JP4535974B2 - An image processing apparatus having a top-and-bottom correction function, a pipeline inspection system equipped with the image processing apparatus, and a pipeline image processing method. - Google Patents

Description

  The present invention relates to a pipeline inspection system that performs a visual inspection of a situation in a pipeline, a cable fitted in the pipeline, and the like.

  In general, it is not possible to directly check the condition in a pipe line buried in the ground or arranged in a building and the state of a cable inserted in the pipe line. On the other hand, downsizing of a moving image photographing camera has been realized by the advancement of camera manufacturing technology. Inspection can be easily carried out by putting this small camera in the pipeline and photographing it, and displaying the status of the pipeline and the cable state on the monitor.

  For example, Patent Document 1 discloses a confirmation device that inserts a peeping tube projecting into a hole drilled in a laid pipe, illuminates the inside of the pipe, projects the state of the inside with a mirror, and captures the image with an image sensor. Proposed. According to this patent document 1, it is possible to confirm the laying state from a photographed image even in a state in a pipe line and a state in which a thin cable having a diameter is stuck to a pipe wall. .

In general, an inspection system is known in which the inside of a pipeline is photographed by a moving camera while a push rod with a camera attached to the tip is pushed into the pipeline, and the situation inside the pipeline and the cable state are checked. . For example, Patent Document 2 discloses an in-pipe system in which a camera provided at the tip is used to photograph the situation and cable state in the pipe while straddling a power cable penetrating the pipe. An inspection camera head is disclosed. The camera head disclosed in Patent Document 2 has a shape in which two support parts that divide into two parts from an imaging part and hang down in a wing shape are provided so as to straddle the cable and move while contacting the inner wall of the pipeline. Yes. This camera head moves in the pipeline so as to be guided by the cable, and performs imaging to check the status in the pipeline and the cable status.
JP-A-10-108329 JP-A-10-191522

  In the inspection by the confirmation device according to Patent Document 1 described above, a hole is drilled in the pipe. Therefore, the pipe surface must be exposed in a pipe line buried in the ground or in a building. Therefore, it is necessary to remove earth and sand and to destroy and repair the building. It is not easy to carry out these operations only for the inspection, and if they are buried on the road, it will be an obstacle to the traffic at the time of inspection, and it will be difficult to carry out in terms of cost. Further, since it is not known in advance where the cable is stuck on the wall surface in the pipe, there is a possibility that the cable is damaged by the tip of the drill when the hole is drilled.

  In addition, the push rod attached to the tip of the camera used for the conventional inspection work is a photographed image displayed on the monitor as the camera rotates due to bending of the pipeline or twisting of the push rod as it moves through the pipeline. The top and bottom (up and down direction) of is lost. For example, if a crack or other damage is found in a pipeline during inspection, if the top and bottom of the displayed image match the top and bottom of the pipeline, It is possible to quickly determine whether it has occurred.

  There has also been proposed an inspection system in which a mark indicating the direction of the top and bottom is displayed on an image in a pipeline already displayed on a monitor. However, when a mark indicating the direction of the top and bottom is simply added to the pipeline image rotated at a certain angle, it is necessary to determine the direction of the crack while looking at the mark, and quick determination is not easy.

  In the above-described camera head according to Patent Document 2, since the power cable is straddled, that is, the movement is guided by the cable, the camera is difficult to rotate in the pipeline, and the top and bottom of the photographed image does not change. This is a cable having a relatively large diameter, such as a power cable, and arranged so as to crawl relatively straight on the bottom of the pipeline, and functions as a guide for movement when the cable does not have a large twist. However, the communication cable pipes use relatively thin pipes, and the communication cables may be arranged in a state where the diameter is small and large bending or twisting occurs in the pipes. Therefore, as in Patent Document 2, when the camera is moved across the communication cable, the captured image is rotated, and the top and bottom are not understood. Further, the present invention cannot be applied to a relatively thin pipe line in which a plurality of cables are arranged so as to intersect with each other in the pipe line or a space that can be moved while straddling the cable is not obtained.

