JP5862820B1 - Borehole observation system - Google Patents

Abstract

In a borehole observation system for photographing with a probe suspended by a non-wireless wire in a borehole, the depth position of the captured image is specified by the depth of the probe detected by an external depth sensor. Make it possible. A borehole observation system is connected to a probe having an imaging device that is inserted into the borehole and images a hole wall surface in the borehole, a recording medium that records an image captured by the imaging device, and the probe is connected to the probe. A wire that hangs in the borehole, a winch that pulls the wire on the ground, operates the probe to move up and down the borehole at a constant speed, and detects the moving distance of the probe. A control device that operates and acquires the travel distance information of the probe from the winch by communication, and the control device records an image recorded on the recording medium from the recording medium taken out of the probe pulled up to the ground after the measurement is completed. Data is read and the image data is recorded in association with the moving distance information of the wire. [Selection] Figure 1

Description

  The present invention relates to a borehole observation system that photographs a hole wall surface in a borehole by inserting a probe containing an imaging device into the borehole.

  In geological surveys using boreholes, the borehole is excavated, an observation device called a probe is inserted into the borehole, and the hole wall surface in the borehole is photographed with an imaging device built in the probe, Observations of ground conditions such as crushing, voids, cracks, and their running and tilting.

  The probe imaging device can take an image of a 360-degree hole wall image projected by a wide-angle lens or a convex mirror. The probe is inserted through the opening of the borehole drilled in the vertical direction, suspended by the telegraph cable, and the probe is lowered or raised by adjusting the length of the telegraph cable by the winch, over the entire length in the depth direction. Take an image of the hole wall. The captured image data is sent to a ground computer device connected to the imaging device via a telegraph cable and stored.

  The depth position (depth) of the probe in the borehole is measured by a depth sensor that detects a change in the length of the telegraph cable. The depth sensor is an external device that is installed on the ground and includes elements such as a rotating body that rotates by moving a wire, a counter that counts the number of rotations of the rotating body, and a winch that adjusts the length of a telegraph cable. The depth is detected by determining the moving speed and moving distance of the telegraph cable, such as a pulley section where the telegraph cable is hung downward.

  On the other hand, since the use of a depth sensor increases the complexity and cost of the entire system, methods for detecting the depth of a probe without using a depth sensor have been proposed (Patent Documents 1 and 2). In particular, in Patent Document 2, since the probe is not suspended by a telegraph cable but by a non-telegraphic wire, image data is not transmitted in real time but is accumulated in the probe. Therefore, since the image data is not associated with the depth of the probe measured in real time by the depth sensor, a method of detecting the depth from the image captured by the probe without using an external depth sensor can be adopted. The depth is calculated by analyzing the captured image data, and the depth position where the image data was captured is specified.

JP 2012-112175 A JP 2012-235435 A

  However, the proposal of Patent Document 2 that allows image data to be accumulated in a probe without being transmitted to a ground computer device in real time and to determine the depth of an image by image analysis after the end of observation is disclosed Can be simplified, but the probe itself becomes complicated, resulting in an increase in cost.

  The structure in which the probe is suspended by a non-wired wire and the image is stored in the probe is simpler than the structure in which the wire is suspended by a telegraph cable (no electrical connection is required) Therefore, further enhancement of the function utilizing this advantage is desired.

  In view of this, an object of the present invention is to provide a borehole observation system for photographing with a probe suspended by a non-wired wire in the borehole, and the depth of the captured image is determined by the depth of the probe detected by an external depth sensor. It is to provide a borehole observation system that can specify the position.

  Another object of the present invention is to provide a novel observation method using a structure in which a probe is suspended by a non-wireless wire in a borehole observation system for photographing with a probe suspended by a non-wireless wire in the borehole. And providing a configuration therefor.

