JP4543806B2 - Imaging device - Google Patents

Description

  The present invention relates to an imaging apparatus capable of accurately performing three-dimensional imaging under high-level radiation that cannot be entered by humans.

  For example, in a plant that handles high-level radiation, a flange of a glass melting furnace installed in a processing section that is a high-level radiation area and a flange formed at the end of a pipe that penetrates the side wall of the processing section are combined with high-level radioactive liquid waste. Is connected via a connecting pipe for supplying to the glass melting furnace. However, since the connecting pipe deteriorates due to use, it is necessary to periodically replace it with a new connecting pipe. In order to manufacture this new connecting pipe, conventionally, as shown in Patent Document 1, three or more measuring targets are provided for each of the existing flange at the end of the pipe passing through the side wall and the new flange on the glass melting furnace side. The two flanges are photographed with a television camera, the obtained signals are subjected to image processing, individual coordinates are calculated from the image data, and the relative positional relationship between the two flanges is obtained. Based on the relationship, it has been proposed to form a connecting pipe to be fastened to both flanges.

  Thus, the apparatus shown in Patent Document 1 is shown in FIG. In the figure, 1 is a processing section which is a high-level radiation area, 2 is a manipulator capable of running along the ceiling in the processing section, 3 is a television camera mounted on the manipulator 2, and 4 is installed in the processing section 1. A glass melting furnace 5 is a measurement target arranged in parallel with the flange 6 on the upper surface of the glass melting furnace 4, and 7 is arranged in parallel with a flange 9 provided at the inner end of the processing section 1 of the pipe 8 penetrating the side wall of the processing section 1. This is a measurement target.

In order to manufacture the connecting pipes to be attached to the flanges 6 and 9, it is necessary to determine the positional relationship between the flanges 6 and 9. For this reason, first, the measurement targets 5 and 7 are photographed by the television camera 3. (This imaging is referred to as “three-dimensional imaging” in order to image three or more measurement targets per flange in order to obtain individual coordinates).
JP 2003-329796 A

  In the case of the apparatus shown in Patent Document 1, the television camera 3 is used, but the accuracy of three-dimensional imaging is not so good.

  That is, the TV camera 3 is an ITV or HDTV camera, and has an advantage of being excellent in radiation resistance and not easily damaged. However, since the camera is a tube-type camera, electrons emitted from the electron gun are affected by magnetism and radiation. Therefore, the photographed image may be distorted indefinitely and an accurate image may not be obtained.

  Further, since the TV camera 3 is provided with a zoom mechanism, the lens moves during photographing, and there is a possibility that an accurate image cannot be obtained from this point.

  Furthermore, in the television camera 3, it is necessary to install illumination means at an appropriate position where the reflected light of the light can be seen as an image on the television camera 3 and at a position where halation can be prevented. Since the TV camera 3 is large in size, the lighting equipment is also large, and the reflected light of the light is completely viewed at the TV camera 3 as an image and halation is performed. It is difficult to install illumination means at a position where it can be prevented, and there is a possibility that an accurate and accurate image cannot be obtained from this point.

  Furthermore, in the television camera 3, the installation position is limited, and since it is large in size, it cannot be viewed from an arbitrary position, and the viewing direction and angle of view are limited.

  Furthermore, even when the lighting device is damaged, it is not possible to replace only the lighting device, and the TV camera 3 must be replaced together. Therefore, the equipment cost and the operation and maintenance cost become high.

  In view of the above circumstances, the present invention can obtain an accurate and clear image that is small, lightweight, excellent in radiation resistance and good in three-dimensional imaging accuracy, has good operability, The object of the present invention is to provide a photographing apparatus that is excellent in visibility and that can reduce only the lighting equipment and can reduce the equipment cost and the operation and maintenance cost.

The photographing apparatus of claim 1 includes a camera that is smaller and lighter than a television camera, and an illumination device that is detachable by operation of a remote control means,
The lighting device is fixed through a clamp mechanism that is opened and closed by remote control means, and is configured to be removable by opening the clamp mechanism,
Furthermore, the lighting device is provided with a hanger so that it can be hung at the time of replacement .

  The photographing apparatus according to claim 2 includes a gripped member that can be gripped by the remote control means, and the photographing apparatus according to claim 3 includes a hanger so that the photographing apparatus main body can be suspended from the elevating means. The photographing apparatus 4 includes a hanging tool on the cable so that the cable of the camera can be hung on the lifting means.