Further, in the prior art including the above-described patent documents, an image taken in the pipeline is simply displayed on the monitor as it is, and the position of the image is not corrected.
In view of this, the present invention corrects an image obtained by photographing the inside of a pipeline to be laid out so as to coincide with the vertical state of the pipeline, so that the situation in the pipeline and the arrangement members in the pipeline are corrected. It is an object of the present invention to provide an image processing apparatus having a top-and-bottom correction function for inspecting a state and a pipeline inspection system equipped with the image processing apparatus.

In order to achieve the above object, according to the present invention, firstly, a pipeline image taken as a moving image while a camera unit equipped with a sensor that detects angle information in the vertical direction moves in the pipeline, and the sensor An image input unit that inputs detected angle information, an external display device that displays at least the pipeline image, information about the pipeline image, and the angle information as a top / bottom discrimination mark, and the pipeline from the image input unit the image, cut out display space required in the tube situation determination circular, the display in accordance with the circumferential determining marks displayed on the device, only for the display area, the captured arrangement direction of the conduit picture for performing subjected to rotation correction of vertical direction to coincide, an image processing unit that generates a vertical corrected line image, the control information for controlling the driving of the entire device and the vertical correction and Storing processing information, and the storage unit for temporarily storing the top-bottom corrected line image, the display produces a vertical orientation correction image overlapped with the area in the conduit image, and outputs to the display device An image output unit, and a control unit that controls the entire apparatus based on control information from the storage unit, and a top- and- bottom state of the pipeline embedded in the ground or disposed in a building There is provided an image processing apparatus having a top / bottom correction function, wherein the top and bottom of the display area cut out from the pipeline image coincide with each other.

Secondly , the present invention is equipped with a camera for photographing the inside of the inserted pipeline and a sensor for detecting angle information indicating the vertical direction, and outputs image data in which the angle information is associated with the photographed pipeline image. A camera head part, a long push rod for detachably attaching the camera head part to a tip and inserting the camera head part into the pipe line, a rod winding frame part for winding and storing the push rod, and the pipe line An insertion distance detection unit for detecting a distance from the opening to the camera inserted into the pipeline, an input unit for inputting image information relating to photographing of the pipeline and an operator instruction, and at least the tube road image, and a display unit for displaying information and the angle information about the conduit image as circumferential discrimination mark, pair the conduit image by the image data output from the camera head unit Te, cut display space required in the tube situation determination circular, in accordance with the vertical discrimination mark displayed on the display device, only to the display area coincides with the arrangement direction of the conduit taken The image processing apparatus for performing the top-and-bottom direction rotation correction and generating a top-and-bottom corrected image in which the top-and-bottom-corrected display area is superimposed on the pipeline image, system control information for driving and controlling the entire system, and A recording unit that stores a pipeline image output from the camera head unit, information about the pipeline image, and the top-and-bottom correction image ;
An auxiliary display unit arranged in the vicinity of the duct opening, for confirming the insertion operation of the camera head unit, and driving of the entire system including image processing control of the image processing apparatus based on predetermined control information A control unit that performs control, and a display area necessary for a predetermined inspection with respect to the image in the captured pipeline by the image processing device is detected at the time of shooting and displayed on the display unit. In accordance with the top / bottom discrimination mark indicating the angle information , a pipe inspection system having a top / bottom correction function for rotating and displaying the display area so that the actual pipe arrangement state and the top / bottom of the display area image coincide with each other is provided. To do.

