JP5696221B2 - Underwater inspection device - Google Patents

Description

  The present invention relates to an underwater inspection apparatus, and more particularly to an underwater inspection apparatus suitable for use in inspecting in-core equipment such as a jet pump in addition to a shroud and a pressure vessel in a nuclear reactor.

  Conventionally, when inspecting a defect or the like in a nuclear reactor, first, the presence or absence of the defect in the nuclear reactor is inspected using an ultrasonic flaw detector. Defects (cracks, etc.) are generally concentrated in the welded portion of the nuclear reactor, so the presence or absence of defects is confirmed centering on these points. When a defect is found, its shape and the like are visually inspected. At that time, if the location of the defect is in the reactor, the reactor is filled with water, so put an underwater inspection device into the reactor, and at the position where the defect was detected by the ultrasonic flaw detector. An inspector visually inspects the inner wall surface of the nuclear reactor using an image photographed by the photographing device of the underwater inspection device.

  Here, regarding an apparatus that inspects the surface state of an inspection object using an imaging apparatus, an apparatus that moves an illumination apparatus in synchronization with the imaging apparatus is known (see, for example, Patent Document 1).

  In addition, an inspection apparatus for nuclear power plant equipment that improves image quality and improves inspection efficiency is known (for example, see Patent Document 2).

  On the other hand, regarding an imaging device for inspection in a nuclear reactor, one that stably operates illumination and a camera is known (for example, see Patent Document 3).

JP 2009-36705 A JP 2009-103682 A Japanese Patent Laid-Open No. 2003-185783

  Here, the apparatus of Patent Document 1 has a configuration in which the positional relationship between the imaging apparatus and the illumination can be manually changed. However, the underwater inspection apparatus that is the subject of the present invention needs to determine the optimal angle of illumination depending on the state of the target location, regardless of the subjectivity of the inspector. In other words, in the case of a defect opening on the inner wall surface of the reactor vessel such as a crack (crack), the appearance of the defect differs depending on the angle at which the defect is irradiated with light from illumination. It is necessary to irradiate light from the illumination at an optimal irradiation angle.

  Since the devices described in Patent Document 2 and Patent Document 3 are used while the positional relationship between the imaging device and the illumination is fixed, the devices cannot be used for the purpose of determining the optimum angle of illumination.

  In order to solve the above-described problems, an object of the present invention is to provide an underwater inspection apparatus that can optimally set an irradiation angle of illumination on an object using only image information.

(1) In order to achieve the above object, the present invention is an underwater inspection apparatus for displaying an image of the surface of an inspection object photographed by an imaging means on a display means, and irradiates the inspection object. An illuminating unit having a joint for adjusting the angle of light in the vertical direction and the horizontal direction, an image processing unit for calculating an image parameter indicating a color tone of the surface of the inspection object from an image captured by the imaging unit, and the image Illumination determination means for evaluating an illumination state using a parameter, and illumination control means for controlling an illumination angle in the illumination means using a determination result from the illumination determination means , wherein the image parameter is a color image This is a quantity having a property indicating contrast, and a luminance signal (Y) after YUV conversion, or a saturation signal (S) or luminance signal (I) after HIS conversion, and HSV conversion Lightness signal (V), or the luminance signal after the conversion after YIQ conversion (Y), or the luminance signal after the HLS transform (L), Ru amount der to any of the.
With this configuration, it is possible to optimally set the illumination angle of illumination on the object using only image information.

( 2 ) In the above (1), preferably, a defect determining means for determining the presence / absence of a defect from an image photographed by the imaging means is provided.

( 3 ) In the above ( 2 ), preferably, the defect determination means compares the value of the image parameter with a preset threshold value to determine the presence / absence of a defect.

( 4 ) In the above (1), preferably, a focus control means for focusing the imaging means using the image parameter is provided.

( 5 ) In the above (1), preferably, the underwater inspection apparatus includes an inspection vehicle on which the three-dimensional migration is enabled and the imaging means is mounted, and further, the imaging using the image parameter Vibration suppression means for suppressing the vibration of the means is provided.

According to the present invention, it is possible to optimally set the illumination angle of illumination on an object using only image information.

