JP6185866B2 - Position detecting device and position detecting method for underwater moving body - Google Patents

Description

  The present invention relates to an underwater moving body position detection device that detects the position of an underwater moving body capable of three-dimensional movement.

  As a technique using a position detection device for an underwater moving body that detects the position of an underwater moving body that can move three-dimensionally, a structure in a nuclear reactor is inspected using an underwater inspection device that can move three-dimensionally. In-reactor inspection systems are known.

  As an example of this type of technology, image data (measurement image) indicating the shape of the structure on the horizontal plane is created by measuring the distance from the underwater moving body to the surrounding structure on an arbitrary horizontal plane, The image data indicating the shape of the structure in the horizontal plane obtained from the design information of the structure, etc., and matching the image data (stored image) with the horizontal position information with the measurement image, There is a position detection device that calculates the horizontal position of an underwater moving body (refer to JP 2010-203888 A).

JP 2010-203888 A

  The position detection device according to the above document is created based on a stored image created in advance based on design information of a known structure and a distance to the structure measured by a distance sensor on the spot. The position of the underwater moving object is calculated by matching processing with the measured image. Therefore, for example, when an ultrasonic sensor is used as the distance sensor, an ultrasonic wave is reflected multiple times (echoed) on the surface of the structure, and an image (virtual image, mirror image, etc.) that does not exist in the structure of the design information May appear as virtual image noise on the measurement image. In this case, the storage is performed in the same manner as when the actual state of the structure is different from when the stored image is created or when the measurement image includes noise (pixels not related to the presence or absence of the structure). Since the matching rate between the image and the measurement image is lowered, there is a possibility that an error occurs in identification of the matching portion and the position calculation accuracy of the underwater moving body is lowered. That is, when the position detection device according to the above document is used in an environment different from the design information, there is room for improvement in terms of position detection accuracy.

  An object of the present invention is to provide a position detection apparatus and a position detection method for an underwater moving body that can improve position detection accuracy in an environment where design information and measurement information of a structure are different.

  In order to achieve the above object, the present invention is an image data on a certain plane created on the basis of design information of an underwater moving body movable in a three-dimensional space and a structure. A storage device storing image data in which the outer shape of the structure above and a mirror image of the outer shape of the structure with reference to a line constituting the outer shape of the structure are associated with position information; Image acquisition obtained by scanning the periphery of the underwater moving object on the certain plane with a distance sensor, and obtaining a measurement image representing the outer shape of the structure on the certain plane Unit, a correspondence relationship between the image data stored in the storage device and the measurement image acquired by the image acquisition unit, and position information attached to the image data stored in the storage device On the certain plane That is intended to comprise a position calculating unit for calculating the position of the underwater vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, the detection accuracy of the position of the underwater moving body in the environment where the design information and measurement information of a structure are different can be improved.

1 is a schematic diagram of an in-reactor inspection system according to an embodiment of the present invention. 1 is a schematic diagram of a pool inspection system according to an embodiment of the present invention. Schematic showing the structure of the underwater inspection apparatus which concerns on embodiment of this invention. The horizontal sectional view of the range sensor unit concerning an embodiment of the invention. The vertical sectional view of the range sensor unit in section IV-IV in FIG. Explanatory drawing of measurement operation | movement of the range sensor unit which concerns on embodiment of this invention. The schematic diagram of the ultrasonic sensor unit concerning an embodiment of the invention. The horizontal sectional view of the ultrasonic sensor unit concerning an embodiment of the invention. The functional block diagram of the control apparatus which concerns on embodiment of this invention. The PAD figure showing the control processing content regarding the position and attitude | position calculation function of the control apparatus which concerns on embodiment of this invention. The PAD figure showing the detail of the attitude angle calculation process in FIG. The PAD figure showing the detail of the vertical position calculation process in FIG. Explanatory drawing of the measurement image calculation process and horizontal position calculation process by a control apparatus. The PAD figure showing the detail of the measurement image calculation process in FIG. The PAD figure showing the detail of the horizontal position calculation process in FIG. The schematic block diagram of the image correction part which concerns on embodiment of this invention. The figure showing an example of the display screen of the display apparatus which concerns on embodiment of this invention. The figure showing an example of the display screen of the display apparatus which concerns on embodiment of this invention. The figure showing an example of the display screen of the display apparatus which concerns on embodiment of this invention. The figure showing an example of the display screen of the display apparatus which concerns on embodiment of this invention.

  First, before describing the embodiments of the present invention, main features of the position detection device for an underwater moving body according to the present invention will be described.

  (1) An underwater moving body position detection apparatus according to the present invention is an underwater moving body that is movable in a three-dimensional space, and image data on a certain plane created based on design information of a structure, Stored is image data in which the outer shape of the structure on the certain plane and the mirror image of the outer shape of the structure with reference to the lines constituting the outer shape of the structure are associated with the position information. A storage device and a measurement image representing an outer shape of the structure on the certain plane, the image data obtained by scanning the periphery of the underwater moving object on the certain plane with a distance sensor. The image acquisition unit to be acquired, the correspondence between the image data stored in the storage device and the measurement image acquired by the image acquisition unit, and the position attached to the image data stored in the storage device Based on the information Characterized in that it comprises a position calculation unit for calculating the position of the underwater vehicle on the plane.

  Thus, not only the outline of the structure created based on the design information of the structure, but also the image data embedded with a mirror image of the outline of the structure with reference to the lines constituting the outline; When the correspondence with the measurement image obtained by scanning the distance sensor on substantially the same plane as the image data is obtained (for example, correspondence is obtained by map matching by image correlation processing), the distance sensor (for example, super Even if a virtual image of the structure due to multiple reflection appears on the measurement image when the measurement image is acquired using a sound wave sensor, the virtual image in the measurement image and the mirror image in the image data Since the matching rate due to the generation of a virtual image can be suppressed, the position detection accuracy of the underwater moving body can be improved.

  The mirror image to be embedded in the image data is an image in which a mirror surface that includes a line that forms the outer shape of the structure and that is orthogonal to the certain plane is virtually set, and the outer shape of the structure is reflected on the mirror surface. Created based on For example, when the line constituting the outer shape of the structure is a straight line (or a sufficiently gentle curve that can be regarded as a substantially straight line) and the mirror surface is flat (or can be regarded as flat), the mirror surface (the straight line) ) Is a mirror image. In addition, when the outer shape of the structure is defined only by a combination of a plurality of straight lines, and the outer shape does not include a curve, a figure that is line-symmetric with the outer shape of each of the plurality of straight lines is a mirror image. Therefore, the mirror image creation process is easy.

  Further, the process of embedding the mirror image in the image data may be performed in advance and embedded in the image data in advance, or a mirror image is created when the position of the underwater moving body is detected and the mirror image is created. It may be embedded in the image data each time. That is, the storage time (creation time) of the outer shape of the structure created based on the design information of the structure and the storage time (creation time) of the mirror image of the structure for the storage device are substantially May be the same or different. When a mirror image is added to the image data every time the position of the underwater moving body is detected, only a part of the mirror image formed around the underwater moving body is created (for example, a wave after multiple reflections). Only a mirror image formed in a range in which the detection can be performed) may be embedded in the image data.

  (2) The underwater mobile object position detection apparatus according to the present invention is an underwater mobile object that can move in a three-dimensional space, and image data on a certain plane that is created based on design information of the structure. A storage device storing a plurality of stored images in which the outer shapes of the structures on a plurality of different planes in the three-dimensional space are associated with position information, and the underwater vehicle in the three-dimensional space An image acquisition unit that acquires a measurement image representing an outer shape of the structure on the plane, which is image data obtained by scanning the periphery of the underwater moving body with a distance sensor on the plane where Selecting a stored image to be used for acquiring position information of the underwater moving body from the plurality of stored images based on an attitude and a vertical position of the underwater moving body, and selecting the selected stored image Selected image An image selection unit, a mirror image processing unit for adding a mirror image of the outer shape with reference to a line constituting the outer shape of the structure in the selected image, and the mirror image is added by the mirror image processing unit. A position calculating unit that calculates a position of the underwater moving object in a plane on which the underwater moving object is positioned based on the correspondence relationship between the selected image and the measurement image and the position information attached to the selected image; It is characterized by providing.