  According to the present invention, an image obtained by photographing the inside of a pipeline to be laid is subjected to image correction so as to coincide with the vertical state of the pipeline, and the situation in the pipeline and the arrangement member in the pipeline It is possible to provide an image processing apparatus having a top-and-bottom correction function for inspecting the state and a pipeline inspection system equipped with the image processing apparatus.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 shows a schematic configuration of an image processing apparatus having an upside-down correction function according to the present invention and a pipeline inspection system equipped with the image processing apparatus.
According to the present invention, a display area necessary for a predetermined inspection is rotated according to angle information (vertical direction information) detected at the time of photographing with respect to a photographed image in a pipeline, This is an image processing apparatus having a top and bottom correction function for displaying the arrangement state of the pipe line and the top and bottom of the display area image, and this image processing apparatus is mounted and used in a pipe line inspection system.

  This pipeline inspection system includes a camera head unit 2 that mounts a camera 1 that is inserted into a pipeline 14 to photograph the inside of the pipeline, and a long length for attaching the camera head unit 2 to the distal end and inserting it into the pipeline 14. A push rod 3, a rod frame 4 that winds and stores the push rod 3 in a retractable manner, a system control unit 5 that controls the entire system including the drive control unit (CCU) of the camera 1, and a captured image On the other hand, an image processing device 6 that performs image processing to be described later in real time, a storage unit 7 that records control information, image data, and information about the image data (hereinafter referred to as image information), input of image information, and an operator 42. An input unit 8 composed of a keyboard or the like for inputting an instruction, a display unit (monitor) 9 for displaying image data and image information in real time, and a push rod 3 The distance between the camera 1 and the system control unit 5 that are physically provided to connect the image signal cable 10 that propagates the image signal and the camera 1 inserted into the pipe line 14 from the pipe opening is detected. The insertion distance detection unit 11 and the auxiliary display unit 12 for the operator 43 to confirm the current insertion state of the camera 1 are configured.

  The storage unit 7 stores, for example, a flash memory that stores control information including a control program for controlling the entire system and driving parameters for the system, and a rewritable memory that stores rotated images and image information ( For example, an SDRAM can be used. A hard disk or the like may be used in place of the semiconductor memory. Furthermore, an input / output interface unit (I / F unit) 7 a for writing to and reading from a removable external storage medium (magnetic tape or semiconductor memory) 27 is provided.

  The image information described above is information displayed on the monitor 9 and includes information obtained at the time of photographing by the camera 1 or information inputted by the input unit 8 when image data is recorded. In addition, before inserting the camera head part 2 in a pipe line, you may provide the washing | cleaning part 13 which discharge | releases a water jet water flow and removes it to sediments, such as earth and sand, in a pipe line.

  In this configuration, the system control unit 5, the image processing device 6, the storage unit 7, the input unit 8, and the display unit 9 are arranged on the ground at the time of pipeline inspection, and are preferably mounted on a movable vehicle 15 or the like for mobility. have. Note that the rod winding frame portion 4 may be used while being loaded on the vehicle 15 or the like at the time of inspection, or may be disposed and used on the ground near the manhole opening to be inspected. The camera head unit 2, the insertion distance detection unit 11, and the auxiliary display unit 12 are also loaded on the vehicle or the like when moving.

  The push rod 3 is preferably a lightweight and highly rigid member, for example, a resin wire such as FRP. Of course, it is also possible to use a metal wire. The push rod 3 is longer than the pipe length to be inspected, and is wound around the drum of the rod winding frame portion 4 when being carried. The feeding / winding of the pushing rod 3 from the rod winding frame 4 may be performed manually by an operator or electrically operated using a motor or the like.

  A camera 1 mounted at the tip of the camera head unit 2 includes a shooting function 21 for shooting a moving image and a still image using an image pickup device such as a CCD, and an illumination function 22 for illuminating a shooting range including an illumination light source such as an LED. have. The power source for driving the camera and the power source for the illumination light source may be supplied by using a part of the image signal cable 10 or by providing a dedicated power cable, or by mounting a battery.

  Further, the camera head unit 2 is provided with a known sensor 23 for detecting the vertical direction, that is, the gravity direction. The camera head unit 2 is hermetically sealed and has a waterproof / dustproof function. Moreover, the connector part 24 for attaching to the front-end | tip part of the push rod 3 so that attachment or detachment is possible is provided in the rear end.