  In order to achieve the above object, a borehole observation system of the present invention includes an imaging device that is inserted into a borehole and images a hole wall surface in the borehole, a probe having a recording medium that records an image captured by the imaging device, and a probe And a wire that suspends the probe in the borehole, a winch that pulls the wire on the ground, operates the probe to move up and down the borehole at a constant speed, and detects the moving distance of the probe, and starts imaging the probe A control device that operates the winch in accordance with the timing and obtains the travel distance information of the probe from the winch through communication. After the measurement is completed, the control device records from the recording medium taken out from the probe pulled up to the ground. The image data recorded on the medium is read out, and the image data is converted into the moving distance information of the wire. Wherein the recording attach response.

  In the borehole observation system of the present invention, in the above system, the probe has an imaging device built in one end side of the elongated probe, a wire attachment portion is provided on the other end portion, and one end portion Also, a wire attachment portion is provided, and the probe is imaged in a state where the image pickup surface is suspended by a wire attached to the wire attachment portion provided at the one end so that the imaging surface faces upward. To do.

  According to the present invention, in a borehole observation system for photographing the inner wall surface of a hole with a probe suspended by a non-wireless wire in the borehole, the probe depth measured by an external depth sensor was photographed by the probe. It can be associated with image data, and the depth position of the captured image can be specified.

  In addition, according to the present invention, it is possible to perform imaging while suspending the probe with a wire in a state where the imaging surface of the imaging apparatus faces upward and raising the probe.

It is a figure which shows the structural example of the borehole observation system in embodiment of this invention. 2 is a schematic diagram showing an external configuration of a probe 11. FIG. It is a figure which shows the structural example of the borehole observation system containing the probe 11 by which the imaging surface is arrange | positioned upwards. 3 is a schematic diagram showing an internal configuration of a probe 11. FIG. 5 is a process flowchart at the time of observation by the control device 15; 5 is a process flowchart when observing the probe 11; It is a processing flowchart at the time of observation of winch. It is a flowchart of the process after completion | finish of observation of the control apparatus. It is a figure which shows typically the combination of the image data and depth information which time information respond | corresponds.

  Embodiments of the present invention will be described below with reference to the drawings. However, such an embodiment does not limit the technical scope of the present invention.

  FIG. 1 is a diagram illustrating a configuration example of a borehole observation system according to an embodiment of the present invention. The borehole observation system according to the present embodiment includes a probe 11 that is inserted into a borehole and images a hole wall surface in the borehole with an imaging surface facing downward, and a non-telegraphic property that is connected to the probe 11 and suspends the probe 11 in the borehole. The wire 12 and the wire 12 are pulled on the ground and the length of the probe 11 is adjusted, and the moving speed (lifting speed) or moving distance (lifting distance) of the wire 12 is detected to detect the depth position (depth) of the probe 11. ) And a control device 15 that is a computer device that acquires and records the depth detected by the depth sensor 14 of the winch 13.

  The wire 12 extending from the winch 13 hangs down into the bore hole via a pulley attached to a tripod post, and the probe 11 is connected to the tip of the wire 12. The winch 13 rotates the drum around which the wire 12 is wound by a built-in electric motor, and the depth sensor 14 is attached to a part of the winch 13 integrally with the winch 13. The depth sensor 14 is a rotating body that is rotated by the movement of the wire 12 that is fed out (or wound around the winch 13), a counter (such as a pulse encoder or a rotary encoder) that counts the number of rotations of the rotating body, and timing. And measuring the moving distance (depth position) and moving speed of the wire 12. The winch 13 acquires information on the moving speed of the wire 12 measured by the depth sensor 14, and the rotation speed of the drum is controlled by a known control method such as feedback control so that the moving speed of the wire 12 is constant. The By controlling the moving speed of the wire 12 at a constant speed, the inside of the borehole can be photographed uniformly and without unevenness.

  FIG. 2 is a schematic diagram showing an external configuration of the probe 11. In FIG. 2A, the probe 11 is a cylindrical body 110 made of metal (for example, stainless steel), and a connection fitting 111 for connecting the wire 12 is attached to one end face (rear end face) thereof. , Suspended by the wire 12. The rear end portion where the connecting metal fitting 111 is provided forms a lid body 113, and the rear end portion of the cylindrical body 110 can be opened, and when the lid body 113 is opened, A space for storing a removable recording medium, switches such as a power switch, a switch lamp, and the like is formed.

