JP4530973B2 - Piping internal inspection system and method - Google Patents

Description

  The present invention relates to a technique for visually confirming the inside of a pipe before plant operation or the like, and more particularly to a pipe inside inspection system and method capable of specifying the position inside the pipe with higher accuracy.

  Pipes of plants and the like are cleaned by discharging alkaline water or pure water through the pipes and then releasing them into an outdoor cleaning pool. Thereby, dirt and foreign matter in the piping are removed.

  By the way, Patent Document 1 describes a technique for detecting a defect in a pipe by photographing the inside of the pipe with a camera mounted on a camera pig. According to this technique, while the camera pig is moving in the pipe, the image captured by the camera and the image of the clock output (imaging time) are combined by the image combining device, and the combined image data is stored in the recording device. Is done. On the other hand, when vibrations (vibration due to impact) when the camera pig passes through each pipe welded part are detected by the acceleration sensor mounted on the pipe launcher and the outer wall of the receiver, the detection time, that is, each pipe The passing time of the weld is recorded. When a pipe defect is photographed, the pipe welded part in which the defect has occurred is identified by comparing the imaging time recorded as an image in the photographed image with the passage time of each pipe welded part.

  Patent Document 2 describes a technique for detecting the position of a pig traveling in a pipe from the outside of the pipe. According to this technique, a pig locator having an antenna is installed at an inspection port or the like of a pipe, and an electromagnetic wave transmitted from an electromagnetic wave transmitter of a pig in the pipe is detected by the antenna of this pig locator. When the intensity of the electromagnetic wave detected by the pig locator becomes maximum, it is determined that the pig has passed directly under the pig locator.

JP 2002-257515 A JP 2001-235089 A

  With the technique described in Patent Document 1, it is difficult to detect the passage of the camera pig at a position between the pipe welded portion and the pipe welded portion (that is, a position other than the striking position). For this reason, it is difficult to specify the shooting position of the shot image between the pipe weld and the pipe weld. Similarly, even with the technique described in Patent Document 2, it is difficult to detect the passage of a pig at a position other than the position where the pig locator is disposed.

  However, in confirming the inside of the pipe after the cleaning process, it is desired that the observation position can be specified in more detail.

  Accordingly, an object of the present invention is to make it possible to specify an observation position in a pipe with higher accuracy.

The present invention
A pipe internal inspection system for inspecting the inside of a plant pipe,
An imaging device for recording the inside of the pipe, a recording device, and an RFID tag, and a capsule that travels inside the pipe together with a liquid for cleaning the inside of the pipe;
A first reader that is provided at a position inside the pipe, communicates with the RFID tag each time the capsule passes, and holds first transit time information regarding the time at which the communication was performed;
Provided inside the pipe at a different position from the first reader, communicates with the RFID tag each time the capsule passes, and holds second transit time information regarding the time at which the communication was performed A second reader that
An information processing device;
With
The photographing device photographs the inside of the pipe while the capsule is in progress, stores image data obtained by the photographing and photographing time information regarding the photographing time in the recording device,
The information processing apparatus includes:
Data acquisition means for acquiring the image data and the shooting time information from the recording device, the first passage time information from the first reader, and the second passage time information from the second reader;
From the shooting time information, shooting time information corresponding to the first and second passage time information is searched, and a shooting time indicating a time between the times indicated by the two shooting time information obtained by the search. A change between captured images represented by successive image data in the series of image data, indicating the distance between the shooting position of each image data of the series of image data associated with the information and the first reader. Position calculating means for calculating based on
An internal pipe inspection system is provided.

  According to the present invention, the observation position in the pipe can be specified with higher accuracy.

  Embodiments according to the present invention will be described below with reference to the accompanying drawings.

  First, a schematic configuration of a pipe internal inspection system according to the present embodiment and a pipe cleaning facility to which the system is applicable will be described. Here, a nuclear power plant is taken as an example of a plant.

  As shown in FIG. 1, this plant has a reactor building 12 and a turbine building 10. At the time of plant construction, a cleaning facility for cleaning piping and equipment in the reactor building 12 or the turbine building 10 is provided. The piping / equipment installed in the reactor building 12 or the turbine building 10 is cleaned in units of systems. Here, a case where the piping / equipment in the turbine building 10 is to be cleaned will be described as an example.