In the photographing apparatus of claim 5 , the lens can be fixed so as not to move, and in the photographing apparatus of claim 6 , the axial position of the lens of the camera and the axial position of the illumination device are defined as follows. is substantially the same position in a direction perpendicular to the device mounting surface of the frame mounting the camera and lighting equipment, in the imaging apparatus according to claim 7, the axis of both lighting devices, the lens direction of the camera is formed in the form of a slanted roof that spacing widens, in the photographing apparatus of claim 8, the camera is CID camera, the photographing apparatus according to claim 9, the lighting device is a flashlight, according to claim 10 In the photographing apparatus, positioning means for installing the lighting device on the frame is provided.

According to the photographing apparatus described in claims 1 to 10 of the present invention, various excellent effects can be obtained as follows.
I) Since the camera is small and lightweight, the entire apparatus can be reduced in size and weight, and operability and visibility are good.
II) The camera can fix the lens, and because the camera is not a tube tube type, it is not affected by magnetism or radiation. Furthermore, the axis of the camera and the axis of the lighting equipment Since the position of the frame body in the direction orthogonal to the device mounting surface is substantially the same position, it is possible to perform 3D imaging with a certain degree of accuracy even under high-level radiation, and a clear image can be obtained. Obtainable.
III) Since only the lighting device can be replaced, the equipment cost and the operation and maintenance cost are reduced, which is economically advantageous.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 5 are examples of embodiments for carrying out the present invention, FIG. 1 is a side view showing an example of an embodiment of a photographing apparatus of the present invention, FIG. 2 is a view taken in the direction of arrows II-II in FIG. FIG. 3 is a view taken in the direction of arrows III-III in FIG. 1, FIG. 4 is a side view showing a state in which photographing is performed with the manipulator held by the manipulator, and FIG. It is a side view which shows the state in the case of replacing | exchanging.

  In the figure, reference numeral 11 denotes a frame of the photographing apparatus 10, and on the base 12 fixed on the frame 11, the axis LI of the lens 13 is substantially parallel to the upper surface (device mounting surface) of the frame 11. As described above, the camera 14 is arranged, and the camera 14 is fixed to the frame body 11 by fastening the fastening bracket 15 attached to the upper surface side of the camera 14 to the base 12 with bolts. . The camera 14 is not an image pickup tube type, but a so-called CID (Charge Injection Device) camera, which is a MOS type solid-state image sensor, and is composed of several hundred thousand pixels. Thus, the features of the camera 14 are that it can be randomly accessed, the lens can be fixed, blooming is not likely to occur, non-destructive readout is possible, radiation resistance is high, and a conventional TV camera Compared to, it is small and light.

  At the upper end of the column 16 erected from the frame 11 at a position opposite to the lens 13 of the camera 14, the flange is positioned so as to be positioned up and down, and the cross-sectional shape is an H-shaped grip A member 17 is fixed. Thus, the member 17 to be grasped is grasped from both the left and right sides by the grasping arm 20 of the manipulator 19 mounted on the crane 18 shown in FIG. 4 (see FIG. 3).

  An endless lifting tool 22 is attached to a semi-annular support member 21 fixed on the upper surface of the upper flange portion of the grasped member 17. Thus, a hook 24 capable of raising and lowering a hoist 23 disposed in a manipulator 19 portion mounted on the crane 18 shown in FIG.

  Connected to the camera 14 is a cable 25 for supplying power to the camera 14 and transmitting captured image data to an image processing apparatus (not shown). A cable 27 can be connected to the cable 25 via a connector 26, and an endless hanging tool 29 is attached to a bracket 28 attached to the cable 25. Thus, the hook 29 can be engaged with the hook 24 of the hoist 23 or the hook 30 capable of raising and lowering the hoist in another crane or the like.

  On the frame 11, two flashlight-type lighting devices 31 are disposed so as to be positioned on both the left and right sides of the camera 14. That is, a total of four lighting device installation bases 32 are provided on the frame 11, two on each of the left and right sides of the camera 14, with a predetermined interval in the axial direction of the camera 14.