  On the other end face side (front end side) of the cylindrical body 110, a transparent cylindrical portion 114 made of, for example, acrylic glass or the like serving as a shooting window is provided, and vertical shooting is possible from the transparent cylindrical portion 114. The camera arranged downward picks up an image of the hole wall surface through the transparent cylindrical portion 114 with the imaging surface facing downward while descending.

  The metal tip 112 of the cylindrical body 110 is processed so that an attachment can be attached (for example, threading), and a detachable attachment 115 having a connecting fitting capable of connecting the wire 12 can be attached. As will be described later, by connecting the wire 12 to the distal end side of the cylindrical body 110 and suspending the camera so as to be vertically upward, it is possible to photograph the hole wall surface with the imaging surface facing upward while raising the probe 11. Become. FIG. 2B shows a configuration example in which the connecting metal fitting 111 is also attached to the distal end side of the cylindrical body 110.

  FIG. 3 is a diagram illustrating a configuration example of the borehole observation system including the probe 11 in which the imaging surface is arranged upward. The probe 11 is suspended by the wire 12 by the connecting bracket of the attachment 115, and can be imaged upward from the bottom side of the borehole by performing imaging while being pulled upward from the bottommost position of the borehole 11. it can. When taking an image with the imaging surface and illumination of the camera facing downward, there are places where the image cannot be taken because the illumination does not reach, such as at the cracks in the hole wall surface of the borehole. At this time, as shown in FIG. 3, it is possible to take an image from another angle by taking an image with the imaging surface and illumination of the camera facing upward, and illumination when taking an image with the imaging surface and illumination of the camera facing downward. A portion that cannot be imaged without reaching can be imaged, and by taking both images, it becomes possible to image the interior of the borehole in more detail.

  FIG. 4 is a schematic diagram showing the internal configuration of the probe 11. FIG. 4A shows an outline of the internal configuration of the probe 11. In FIG. The illumination unit 32 is disposed around the camera 30 on the central axis of the cylindrical body 110, at a position where the wall surface can be photographed (for example, near the edge of the transparent cylindrical unit 114 as illustrated). The illumination unit 32 is attached to the outer peripheral portion of the lens of the camera 30 and illuminates a hole wall surface in a predetermined range obliquely forward through the transparent cylindrical unit 114. In order to photograph the hole wall surface in the diagonally forward direction of the camera 30, a wide-angle lens is preferably attached to the camera 30. The illumination unit 32 is preferably an LED, and irradiates a uniform amount of light over the entire circumference.

  A recording medium 431, a switch 432, and a switch lamp 433 are provided inside the lid 113. The three-dimensional orientation sensor 31, the control unit 50, and the battery 42 are built in the cylindrical body 110.

  FIG. 4B shows functional blocks of the control unit 50. In FIG. 4B, the camera 30 is an analog or digital small camera. A wide-angle lens with a viewing angle of 120 degrees or more is used for image analysis of the hole wall surface. The illumination part 32 is an illumination means for illuminating the hole wall, and is composed of, for example, an LED light.

  The three-dimensional orientation sensor 31 measures the orientation of the probe 11. Orientation information is required for image analysis or scan image generation. The orientation information is acquired by the three-dimensional orientation sensor 31. In the case of the analog camera 30, the camera interface unit 33 includes an A / D conversion unit that converts an analog signal into digital data. Image data picked up by the camera 30 is converted into the format of the image three primary colors RGB through the camera interface unit 33.

  The three-dimensional azimuth sensor control unit 34 instructs the three-dimensional azimuth sensor 31 to output azimuth information data in accordance with the frame synchronization signal of the camera 30, and the azimuth information data from the three-dimensional azimuth sensor 31 is input. .