It is equipment arrangement at the time of underwater inspection work using the underwater inspection device by a 1st embodiment of the present invention. It is a bird's-eye view which shows the structure of the camera unit used for the underwater inspection apparatus by the 1st Embodiment of this invention. It is a block diagram which shows the structure of the camera unit used for the underwater inspection apparatus by the 1st Embodiment of this invention. It is a flowchart which shows the content of the image processing method in the underwater inspection apparatus by the 1st Embodiment of this invention. It is a flowchart which shows the content of the image processing method in the underwater inspection apparatus by the 1st Embodiment of this invention. It is explanatory drawing of the image processing method in the underwater inspection apparatus by the 1st Embodiment of this invention. It is explanatory drawing of the image processing method in the underwater inspection apparatus by the 1st Embodiment of this invention. It is a flowchart which shows the content of the image processing method in the underwater inspection apparatus by the 2nd Embodiment of this invention. It is explanatory drawing of the image processing method in the underwater inspection apparatus by the 2nd Embodiment of this invention. It is a flowchart which shows the content of the image processing method in the underwater inspection apparatus by the 2nd Embodiment of this invention. It is equipment arrangement | positioning at the time of the underwater inspection operation | work using the underwater inspection apparatus by the 3rd Embodiment of this invention. It is a bird's-eye view which shows the structure of the inspection vehicle used for the underwater inspection apparatus by the 3rd Embodiment of this invention. It is a flowchart which shows the content of the image processing method in the underwater inspection apparatus by the 3rd Embodiment of this invention. It is explanatory drawing of the image processing method in the underwater inspection apparatus by the 3rd Embodiment of this invention. It is a flowchart which shows the content of the image processing method in the underwater inspection apparatus by the 3rd Embodiment of this invention. It is a flowchart which shows the content of the image processing method in the underwater inspection apparatus by the 3rd Embodiment of this invention.

  Hereinafter, the configuration and operation of the underwater inspection apparatus according to the first embodiment of the present invention will be described with reference to FIGS. In addition, the underwater inspection apparatus of this embodiment is used when carrying out the defect inspection in a nuclear reactor, especially the visual inspection of a structure.

First, with reference to FIG. 1, an equipment arrangement during an underwater inspection work using the underwater inspection apparatus according to the present embodiment will be described.
FIG. 1 is an equipment layout diagram for underwater inspection work using the underwater inspection apparatus according to the first embodiment of the present invention.

  Inside the nuclear reactor 1, there are structures such as a shroud 2, an upper lattice plate 3, a core support plate 4, and a shroud support 5. These structures are located in the water. In addition, an operation floor 6 that is a work space is provided in the upper part of the nuclear reactor 1, and a fuel changer 7 is also provided in the upper part.

  The camera unit 8 that has entered the inside of the nuclear reactor 1 is fixed using a camera fixing jig 9 and connected to the control device 10. The control device 10 supplies power for operating the camera unit 8 and performs video communication in order to perform a visual inspection at the inspection target location. In addition, a display device 11 is connected to the control device 10 and displays an image from an imaging means mounted on the camera unit 8. Further, a controller 12 is connected to the control device 10 and is operated by an inspector 13a.

  On the fuel changer 7, the camera operator 13b uses the camera fixing jig 9 to adjust the position of the camera unit. Further, the control device 10 can automatically control the image display processing means for generating a display image for displaying an image picked up by the image pickup means mounted on the camera unit 8 and the camera unit 8. The control means for making it.

Next, the configuration of the camera unit 8 used in the underwater inspection apparatus according to the present embodiment will be described with reference to FIGS. 2 and 3.
FIG. 2 is a bird's-eye view showing the configuration of the camera unit used in the underwater inspection apparatus according to the first embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of the camera unit used in the underwater inspection apparatus according to the first embodiment of the present invention.

  As shown in FIG. 2, the camera unit 8 includes a camera 22, a lens 23, and a lens driving stage 24 that drives the lens 23. The lens 23 is moved by the lens driving stage 24 and has a structure for focusing. Here, the lens drive stage 24 is preferably a linear drive ultrasonic motor, but may be any actuator capable of linear drive. The front surface of the lens 23 is protected by a lens cover 24.

  The camera unit 8 is provided with an illumination unit 20 at the top, and an illumination 21 is attached to the tip of the illumination unit 20. Although the illumination unit 20 is directly attached to the camera fixing jig 9, the connection portion is connected by an illumination unit vertical movement joint 26 for changing the direction in the vertical direction. Furthermore, in order to change the left and right direction of the illumination 21, a plurality of illumination unit links 27A, 27b, and 27c are connected by illumination unit left and right moving joints 28A and 28b.