  The illumination device installation base 32 has a semi-cylindrical recess 33 a and is fixed to the upper surface of the frame 11, and the camera 33 side upper end of the base 33 is parallel to the axis L <b> 2 of the illumination device 31. A lid body 35 pivotally supported so as to be openable and closable via a horizontal pin 34 arranged so as to extend in any direction, and a clamp mechanism 36 attached to the end of the lid body 35 opposite to the horizontal pin 34. And. The clamp mechanism 36 is a handle 36a that can be turned up and down, and an annular shape that is attached to the handle 36a so that its lower end can be locked to a locking piece 37 formed on the upper end of the pedestal 33 on the side opposite to the camera. It is formed by the body 36b.

  On the side of the pedestal 33 on the side where the horizontal pin 34 is provided, there is a thin plate-like stopper 38 in which the front shape is L-shaped and the upper end is directed downward toward the center of the lighting device 31 and the support portion 38a is provided with a downward slope. The lid 35 can be supported by a stopper 38 when the lid 35 is opened.

  The axial center L1 of the lens 13 and the axial center L2 of the illumination device 31 in the camera 14 have substantially the same height H from the upper surface of the frame 11 in a side view of the photographing apparatus 10. That is, the axial center position of the lens 13 in the camera 14 and the axial center position of the lighting device are substantially the same position in a direction orthogonal to the device mounting surface of the frame 11 to which the camera 14 and the lighting device 31 are attached. In plan view, the axis L2 of both illumination devices 31 is formed in a square shape that opens slightly outward with respect to the lens 13 side with respect to the axis L1 of the camera 14.

  The reason why the axial centers L1 and L2 are in the positional relationship as described above is that the lighting device 31 is disposed at an appropriate position where the reflected light of the light is completely captured as an image by the camera 14 and at a position where halation can be prevented. It is to do.

  The tip of the lighting device 31 protrudes slightly forward from the lens 13 of the camera 14 in order to prevent the lens 13 from being damaged by colliding with the lens 13 during work. is there.

  On both sides of the pedestal 33 of the left and right illumination device installation bases 32 on the side close to the tip of the illumination device 31, a thin plate-like positioning member 39 protruding toward the rear illumination device installation table 32 is fixed. A positioning recess 39 a is formed on the upper surface of the positioning member 39.

  At a predetermined position in a direction parallel to the axis L2 of the lighting device 31, an annular bracket 40 that is externally fitted to the lighting device 31 is mounted. A side portion of the annular bracket 40 is centered on the axis L2 in plan view. On the other hand, a horizontal positioning pin 41 that protrudes in a direction orthogonal thereto is attached. A hanging tool 42 for hanging the lighting device 31 is attached to the upper end of the annular bracket 40. The mounting position of the annular bracket 40 is set to a position where the lighting device 31 can be kept substantially horizontal when the lighting device 31 is hung by the hook of the crane via the hanger 42 for replacement. Thus, the frame 11, the camera 14, and the illumination device 31 constitute a photographing apparatus main body.

Next, the operation of the illustrated example will be described.
When photographing, as shown in FIG. 4, the grasping member 17 of the photographing apparatus 10 is grasped by the grasping arm 20 of the manipulator 19 mounted on the crane 18, and the photographing apparatus 10 is prevented from falling. A hoist 22 provided at the upper end of the gripped member 17 of the photographing apparatus 10 is hung by a hook 24 of a hoist 23 provided in the manipulator 19, and a hanger 29 attached to a bracket 28 by a hook 30 of another crane. Then, the cables 25 and 27 are suspended to perform photographing. Since the cables 25 and 27 are long and increase in weight, an example in which the cables 25 and 27 are hung by the hook 30 of another crane is shown. However, the cables 25 and 27 may be hung on the hook 24 of the hoist 23 together with the hanger 22. Depending on the photographing posture, the photographing apparatus 10 may not be hung by the hanging tool 22 but may be operated by holding the photographing apparatus 10 by the holding arm 20 and hanging the cables 25 and 27 by the hanging tool 29. is there.

  The movement of the photographing device 10 to the next photographing location is performed by a crane. In this case, as shown in FIG. 4, the photographing device 10 is suspended by a hook 24 via a hanging tool 22 and a gripping arm 20 as in photographing. The gripping member 17 may be gripped or the gripping arm 20 may be released and the photographing apparatus 10 may be suspended by the hook 24. Further, the photographing device 10 is moved in a state in which the cables 25 and 27 are suspended from the hoist hooks of the crane via the hoisting tool 29 so that the weight of the cables 25 and 27 is not applied to the photographing device 10.