  As shown in FIG. 2, the image information displayed on the monitor 9 is composed of information obtained at the time of photographing by the camera 1 or information inputted by the input unit 8 when image data is recorded. For example, the shooting date 31, line name (pipe name) 32, manhole name 33, duct number (pipe number) 34, insertion distance 35 to the pipe 14, insertion speed 36 of the camera head unit 2, top / bottom discrimination described later A display (arrow) 37, a phenomenon (damage state) 38, a position 39 where the phenomenon occurs, each unit number 40 of the system used, and the like correspond to each other. These pieces of information are displayed in characters, numbers, or marks at a position that does not hinder the image area of interest on the monitor screen, and are displayed so as to be updated according to the movement of the camera 1 or the set time. Further, it is not necessary to display all the information at all times, and the image information may be selected and displayed when necessary by providing a display switching function. The auxiliary display unit 12 only needs to display at least the insertion distance 35 to the conduit 14, the insertion speed 36 of the camera head, and the top / bottom discrimination display 37 at the time of photographing. The insertion speed 36 of the camera head unit 2 may be provided with a dedicated speed detection unit, or may be calculated from the moving distance of the push rod 3 per unit time using the insertion distance detection unit 11.

  Further, in the present embodiment, as shown in FIG. 1, the example in which the insertion distance detection unit 11 is provided in the opening of the conduit 14 has been described. However, the insertion distance detection unit 11 is provided in the rod winding frame unit 4, The movement distance of the push rod 3 (the position of the camera head in the pipe line) may be obtained using the position where the camera head is inserted into the opening of the pipe line 14 as the starting point (distance 0).

  As shown in FIG. 2, the image processing device 6 detects the display area (rotation display area) 26 necessary for a predetermined inspection in the pipeline image 25 in the photographed pipeline 14 in the vertical direction detected at the time of photographing. In accordance with the information (displayed on the monitor 9 as a top / bottom discrimination display (arrow) 37), the display area is rotated so that the actual arrangement state of the pipeline 14 and the top / bottom coincide. Here, a rotation image signal in which the rotation display area 26 is rotated and the top and bottom are corrected is referred to as a rotation image signal or rotation image data. In this embodiment, the top / bottom discrimination display 37 is displayed as an arrow, and here, the direction in which the arrow points is the “ground” direction. Of course, the display format of the top / bottom discrimination display 37 is not limited.

  The pipeline image 25 including the rotation display area 26 is referred to as a top-and-bottom correction image (or a pipeline image signal is a top-and-bottom correction image signal). In the present embodiment, the rotation display area 26 has a circular shape centered on the center of the screen, and the diameter thereof is close to the shorter side of the vertical and horizontal sides of the screen. Of course, the size is not particularly limited as long as the size is visible from the image. In the present embodiment, the circular rotation display area 26 is used to perform the rotation process, but there is no particular limitation. If the image processing speed (image conversion speed) is high, the entire pipeline image can be rotated to display the main region to be inspected in a trimmed state.

FIG. 3 shows a configuration example of the image processing apparatus 6.
The image processing device 6 converts the analog color image signal from the camera 1 and the angle information of the top and bottom direction detected by the sensor 23, and the analog color image signal to digitally convert the image data. An A / D conversion unit 52 to be generated, an image processing unit (DSP) 53 that performs image processing including image rotation processing and complement processing of the rotation display area 26 illustrated in FIG. 2, and control information and an image used for image rotation processing A storage unit 54 that stores a processing program and the like, a D / A conversion unit 55 that converts rotated image data including the rotation display area 26 subjected to image rotation processing into an analog image signal, and a top-and-bottom corrected image signal are output to the monitor 9. An output terminal 56, an analog image signal (non-image processing) input from the image input terminal 51, and an unprocessed bypass unit 57, A processing switching unit 58 that switches the input destination of the log image signal to either the image processing unit 53 side or the bypass unit 57, a control unit 59 that controls the entire apparatus based on control information, and each component in the image processing apparatus And a power supply unit 60 for supplying power for driving.