  Here, the extending direction of the camera fixing jig 9, that is, the vertical direction of the nuclear reactor 1 in FIG. Two directions orthogonal to the Z-axis are defined as an X-axis direction and a Y-axis direction. Here, the X-axis direction is the optical axis direction of the camera 22. The Y-axis direction is a direction orthogonal to each of the Z-axis and the X-axis.

  The illumination unit vertical movement joint 26 can change the angle Φ in a direction indicated by a broken line in the drawing. The illumination unit vertical movement joint 26 can change the angle of the illumination 21 around the Y axis in the XZ plane. The angle Φ is, for example, about 0 to 45 degrees with respect to the optical axis of the camera 22. The lighting unit left and right moving joints 28A and 28b can change the angle θ in the direction indicated by the one-dot chain line in the drawing. The illumination unit left and right moving joints 28A and 28b can change the angle of the illumination 21 around the Z axis in the XY plane. For example, the angle θ can be varied in the range of −45 degrees to +45 degrees when the X-axis direction is set to 0 degrees around the Z-axis.

  Here, the camera 22 photographs the subject (inner wall surface of the reactor 1) in the imaging area IA on the optical axis. On the other hand, the illumination 21 irradiates the imaging area IA with light. At this time, by driving the illumination unit vertical movement joint 26 and the illumination unit left and right movement joints 28A and 28b, the angle of light hitting the imaging area IA (the angle formed by the optical axis (dashed line) from the illumination 21 with respect to the imaging area IA) Can be changed. In other words, the angle at which the light from the illumination 21 is irradiated can be changed with respect to the imaging area IA. 26 and the lighting unit left and right moving joints 28A and 28b are driven.

  FIG. 3 shows a connection state of the camera unit 8 and the system of the control device 10.

  The CCD camera 22 is provided inside the camera unit 8 of FIG. The GUI 32 includes the display device 11 and the controller 12 shown in FIG.

  1 includes a system control means 30, an image processing means 31, an illumination driver 32, illumination joint motor drivers 33a, 33b and 33c, a lens moving stage driver 34, and a defect. Determination means 35 is provided. In the system control means 30, illumination determination means 30A and illumination control means 30B are provided.

  The system control unit 30 is connected to the illumination driver 32, illumination joint motor drivers 33 a to 33 c, and the lens movement stage driver 34, and is controlled by the GUI 32 including the display device 11 and the controller 12. As a result, the illumination driver 32 controls the illumination 21. The lighting joint motor drivers 33a to 33c control the lighting unit up / down moving joint 26 and the lighting unit left / right moving joints 28A, 28b. Further, the lens moving stage driver 34 controls the lens driving stage 24. The image processing means 31 is connected to the camera 22 and performs image processing for giving a command to the system control means 30. The illumination determination unit 30A determines whether the illumination is at an optimal angle. The illumination control unit 30B controls the illumination joint motor drivers 33a to 33c based on the determination of the illumination determination unit 30A so that the irradiation angle of the illumination 22 is optimized. The defect determination unit 35 automatically determines a defect based on the image information obtained from the image processing unit 31.

Next, the contents of the image processing method in the underwater inspection apparatus according to the present embodiment will be described with reference to FIGS.
4 and 5 are flowcharts showing the contents of the image processing method in the underwater inspection apparatus according to the first embodiment of the present invention. 6 and 7 are explanatory diagrams of an image processing method in the underwater inspection apparatus according to the first embodiment of the present invention.

  The image processing means 31 shown in FIG. 3 executes image processing as shown in FIG. That is, after starting the processing, the illumination determination unit 30A and the illumination control unit 30B perform optimal illumination control (step 01), set an optimal illumination state, and the defect determination unit 35 performs defect determination (step S02). Perform termination processing. Details of the optimum illumination control in step 01 will be described later with reference to FIG. Details of the defect determination content in step 02 will be described later with reference to FIG.

  Next, the detailed procedure of optimal illumination control (step 01) is demonstrated using FIG. First, the illumination determination unit 30A sets image parameters (described later) used for determining the illumination state (step S10). The image parameter indicates the color tone of the surface of the inner wall of the reactor that is the object. For example, when YUV is used as the color space, it is a luminance signal (Y) after YUV conversion.