  The illumination control unit 35 is a circuit unit that controls the brightness of the illumination, and automatically adjusts the illuminance according to the ambient brightness. The control CPU 36 is hardware that executes software. The control software 37 is software that is incorporated to control the overall operation of the apparatus of the present invention in the hardware environment of the control CPU 36. Specifically, it is realized by the following main functions.

1) Enter the state of the user switch to activate the required operation, and inform the user of the operation status of the apparatus by lighting, turning off or blinking the lamps.
2) Data is exchanged with the recording medium via the recording medium interface (IF) unit.
3) Input image data and transfer it to a recording medium.
4) Input azimuth data and transfer to recording medium.
5) Adjust the brightness of the illumination.
6) Perform settings for operating the camera.
7) Make settings for operating the video encoder.

  The memory unit includes a CPU memory 381 and an image memory 382. The CPU memory 381 is a memory for storing control software operations or data, and the image memory 382 is a memory for temporarily storing image data.

  The recording medium interface unit 39 is a part that collectively transfers the data sent by the control CPU 36 to the recording medium 431 in a format that can be filed, and is usually realized by hardware of a dedicated controller IC or CPU.

  The video encoder 40 is a part for visualizing an image captured by the camera 30 on an analog monitor. Realized with a dedicated video encoder IC. The battery 42 is composed of a secondary battery and supplies power to the probe 11.

  The user interface unit 43 includes a recording medium 431, a user switch 432, and a switch lamp 433. The recording medium 431 is a USB memory or an SD card. The user switch 432 includes a power switch, a recording operation start / end button, and a timer setting switch.

  When the power of the probe 11 is turned on, the operation start button or the state of the timer setting switch is received and processed together with the image input and image output processes. When the timer is set, the elapsed time is measured from the time when the operation start button is pressed, and when the set time is reached, the data recording operation mode is entered and the predetermined information is stored in the recording medium 431. When there is no timer setting, the above recording operation is performed as soon as the operation start button is pressed. The recording operation continues until an operation end button (which may be the same as the start button on the circuit) is pressed.

  The communication unit 44 is a communication circuit compliant with a wireless communication standard (for example, Bluetooth (registered trademark)), and performs wireless communication with the communication unit of the control device 15.

  When the probe 11 is turned on, an image signal captured by the camera 30 is input to the camera interface unit 33. In the case of an analog camera, an analog signal is converted into digital image data through an A / D converter. The image data is converted into the image three primary color format by the camera interface unit 33 and sent to the image memory unit 382 together with the image horizontal line synchronization signal and the image frame synchronization signal.

  The control CPU 36 issues an orientation data output command to the built-in three-dimensional orientation sensor 31 in accordance with the image frame synchronization signal. Immediately after receiving the azimuth data from the azimuth sensor 31, it is stored in the image memory 382 together with the image data and time information concerning the imaging time.

  The image three primary color data output from the camera interface unit 33 is stored in the image memory 382 for each frame and is output to the video encoder 40.

  5 to 8 are process flowcharts of the borehole observation apparatus according to the present embodiment. FIG. 5 is a process at the time of observation by the control apparatus 15, FIG. 6 is a process at the time of observation of the probe 11, and FIG. FIG. 8 is a flowchart of the processing after the observation by the control device 15 is completed.

  In FIG. 5, the control device 15 has a wireless communication function (for example, Bluetooth (registered trademark)), and starts communication connection processing with the probe 11 by the wireless communication function (S101). When the wireless connection is successful (S102), the control device 15 receives the input of the imaging start timing and imaging time from the operator (S103), and transfers them to the probe 11 (S104). The imaging start timing may be set as a timing later than the current time in order to secure time for imaging preparation work, and may be set as the imaging start time, or a time count such as “XX minutes later” It may be information. The imaging time is the time for which imaging is continued from the imaging start timing, and may be set as the imaging end time, or may be set as “XX minutes”. When the imaging end time is set, the difference from the imaging start time is the imaging time.