  The storage unit 54 stores control information including a control program for controlling the entire apparatus, and an image processing program (or an image processing application) including arithmetic expressions and parameters for performing image rotation processing and complement processing. . Further, in addition to these, the storage unit 54 may temporarily store image data that has been subjected to image rotation processing, complement processing, and the like, and unprocessed image data input from the A / D conversion unit 52. .

  In the present embodiment, drive power is supplied from the monitor 9 to the power supply unit 60. Of course, the present invention is not limited to this, and a battery may be used as the power supply unit separately. In addition to the semiconductor memory, the storage unit 54 stores the top-and-bottom correction image and the image information on a removable storage medium such as a magnetic recording tape, an external hard disk, or a large-capacity semiconductor memory in addition to the semiconductor memory. A function of recording together may also be provided.

  In the present embodiment, the processing color switching unit 58 is used to select the input destination of the analog color image signal. However, the present invention is not limited to this. For example, if the power source 60 is turned off without providing the processing switching unit 58, A configuration in which the image processing unit 53 is automatically switched to the bypass unit 57 may be employed. As an example of using the bypass unit 57, for example, when a defect is found in the pipeline at the time of inspection of the top-and-bottom correction image, in order to confirm in more detail by the original captured image, the bypass unit 57 is passed, Observe the image itself taken by the camera. If image rotation processing is performed later, the analog color image signal (non-image processing) and image information output from the camera 1 may be recorded as they are.

In the present embodiment, basically, a moving image photographed by the camera 1 moving in the pipeline 14 is subjected to image rotation processing in real time and observed as a top-and-bottom correction image in real time to detect a defect. .
On the other hand, as a defect report, a still image (or photograph) in which the defect portion is shown is reported. Therefore, it is necessary to cut out a still image from the captured image. As the technique, the camera 1 takes a picture as a moving image while moving in the conduit 14, performs the above-described image rotation processing on the taken image, and observes the monitor 9 in real time as the top and bottom corrected image, and sees the monitor 9. Based on the instruction from, an image is cut out from the moving image at a desired position to generate a still image. At this time, the still image may be captured not only by the instruction of the operator 42 but also by setting the still image to be sequentially captured for each distance at which the defective portion can be visually recognized within the field of view of the camera.
As another method, a moving image is taken while moving in the pipeline 14, and the photographed image (unimage processing) and the top-and-bottom correction image obtained by performing the image rotation processing described above on the photographed image are stored. After the photographing is completed, each stored image is reproduced on the monitor 9, and based on an instruction from the operator 42 viewing the monitor 9, the image is cut out from the moving image to generate a still image. When recording and playing back once recorded in this way, if the shot image and the top-and-bottom correction image are played back in synchronization with each other, the task of detecting defects in the top-and-bottom correction image is performed, and when the detection is performed, However, defects can be easily confirmed.

The image rotation process of the image data in the image processing apparatus 6 configured as described above will be described.
The camera head 2 is inserted into the conduit 14 and photographing by the camera 1 is started by the operation of the operator 42. A moving image (analog color image signal) taken from the camera 1 is input to the A / D converter 52 via the input terminal 51. The A / D conversion unit 52 digitally converts the analog color image signal to generate image data that becomes the pipeline image 25 and outputs the image data to the image processing unit 53. At this time, the vertical direction information from the gravity sensor 23 provided in the camera head unit 2 is also output to the image processing unit 53 together with the image data.

  The image processing unit 53 extracts a rotation display area 26 set in advance from the pipeline image 25, and rotates the image by a known geometric transformation such as an affine transformation based on the top / bottom direction information. I do. This rotation processing is performed for each image (2 frames in the case of interlaced). A known complementing process may be appropriately performed during this process.