  Next, the illumination control means 30B moves the illumination to the initial position (step S11). The illumination position can be moved in the vertical and horizontal directions, and an optimum angle is set by two-dimensional scanning. For example, if the angle can be changed in the range of 0 to 45 degrees in the vertical direction, and the angle can be changed in the range of −45 degrees to +45 degrees in the left and right direction, the initial position is set to, for example, The angular position is 45 degrees in the vertical direction and -45 degrees in the horizontal direction. This is started as an initial position (step S11).

  Next, the illumination determination unit 30A captures an image at this initial position (step S12), and calculates and records an image parameter (step S13). Image parameters are acquired by taking an average value of image parameters (for example, luminance signal (Y) after YUV conversion) of a predetermined region (for example, a region of 50 pixels × 50 pixels) near the center of the imaging region. Calculate and record.

  Next, the illumination determination means 30A determines whether or not the position of the illumination is located at the rightmost position (step S14), and if not, the illumination control means 30B determines that the illumination unit left / right moving joints 28A and 28b. Is driven by a predetermined amount (step S15), the process returns from step S16 to step S17, and the image capture is repeated again (step S12). That is, by repeating steps S12 to S15, the angle position of 45 degrees in the vertical direction and −45 degrees in the horizontal direction is set as the initial position, and the horizontal direction is −45 degrees to +45 degrees without changing the vertical angle. The image parameter is calculated every time the predetermined angle is moved. In this way, when the left and right directions are sequentially changed while keeping the vertical direction at the same angle, for example, as shown in FIG. The following characteristics can be obtained.

  Next, in step S14, the illumination determination unit 30A is located at the rightmost position (ie, when it is determined that the angle change in the left-right direction is completed within the same vertical angle), then If it is not located, the illumination control means 30B drives the vertical movement motor in the vertical movement joint 26 of the illumination unit (step S19). Change the irradiation angle. That is, for example, in the initial position, when the angle is 45 degrees in the vertical direction, the vertical movement motor is driven so that the vertical direction is 40 degrees. And it returns to step S17 from step S20, and repeats from image capture again (step S12). That is, by repeating Steps S12 to S15, the image parameter is calculated every time a predetermined angle is moved by changing the vertical direction by 40 degrees and the horizontal direction from -45 degrees to +45 degrees. In this way, when the left and right directions are sequentially changed while maintaining the same angle in the vertical direction, the image parameters are set such that the horizontal angle is the horizontal axis and the image parameter is the vertical axis, for example, as shown in FIG. The following characteristics can be obtained.

  Furthermore, when it is determined in step S18 that the irradiation has been completed to the lowest level, the illumination determination unit 30A compares all the image parameters and determines the illumination position that gives the maximum value of the image parameters (step S18). S21), the illumination control means 30B moves the illumination 22 to that position (step S22). This maximum value will be described later with reference to FIG.

  Next, an example of image parameters indicating the color tone of the surface of the object will be described with reference to FIG. The image parameter for determining the optimal illumination state varies depending on the color space. As the color space, brightness V is selected when HSV is selected, intensity I is selected when HIS is selected, and luminance is selected when a space that is separated into luminance and color difference, such as YIQ, YUV, HLS, YCbCr, YPbPr, is selected. (Y or L) is used to determine the illumination state.

  That is, the image parameter is a quantity having a property indicating the contrast of the color image, and the luminance signal (Y) after YUV conversion, or the saturation signal (S) or luminance signal (I) after HIS conversion, after HSV conversion. The luminance signal (V), the luminance signal (Y) after conversion after YIQ conversion, or the luminance signal (L) after HLS conversion.

  Note that the optimum image parameter varies depending on the nature of the defect. For example, even when the defect is a crack, the luminance signal (Y) after YUV conversion may be optimal depending on the direction and shape of the opening, or the saturation signal (S) after HIS conversion may be optimal. There is also. In addition, when the defect is rust, the optimum image parameter is different from that when cracking. Therefore, a plurality of image parameters are used, and the relationship between the angle and the image parameter is obtained for each image parameter. Then, when the optimum illumination position (angle) is obtained, the optimum image parameter that can obtain the maximum value is used.

  Next, an example of an image parameter and an illumination position relationship will be described with reference to FIG.

  The image parameter 40 shown in FIG. 7A is obtained when the illumination is applied by swinging the angle θ from the left to −θ1 to + θ1 with an angle of φ3 in the vertical direction with respect to the inspection target surface. The value of the obtained image parameter. Here, the maximum value of the image parameter 40 is M1.