  A normal reception message of the imaging start timing and imaging time is received from the probe 11 (S105). Subsequently, when an imaging setting completion message is received from the probe 11 (S106), the communication connection with the probe 11 is disconnected (S107). ). With respect to the imaging setting completion message, when the probe 11 receives information on the imaging start timing and imaging time from the control device 15, the probe 11 sets the imaging start time and imaging time by the clock function of the probe 11, and controls when the setting is completed. An imaging setting completion message is transmitted to the device 15. The probe 11 and the control device 15 each have a built-in clock function, but the respective times are matched in advance.

  Subsequently, the control device 15 starts communication connection processing with the winch 13 (S108). If the wireless connection is successful (S109), the control device 15 waits for the imaging start timing to come (S110). Until the imaging start timing comes, the operator moves the probe 11 to the imaging start position of the borehole and prepares for imaging. Wait until the imaging start timing comes. In S110, when it is the imaging start timing, the control device 15 transmits an operation start instruction message to the winch 13 (S111), and the winch 13 starts the operation in response to the message. In other words, the probe 11 is moved by rotating the drum around which the wire 12 is wound at a constant speed, and the depth of the probe 11 is detected by the depth sensor 14 based on the amount of movement, and the detected depth information is transmitted to the control device 15. Send to. Depth detection is performed at predetermined time intervals, and is transmitted to the control device 15 at the time of detection.

  Each time the control device 15 receives depth information (movement distance information) from the winch 13, the control device 15 records the depth information and time information at the time of detection of the depth information (which may be a reception time) in the internal recording device (S 112). Thereby, the control apparatus 15 can acquire the depth position (depth information) and the time information (time) of the probe 11 during the imaging time. When the winch 13 has a clock function, the winch 13 may transmit depth information and its time information to the control device 15. In that case, the time of each of the probe 11, the control device 15, and the winch 13 is made to coincide.

  When the imaging time is reached (S113), the control device 15 transmits an operation stop instruction message to the winch 13 (S114), and stops the operation of the winch 13. Thereafter, the communication connection with the winch 13 is cut off (S115).

  FIG. 6 shows the processing at the time of observation of the probe 11, and the probe 11 starts communication connection processing with the control device 15 in response to the communication connection processing (S101 in FIG. 5) of the control device 15 (S201). ). When the wireless connection is successful (S202) and information of the imaging start timing and imaging time is received from the control device 15 (S203), the normal reception message is transmitted to the control device 15 (S204). Subsequently, the timer setting according to the received imaging start timing and imaging time is performed by the built-in clock function of the probe 11 (S205), and when the timer setting is completed, a setting completion message is transmitted to the control device 15 (S206). Thereafter, the communication connection with the control device 15 is disconnected (S207), and the process waits until the imaging start timing. When the imaging start timing is reached (S208), imaging is started (S209). Imaging is continued for the set imaging time, and the captured image data is recorded on the recording medium 431 together with information on the imaging time (time) (S210). When the imaging time ends (S211), the imaging is stopped (S212).

  FIG. 7 shows a process when the winch 13 is observed. The winch 13 has a wireless communication function (for example, Bluetooth (registered trademark)), and wireless communication with the communication unit of the control device 15 is performed by the wireless communication function. I do. In response to the communication connection process of the control device 15 (S108 in FIG. 5), the communication connection process with the control device 15 is started (S301). When the wireless connection is successful (S302) and an operation start instruction message is received from the control device 15 (S303), the drum around which the wire 12 is wound is rotated at a constant speed (S304), and the depth sensor 14 detects at predetermined time intervals. The depth information (movement distance information) to be transmitted is transmitted to the control device 15 (S305). When the operation stop instruction message is received from the control device 15 (S306), the rotation of the drum and the transmission of depth information are stopped, and the operation is stopped (S307). Further, the communication connection with the control device 15 is disconnected (S308).