  The rotation display area 26 subjected to the rotation process is inserted into the original image data, generated as a top-and-bottom correction image, stored in the storage unit 54, and displayed on the monitor 9. Further, the top and bottom corrected image may be displayed on the auxiliary display unit 12 or an analog image signal (non-image processing) that has passed through the bypass unit 57 may be displayed. The auxiliary display unit 12 may display necessary information from the image information, at least the shooting date and time 31, the duct number 34, the insertion distance 35 to the pipeline 14, the insertion speed 36 of the camera head unit 2, and the like. . In the present embodiment, the moving image and the still image are switched and displayed on the monitor, but the present invention is not limited to this. For example, a moving image and a still image can be displayed together on the monitor screen.

Next, with reference to FIG. 1, the work process of the in-pipe inspection using the pipe check system will be described.
First, the rod winding frame part 4 is arranged from the vehicle or the like in the vicinity of the manhole where the pipe line 14 for inspection is opened, and the camera head part 2 is attached to the tip of the push rod 3. At this time, the system control unit 5, the image processing device 6, the storage unit 7, the input unit 8, and the display unit 9 are mounted on the vehicle. Further, the insertion distance detection unit 11 is arranged at a suitable position between the rod winding frame unit 4 and the opening of the pipe line 14. The insertion distance detection unit 11 detects the length of the push rod 3 inserted into the pipe 14 starting from the opening of the pipe 14 (distance 0). The push-in distance information of the push-in rod 3 detected by the insertion distance detection unit 11 may be displayed so as to be updated as needed on the image information on the monitor 9, or the operator 42 inputs an operation to the image cut out as a still image. Alternatively, the length detected at the timing of moving an arbitrary distance section may be input. Note that the starting point of detection by the insertion distance detector 11 is not limited to the opening of the conduit 14, and may be based on the center of the manhole opening (center position of the manhole iron cover).

  Further, a push rod introduction assisting tool for assisting the introduction so as to be smoothly introduced while protecting the push rod 3 is provided at the opening of the manhole. Furthermore, the auxiliary display unit 12 is arranged so that the operator 43 who pushes the rod in the manhole can understand the insertion state, and the operator 42 who operates the pipe line inspection system communicates with the wireless communication means as appropriate. It is carried out. In this example, a confirmer is also arranged in the manhole on the rod arrival side of the conduit 14. In addition, if necessary, an appropriate number of workers such as a general conductor 44 who performs overall operation of the work and a confirmer 45 who performs communication and confirmation are arranged. When sediment such as earth and sand is present in the conduit 14, the cleaning unit 13 is used to perform cleaning and removal using a water jet water flow.

  The push-in rod 3 is pulled out from the rod winding frame portion 4 with the camera head portion 2 as the head, and the camera head portion 2 is inserted from the opening of the conduit 14. At this time, the operator 42 who gets on the vehicle or the like inputs necessary image information, for example, the shooting date 31, the line name 32 and the manhole name 33 through the input unit 8, and the analog image signal output from the camera 1 becomes appropriate. The brightness is adjusted by initial setting as described above.

  Next, the push-in operator 43 performs the push-in work while confirming the insertion speed 36 of the camera head unit 2 displayed on the auxiliary display unit 12 and the state in the pipeline while contacting the operator 42. At this time, the moving image photographed by the camera 1 by the operation of the operator 42 is transmitted to the system control unit 5 through the image signal cable 10 provided integrally with the push rod 3.

  The moving image input to the system control unit 5 extracts the rotation display area 26 as described above according to a preset routine, generates a top-and-bottom correction image that is rotated based on the top-and-bottom direction information, The information is displayed on the monitor 9 and the auxiliary display unit 12 together with the information and stored in the storage unit 7. At this time, if the operator 42 observes this top-and-bottom correction image and finds a defect in the pipeline 14 or a failure in the communication cable, the operator 42 instructs the pushing operator 43 to, for example, about 2 m before and after the failure portion. The camera head unit 2 is moved back and forth within the range, and is stopped at a position where the defective part can be clearly understood. Next, operations such as taking out a still image or causing the camera 1 to take a still image, inputting necessary image information for the still image, and giving an instruction to the pushing operator 43 are performed. Further, if the camera does not have a function of capturing a still image, the moving part of the camera head unit 2 may be stopped for a predetermined time and a moving image may be captured.