  When the underwater moving body position detection device is configured in this way, not only the position of the underwater moving body in a certain plane as in the case of (1) above, but also the position of the underwater moving body in a three-dimensional space is detected. be able to. The process of adding the mirror image to the stored image by the mirror image processing unit may be performed before image selection by the image selection unit, and the mirror image is stored in the storage device in advance together with the stored image. You can keep it.

  In addition, as a means for calculating the vertical position of the underwater moving body used in the image selection unit, for example, a pressure sensor that detects the depth of the underwater moving body in water can be used.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of an in-reactor inspection system according to an embodiment of the present invention. In the nuclear reactor 1 shown in this figure, structures such as a shroud 2, an upper lattice plate 3, a core support plate 4, and a shroud support 5 are installed, and a PLR (Primary Loop Re-circulation System) is used. (Circulation system) Piping such as piping 6 is connected. There is an operation floor 7 as a work space at the upper part of the nuclear reactor 1, and further there is a fuel changer 8 above it.

  The in-reactor inspection system of the present embodiment includes an underwater inspection device 9 (underwater moving body) used for visual inspection of structures in the reactor 1 and a control device connected to the underwater inspection device 9 via a cable 10. 11, connected to the control device 11, displays a camera image of the underwater inspection device 9, and displays the position, posture, etc. of the underwater inspection device 9, and is connected to the control device 11, and is connected to the underwater inspection device 9. The operation device 13 is provided. When performing a visual inspection of the structure in the nuclear reactor 1, the inspector 14 on the fuel changer 8 puts the underwater inspection device 9 into the nuclear reactor 1 and displays the position and orientation of the underwater inspection device 9. While confirming with the device 12, the operating device 13 is operated.

  In addition, as another application destination of the position detection device for an underwater vehicle according to the present invention, as shown in FIG. 2, a closed space formed by a plurality of flat wall surfaces and bottom surfaces like a pool in a nuclear power plant ( For example, a survey on the spent fuel pool). In the case of a simple shape such as a pool, since the structure is configured by an outer shape such as a flat wall, it is expected that ultrasonic waves are likely to cause multiple reflections, and the influence of reverberation increases.

FIG. 3 is a schematic diagram of the underwater inspection apparatus 9 according to the embodiment of the present invention.
In this figure, an underwater inspection device 9 is provided on the front side (the left side in FIG. 3) of the main body and captures an image of a structure or the like in the nuclear reactor 1 and an image capture for converting the image of the camera 15 into electronic information. A portion 16 is provided. In addition, the underwater inspection device 9 has three main body provided on the upper surface side (upper side in FIG. 3), rear surface side (right side in FIG. 3), and left side surface (front side in FIG. 3). A thruster (propulsion mechanism) 17 is provided. Each of the three thrusters 17 includes a screw and a motor (not shown) that drives the screw to rotate forward or backward. The thruster 17 has a thrust in the vertical direction (up and down direction in FIG. 3), a thrust in the front and rear direction (left and right direction in FIG. 3), and a thrust in the left and right direction (perpendicular to the paper surface in FIG. 3). Are given respectively. That is, the thruster 17 enables the underwater inspection apparatus 9 to freely move in a three-dimensional space filled with water. Hereinafter, the coordinate system of the underwater inspection apparatus 9 will be described by defining a right-handed coordinate system in which the vertical downward direction (downward in the height direction of the inspection apparatus 9) in the main body is the Z axis positive direction. Specifically, the right direction of the main body (the back direction toward the paper surface in FIG. 3) is the X axis positive direction, the front direction (left direction in FIG. 3) is the Y axis positive direction, and the down direction (down direction in FIG. 3). Is the positive direction of the Z axis, and the X axis and the Y axis are orthogonal to the Z axis and orthogonal to each other.

  The underwater inspection apparatus 9 includes a pressure sensor (vertical position detector) 18 that detects water pressure acting on the underwater inspection apparatus 9 and an inertial sensor for detecting the attitude (attitude angle) of the underwater inspection apparatus 9 in the nuclear reactor 1. And a range sensor unit (relative distance detector) 23 attached to the lower part (bottom surface) of the main body.

  The pressure detected by the pressure sensor 18 is used to detect the vertical position (depth) of the underwater inspection apparatus 9 in the nuclear reactor 1. The inertial sensor unit 19 detects a three-axis gyro (angular velocity detector) 20 that detects angular velocities around the X, Y, and Z axes, and an angle (tilt angle) around the X and Y axes. It has an inclinometer (tilt angle detector) 21 and a geomagnetic sensor (azimuth angle detector) 22 that detects an angle (azimuth angle) around the Z axis, and these detected values are the attitude angles of the underwater inspection apparatus 9. Used for detection.

  4 is a horizontal sectional view showing a schematic structure of the range sensor unit 23, and FIG. 5 is a sectional view (vertical sectional view) taken along a section IV-IV in FIG.

  The range sensor unit 23 is relative to the structure existing around the underwater inspection apparatus 9 from the underwater inspection apparatus 9 on a horizontal plane determined according to the position of the underwater inspection apparatus 9 in a three-dimensional space filled with water. The distance is detected. In the casing 25 of the range sensor unit 23, a total of two scanning laser sensors (laser range finders) 24a and 24b arranged in the front side and the rear side of the underwater inspection apparatus 9 are housed. An ultrasonic sensor unit 24c (see FIG. 3) containing an ultrasonic array sensor 24d (see FIG. 7 described later) is attached to the lower surface (bottom surface) of the casing 25. As described above, in this embodiment, the laser sensors 24a and 24b and the ultrasonic array sensor 24d are provided as sensors for detecting the relative distance from the underwater inspection apparatus 9 to the surrounding structure. In this paper, “horizontal plane” means not only a complete horizontal plane but also a substantially horizontal plane including errors.

  The casing 25 may be made of any material as long as it can transmit the laser light emitted from the laser sensors 24a and 24b. Examples thereof include a resin having translucency such as polyethylene terephthalate and polypropylene.

  Each of the laser sensors 24a and 24b includes a light projecting unit 26 that projects a laser and a light receiving unit 27 that receives the projected laser. The light projecting unit 26 is rotated around the Z axis by a scanning device (not shown), and scans the laser on the same plane (here, on the horizontal plane). The laser light projected and scanned by the light projecting unit 26 is reflected by surrounding structures and received by the light receiving unit 27.

  By the way, in the laser sensors 24a and 24b of the present embodiment, the light projecting unit 26 and the light receiving unit 27 are separated, and the laser sensors 24a and 24b are substantially U that partition the light projecting unit 26 side and the light receiving unit 27 side. A letter-shaped light shielding plate 26 is provided. The light shielding plate 26 is used to prevent the light receiving unit 27 from receiving the reflected light generated by reflecting a part of the laser light from the light projecting unit 26 on the inner surface of the casing 25.

  As shown in FIG. 4, the front side surface portion of the casing 25 is preferably formed so that the horizontal cross section thereof has an arc shape with the laser sensor 24 a as the center, and the rear side surface portion of the casing 25. Is preferably formed so that its horizontal cross section has an arc shape centered on the laser sensor 24b. When the casing 25 is formed in this way, the laser light from the light projecting unit 26 is emitted orthogonally and the reflected light received by the light receiving unit 27 is incident orthogonally. This is because a decrease in light intensity can be suppressed. The structure of the laser sensors 24a and 24b is detailed in, for example, Japanese Patent Application Laid-Open No. 2006-349449.

  FIG. 6 is an explanatory diagram of the measurement operation of the range sensor unit 23. As shown in this figure, in the range sensor unit 23 in the present embodiment, the laser sensor 24a has a scanning angle range θa (1) to θa (n) that is a front side range of the underwater inspection apparatus 9 (for example, −30). The laser beam is scanned in the range of about ˜210 ° and the reflected light is received to detect the relative distances M (1) to M (n) with the structure A, respectively.

  Further, the laser sensor 24b scans the laser beam in the range of the scanning angles θb (1) to θb (n) (for example, a range of about 150 ° to 390 °) that is the rear side range of the underwater inspection apparatus 9 and reflects the reflected light. Receiving light, relative distances M (n + 1) to M (2n) with the structure A are detected. Thereby, it is possible to detect the relative distance between the underwater inspection apparatus 9 and the surrounding structure on the plane on which the laser sensors 24a and 24b are located.