  The pipe cleaning equipment includes (1) a tank 17 in which water used for cleaning the pipe 11 to be cleaned is stored, (2) a temporary drain pool 16 from which the cleaning water used for cleaning is discharged, and (3) a target to be cleaned. The first temporary piping 14A connected to one connection port flange 11A of the piping 11 and the temporary drainage pool 16, and (4) water in the tank 17 is appropriately flowed into the cleaning target piping 11 (for example, 2 m / s or more). ) And a plurality of temporary pumps 13 for discharging the cleaning water after passing through the cleaning target pipe 11 to the temporary drain pool 16, (5) branching from the first temporary pipe 14 </ b> A, and via the temporary pump 13, A second temporary pipe 14B connected to the other connection port flange 11B of the pipe 11 to be cleaned; and (5) an opening / closing valve provided in each part of the first and second temporary pipes 14A and 14B. . Each temporary pump has a temporary strainer 15 on the cleaning target pipe 11 side and an open / close valve on the cleaning water tank 17 side.

  With such a pipe cleaning facility, the water supplied from the tank 17 can be circulated in the cleaning target pipe 11 and discharged to the drain pool 16 after the cleaning is completed.

  On the other hand, in the pipe internal inspection system, as shown in FIG. 3, streamlined RFID tag-equipped capsules 21 that flow with water inside the pipe 11 to be cleaned, and seats 32 and 33 provided at appropriate intervals in the pipe 11 to be cleaned. The reader 34 inserted into the cleaning target pipe 11 and an information processing device (not shown). As the seats 32 and 33 to which the reader 34 is attached during the cleaning operation, for example, existing seats such as a seat to which a thermometer or the like is attached and a spare seat can be used. However, it is preferable that each reader 34 is not protruded too much from the space inside the seats 32 and 33 so as not to hinder the flow of the cleaning water in the cleaning target pipe 11 and the progress of the capsule 200.

  As shown in FIG. 2, the capsule 21 is hermetically sealed, and as shown in FIG. 2, a photographing device (small digital camera or small video camera) 23 for continuously photographing the inside of the cleaning target pipe 11, and the cleaning target pipe 11. An RFID tag 22 that communicates with each reader 34 inside, a removable storage device 24 that stores the captured image data from the imaging device 23 and its imaging time, a built-in power supply 25 that supplies power to the imaging device 23, etc. are enclosed. ing. In the case where a small digital camera is used as the photographing device 23, the cleaning water is set such that, for example, the shutter interval is shortened as the flow rate of the cleaning water is high so that the inside of the cleaning target pipe 11 is photographed at an appropriate distance. It is desirable to set the shutter interval in consideration of the flow rate (that is, the moving speed of the capsule 21).

  Further, a plurality of hydrofoil blades 26 for propelling the capsule 21 in a stable posture in the water are formed on the outer periphery of the capsule 21. Since the capsule 21 is prevented from rotating by the underwater flow by the hydrofoil 26, the inside of the pipe 11 to be cleaned can be propelled in a stable posture.

  With such a configuration, the capsule 21 travels in a stable posture inside the pipe 11 to be cleaned, and during that time, the imaging device 23 mounted on the capsule 21 captures the inside of the pipe 11 to be cleaned. Data and the shooting time are sequentially stored in the storage device 24. The storage device 24 is taken out from the capsule 21 collected after circulating through the inside of the pipe to be cleaned, and is attached to the information processing apparatus. As a result, the stored captured image data and the captured time are read from the storage device 24 into the information processing apparatus.

  Each reader 34 has, for example, an antenna coil directed toward the inside of the pipe 11 to be cleaned. Each time the capsule 21 passes through the communication range of this antenna coil, the tag ID signal is sent from the RFID tag 22 in the capsule 21. And the reception time is stored as the capsule passage time. Here, in order to transfer the capsule passage time to the information processing apparatus, the information processing apparatus and each reader are connected. Similar to the capsule, the capsule passage time may be stored in a removable storage device, and the information processing apparatus may read the capsule passage time from the storage device.

  With such a configuration, the reader 34 can detect the passage of the capsule 21 by receiving the tag ID from the RFID tag 22 in the capsule 21. It is not necessary to generate. For this reason, it is not necessary to make a capsule contact the inside of the piping 11 to be cleaned, and the possibility of damaging the inside of the piping 11 to be cleaned can be further reduced.