  Subsequently, the pushing operator 43 pushes the pushing rod 3 into the conduit 14. If necessary, the operator 42 instructs the pushing operator 43 to stop the pushing operation, and performs still image shooting, image information input, image recording processing, and the like. Then, when the push rod 3 is sent to the rod arrival side of the conduit 14, an arrival confirmation instruction is issued from a confirmer arranged in the manhole on the arrival side. After the necessary processing by the operator 42 is performed, the pushing operator 43 pulls the pushing rod 3 back from the conduit 14. At this time, the confirmer removes the camera head unit 2 from the rod 3 and attaches a sealing plug to the connector unit 24 to reduce the load applied to pull back, or an opportunity for damage to the camera head unit 2 due to the catch. May be reduced.

  As described above, the image processing apparatus according to the present embodiment performs image correction so as to coincide with the top-and-bottom state of a pipeline laid on the ground or buried underground. In the pipeline inspection system equipped with this image processing device, the top and bottom of the actual pipeline and the top and bottom of the displayed image in the pipeline are the same, so it is possible to quickly grasp the status of the failure that has occurred. This makes it possible to increase the efficiency of inspection judgment and shorten the inspection time.

  In the above-described embodiment, the sensor 23 detects the vertical direction by detecting only the vertical direction. However, the present invention is not limited to this. For example, a known three-dimensional position sensor capable of posture detection is mounted, and a function of detecting the tilt of the camera head unit 2 during movement is provided, so that the pipe shape or movement obstruction (such as a pipe fault) occurs. It is also possible to avoid in advance damage to the camera head unit 2 by detecting the bent state of the head unit. As this known three-dimensional position sensor, for example, a mechanical sensor using an articulated mechanism, a magnetic sensor that detects an alternating magnetic field with three coils, or an ultrasonic sensor using a sound propagation delay is used. May be. Furthermore, in addition to this three-dimensional position, a six-dimensional position sensor having an orientation detection function can also be used. If this 6-dimensional position sensor is used, not only the top and bottom but also the direction can be detected, so not only horizontally laid or buried pipelines, but also vertically or vertically laid or buried pipelines, It is possible to specify the azimuth in which a problem has occurred in the same way as the top and bottom with respect to the situation in the pipeline and the state of the cable fitted in the pipeline.

1 is a diagram illustrating a schematic configuration of an image processing apparatus having a top-and-bottom correction function of the present invention and a pipeline inspection system equipped with the image processing apparatus. It is a figure which shows the example of the display screen of a monitor, and the image information displayed. 1 is a diagram illustrating a schematic configuration of an image processing apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Camera, 2 ... Camera head part, 3 ... Push rod, 4 ... Rod winding frame part, 5 ... System control part, 6 ... Image processing apparatus, 7 ... Memory | storage part, 7a ... Input / output interface part (I / F part) , 8 ... Input unit, 9 ... Monitor, 10 ... Image signal cable, 11 ... Insertion distance detection unit, 12 ... Auxiliary display unit, 13 ... Cleaning unit, 14 ... Pipe line, 21 ... Shooting function, 22 ... Illumination function 23 ... Gravity sensor, 25 ... Pipe image, 26 ... Rotation display area, 31 ... Shooting date and time, 34 ... Duct number, 35 ... Insertion distance, 36 ... Insertion speed, 42 ... Operator, 51 ... Input terminal, 52 ... A / D conversion unit, 53... Image processing unit, 54... Storage unit, 57.