  7 is a horizontal sectional view showing a schematic structure of the ultrasonic sensor unit 24c, and FIG. 8 is a sectional view (horizontal sectional view) taken along a section AA in FIG.

  The ultrasonic sensor unit 24c extends from the underwater inspection device 9 to a structure existing around the underwater inspection device 9 on a horizontal plane determined according to the position of the underwater inspection device 9 in a three-dimensional space filled with water. It measures the distribution of relative distance. The ultrasonic sensor unit 24c incorporates an ultrasonic array sensor 24d composed of a plurality of piezoelectric elements that transmit and receive ultrasonic waves. A plurality of piezoelectric elements are arranged on a horizontal plane (XY plane in the drawing) in a straight line or in an arc shape, so that ultrasonic waves can be transmitted and received in the horizontal plane (XY plane). The material of the piezoelectric element may be, for example, a piezoelectric ceramic such as PZT or a composite material (composite material) of piezoelectric ceramic and resin.

  Among a plurality of piezoelectric elements constituting the ultrasonic array sensor 24d, for example, an element group 24e (see FIG. 8) in which a set of a plurality of piezoelectric elements such as 8 or 16 is grouped is used as a transmitting or receiving element. Use as a group.

  For example, when the ultrasonic array sensor 24d is composed of 64 piezoelectric elements and 16 piezoelectric elements are used for transmission or reception, the ultrasonic beam is transmitted as a group of 16 consecutive elements, and the same 16 elements are transmitted. Receive ultrasonic waves (echoes) reflected from underwater. Next, by adding one adjacent to the 16 currently used and stopping the use of the one on the opposite side, the new 15 of the previous 15 and the new one A group of elements is formed, and ultrasonic waves are transmitted and received by this element group. Since the 16 new ones are shifted by exactly one element, the ultrasonic wave transmission / reception direction is shifted.

  In this way, by sequentially switching the combinations constituting the 16 element groups one by one, it is possible to switch the transmission / reception direction, and it is possible to scan the ultrasonic wave on the horizontal section (XY plane). Thus, by measuring the reception time of the reflected ultrasonic wave while switching the transmission / reception direction of the ultrasonic wave, the distance distribution around the ultrasonic array sensor 24d can be measured.

  In this embodiment, the relative distance to the surrounding structure is measured based on the propagation time (or flight time) from the transmission time of the laser or ultrasonic wave to the reception time of the reflected wave. The relative distance measured in this way is mainly used for measurement image calculation in a measurement image calculation unit 36 (described later).

  Returning to FIG. 3, the underwater inspection apparatus 9 is provided with a signal transmission unit 29. Then, via the signal transmission unit 29 and the cable 10, the pressure sensor 18, the inertial sensor unit 19 (three-axis gyro 20, inclinometer 21, geomagnetic sensor 22), the range sensor unit 23 (laser sensors 24 a and 24 b) and / or Detection signals from the ultrasonic sensor unit 24 c (ultrasonic array sensor 24 d) and image signals from the image capturing unit 16 are output to the control device 11. And the control apparatus 11 calculates the position and attitude | position of the underwater inspection apparatus 9 based on the detection signal etc. which were mentioned above, and outputs and displays the calculated position and attitude | position of the underwater inspection apparatus 9 on the display apparatus 12. . The control device 11 outputs the above-described image signal to the display device 12 to display an image of the camera 15 (detailed in FIG. 17 and the like later). Further, the control device 11 generates a control signal for driving and controlling the thruster 17 according to the operation signal from the operation device 13, and outputs the generated control signal to the thruster 17 via the cable 10 and the signal transmission unit 29. ing.

  The pressure sensor 18 has a sensor part (not shown) exposed to the outside from the bottom surface of the underwater inspection device 9, and detects the pressure by detecting the water pressure acting on the sensor part. The presence or absence of the pressure sensor 18 can be easily confirmed by visually recognizing the sensor unit from the outside.

  The control device 11 is a computer, as hardware, an arithmetic processing device (for example, a CPU) as arithmetic means for executing various programs, and a storage as storage means for storing various data including the programs. Performs input / output control of data and instructions to devices (for example, semiconductor memories such as ROM, RAM and flash memory, and magnetic storage devices such as hard disk drives) and sensors associated with each device and underwater inspection device 9 Input / output arithmetic processing unit (none of which is shown).

  Next, the position / attitude calculation function of the control device 11 will be described. FIG. 9 is a functional block diagram of the control device 11.

  As shown in this figure, the control device 11 uses an angular velocity calculation unit 30 that calculates angular velocities around the X axis, the Y axis, and the Z axis based on the angular velocity signal of the triaxial gyro 20 and the angle signal of the inclinometer 21. An angle calculation unit 31 that calculates an inclination angle around the X axis and the Y axis based on the angle signal of the geomagnetic sensor 22 based on the angle signal of the geomagnetic sensor 22 based on the angle signal, an angle velocity, an inclination angle, and an azimuth It functions as a posture angle calculation unit 32 that calculates a posture angle (posture angle around three axes) of the underwater inspection apparatus 9 based on the angle. Further, it also functions as a vertical position calculation unit 33 that calculates the depth of the underwater inspection apparatus 9 in water, that is, the vertical position, based on the pressure signal of the pressure sensor 18.

  The control device 11 includes a measurement image calculation unit 36, an image storage unit 34, an image selection unit 35, a mirror image processing unit 35a, an image correction unit 42, a corresponding portion specifying unit 37, a horizontal position calculation unit 38, It functions as a position / posture storage unit 80.

  The measurement image calculation unit 36 is based on the relative distance between the underwater inspection apparatus 9 and the structure detected by the range sensor unit 23 (laser sensors 24a and 24b) or the ultrasonic sensor unit 24c (ultrasonic array sensor 24d). This is a part for performing processing (bitmap processing) for calculating / creating image data (measurement image) of the outer shape of the structure on the horizontal plane (hereinafter sometimes referred to as “scan plane”) where the relative distance is detected.

  When converting the detected relative distance into an image, the measurement image calculation unit 36 in the present embodiment performs bitmap processing using a coefficient K that converts the distance [mm] into the pixel value [pixel]. Yes. The image obtained by this bitmap processing is represented by a set of a plurality of points (pixels), and represents a part of the outer shape when the structure in the nuclear reactor 1 is cut along the scan plane. . In the present embodiment, as the value of the coefficient K, a value that makes the measurement image a bitmap image of a certain size (for example, 640 × 480 [pixel]) is employed.

  The image storage unit 34 is a plurality of image data created based on the design information of the nuclear reactor 1 and the structures inside the nuclear reactor 1, and in a plurality of horizontal planes having different vertical positions in the nuclear reactor 1 (three-dimensional space). This is a part in which image data (stored image) of the outer shape of the structure is stored, and is secured in a predetermined area in the storage device related to the control device 11.

  Each stored image stored in the image storage unit 34 according to the present embodiment represents an outer shape of the structure when the structure in the nuclear reactor 1 is cut by a plurality of horizontal planes having different vertical positions. Each stored image is given vertical position information in the nuclear reactor 1 which is information indicating the respective cutting positions. This stored image is obtained by deleting the surface shape of the structure, that is, the outline information of the structure existing inside the structure.

  Further, at least one of the pixels constituting each stored image stored in the image storage unit 34 is attached with horizontal position information corresponding to the three-dimensional space in the nuclear reactor 1 (hereinafter, this horizontal position information). Each of the stored images functions as a map of the horizontal position in the nuclear reactor 1. From the viewpoint of improving the calculation accuracy of the horizontal position, it is preferable that the stored image has a larger image size. This is because the accuracy of the horizontal position information given to each pixel can be improved as the image size is increased.

  The image selection unit 35 is based on the vertical position of the underwater inspection device 9 when the measurement image is obtained by the measurement image calculation unit 36, the matching rate between the measurement image and a plurality of stored images in the image storage unit 34, and the like. This is a part for executing a process of finally selecting one stored image to be used for position calculation of the underwater inspection apparatus 9 from among a plurality of stored images stored in the image storage unit 34.