  Similarly, the image parameter 42 in FIG. 7B is a value when the vertical angle is φ2. Here, the maximum value of the image parameter 42 is M2. The image parameter 44 in FIG. 7C is a value when the vertical angle is φ3. Here, the maximum value of the image parameter 44 is M3. The angle at which the maximum value M3 is obtained is θ3.

  Then, by comparing the maximum values M1, M2, and M3 of the image parameters in FIGS. 7A to 7C, when the vertical direction is φ3 and the horizontal angle is θ3, It is determined that the maximum value is obtained. This position is the optimum illumination position determined in step S21. In step S22, the lighting unit up / down moving joint 26 and the lighting unit left / right moving joints 28A, 28b are driven, and the angle of the lighting 22 is adjusted so that the vertical direction is the angle φ3 and the horizontal direction is the angle θ3. Control.

  Then, the defect determination described later is executed.

  Next, the defect determination method in step 02 of FIG. 4 will be described.

  It is assumed that the attention area 41 indicated by a circle in FIG. 7A, the attention area 43 indicated by a circle in FIG. 7B, and the attention area 45 indicated by a circle in FIG.

  On the other hand, a threshold value 46 to be determined as a defect is set in advance in the image parameter. If the threshold is exceeded even once by changing the angle of illumination, it is determined as a defect. In the example of FIG. 7, as shown in FIG. 7C, when the vertical direction φ3 and the horizontal direction θ3, the threshold value 46 is exceeded and a defect is determined.

  As described above, according to the present embodiment, it is possible to set an optimal illumination state using any one of the feature values of lightness, intensity, and luminance representing the color tone change in the acquired image. In addition, it is possible to determine the presence or absence of defects.

  Next, the configuration and operation of the underwater inspection apparatus according to the second embodiment of the present invention will be described with reference to FIGS. In addition, the equipment arrangement | positioning at the time of the underwater inspection operation | work using the underwater inspection apparatus by this embodiment is the same as that of what was shown in FIG. The configuration of the camera unit used in the underwater inspection apparatus according to the present embodiment is the same as that shown in FIGS.

  8 and 10 are flowcharts showing the contents of the image processing method in the underwater inspection apparatus according to the second embodiment of the present invention. FIG. 9 is an explanatory diagram of an image processing method in the underwater inspection apparatus according to the second embodiment of the present invention.

  The arrangement of the equipment during the underwater inspection work using the underwater inspection apparatus according to the present embodiment is different in that the system control means 30 in FIG. 3 is provided with means for automatically driving the lens drive stage driver 34. In the image processing means 31, a procedure for determining whether or not the focus of the lens 23 is in agreement with the camera 22 is added, and only differences from the first embodiment will be described below.

  First, the image processing method will be described with reference to FIG. In the present embodiment, focus control in step S03 is added to FIG.

  That is, after starting the processing, the system control unit 30 performs focus control (step S03), the illumination determination unit 30A and the illumination control unit 30B perform optimum illumination control (step S01), sets an optimum illumination state, and determines a defect. After the means 35 determines the defect (step S02), the termination process is performed.

  FIG. 9 shows an image of a photographed image. FIG. 9A shows a state where the image is out of focus, and FIG. 9B shows a state where the image is in focus (focused). It is assumed that there is an inspection object 51 that is not in focus in the image 50 that is not in focus. The video line 52 used for focus determination is scanned from the upper part to the lower part of the image. When scanning, the same determination as the image parameter of FIG. 7 of the first embodiment is performed.

  The focus control procedure by the system control means 30 will be described with reference to FIG. In the first embodiment, the image parameter is used as a reference for determining the illumination state. However, in this embodiment, the image parameter is used to determine whether or not the focus is matched. Focusing can be determined based on the contrast of the two areas, so that the difference between the image parameters of the two areas is extracted.

  In the focus control process (step S03), the system control unit 30 first captures an image (step S30). Processing for extracting the target region is performed on the image (step S31). The target area is two adjacent areas near the center of the imaging area. For example, an area of 50 pixels × 50 pixels that is close to or adjacent to each other is set near the center of the imaging area. Next, the system control means 30 obtains the average value of the image parameters of the two areas for the extracted target area, extracts the difference between the two average values as a focus determination signal (step S32), and If the value is evaluated (step S33) and the value is smaller than the previous focus determination signal, the motor driver is driven (step S34), and the process returns to the image capturing process.