Claims (5)

An image input unit that inputs a pipeline image captured as a moving image while a camera unit equipped with a sensor that detects angle information composed of the top and bottom directions moves in the pipeline, and angle information detected by the sensor;
An external display device that displays at least the pipeline image, information about the pipeline image and the angle information as a top and bottom discrimination mark;
For the pipeline image from the image input unit, a display area necessary for judgment of the in-pipe situation is cut out in a circle, and only the display area is imaged according to the top / bottom discrimination mark displayed on the display device. An image processing unit that performs rotation correction in the vertical direction so as to coincide with the arrangement direction of the pipeline, and generates a vertical-corrected pipeline image;
A storage unit for storing control information for controlling driving of the entire apparatus and image processing information for performing the top-and-bottom correction, and temporarily storing the top-and-bottom-corrected pipeline image;
An image output unit that generates a top-and-bottom correction image in which the display region is superimposed on the pipeline image, and outputs the image to the display device;
A control unit that controls the entire apparatus based on control information from the storage unit;
Consists of
An image having a top-and-bottom correction function, wherein the top- and- bottom state of the pipe line buried in the ground or disposed in a building coincides with the top and bottom of the display area cut out from the pipe-line image Processing equipment. The image processing unit has, on the screen of the display device , at least a shooting date / time, a pipeline name, a manhole name, a duct number of a pipeline pipe, an insertion distance to the pipeline, an insertion speed of the camera unit, and angle information The image processing apparatus according to claim 1, wherein image information including a top / bottom direction indication, a damage state occurring in a pipeline, and a position where the damage state exists is added. In the image processing apparatus,
Wherein the image processing section, to the conduit image being movie shooting by the camera unit, generating the vertical compensation image subjected to the rotation correction in real time and output from the image output unit, said display unit The image processing apparatus according to claim 1, wherein a moving image is displayed. In the image processing apparatus,
A bypass unit that outputs the pipeline image input from the image input unit without performing top-and-bottom correction processing by the image processing unit;
A process switching unit that switches the output of the image processing unit and the bypass unit and outputs either the pipeline image or the top-and-bottom correction image to the display device;
Equipped with,
The image processing unit, for the display unit, by switching between the moving image of the top and bottom correction image and the pipeline image and the still image captured by the camera unit, The image processing apparatus according to claim 3, wherein the moving image and the still image are displayed together. A camera for photographing the inside of the inserted pipeline and a sensor for detecting angle information indicating the top-to-bottom direction, and a camera head unit for outputting image data in which angle information is associated with the photographed pipeline image;
A long push rod for removably attaching the camera head part to the tip and inserting it into the conduit;
A rod winding frame for winding and storing the push rod; and
An insertion distance detector for detecting a distance from the pipeline opening to the camera inserted into the pipeline;
An input unit for inputting image information related to photographing of the pipeline and an operator's instruction;
A display unit that displays at least the pipeline image, information about the pipeline image, and the angle information as a top and bottom discrimination mark;
With respect to the pipeline image based on the image data output from the camera head unit, a display area necessary for judgment of an in- pipe situation is cut out in a circle, and the display area is displayed according to the top / bottom discrimination mark displayed on the display device. An image that generates a top-and-bottom correction image in which a top-and-bottom correction display area is superimposed on the pipe-line image by performing rotation correction in the top-and-bottom direction so as to coincide with the direction in which the captured pipe is disposed. A processing device;
System control information for driving and controlling the entire system, a pipeline image output from the camera head unit, information on the pipeline image, and a recording unit for storing the top and bottom correction image ;
An auxiliary display unit that is disposed in the vicinity of the duct opening and for confirming the insertion operation of the camera head unit;
A control unit that performs drive control of the entire system including image processing control of the image processing device based on predetermined control information;
Consists of
According to the top and bottom discriminating mark indicating the angle information displayed on the display unit, which is detected at the time of photographing a display area necessary for a predetermined inspection with respect to the photographed image in the pipeline by the image processing device. A pipeline inspection system characterized by having a top / bottom correction function for rotating the display area to display the actual pipe arrangement state and the top / bottom of the display area image.

Images