  In the image selection unit 35 of the present embodiment, based on the vertical position of the underwater inspection apparatus 9 detected by the pressure sensor 18, the range sensor unit 23 is relative from among the plurality of stored images stored in the image storage unit 34. A stored image corresponding to the horizontal plane from which the distance is detected is selected. Specifically, the image selection unit 35 selects a stored image having vertical position information that matches the vertical position calculated by the vertical position calculation unit 33 (the image having the closest vertical position when there is no match). Select as an image.

  Further, as another selection method performed in addition to or in place of the selection method of the selected image, a predetermined number of stored images having vertical position information close to the vertical position of the underwater inspection device 9 are extracted and extracted. Map matching by image correlation processing is executed for each of the stored images and the measured image, and one image having a high matching rate is selected from the plurality of stored images, and finally that one image is selected. There is something.

  Further, as another method performed in addition to or in place of the above selection method, an optimal image is selected from the position of the underwater inspection device 9 (mainly the vertical position) only for the first selection, and the horizontal position thereafter. In the calculation process, when the matching rate calculated by the corresponding portion specifying unit 37 reaches less than the threshold value M2 indicating that reselection of the selected image is unnecessary, other stored images whose matching rate reaches M2 or more are stored. There is a way to select again. As specific means for selecting another image with a matching rate of M2 or higher, first, there are several stored images whose vertical direction information is close to the current selected image (with a matching rate of less than M2). Then, those within the movable range of the underwater inspection device 9 are listed as candidates for reselection, and then the matching rates of the plurality of stored images and measurement images listed as candidates are respectively calculated, There is a method of selecting a high stored image as a selected image. If the selected image is selected in this way, a stored image having a matching rate equal to or greater than a certain value can be used at all times, so that the accuracy of the horizontal position calculation process of the underwater inspection apparatus 9 can be improved.

  Since the underwater inspection apparatus 9 according to the present embodiment includes the range sensor unit 23 (laser sensors 24a and 24b) and the ultrasonic sensor unit 24c (ultrasonic array sensor 24d), the measurement obtained by the measurement image calculation unit 36 is performed. Two types of images, laser and ultrasonic, can be used. Since laser and ultrasonic waves have large orders of several hundred nm and several mm, the transmission characteristics in the medium (water) are greatly different. In general, a laser with a short wavelength can measure the shape and distance of a structure more precisely, but is suitable for measuring a shorter distance than ultrasonic waves. Therefore, it is preferable to employ a complementary method in which a short distance is measured with high precision using a laser, and a long distance is measured using ultrasonic waves, and such a configuration can be used in this embodiment. It has become.

  By the way, since the ultrasonic wave used by the ultrasonic sensor unit 24c has good permeability in a medium such as water, the ultrasonic wave transmitted from the ultrasonic sensor repeatedly reflects on the outer surface of the structure (multiple reflection). ), And may be measured as a noise signal. The measured noise signal appears as a false image (virtual image) just like a mirror image reflected in the mirror many times on the measurement image, which is expected to cause a decrease in distance distribution measurement and self-position detection accuracy. Is done. However, in this embodiment, paying attention to the fact that the virtual image resulting from multiple reflection is also a signal derived from the outer shape of the structure, it is not used as noise but actively used for matching with the selected image. Therefore, the accuracy of distance distribution measurement and self-position detection is improved.

  The mirror image processing unit 35a calculates the effect of multiple reflection from the outer shape of the structure in the selected image (stored image) selected by the image selection unit 35, and virtually selects the selected image (stored image) by multiple reflection. This is a part that performs processing for adding extra outline data (mirror image data). Hereinafter, the selection image to which the mirror image data is added by the mirror image processing unit 35a may be referred to as a mirror image addition selection image.

  The image correction unit 42 performs a process of correcting the mirror image addition selection image acquired by the mirror image processing unit 35a and the measurement image acquired by the measurement image calculation unit (image acquisition unit) 36 by simplifying each. A selection image correction unit 42a that corrects the mirror image addition selection image output from the mirror image processing unit 35a, and a measurement image correction unit 42b that corrects the measurement image output from the measurement image calculation unit 36. .

  The image correction process performed by the image correction unit 42 contributes to the improvement of the matching rate between the measurement image and the mirror image addition selection image by the corresponding part specifying unit 37. For example, the measurement image before correction includes, in addition to the structure existing in the design information, the outer shape of the structure not included in the design information, data (pixels) other than the structure due to measurement errors, and the like. Therefore, a new measurement image (corrected measurement image) is obtained by deleting from the measurement image data other than the structure due to the outer shape of the structure and the measurement error that are not included in the design information. On the other hand, for the mirror image addition selection image, the outline of the fine structure less than a predetermined size or the outline of the structure housed inside the main structure is discarded from the mirror image addition selection image before correction. Only the outer shape of the structure is extracted, and a simplified mirror image addition selection image is used as a new mirror image addition selection image (corrected mirror image addition selection image).

  The corresponding portion specifying unit 37 specifies a portion corresponding to the measurement image on the mirror image addition selection image by performing map matching on the mirror image addition selection image corrected by the image correction unit 42 and the measurement image. Part. That is, the corresponding part specifying unit 37 searches for the part of the outer shape of the structure that appears in the mirror image addition selection image corresponding to the outer shape of the structure that appears in the measurement image. The degree of coincidence (correspondence) between the measurement image and the mirror image addition selected image is represented by a matching rate. When the mirror image addition selected image subjected to the image correction processing by the image correction unit 42 is matched with the measurement image, the matching rate between the two is improved.

  The horizontal position calculation unit 38 detects the relative distance in the part on the mirror image addition selection image specified by the corresponding part specification unit 37 (that is, the position of the underwater inspection device 9 (more precisely, the range sensor unit 23 or the ultrasonic wave). The position of the sensor unit 24c, more precisely, the position of the laser sensor 24a, 24b or the ultrasonic array sensor 24d, but in this paper, these are used in the same meaning))). And the horizontal position of the underwater inspection apparatus 9 from the position of the reference pixel.

  Here, the “position where the relative distance is detected” indicates the horizontal position of the underwater inspection apparatus 9 located at the center of the measurement image, as is apparent from FIG. Therefore, if the position of the pixel where the center of the measurement image is located in the mirror image addition selection image is known, the horizontal position of the horizontal inspection device 9 can be calculated by obtaining the distance between the pixel and the reference pixel. If conversion from pixel to distance data is necessary at this time, the pixel value may be multiplied by the reciprocal of the constant K (that is, 1 / K) used when converting from the distance to the pixel value.

  The position / posture storage unit 80 stores the vertical position, horizontal position, and posture angle of the underwater inspection apparatus 9 calculated by the vertical position calculation unit 33, the horizontal position calculation unit 37, and the posture angle calculation unit 32 as described above. It is a part to do. The vertical position, horizontal position, and posture angle stored in the position / posture storage unit 80 are transmitted to the display device 12 as the vertical position, horizontal position, and posture angle of the underwater inspection device 9, and the image capturing unit 16 performs electronic It is displayed together with the computerized image of the visual inspection camera 15.

  Next, the contents of control processing performed by the control device 11 configured as described above will be described. FIG. 10 is a PAD diagram showing the contents of control processing related to the position / posture calculation function of the control device 11.

  In this figure, first, at step 39, the initial position / initial posture angle of the underwater inspection apparatus 9 is inputted and stored in the position / posture storage unit 38. Then, the process proceeds to step 40 and the operation of the underwater inspection apparatus 9 is started and the position / posture calculation process is started. In this position / orientation calculation process, the attitude angle calculation process (step 41), the vertical position calculation process (step 42), the measurement image calculation process (step 43), and the horizontal position calculation process (step 44) are sequentially repeated. Each time, the posture angle, vertical position and horizontal position calculated in steps 41, 42 and 44 are stored in the position / posture storage unit 38 (step 45). Details of each calculation process will be described below.