  FIG. 8 is a flowchart of the processing after the observation by the control device 15, and FIG. 9 is a diagram schematically showing a combination of image data and depth information corresponding to time information. After the observation (measurement) is completed, the drum of the winch 13 is rotated in reverse by the operator's operation to pull up the probe 11 from the bore hole, and the recording medium 431 is taken out from the probe 11. The recording medium 431 is connected to the control device 15. The control device 15 reads the image data and its time information recorded on the recording medium 431 shown in FIG. 9A (S401), and further, the internal recording device of the control device 15 shown in FIG. 9B. The depth information and the time information recorded in the time information are read out (S402), and as shown in FIG. 9C, a data file combining the image data and the depth information corresponding to the time information is generated. Then, it is recorded in the internal recording device or the recording medium 431 (S403). Thereby, image data and depth information are linked | related, and the depth position of the image imaged with the probe connected with the non-electrical wire can be specified.

  The control device 15 preferably generates developed image data, which is a circumferentially developed image, from the image data obtained by capturing the hole wall by a known image analysis process using the combined data file. Alternatively, as the image processing of the control unit 50 of the probe 11, a circumferential development image may be generated from the captured planar image.

  The present invention is not limited to the above-described embodiment, and there are design changes within a range that does not depart from the gist including various modifications and corrections that can be conceived by those having ordinary knowledge in the field of the present invention. However, it is of course included in the present invention.

  11: probe, 12: wire, 13: winch, 14: depth sensor, 15: control device, 30: camera, 31: three-dimensional orientation sensor, 32: illumination unit, 33: camera IF, 34: orientation sensor control unit, 35: Illumination control unit, 36: Control CPU, 37: Control software, 38: Image circumference scanning unit, 39: Recording medium IF, 40: Video encoder, 42: Battery, 43: User IF, 44: Communication unit, 50 : Control unit, 381: CPU memory, 382: Image memory, 431: Recording medium, 432: Switch, 433: Lamp

Claims (7)

An imaging device that is inserted into the borehole and photographs a hole wall surface in the borehole, and a probe having a recording medium that records an image captured by the imaging device;
A wire connected to the probe and hanging the probe in the borehole;
A winch that pulls the wire on the ground, operates the probe to move up and down at a constant speed in the borehole, and detects the moving distance of the probe;
A control device that operates a winch in accordance with the imaging start timing of the probe, and obtains movement distance information of the probe from the winch by communication,
After the measurement, the control device reads the image data recorded on the recording medium from the recording medium taken out from the probe pulled up to the ground, and associates the image data with the movement distance information of the wire. Borehole observation system characterized by recording. In claim 1,
The control device wirelessly communicates with the probe before starting imaging, and instructs the imaging start timing and imaging time to the probe,
The borehole observation system, wherein the probe starts imaging when the imaging start timing comes, and stops imaging when the imaging time has elapsed from the imaging start timing. In claim 2,
The control device wirelessly communicates with the winch before starting imaging, and simultaneously with the imaging start timing, instructs the winch to start operation,
The winch starts the operation in response to the operation start instruction, and transmits movement distance information of the probe to the control device at predetermined time intervals. In claim 3,
When the imaging time has elapsed from the imaging start timing, the control device instructs the winch to stop operation,
The winch observation system according to claim 1, wherein the winch stops the operation and stops the transmission of the movement distance information of the probe in response to the operation stop instruction. In any one of Claims 1 thru | or 4,
The control device associates the image data with the moving distance information based on time information related to an imaging time of the image data and time information related to a detection time of the moving distance information. Borehole observation system. In any one of Claims 1 thru | or 5,
The probe has an imaging device built in at one end of the elongated probe, a wire attachment portion is provided at the other end, and the probe has an image pickup surface by a wire attached to the wire attachment portion. Borehole observation system that captures images in a state of being suspended downward. In any one of Claims 1 thru | or 5,
The probe has an imaging device built in one end side of the elongated probe, a wire attachment portion is provided at the other end portion, and a wire attachment portion is also provided at the one end portion. A borehole observation system for imaging in a state in which the imaging surface is suspended by a wire attached to a wire attachment portion provided at the one end.

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