  While the capsule is in progress, the information processing apparatus stores the captured image data sequentially acquired by imaging in the cleaning target pipe 11 and the imaging time, while the capsule passing time in each reader 34 arranged in the cleaning target pipe 11. Therefore, the capsule position (hereinafter referred to as “captured image data”) when each captured image data is captured based on such information (a series of captured image data, their capture time, and the capsule passage time at each reader 34). Is specified). In order to realize this, the information processing apparatus implements the functional configuration shown in FIG.

  The information processing apparatus includes a data reading unit 48 that reads data from a mounted storage medium (for example, the storage device 24 removed from the collected capsule imaging device), and data necessary for calculating the imaging position of the captured image data. Is stored in the data storage unit 46, the shooting position calculation unit 45 that calculates the shooting position of the shot image data based on the stored data in the data storage unit 46, the calculation result of the shooting position calculation unit 45, and the storage in the data storage unit 46 A display processing unit 47 that displays a confirmation screen 41 on the display device based on the data is realized. Here, the design data (3D-CAD data) of the pipe 100 to be cleaned, the photographed image data stored in the storage device in the capsule 11 and the photographing time thereof, and the capsule passage time in each reader 34 are externally transmitted by the data reading unit 48. It is assumed that the data is read from the storage device and stored in the data storage unit 46 as data necessary for calculating the shooting position of the shot image data.

  The information processing apparatus has a hardware configuration as a normal computer that can load a program from a hard disk to a memory and execute the program, and the functional configuration shown in FIG. 4 is realized by executing the program. The

  Prior to the description of the imaging position calculation process executed by this information processing apparatus, the principle of calculation of the capsule travel distance used for this imaging position calculation process will be described.

  By associating the photographing time of the photographing image data with the capsule passage time in each reader 34, the photographing image data obtained at the arrangement position of each reader 34 can be extracted from a series of photographing image data. As for each other captured image data (captured image data captured at a position between two readers), the captured position can be calculated by comparison with other captured image data as follows.

  In FIG. 5, reference numeral 51 indicates a captured image at time (t-1), and reference numeral 52 indicates a captured image at time (t). Reference numeral 53 indicates an IC tag in the captured image 51, and reference numeral 54 indicates an IC tag in the captured image 52. As shown in FIG. 5, when two images taken at different times are compared with the imaging device 23 of the moving capsule 21, the size of the same object, that is, the object, The number of pixels is different. Here, if the vertical angle of view of the camera is θ, the total number of pixels in the vertical direction of the camera is P, the actual length of the object is D, and the number of pixels of the object in the image is pic, the distance to the object is L is represented by the following formula (1).

L = (P / pic) · (D / tan θ) (1)
Here, the installation interval and the actual length of the IC reader are known, and it is assumed that at least one is always shown in the image, and the object shown in FIG. 5 is the IC reader. Even if a plurality of IC readers are shown in the image, the closest IC reader is shown as the largest image, so that the distant IC reader is hidden. Therefore, it is assumed that there is always one IC reader in the image.

  Next, the procedure for calculating the capsule position will be described with reference to FIG. First, the photographing position calculation unit 45 initializes the position (X = 0) when passing through the origin reader 34 (S600), and uses the camera angle of view (θ) and the vertical pixel (P) in the camera image as constants. ), The actual length (D) of the IC tag (S601), and the distance (L) to the first IC tag are read from the data storage unit 46 (S602). Next, at time (t), the obtained image is binarized (S603), and the number of pixels (pic) in the IC tag length image is calculated (S604). Further, using the number of pixels (pic), the travel distance (ΔL) is calculated by the following formula (2) (S605).

ΔL = L− (P / pic) · (D / tan θ) (2)
Using the ΔL, the current position is updated (X + ΔL → X) and recorded (S606). At the same time, the distance to the IC tag is also updated (L−ΔL → L) and recorded (S607). When the IC tag passes, the distance (L) to the next IC tag is read (S608), and the above operations are repeated.

  Thus, when the distance information between each reader and each imaging position in the corresponding section is obtained, the display processing unit 47 confirms the state inside the pipe based on the distance information. The confirmation screen 41 shown in FIG. 4 is displayed on the display device.

  The confirmation screen 41 includes a capsule position display unit 42 and a captured image display unit 43.

  The display processing unit 47 sequentially reads the photographed image data from the data storage unit 46 in the order of the photographing time, and sequentially displays the pipe internal images represented by the photographed image data in the photographed image display unit 43.