(1) Posture Angle Calculation Processing FIG. 11 is a PAD diagram showing details of the posture angle calculation processing in step 41 shown in FIG. In this attitude angle calculation process, the angular velocity calculation unit 30 first captures the angular velocity signal of the triaxial gyro 20, and the angle calculation unit 31 acquires the angle signals of the inclinometer 21 and the geomagnetic sensor 22 (step 46).

  Then, the process proceeds to step 47, where the angular velocity calculation unit 30 proceeds to an angular velocity calculation process for calculating an angular velocity around each axis (X axis, Y axis, Z axis) from the angular velocity signal of the triaxial gyro 20. The three-axis gyro 20 of the present embodiment is an electrostatic levitation gyro, and outputs a positive voltage value in which an increase / decrease value proportional to the angular velocity is added to a reference voltage (a constant voltage value). Therefore, first, in step 48, basic processing for reducing the reference voltage is performed on the signals around each axis (X axis, Y axis, Z axis) of the triaxial gyro 20. Here, the reference voltage is usually shown as a specific specification of the three-axis gyro 20, but in the present embodiment, a voltage value measured in advance and averaged when no angular velocity signal is input is used. Thereafter, the process proceeds to step 49, where the angular velocity around each axis is calculated by multiplying by a voltage-angular velocity conversion coefficient (a constant value indicated as a specific specification of the three-axis gyro 20).

  When the angular velocity calculation process of step 47 is completed, the process proceeds to step 50, where the angle calculation unit 31 proceeds to an inclination angle calculation process for calculating an inclination angle around each axis (X axis, Y axis) from the angle signal of the inclinometer 21. . The inclinometer 21 of the present embodiment converts a change in the liquid level of the enclosed electrolyte (inclination angles around the X axis and the Y axis) into a voltage change and outputs the voltage change. For this reason, first, in step 51, basic processing for subtracting a reference voltage (a constant voltage value indicated as a specific specification of the inclinometer 21) from signals around each axis (X axis, Y axis) is performed. Thereafter, the process proceeds to step 52, where the inclination angle around each axis is calculated by multiplying by the inclination angle conversion coefficient (a constant value indicated as the specific specification of the inclinometer 21).

  When the tilt angle calculation process of step 50 is completed, the process proceeds to step 53, and the angle calculation unit 31 proceeds to an azimuth angle calculation process for calculating an azimuth angle around the Z axis from the angle signal of the geomagnetic sensor 22. The geomagnetic sensor 22 of the present embodiment outputs a magnetic force captured by a Hall element having sensitivity in the X-axis direction and the Y-axis direction. For this reason, first, in step 54, basic processing for subtracting the reference voltage from the X-axis and Y-axis geomagnetic signals and multiplying by the gain is performed. Here, since the reference voltage and the gain differ depending on the environment in which the geomagnetic sensor 22 is used, those measured in advance in the region to be used are used. Thereafter, the process proceeds to step 55, and the azimuth angle θm around the Z axis is calculated by the following equation (1) using the fundamentally processed X-axis and Y-axis signals Mx and My.

   When the azimuth calculation process of step 53 is completed, the process proceeds to step 56, where the attitude angle calculation unit 32 determines the angular velocities around the X, Y, and Z axes, the tilt angles about the X and Y axes, and the Z axis. The surrounding azimuth angle is input to a Kalman filter (known as this type, see, for example, Patent Document 1 above), and an optimum value of the posture angle (posture angle around three axes) of the underwater inspection apparatus 9 is estimated. . Thereafter, the process proceeds to step 57, and the estimated posture angle of the underwater inspection apparatus 9 is stored in the position / posture storage unit 38. When the procedure of step 57 ends, the posture angle calculation process ends.

(2) Vertical Position Calculation Processing FIG. 12 is a PAD diagram showing details of the vertical position calculation processing in step 42 shown in FIG. In this vertical position calculation process, the vertical position calculation unit 33 first calculates the pressure P based on the following equation (2). That is, first, in step 58, the pressure signal (detection voltage) of the pressure sensor 18 is captured. Then, the process proceeds to step 59, where the reference voltage Vp_base (a constant voltage value indicated as a specific specification of the pressure sensor 18) is subtracted from the detection voltage Vp, and further a pressure conversion coefficient Kv_p (a constant value indicated as a specific specification of the pressure sensor 18). ) To calculate the pressure P.

   Next, the vertical position calculation unit 33 proceeds to step 60 and uses the calculated pressure P, the density ρ of the coolant in the reactor 1 and the gravitational acceleration g, and the underwater inspection device 9 according to the following equation (3). The depth H is calculated. Then, for example, a distance Lw (see FIGS. 1 and 2) from the operation floor 7 to the water surface is added to the calculated depth H to obtain a vertical position of the underwater inspection apparatus 9.

   Thereafter, the process proceeds to step 61, where the calculated vertical position of the underwater inspection device 9 is stored in the position / posture storage unit 38. When the procedure of step 61 ends, the vertical position calculation process ends.

  By the way, in the measurement image calculation process (step 43) and the horizontal position calculation process (step 44) that follow, in order to facilitate understanding thereof, the case where the hollow rectangular parallelepiped is inspected by the underwater inspection apparatus 9 is referred to as appropriate. explain.

  FIG. 13 is an explanatory diagram of mirror image addition processing, measurement image calculation processing, image correction processing, and horizontal position calculation processing by the control device 11. The underwater inspection apparatus 9 shown in this figure is disposed in a hollow rectangular parallelepiped 90 filled with water. Three small structures (for example, pipes) 45 are arranged inside the hollow rectangular parallelepiped 90. The horizontal position of the underwater inspection apparatus 9 includes a selection image 91 on the scan plane S selected by the image selection unit 35, and a mirror image addition selection image 91M obtained by subjecting the selection image 91 to mirror image addition processing by the mirror surface processing unit 35a. The selected image 91R obtained by subjecting the mirror image addition selection image 91M to the image correction processing by the selection image correction unit 42a, the measurement image 92 detected on the plane S, and the measurement image 92 by the measurement image correction unit 42b. It is calculated based on the measurement image 92R obtained by performing the correction process. Note that the sizes of the selected images 91, 91M, 91R and the measurement images 92, 92R are all 640 × 480 [pixel], the center point of the selected images 91, 91M, 91R is C91, and the center point of the measurement images 92, 92R is Is C92.

  The mirror image addition selection image 91M in FIG. 13 includes mirror images 81a, 81b, 81c, 81d of the hollow rectangular parallelepiped 90 based on the inner wall surfaces 82a, 82b, 82c, 82d of the hollow rectangular parallelepiped 90 with respect to the selection image 91. It has been added. Since the inner wall surface of the hollow rectangular parallelepiped 90 has four flat wall surfaces 82a, 82b, 82c, and 82d as its outer shape, a straight line indicating one of the four wall surfaces 82a, 82b, 82c, and 82d is an axis of symmetry. The images 81a, 81b, 81c, 81d obtained by inverting the straight lines indicating the remaining three wall surfaces are mirror images, and a total of four mirror images 81a, 81b, 81c, 81d are added to the selected image 91 by the mirror image addition process. Has been. In the example of FIG. 13, the entire mirror images 81a, 81b, 81c, and 81d are added to the selected image 91, but only a portion included in the image of the selected image 91 may be added as a mirror image. The mirror image located outside the image size of the selected image 91 may be discarded.

(3) Measurement image calculation process (structure shape calculation process)
FIG. 14 is a PAD showing details of the measurement image calculation process in step 43 shown in FIG. Since the present embodiment is characterized by the matching between the mirror image addition selected image and the measurement image, here, an example in which the ultrasonic sensor unit 24c (ultrasonic array sensor 24d) is used as a distance sensor when creating the measurement image is described. Will be described. In the measurement image calculation process shown in FIG. 14, the measurement image calculation unit 36 first captures the output signal of the ultrasonic array sensor 24d (step 62). In the ultrasonic array sensor 24d in the present embodiment, the relative distance to the structure on the horizontal scan plane (surface S in the example of FIG. 13) is measured by the method described in FIG. In the output signal, the distance M to the structure is included as information. The measurement image calculation unit 36 calculates the coordinate value L (xL, yL) at which the surface (outer shape) of the structure is located on the scan plane from the output signal captured in step 62 (step 63).