  Processes after the optimal illumination control (step S02) are the same as those in the first embodiment.

  As described above, according to the present embodiment, the focus and illumination are simultaneously optimized for the inspection image that is out of focus by using the image parameter representing the color tone change in the acquired image, and whether there is a defect or not. Can be determined.

  Next, the configuration and operation of the underwater inspection apparatus according to the third embodiment of the present invention will be described with reference to FIGS.

  In the underwater inspection work using the underwater inspection apparatus according to the present embodiment, the inspection vehicle 60 is used instead of the inspection camera unit 8 shown in FIG. 1, and the vehicle cable is used instead of the camera fixing jig. The difference is that 61 is used. The present embodiment is intended to achieve the same purpose as the first embodiment, but the device in which the camera is mounted is not a fixed type but an electrophoretic type inspection vehicle 60. Another difference is that a function for suppressing the vibration of the acquired image is added to suppress the shake. Other configurations, image processing methods, and display methods are the same.

First, with reference to FIG. 11, an equipment arrangement during an underwater inspection operation using the underwater inspection apparatus according to the present embodiment will be described.
FIG. 11 is an equipment layout diagram during underwater inspection work using the underwater inspection apparatus according to the third embodiment of the present invention.

  An inspection vehicle 60 is introduced into the nuclear reactor 1, and a control device 10 </ b> A, a display device 11, and a controller 12 </ b> A are connected via a vehicle cable 61. The controller 12A is operated by the vehicle operator 13a, and the vehicle cable 61 is operated by the operation assistant 13b and adjusts its position.

  The configurations of the control device 10A, the display device 11, and the controller 12A are basically the same as those shown in FIG. However, in the present embodiment, the system control unit 30 in FIG. 3 includes a unit that suppresses vibration of the acquired image in order to suppress vertical and horizontal shakes in the migration type inspection vehicle 60.

Next, the configuration of the inspection vehicle 60 used in the underwater inspection apparatus according to the present embodiment will be described with reference to FIG.
FIG. 12 is a bird's-eye view showing the configuration of an inspection vehicle used in the underwater inspection apparatus according to the third embodiment of the present invention.

  FIG. 12 shows the structure of the inspection vehicle 60. A camera unit 70 for visual inspection is attached to the inspection vehicle 60. Further, in order to enable three-dimensional migration, a lifting thruster 71, a propulsion thruster 72, and translational turning thrusters 73A and 73b are mounted.

  Moreover, the illumination unit 20 similar to what was shown in FIG. 2 is provided. The illumination 22 of the illumination unit 20 can change the angle in the vertical direction and the horizontal direction, and the irradiation angle of light from the illumination 22 in the imaging region can be changed.

Next, the contents of the image processing method in the underwater inspection apparatus according to the present embodiment will be described with reference to FIGS.
FIGS. 13, 15 and 16 are flowcharts showing the contents of the image processing method in the underwater inspection apparatus according to the third embodiment of the present invention. FIG. 14 is an explanatory diagram of an image processing method in the underwater inspection apparatus according to the third embodiment of the present invention.

  First, the procedure of the image processing method will be described with reference to FIG. After starting the processing, the system control means 30 shown in FIG. 3 performs image vibration suppression (step S04), performs focus control (step S03), performs optimum illumination control (step S01), and sets an optimum illumination state. Then, the defect determination means 35 performs a termination process after performing the defect determination (step S02). The focus control (step S03) is the content described with reference to FIG. The optimum illumination control (step S01) is the content described in FIG. The defect determination (step S02) is the content described with reference to FIG. That is, image vibration suppression (step S04) is unique to this embodiment, and this point will be described below.

  FIG. 14 shows an image of the display image range. The display image 81 at the time Ti is shifted from the display image 80 at the time Ti-1 by the image shift amount 82 in the X direction and the image shift amount 83 in the Y direction. It should be noted that since there is no change in the display size at either time Ti-1 or time Ti, there is no image information corresponding to the shift, so the blank area 84 is inserted at time Ti.

  Next, the detailed procedure of the image vibration suppression process (step S04) in FIG. 13 will be described with reference to FIGS. The image vibration suppression process is executed by the system control unit 30 in FIG.