  Further, the display processing unit 47 reads 3D-CAD data from the data storage unit 46, and based on the 3D-CAD data, encapsulates a piping route diagram 44 in which the position of each seat (position of each reader 34) 45 is shown. It displays in the position display part 42.

  Further, the display processing unit 47 reads out distance information and reader identification information associated with the captured image data being displayed from the data storage unit 46, and based on these pieces of information, information regarding the shooting position of the displayed captured image data. Is displayed on the piping route diagram 44. Here, the coordinate information of the position (the shooting position of the captured image data being displayed) that is separated from the position of the reader indicated by the reader identification information by the distance indicated by the distance information is calculated, and this coordinate information 48 is displayed. A capsule position icon 47 is displayed at a position on the piping route diagram 44 corresponding to the coordinate information. Further, here, a capsule presence section icon 46 is also displayed in a section between two readers sandwiching the capsule position icon 47 on the piping route diagram 44.

  As a result, the user can check the display from the positions of the icons 46 and 47 on the piping route diagram 44 in the capsule position display unit 42 while visually confirming the state of the inside of the piping from the captured image in the captured image display unit 43. The photographing position of the inside photographed image can be grasped visually. Therefore, for example, as shown in FIG. 4, if the captured image currently displayed includes a foreign object image 49, the user can select the positions and coordinates of the icons 46 and 47 on the piping route diagram 44. From the information 48, the position of the foreign substance inside the pipe to be cleaned can be accurately grasped at a glance. For this reason, the user can take measures for removing foreign matters from the pipe to be cleaned as soon as possible.

  As described above, according to the shooting position calculation processing according to the present embodiment, the shot image data shot by the shooting device positioned between two adjacent readers is also the shooting position (the position of the shooting device at the time of shooting). ) And can be presented to the user. For this reason, the user can grasp the position with higher accuracy while observing the inside of the pipe by referring to the captured image data.

  By the way, in the above, the shooting position of each captured image is calculated using the fact that the distance between the features of the captured image (the number of pixels in the vertical direction of the IC tag) changes according to the shooting position. There is no need to do this. For example, the measurement object may be irradiated with slit light, and the distance between the measurement object and the imaging device may be calculated from the position of the linear pattern formed on the surface of the measurement object.

  Hereinafter, such a case will be described with reference to FIGS. However, differences from the above-described case using the capsule of FIG. 2 will be mainly described, and description of common points will be omitted.

  As shown in FIG. 7, in addition to the configuration of the capsule 21 shown in FIG. 2, the capsule 71 used in this case is a laser shaped into a linear shape in the pixel row direction (X direction in FIG. 8). A slit laser light source 72 that emits light in the capsule traveling direction M is incorporated. As shown in FIG. 8, the slit laser light source 72 is arranged at a position separated from the imaging device 23 by an appropriate distance d in the pixel column direction (Y direction). The slit laser light source 72 is supplied with power from a built-in battery 25 ′ that supplies power to the photographing device 23 and the like. Other configurations are the same as those of the capsule 21 shown in FIG.

  As shown in FIG. 8, when the laser beam is irradiated to the measurement object 83, a linear pattern 84 in the X direction is formed on the surface thereof. A virtual center line 87 along the X direction is defined in the captured image 85, the number of pixels between the center line 87 and the image (linear pattern image) 86 of the linear pattern 84 is pic1, and the captured image 85 If the half value of the number of pixels in the Y-axis direction is pic2, and the viewing angle in the Y direction of the imaging device 23 is α, the distance L from the imaging device 23 to the measurement object 83 is expressed by the following formula (3).

L = (d / tan (α / 2)) · (pic2 / pic1) (3)
Therefore, the information processing apparatus calculates the distance L from pic1 of the photographed image data and Equation (3), and calculates the difference ΔL between the distance L and the distance L obtained from the immediately preceding photographed image data as the capsule travel distance. Then, the added value is calculated as the distance from the reader 34 to the shooting position.

  Note that L is not always calculable, and a linear pattern may not be projected in the image, so the movement distance is calculated only while the linear pattern is projected.