  Next, the measurement image calculation unit 36 multiplies each coordinate value xL, yL calculated in step 63 by a coefficient K, and uses the value as a coordinate value L ′ (KxL, KyL) of a pixel indicating the surface of the structure in the measurement image. (Step 64). That is, in the example of FIG. 13, when the coordinate value of the point P1 obtained in step 64 is (120, 100), for example, the X axis from the center point C92 of the measurement image 92 and the center of the underwater inspection apparatus 9 The position advanced by 120 [pixel] in the positive direction and 100 [pixel] in the positive direction of the Y axis is the position of the point P1 on the surface of the structure. Then, the measurement image calculation unit 36 obtains the measurement image 92 by performing the calculation processing in steps 63 and 64 for all the detected oscillation angles θ. The measurement image calculation unit 36 stores the data of the measurement image 92 acquired in this way (step 65), and ends the measurement image calculation process.

(4) Horizontal Position Calculation Processing FIG. 15 is a PAD diagram showing details of the horizontal position calculation processing in step 44 shown in FIG. When the horizontal position calculation process starts, the image correction unit 42 takes in the measurement image 92 calculated in step 43 (step 66).

  On the other hand, the image selection unit 35 selects the horizontal position of the underwater inspection device 9 from the plurality of stored images stored in the image storage unit 34 based on the vertical position of the underwater inspection device 9 obtained in step 42. An image (selected image 91) to be used for calculating is selected (step 67). That is, in the example of FIG. 13, the stored image having the vertical position information of the scan plane S is selected as the selection image 91.

  In addition, as a selection method of the selection image in step 67, you may utilize the other method touched in the description location of the image selection part 35. FIG. For example, in the second and subsequent horizontal position calculation processes, when the underwater inspection device 9 moves in the vertical direction and the matching rate between the selected image and the measurement image reaches less than M2, a selected image with a matching rate of M2 or more is selected. You may choose again.

  The mirror image processing unit 35a performs a mirror image addition process on the selection image 91 selected in step 67 to obtain a mirror image addition selection image 91M. Specifically, in order to create a mirror image of the outer shape of the structure in the selected image 91, a line that becomes a mirror surface is determined, and a mirror image of the outer shape of the structure is created based on the line and added to the selected image. By doing so, the mirror surface addition selection image 91M is acquired. In the example of FIG. 13, the inner wall of the hollow rectangular parallelepiped 90 in the selected image 91 is defined by combining four straight lines (wall surfaces) 82a, 82b, 82c, 82d, and the four straight lines 82a, 82b, 82c, 82d. Each line becomes a mirror surface. Therefore, a total of four mirror images 81a, 81b, 81c, 81d of the hollow rectangular parallelepiped 90 are created with these four straight lines 82a, 82b, 82c, 82d as symmetry axes, and the four mirror images 81a, 81b, 81c, 81d are created. The image added to the selection image 91 is a mirror image addition selection image 91M.

  In the example of FIG. 13, all the mirror images that may appear on the selected image 91 are added. However, the mirror image is formed in a partial range in which the wave after multiple reflection can be detected from the underwater inspection device 9. Only a mirror image may be added. Further, although the case where the mirror image addition process is performed on the selected image selected in step 67 has been described, a mirror image may be added in advance to all the recorded images stored in the image storage unit 34.

  Next, when the mirror image addition processing in step 67a is completed, the image correction unit 42 performs image correction processing on the measurement image 92 captured in step 66 and the selected image 91M to which the mirror image is added in step 67a ( Step 68).

  Here, the correction processing of the measurement image 92 and the selection image 91M in step 68 will be described. FIG. 16 is a schematic configuration diagram of the image correction units 42a and 42b. As shown in this figure, the image correction units 42a and 42b include an expansion processing unit 142, a reduction processing unit 144, a clustering processing unit 146, a cluster area calculation processing unit 148, and an image update unit 150, respectively. .

  In the image correction process, the expansion processing unit 142 first performs an expansion process for enlarging each pixel indicating the structure shape on the captured selection image 91M and the measurement image 92. Then, the reduction processing unit 144 performs a reduction process on each image on which the expansion process has been performed. In general, since the structure shape in the “measurement image” is drawn as a point sequence, an interval is often formed between the pixels constituting the point sequence. However, the expansion processing unit 142 and the reduction processing unit 144 described above are used. By a series of processes, the interval between the pixels is satisfied, and a structure shape image in which the pixels are linearly obtained is obtained.

  Next, the clustering processing unit 146 performs a clustering process on each image subjected to the reduction process, and classifies the shape (outer shape) of the structure included in each image into a plurality of clusters. Then, the cluster area calculation processing unit 148 performs processing for calculating the area of each cluster for each image on which clustering processing has been performed. Based on the area of each cluster calculated by the cluster area calculation process, the image update unit 150 has a cluster with an area equal to or smaller than a predetermined threshold A1 as noise generated during image measurement or is not a main structure. And the cluster is deleted from the image (image update process).

  Through the series of image correction processes described above, each of the images 91M and 92 has only a cluster having an area exceeding the threshold value A1 and a predetermined size or more, as in the images 91R and 92R illustrated in FIG. To be simplified. More specifically, although the three small structures 45 existed in the selected image 91M in FIG. 13, the small structures 45 are deleted from the corrected selected image 91R by the series of processes described above. Yes. The measurement image 92 in FIG. 13 is drawn as a set of a plurality of points arranged at intervals, but the structure of the structure is connected in a linear shape in the measurement image 92R after correction by the above-described series of processing. It is drawn with a sequence of dots. Further, the pixels related to the small structure 45 are deleted, and only the wall surface of the rectangular parallelepiped 90 remains. Although not shown in FIG. 13, pixels that do not show structures such as noise recorded as pixels during acquisition of the measurement image 92 can also be deleted.

  Next, the corresponding portion specifying unit 37 performs map matching by image correlation processing on the measurement image 92R and the selection image 91R that have been subjected to the image correction processing in Step 68, and a portion corresponding to the measurement image 92R on the selection image 91R. Is identified. In other words, how the corrected measurement image 92R and the selected image 91R are superimposed is specified (step 69). In the selected image 91R and the measurement image 92R that have been subjected to the image correction processing in step 68, pixels that indicate the shape of a fine structure and pixels that are not related to the structure are omitted in each image, and only structures that have a relatively large area. Therefore, even if there is a small structure or dust that did not exist at the time of creating the stored image, or noise is mixed in the measurement image, the matching rate between the selected image and the measurement image will decrease. This can prevent the detection accuracy of the position of the underwater moving body 9 in an environment where design information and measurement information of the structure are different.

  If the corresponding part can be specified in step 69, the horizontal position calculation unit 38 first uses the range sensor unit 23 to detect the position from the underwater inspection apparatus 9 to the structure (that is, at the center position of the measurement image). Thus, it is specified which pixel on the selected image corresponds to the center position of the underwater inspection apparatus 9. Then, the horizontal position of the underwater inspection device 9 is calculated from the position of the specified pixel and the position of a pixel (for example, a reference pixel) whose horizontal position information is known in the selected image (step 70).

  The step 70 will be described with reference to the example of FIG. 13. Since the corrected selected image 91R and the measured image 92R overlap as shown by the matching image 93 shown in the lower right of FIG. 13, the measured image 92R is displayed on the selected image 91R. The pixel corresponding to the center point C92 can be easily specified. Since the pixel at the center point C91 of the selected image 91R is a reference pixel corresponding to the center of the hollow rectangular parallelepiped 90, the distance (shift amount 94) on the pixel between the center point C91 and the center point C92 is calculated. Is converted into distance data in the hollow rectangular parallelepiped 90, the horizontal position of the center point C92 (that is, the horizontal position of the underwater inspection apparatus 9) can be calculated. When the shift amount 94 is converted into distance data, the reciprocal of the constant K (that is, 1 / K) used when the distance is converted into the pixel value in the measurement image calculation unit 36 is used as the shift amount 94 (ξ, (η) may be calculated. When the calculation of the horizontal position of the underwater inspection apparatus 9 is thus completed, the calculated horizontal position is stored in the position / posture storage unit 80 (step 71).