  First, in step S60, a time constant N is input. Next, in step S61, initial image processing at time T0 is performed. In step S62, an initial photographed image is read. In step S63, distortion caused by the camera lens is corrected. In step S63, the initial image is stored.

  Next, in step S65, an initial image correlation within a range determined by the time constant N is calculated, and in step S66, an image shake amount is calculated. A method for calculating the amount of image blur will be described later with reference to FIG.

  Thereafter, image correction processing (step S68) is performed in time series. Specifically, the image shake amount is calculated (step S69), the past shake amount is read (step S70), the average value is calculated (S71), the image is shifted (step S72), and the result is displayed. (Step S73). At this time, as shown in FIG. 14, a blank area is inserted and displayed at the edge of the screen.

  Finally, loop determination is performed in the next step S74. If there is no end input from the operator in step S75, the process jumps from step S76 to step S77, and the processes from step S67 to step S74 are repeated.

  Here, a specific procedure for calculating the amount of image blur in step S66 will be described with reference to FIG.

  First, in step S80, an image at the current time Ti is acquired. More specifically, the current time image is captured in step S81, distortion is corrected in step S82, and the original image is stored in step S83. Next, in step S84, an image at the previous time Ti-1 is read, and in step 85, an image correlation calculation is performed. As a result, in step S86, the image shake amount (A, B) shown in FIG. 14 is determined, and finally stored in step S87.

As described above, according to the present embodiment, it is possible to perform defect determination after correcting image shake using only image information and adjusting the focus and illumination optimally, Visual inspection can be performed even if an image with a shake such as that used in a vehicle is used.

DESCRIPTION OF SYMBOLS 1 ... Reactor 2 ... Shroud 3 ... Upper lattice board 4 ... Core support plate 5 ... Shroud support 6 ... Operation floor 7 ... Fuel change device 8 ... Camera unit 9 ... Camera fixing jig 10, 10A ... Control device 11 ... Display device 12, 12A ... Controller 13a ... Inspector 13b ... Camera operator 20 ... Illumination unit 21 ... Illumination 22 ... Camera 23 ... Lens 24 ... Lens drive stage 25 ... Lens cover 26 ... Illumination unit vertical movement joints 27A, 27B, 27C ... Illumination Unit link 28A, 27B ... Illumination unit left / right moving joint 30 ... System control means 30A ... Illumination determination means 30B ... Illumination control means 31 ... Image processing means 32 ... Illumination drivers 33a, 33b, 33c ... Illumination joint motor driver 34 ... Lens Moving stage driver 35... Defect determination means 60. Kuru 61 ... Vehicle cable 70 ... camera unit 71 ... lift thruster 72 ... propulsion thrusters 73A, 73b ... translation swing thruster

Claims (5)

An underwater inspection apparatus that displays an image of a surface of an inspection object photographed by an imaging means on a display means,
Illumination means having a joint for adjusting the angle of light to be irradiated to the inspection object in the vertical direction and the horizontal direction;
Image processing means for calculating an image parameter indicating a color tone of the surface of the inspection object from an image photographed by the imaging means;
Illumination determination means for evaluating the illumination state using the image parameter;
Using a determination result from the illumination determination means, and an illumination control means for controlling an illumination angle in the illumination means ,
The image parameter is an amount having a property indicating the contrast of a color image,
Luminance signal (Y) after YUV conversion, saturation signal (S) or luminance signal (I) after HIS conversion, lightness signal (V) after HSV conversion, or luminance signal (Y) after YIQ conversion ), or HLS luminance signal after conversion (L), water testing device, characterized in amounts der Rukoto to any of the. The underwater inspection apparatus according to claim 1, further comprising:
An underwater inspection apparatus comprising defect determination means for determining the presence or absence of a defect from an image taken by the imaging means. The underwater inspection apparatus according to claim 2 ,
The underwater inspection apparatus, wherein the defect determination means compares the value of the image parameter with a preset threshold value to determine the presence or absence of a defect. The underwater inspection apparatus according to claim 1,
An underwater inspection apparatus comprising: a focus control unit that focuses the imaging unit using the image parameter. The underwater inspection apparatus according to claim 1,
The underwater inspection apparatus includes an inspection vehicle that enables three-dimensional migration and is equipped with the imaging means,
The underwater inspection apparatus further comprises a vibration suppression unit that suppresses vibration of the imaging unit using the image parameter.

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