  Specifically, in the above-described S600 to S602, the information processing apparatus extracts the linear pattern image 86 from the processing target data instead of extracting the feature points and calculating the feature point interval D, and Calculation of the number of pixels pic1 between the N point and the center line 87, and calculation / storage of the distance L by Expression (3) are executed. In S604 to S611 of S604 to S611 that are repeatedly executed, the extraction of the linear pattern image 86 from the processing target data, the pixel number pic1 between the N point of the linear pattern image 86 and the center line 87 is obtained. Calculation, calculation / storage of the distance L by Formula (3), and calculation of the difference (capsule travel distance) ΔL between the distance L obtained from the processing target data and the distance L obtained from the previous photographed image data are executed. For the rest, the same processing as described above is executed, and finally a display screen similar to the display screen of FIG. 4 is presented to the user. For this reason, the same effect as the above-mentioned case can be acquired.

  Alternatively, an acceleration sensor may be mounted on the capsule, and the shooting position of each captured image may be calculated using the output. Hereinafter, the case of doing so will be described. However, differences from the above-described case using the capsule of FIG. 2 will be mainly described, and description of common points will be omitted.

  As shown in FIG. 9, the capsule 91 used in this case incorporates an acceleration sensor 92 with a built-in amplifier that detects acceleration, and the detection data of the acceleration sensor 92 is stored in the storage device 24 '. Here, a DC response type sensor that detects low-frequency movement is used as the acceleration sensor 92. The acceleration sensor 92 is supplied with power from a built-in battery 25 ″ that supplies power to the photographing device 23 and the like. Other configurations are the same as those of the capsule 21 shown in FIG.

  Since the acceleration sensor 92 also detects a gravity component, it is necessary to remove the gravity component Gp. When the inclination of the pipe from the horizontal plane from which 3D-CAD data can be obtained is θ and the heavy acceleration is G, the gravity component Gp is expressed by the following mathematical formula (4).

Gp = G · sin θ (4)
Assuming that the output signal A is from the acceleration sensor, the capsule travel distance L from the reader 34 is expressed by the following equation (5).

L = ∫∫ (A-Gp) (5)
Note that the multiple integration time is from passing through the reader 34 to the current position.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram of the piping internal inspection system which concerns on embodiment of this invention, and the piping washing equipment which can apply this. It is the figure which showed the internal structure of the RFID tag mounting capsule which concerns on 1st Embodiment of this invention. It is a fragmentary sectional view of piping for washing. It is the figure which showed the display screen which concerns on embodiment of this invention. It is a figure for demonstrating the calculation principle of the capsule travel distance based on 1st embodiment of this invention. It is a flowchart of the calculation process of the capsule travel distance based on 1st embodiment of this invention. It is the figure which showed the internal structure of the capsule which concerns on 2nd embodiment of this invention. It is a figure for demonstrating the calculation principle of a capsule advancing distance in the case of using the capsule of FIG. It is the figure which showed the internal structure of the capsule based on 3rd embodiment of this invention.

Explanation of symbols

10: turbine building, 11 ... pipe to be cleaned, 12: reactor building, 13: temporary pump, 14A, 14B: temporary piping, 15: temporary strainer, 16: temporary drainage pool, 17: tank, 21, 71, 91: Capsule, 22: RFID tag, 23: photographing device, 24, 24 ′: storage device, 25, 25 ′, 25 ″: built-in battery, 26: hydrofoil, 32: seat, 33: spare seat, 34: reader, 72: slit laser light source, 92: acceleration sensor

Claims (10)