  When step 71 ends, a series of horizontal position calculation processing ends. The position of the underwater inspection apparatus value 9 calculated in the posture angle calculation process (step 41), the vertical position calculation process (step 42), the measurement image calculation process (step 43), and the horizontal position calculation process (step 44) The posture is output to the display device 12 via the position / posture storage unit 80.

  In the above description, the threshold value A1 used by the image update unit 150 of the image correction unit 42 can be changed as appropriate so that the processing by the image update unit 150 has a result desired by the user. When the threshold value A1 is changed, it is preferable that the image correction result based on the changed threshold value is displayed on the screen of the display device together with the threshold value A1 (see FIG. 19 below). Thus, the result desired by the user can be reached in a short time.

  In addition, the cluster area calculation processing unit 148 and the image update unit 150 described above calculate the area of each cluster, delete clusters whose calculated area is equal to or less than the threshold A1, and correct each image. If it is not easy to calculate the area because the figure is open, calculate the number of pixels in each cluster instead of the area, and delete the clusters whose calculated number of pixels is less than the threshold for the number of pixels. May be corrected.

  In the present embodiment, the case where the two image correction units 42 each include the expansion processing unit 142, the reduction processing unit 144, the clustering processing unit 146, the cluster area calculation processing unit 148, and the image update unit 150 has been described. In general, since the “selected image” is often formed by pixels that are linearly continuous, the expansion processing unit 142 and the reduction processing unit 144 may be omitted from the selected image correction unit 42a.

  In the above embodiment, the case where the selected image correcting unit 42a corrects the selected image every time the horizontal position is calculated has been described. However, the correction processing performed by the selected image correcting unit 42a is all stored in the image storage unit 34. An image correction process by the selected image correction unit 42a during the horizontal position calculation process may be omitted in advance for the image. In this case, since the processing performed each time is reduced, the time required for calculating the horizontal position can be shortened.

  In the above embodiment, the case where the horizontal position of the underwater inspection apparatus 9 is calculated by performing image correction processing and matching both the measurement image and the selection image has been described. Only one of them may be subjected to image correction processing to calculate the horizontal position.

  FIG. 17 is a diagram illustrating an example of a display screen of the display device 12. The display screen 120 shown in this figure has a position coordinate display unit 95, a horizontal position image display unit 96, and a camera video display unit 99.

  The position coordinate display unit 95 displays the absolute position of the underwater inspection apparatus 9 read from the position / posture storage unit 38 of the control device 11. The horizontal position image display unit 96 displays a marker 94 indicating the horizontal position of the underwater inspection apparatus 9 together with the horizontal cross-sectional image in the nuclear reactor 1 at the vertical position where the underwater inspection apparatus 9 is located.

  The horizontal cross-sectional image in the nuclear reactor 1 in the horizontal position image display unit 96 is, for example, the shape data (for example, CAD data) of the nuclear reactor 1 stored in the structure data storage unit (not shown) in the control device 11. And the vertical position of the underwater inspection apparatus 9 calculated by the vertical position calculation unit 33, and changes as needed following the vertical movement of the underwater inspection apparatus 9. Further, the horizontal position image display unit 96 has a function of marking the insertion position (initial position) of the underwater inspection apparatus 9 with a marker 97 and a function of displaying or hiding the movement locus 98 of the underwater inspection apparatus 9. Yes.

  The camera image display unit 99 is a portion where an image of the camera 15 mounted on the underwater inspection apparatus 9 is displayed.

  The display device 12 can be switched to another display screen (not shown), and the posture of the underwater inspection device 9 read from the position / posture storage unit 80 is also displayed. According to the display screen 120 configured in this way, the inspector 14 can inspect while visually grasping where the underwater inspection device 9 is in the nuclear reactor 1.

  FIG. 18 is a diagram illustrating an example of another display screen of the display device 12. The display screen 130 shown in this figure is created based on a measurement image display unit 110 on which a measurement image obtained by the underwater inspection apparatus 9 is displayed, and a storage image or selection image stored in the image storage unit 34 (that is, based on design information of the reactor). An initial stored image) or a stored image display unit 115 on which a mirror image added image by the mirror image processing unit 35a is displayed. The images displayed on the display unit 110 and the display unit 115 can be switched to images corrected by the image correction units 42a and 42b, respectively, and the operator arbitrarily selects the images before and after the correction. It can be displayed.

  In the example of FIG. 18, the measurement image and the stored image (selected image, mirror image added image) are displayed in separate windows. However, the measurement image and the stored image (selected image, mirror image added image) are overlapped in one window. You may display. In that case, it is preferable to improve the visibility of each image by making the colors of the images different so that the two images can be easily distinguished.

  FIG. 19 is a diagram showing an example of still another display screen of the display device 12. The display screen 140 shown in this figure is a screen for adjusting the threshold value A1 so that the image correction processing by the image correction unit 42 has a result desired by the user, and the selection image 91 before correction by the selection image correction unit 42a. (Or a mirror image added image 91M) and a selected image display unit 142 that displays a corrected selected image 91R, and a measurement image 92R that is displayed by the measurement image correcting unit 42b before and after the measurement image 92R. A display unit 144 and an input unit 146 for the user to input the threshold value A1 are provided. When the threshold value of the input unit 146 is changed, the corrected selection image 91R and the measurement image 92R change in real time according to the changed threshold value, so that the user can easily obtain a correction image with a desired simplification. be able to.

  In the example of FIG. 19, the selected image before and after the correction and the measurement image before and after the correction are displayed on the same screen, but a display mode in which either one is displayed may be adopted. In the example of FIG. 19, the images before and after correction (selected images or measurement images) are displayed on the same screen. However, the images before and after correction may be displayed individually by displaying them in separate windows. That is, the display example of FIG. 19 is only one of various display examples.

  FIG. 20 is a diagram showing an example of still another display screen of the display device 12. The display screen 160 shown in this figure is a screen on which a mirror image addition selection image 91R and a measurement image 92R are displayed at the same time. A selection image display unit 162 on which a mirror image addition selection image 91R is displayed and a measurement image 92R are displayed. A measurement image display unit 164 is provided. When the selection image 91R and the measurement image 92R are displayed in this way, it can be easily grasped that the measurement image 92R includes a virtual image.

  In the example of FIG. 20, the selection image 91R and the measurement image 92R are displayed on the same screen, but a display mode for displaying either one may be employed. You may comprise so that the selection image 91 before a mirror image addition can be displayed. That is, the display example of FIG. 20 is only one of various display examples.

  As described above, the position detection device of the underwater vehicle (underwater inspection device) according to the present embodiment is created based on the underwater inspection device 9 that can move in the three-dimensional space and the design information of the structure. An image storage unit 34 storing a plurality of stored images in which the outer shape of the structure on a plurality of different planes in the three-dimensional space is associated with position information. Image data obtained by scanning the periphery of the underwater inspection apparatus 9 with an ultrasonic array sensor 24d on a plane on which the underwater moving body is positioned in the three-dimensional space, and the structure on the plane A measurement image calculation unit 36 that acquires a measurement image 92 in which the outer shape of the underwater inspection device 9 is represented, and a storage image that is used to acquire position information of the underwater inspection device 9 from the plurality of storage images. The selection is based on the posture and vertical position of the device 9, and the selected storage image is used as the selection image 91, and the lines constituting the outer shape of the structure in the selection image 91 are used as a reference. A mirror image processing unit 35a that adds a mirror image (81a, 81b, 81c, 81d) of the outer shape to the selected image 91, and a mirror image addition in which the mirror image (81a, 81b, 81c, 81d) is added by the mirror image processing unit 35a. Based on the correspondence between the selection image 91M and the measurement image 92 and the position information attached to the mirror image addition selection image 91M, the position of the underwater inspection apparatus 9 in the plane on which the underwater inspection apparatus 9 is positioned is calculated. A position calculation unit 38.

  If the position detection device for an underwater moving body is configured in this way, the selected image can be used even when the state of the actual structure is different from that at the time of creating the stored image or when the measurement image includes noise due to reverberation or the like. The horizontal position of the underwater inspection apparatus 9 is calculated by map matching the mirror image addition selected image 91M obtained by adding the mirror images 81a, 81b, 81c and 81d in consideration of the influence of multiple reflection (reflection) to 91 and the measurement image 92. As a distance sensor, an error associated with position calculation compared to a case where a selected image is simply matched with a measurement image obtained by using an object that is easily affected by multiple reflections (for example, the ultrasonic array sensor 24d). Can be reduced. Therefore, according to this Embodiment, the detection accuracy of the position of the underwater inspection apparatus 9 in the environment where the design information and measurement information of a structure are different can be improved.

