion on the inner wall surface of the tube rod T. Therefore, when the laser scanner 31 is operated here, The laser beam is projected onto the exposed part of the wall surface, the entire inner wall surface of the tube rod T is scanned with the laser beam, and the cross-sectional shape of the inner wall surface of the tube rod T by the laser beam is expressed on the entire inner wall surface of the tube rod. An image, a so-called light-cut image is formed.
[0093]
At this time, the range projected by the omnidirectional mirror 1 is indicated by an arrow A1 in FIG. 4, and the part irradiated with the laser light of the laser scanner 31 is also indicated by an arrow C. And the site | part shown by the arrow C exists in the range shown by arrow A1.
[0094]
Thus, the shape of the inner wall surface of the tube wall T projected by the scanning of the laser beam is projected by the omnidirectional mirror 1 over the entire 360-degree inner wall surface of the tube wall T, and is photographed as an all-sky image by the still camera 2. .
[0095]
The image photographed by the still camera 2 is processed by the image processing device 11, analyzed by the information processing device 14 as the distortion of the tube wall shape, converted to tube shape data (numerical data), and secondarily. An inspection record of the survey is created.
[0096]
Therefore, by accumulating the data acquired in this way, the degree of change in the shape of the inner wall surface of the pipe rod T can be grasped as a numerical value. Therefore, according to the embodiment of FIG. Data that is important for estimating the time of renovation can be easily obtained, and maintenance of pipes can be ensured.
[0097]
Therefore, according to the above embodiment, the grasped situation of the inner surface of the tube wall T is recorded, and from this recorded information, as a primary investigation, the presence of the damaged part of the tube wall surface of the tube tube T and its indication are visually confirmed. I can grasp it.
[0098]
Therefore, according to the above-described embodiment, when it is determined that further detailed investigation is necessary as a result of the primary investigation, the damaged part of the inner wall surface of the pipe rod T, the foreign matter adhesion part, and the like are measured by the secondary investigation. The target position can be determined from the result of the primary investigation, and the foreign matter on the inner wall surface of the tube rod T can be removed by the foreign matter removing means.
[0099]
Further, according to the above-described embodiment, the shape measuring means measures the inner wall surface shape of the tube wall T of the portion from which the foreign matter has been removed, thereby obtaining data representing the shape of the base material of the tube wall T inside the numerical value. be able to.
[0100]
As a result of these, according to the present invention, it is possible to find out the damage site on the inner wall surface of the tube rod T, the distribution of the damaged site in the tube tube T, the relationship between damage and position, the relationship between environmental conditions and position, By accumulating records, it is possible to grasp the tendency of the deterioration status.
[0101]
Further, since the shape of the inner wall surface of the tube ridge T such as a damaged part can be recorded as numerical data by the secondary investigation, the degree of damage is specifically displayed, and for example, the remaining thickness of the tube tub can be expressed as a numerical value.
[0102]
As a result, it is possible to predict the progress of damage by accumulating image data indicating the state of the inner wall surface of the pipe rod T and numerical data obtained by shape measurement. Data useful for maintenance can be provided.
[0103]
By the way, in the above description, although the apparatus mounted in the hull S differs for each embodiment of FIG.1, FIG.3, and FIG.4, as embodiment of this invention, the same hull S is mentioned. All devices may be installed from the beginning, and they may be used properly as necessary.
[0104]
Further, in the case of the above embodiment, if the water level in the pipe rod T is low, the hull S may reach the bottom of the pipe rod. In addition, a resistor such as a weir or a columnar body or a plate having an opening may be installed.
[0105]
In this way, a part of the water flow is dammed up in the water, thereby causing an increase in the water level and a decrease in the flow velocity, the ship body S can be navigated more stably, and a stable measurement can be performed. Can do.
[0106]
By the way, as described above, the pipe inner wall surface inspection system according to the present invention is basically a moving system using a wire, and therefore uses a hull in the presence of water. When there is no, it can be moved by wheels or scissors.
[0107]
Therefore, as an embodiment of the present invention, by providing wheels, dredging, etc. under the hull, or by providing wheels, dredging, etc. instead of the hull, even when the water level in the pipe dredging T is low, water is further supplied. It can be configured so that the inner wall surface of the tube can be inspected even when there is not.
[0108]
【The invention's effect】
According to the present invention, since the situation of the inner wall surface of the pipe can be accurately grasped even in a state where running water is present in the pipe, the maintenance of the pipe such as the sewage can be ensured.
[Brief description of the drawings]
FIG. 1 is a block configuration diagram showing an embodiment of a tube inner wall surface inspection unit according to the present invention.
FIG. 2 is a perspective view showing an example of a hull in an embodiment of a pipe inner wall surface inspection unit according to the present invention.
FIG. 3 is a block diagram showing an embodiment in which the tube wall inner wall surface inspection unit according to the present invention is applied to tube tube wall surface foreign matter removal.
FIG. 4 is a block configuration diagram showing an embodiment when the tube wall inner wall surface inspection unit according to the present invention is applied to tube tube wall surface shape measurement.
[Explanation of symbols]
1 Omnidirectional mirror
2 Still camera
3 Strobe light emitting device
5 Tilt angle detector
6 Laser pointer
7 Imaging control device
8 wires
9 winches
10 cables
11 Image processing device
12 Recording device
13 Rotation detector
14 Information processing equipment
15 Manhole (15a: upstream side 15b: downstream side)
16 Image display device
17 Wire guide (17a, 17b)
18 Wire guide (18a, 18b)
19 Prop
21 High pressure water injection device
22 Surveillance camera
23 Control device
24 High pressure water supply hose
25 High pressure water supply device
31 Laser scanner
A1 An arrow indicating the range projected by the omnidirectional mirror 1 (showing one section of the entire circumference)
A2 Arrow indicating the irradiation range of the strobe light emitting device 3 (showing one cross section of the entire circumference)
B Arrow indicating the injection range of high-pressure water
C Arrow indicating the laser beam irradiation range of the laser scanner 31
E Ground surface
F running water (sewage, etc.)
f Arrows indicating the direction of flowing water
J High-pressure water flow
S hull (catamaran)
SA, SB Small hull
S1 strut
S2 Base board
S3 skeg
T pipes (sewers, etc.)