A pipe internal inspection system for inspecting the inside of a plant pipe,
An imaging device for recording the inside of the pipe, a recording device, and an RFID tag, and a capsule that travels inside the pipe together with a liquid for cleaning the inside of the pipe;
A first reader that is provided at a position inside the pipe, communicates with the RFID tag each time the capsule passes, and holds first transit time information relating to the time of the communication;
Provided inside the pipe at a different position from the first reader, communicates with the RFID tag each time the capsule passes, and holds second transit time information regarding the time at which the communication was performed A second reader that
An information processing device;
With
The photographing device photographs the inside of the pipe while the capsule is in progress, stores image data obtained by the photographing and photographing time information regarding the photographing time in the recording device,
The information processing apparatus includes:
Data acquisition means for acquiring the image data and the shooting time information from the recording device, the first passage time information from the first reader, and the second passage time information from the second reader;
From the shooting time information, shooting time information corresponding to the first and second passage time information is searched, and a shooting time indicating a time between the times indicated by the two shooting time information obtained by the search. A change between captured images represented by successive image data in the series of image data, indicating the distance between the shooting position of each image data of the series of image data associated with the information and the first reader. Position calculating means for calculating based on
A piping internal inspection system comprising: A piping internal inspection system according to claim 1,
The position calculating means includes
One or more corresponding feature points are extracted from the captured images represented by the continuous image data, and the distance is calculated based on a change in the distance between the corresponding feature points between the captured images. A characteristic piping internal inspection system. A piping internal inspection system according to claim 1,
The capsule further includes a laser light source for irradiating laser light,
The position calculating means calculates the distance based on a change in the position of an image of a pattern formed on the surface of an object by irradiation with the laser light in a captured image represented by the continuous image data. Pipe internal inspection system. A pipe internal inspection system for inspecting the inside of a plant pipe,
An imaging device for photographing the inside of the pipe, an acceleration sensor, a recording device, and an RFID tag, and a capsule that travels inside the pipe together with a liquid for cleaning the inside of the pipe;
A first reader that is provided at a position inside the pipe, communicates with the RFID tag each time the capsule passes, and holds first transit time information regarding the time at which the communication was performed;
Provided inside the pipe at a different position from the first reader, communicates with the RFID tag each time the capsule passes, and holds second transit time information regarding the time at which the communication was performed A second reader that
An information processing device;
With
The photographing device photographs the inside of the pipe while the capsule is in progress, and includes image data obtained by the photographing, photographing time information regarding the photographing time, and acceleration detected by the acceleration sensor. Save it on a recording device,
The information processing apparatus includes:
Data acquisition means for acquiring the image data and the shooting time information from the recording device, the first passage time information from the first reader, and the second passage time information from the second reader;
From the shooting time information, shooting time information corresponding to the first and second passage time information is searched, and a shooting time indicating a time between the times indicated by the two shooting time information obtained by the search. Position calculation for calculating a distance between a shooting position of each image data of a series of image data associated with information and the first reader based on acceleration information associated with each of the series of image data Means,
A piping internal inspection system comprising: A piping internal inspection system according to claim 4,
The position calculating means is configured to calculate, based on the acceleration information from which the gravity component is removed, from the acceleration information, by removing a gravity component included in the acceleration information based on an inclination angle of the pipe. Pipe internal inspection system. A piping internal inspection system according to claim 1,
The information processing apparatus includes:
The series of image data is sequentially displayed in the order of the time represented by the photographing time information associated with each image data of the series of image data, and the photographing position information representing the photographing position of the image data being displayed, Display processing means for displaying based on the distance between the shooting position and the first reader;
A piping internal inspection system characterized by that. A piping internal inspection system according to claim 4,
The information processing apparatus includes:
The series of image data is sequentially displayed in the order of the time represented by the photographing time information associated with each image data of the series of image data, and the photographing position information representing the photographing position of the image data being displayed, Display processing means for displaying based on the distance between the shooting position and the first reader;
A piping internal inspection system characterized by that. In the piping internal inspection system according to claim 6,
The display processing means includes
A route diagram of the piping is displayed based on the design data of the plant, and an icon is displayed at a position on the route diagram corresponding to the photographing position of the image data being displayed as the photographing position information. Pipe internal inspection system. In the piping internal inspection system according to claim 7,
The display processing means includes
A route diagram of the piping is displayed based on the design data of the plant, and an icon is displayed at a position on the route diagram corresponding to the photographing position of the image data being displayed as the photographing position information. Pipe internal inspection system. A pipe internal inspection method for inspecting the inside of a plant pipe,
A capsule having an imaging device, a recording device, and an RFID tag for photographing the inside of the pipe is placed inside the pipe provided with first and second readers that communicate with the RFID tag. Supplied with liquid for cleaning,
While the capsule travels inside the pipe, the photographing device stores the image data obtained by the photographing and photographing time information regarding the photographing time in the recording device while photographing the inside of the pipe,
The first and second readers communicate with the RFID tag each time the capsule passes, and hold transit time information regarding the time at which the communication was performed,
The information processing device searches the shooting time information corresponding to the passing time information of the first and second readers from the shooting time information, and sets the time indicated by the two shooting time information obtained by the search. The distance between the shooting position of each piece of image data in the series of image data associated with the shooting time information indicating the time between the first reader and the continuous image data in the series of image data. A pipe internal inspection method comprising: calculating based on a change between captured images represented by.

Images