  When exchanging the lighting device 31, for example, the photographing apparatus 10 is appropriately placed, and the handle 36a of the clamp mechanism 36 in the two lighting device installation bases 32 where the lighting device 31 to be replaced is installed is replaced with an appropriate manipulator. Is operated to rotate downward, the annular body 36b is removed from the locking piece 37, and the lid 35 is opened to a position supported by the stopper 38 as indicated by the phantom line in FIG. The lighting device 31 is lifted and removed by gripping with a hoist hook in a crane or the like or directly by the manipulator 19 (see FIG. 5).

  When a new lighting device 31 is set in the photographing device 10, the lighting device 31 is hung by a crane or the like via the hanging tool 42 or is directly gripped by the manipulator 19 to the upper side of the photographing device 10. The cover is lowered by being transported and lowered so that the horizontal positioning pin 41 fits into the recess 39a of the positioning member 39, and the lighting device 31 is placed on the recess 33a of the pedestal 33 and opened at the position of the imaginary line in FIG. 35 is closed, the lower end of the annular body 36b in the clamp mechanism 36 is positioned at a position where it is hooked on the locking piece 37, and the handle 36a is rotated upward. Thereby, the annular body 36 b is locked to the locking piece 37, and the lighting device 31 is clamped and fixed to the pedestal 33.

  According to the illustrated example, since the camera 14 is small and lightweight, the entire apparatus can be reduced in size and weight, and operability and visibility are good.

  In addition, the camera 14 can fix the lens 13, the camera 14 is not an image pickup tube, and therefore is not affected by magnetism or radiation. Furthermore, the camera 14 has an axis L 1 and the illumination device 31. The axial center L2 means that the position of the frame 11 in the direction orthogonal to the device mounting surface is substantially the same position, etc., so that three-dimensional imaging with good accuracy can be performed even under high-level radiation. And a clear image can be obtained.

  Furthermore, according to the illustrated example, since only the lighting device 31 can be replaced, the equipment cost and the operation maintenance cost are reduced, which is economically advantageous.

  In the photographing apparatus of the present invention, the case where a manipulator is used as a remote control means has been described. However, a robot can be used, and other various modifications can be made without departing from the scope of the present invention. Of course.

It is a side view which shows an example of embodiment of the imaging device of this invention. It is an II-II direction arrow line view of FIG. It is a III-III direction arrow line view of FIG. It is a side view which shows the state in the case of image | photographing by making the manipulator hold | grip the imaging device of this invention. It is a schematic side view which shows the state in the case of replacing | exchanging illumination equipment in the imaging device of this invention. It is an elevation view which shows the state which is image | photographing using the conventional television camera.

Explanation of symbols

3 TV camera 10 photographing device 11 frame 13 lens 14 camera 17 gripped member 19 manipulator (remote control means)
22 Hoisting tool 23 Hoist (lifting means)
24 hook (lifting means)
25 Cable 27 Cable 29 Suspension tool 30 Hook 31 Lighting equipment 36 Clamp mechanism 39 Positioning member (positioning means)
42 Suspension L1 shaft center L2 shaft center

Claims (10)

It is equipped with a camera that is smaller and lighter than a TV camera, and a lighting device that is detachable by operating a remote control means.
The lighting device is fixed through a clamp mechanism that is opened and closed by remote control means, and is configured to be removable by opening the clamp mechanism,
Furthermore, the illuminating device is provided with a hanger so that it can be hung at the time of replacement .   The photographing apparatus according to claim 1, further comprising a member to be grasped that can be grasped by remote operation means.   The imaging apparatus according to claim 1, further comprising a hanging tool so that the imaging apparatus main body can be suspended from the lifting means.   The photographing apparatus according to claim 1, wherein a suspension tool is provided on the cable so that the cable of the camera can be suspended from the lifting means.   The imaging device according to claim 1, wherein the lens is configured to be fixed so as not to move.   6. The axial center position of the lens of the camera and the axial center position of the lighting device are substantially the same position in a direction orthogonal to the device mounting surface of the frame for mounting the camera and the lighting device. The imaging device described in 1.   The photographing apparatus according to any one of claims 1 to 6, wherein the axial centers of the two illumination devices are formed in a square shape having a wide interval with respect to the lens direction of the camera.   The photographing apparatus according to claim 1, wherein the camera is a CID camera.   The photographing apparatus according to claim 1, wherein the lighting device is a flashlight.   The photographing apparatus according to claim 1, further comprising a positioning unit for installing the illumination device on the frame.

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