Claims (6)

In a system comprising an imaging means on a hull floated on running water in a pipe, and inspecting the inner wall surface of the pipe using the whole sky image taken by the imaging means,
A laser pointer which is mounted on the hull and irradiates at least three laser light spots on different positions on the inner wall surface of the tube so that images of these at least three laser light spots are taken by the imaging means. When,
Image processing means for processing image data photographed by the imaging means and calculating the position and orientation of the hull in the cross section of the tube from the mutual positional relationship of the images of the at least three laser light spots is provided. ,
By performing correction when converting the whole sky image captured by the imaging means into a rectangular planar image based on at least one of the position and attitude of the hull calculated by the image processing means , the tube The primary survey of the inner wall of
Mounted on the hull, comprising means for removing foreign matter adhering to the inner wall surface of the pipe,
A pipe wall inner wall surface inspection system characterized in that a foreign matter removal surface of the tube wall inner wall surface is measured by a light cutting method to perform a secondary investigation. In the pipe wall inner surface inspection system according to claim 1,
The hull inner wall surface inspection system, wherein the hull includes a shape measuring means for the inner wall surface of the hull. In the pipe wall inner surface inspection system according to claim 1,
The pipe inner wall surface inspection system, wherein the hull is constituted by a catamaran. In the pipe wall inner surface inspection system according to claim 3,
The catamaran inner wall inspection system, wherein the catamaran is provided with a member for increasing the stability in the traveling direction. In the pipe wall inner surface inspection system according to claim 1,
When the water level in the pipe is low, the water level is raised by installing a resistor such as a weir or a columnar body or a plate having an opening on the downstream side of the inspection target range of the pipe, and the flow rate is reduced to reduce the flow rate. A pipe wall inner wall surface inspection system configured to be able to inspect an inner wall surface of a pipe wall. In the pipe wall inner surface inspection system according to claim 1,
The hull comprises at least one of a wheel and a anchor at the bottom;
Or, in place of the hull, provided with at least one of a wheel and a rod,
A pipe wall inner wall surface inspection system configured to be able to inspect the inner wall surface of the pipe wall when the water level in the pipe tube is low or when there is no water.

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