  Moreover, the underwater inspection apparatus 9 in the present embodiment includes laser sensors 23a and 23b each having a light projecting unit 26 and a light receiving unit 27 as a relative distance detector (distance sensor) that detects a relative distance to the structure. Since the range sensor unit 23 is provided, the following effects are exhibited. That is, for example, in a configuration in which either one of the light projecting unit and the light receiving unit is provided on the underwater inspection device side and the other is provided on the structure side, the underwater inspection device may have a narrow portion or a complicated structure interposed. When it is arranged in a rough environment, it becomes difficult to detect the position of the underwater inspection apparatus. On the other hand, in the present embodiment, since both the light projecting unit 26 and the light receiving unit 27 are provided on the underwater inspection apparatus 9 side, even when arranged in an environment where a narrow portion or a complicated structure exists, The position of the inspection device 9 can be detected.

  In the above description, the case where the pixels constituting the stored image include one or more reference pixels to which the horizontal position information is attached has been described. However, the horizontal position information is attached to all the pixels constituting the stored image. You may do it. In this case, if the pixel where the center of the measurement image is located on the selected image can be identified, the horizontal position can be calculated from the horizontal position information attached to the pixel. Thus, the horizontal processing calculation process can be easily performed.

  In the above embodiment, the relative distance detector (distance sensor) is not only the ultrasonic sensor 24d that transmits ultrasonic waves and receives the reflected waves, but also reflects the reflection by scanning the laser in many directions. Since the scanning laser sensors 24a and 24b that receive light are provided, the laser light or the like is reduced in transmittance when the distance to the structure is far away or when the water in the measurement environment is cloudy. Even when it is difficult to detect the relative distance by the sensors 24a and 24b, the relative distance detection by the ultrasonic sensor 24d, that is, the position calculation of the underwater inspection apparatus 9 can be accurately executed without being affected by the echo. Specifically, when the distance to the structure is equal to or less than a predetermined threshold, measurement images are acquired by the laser sensors 24a and 24b, and when the distance to the structure exceeds the threshold, the ultrasonic sensor 24d is used. Some control devices 11 are configured to acquire a measurement image.

  In the above description, the measurement image and the stored image used for position calculation are limited to the horizontal plane. However, the measurement image and the stored image are not limited to the horizontal plane and may be other planes that intersect the horizontal plane. As a configuration example in this case, a three-dimensional model of a structure to be inspected is stored in a storage device, and parallel to the measurement image at a position close to the vertical position of the underwater inspection device 9 when the measurement image is acquired. The three-dimensional model is cut by one or more planes, the one or more images obtained as a result are stored as images, and the stored image is matched with the measurement image to estimate the horizontal position of the underwater inspection apparatus 9 There is. In this case, the inclination of the measurement image with respect to the horizontal plane may be estimated from the attitude of the underwater inspection apparatus 9, and one or more images having the inclination may be cut out from the three-dimensional model as a stored image.

  Moreover, the order of each process demonstrated using FIG. 10 and the figure relevant to this in the above is only an example, and the order of each process is changeable suitably within the range to which the change of a calculation result is accept | permitted. .

  In the above description, the case where the control device 11 includes the selection image correction unit 42 has been described as an example. However, the selection image correction unit 42 is omitted, and the selection image and measurement image calculation unit from the mirror image processing unit 35a are omitted. The horizontal position of the underwater inspection apparatus 9 may be calculated by performing map matching on the measurement image from 36 by the corresponding part specifying unit 37.

  Furthermore, in the above description, the position detection device for the underwater mobile body used in the in-reactor inspection system has been described. It can be widely applied to the position detection of a moving body. In particular, the present invention is suitable for grasping the position of the moving body in an environment where the moving body cannot be directly visually observed.

  In addition, this invention is not limited to said embodiment, The various modifications within the range which does not deviate from the summary are included. For example, the present invention is not limited to the one having all the configurations described in the above embodiment, and includes a configuration in which a part of the configuration is deleted.

  In addition, each configuration related to the control device 11 and the functions and execution processes of the respective configurations are realized by hardware (for example, logic for executing each function is designed by an integrated circuit). You may do it. Further, the configuration related to the control device 11 may be a program (software) that realizes each function related to the configuration of the control device by being read and executed by an arithmetic processing device (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

  In the description of the above embodiment, the control line and the information line are shown to be understood as necessary for the description of the embodiment. However, all the control lines and information lines related to the product are not necessarily included. It is not necessarily shown. In practice, it can be considered that almost all the components are connected to each other.

  DESCRIPTION OF SYMBOLS 9 ... Underwater inspection apparatus (underwater moving body), 11 ... Control apparatus, 18 ... Pressure sensor (vertical position detector), 19 ... Inertial sensor part (attitude detector), 20 ... 3-axis gyro, 21 ... Inclinometer, 22 ... Geomagnetic sensor, 23 ... Range sensor unit (relative distance detector), 24a ... Laser sensor, 24b ... Laser sensor, 24d ... Ultrasonic array sensor, 34 ... Image storage unit, 35 ... Image selection unit, 35a ... Mirror image processing unit 36 ... Measured image calculating unit 37 ... Corresponding part specifying unit 38 ... Horizontal position calculating unit 42 ... Image correcting unit 110 ... Measured image displaying unit 115 ... Stored image displaying unit

Claims (10)

An underwater vehicle capable of moving in a three-dimensional space;
It is image data on a certain plane created based on the design information of the structure, and is based on the outline of the structure on the certain plane and the lines constituting the outline of the structure. A storage device that stores image data in which a mirror image of the outer shape of the structure is associated with position information;
An image acquisition unit that acquires image data obtained by scanning the underwater moving body on the certain plane with a distance sensor, and representing an outer shape of the structure on the certain plane. When,
Based on the correspondence between the image data stored in the storage device and the measurement image acquired by the image acquisition unit, and the position information attached to the image data stored in the storage device, A position detection unit that calculates a position of the underwater moving body on a certain plane. In the position detection apparatus of the underwater mobile object according to claim 1,
The storage device includes a plurality of pieces of image data created based on the design information of the structure, wherein the outer shape of the structure on a plurality of different planes in the three-dimensional space is associated with position information. A plurality of stored images are stored,
A stored image used for acquiring the position information of the underwater moving body is selected from the plurality of stored images based on the posture and vertical position of the underwater moving body, and the selected stored image is selected. An image selection unit as an image;
A mirror image processing unit for adding a mirror image of the outer shape with reference to a line constituting the outer shape of the structure in the selected image to the selected image;
The image acquisition unit is image data obtained by scanning the periphery of the underwater moving body with the distance sensor on a plane on which the underwater moving body is positioned in the three-dimensional space, and the structure on the plane Get a measurement image showing the outline of the object,
The position calculation unit is based on a correspondence relationship between the selected image to which the mirror image is added by the mirror image processing unit and the measurement image acquired by the image acquisition unit, and position information attached to the selected image. A position detection device for an underwater moving body, wherein the position of the underwater moving body in a plane on which the underwater moving body is positioned is calculated. In the position detection apparatus of the underwater mobile object according to claim 1,
An underwater moving body position detection device, wherein an outer shape of the structure in the image data stored in the storage device is defined by combining a plurality of straight lines. In the position detection apparatus of the underwater mobile object according to claim 1,
The position sensor of an underwater moving body, wherein the distance sensor is an ultrasonic sensor. In the position detection apparatus of the underwater mobile object according to claim 1,
The distance sensor is an ultrasonic sensor and a laser sensor. In the position detection apparatus of the underwater mobile object according to claim 1,
An image to be corrected by simplifying each of the image data stored in the storage device and the measurement image acquired by the image acquisition unit before the position calculation unit considers the corresponding relationship A position detecting device for an underwater vehicle, further comprising a correction unit. In the position detection device of the underwater mobile object according to claim 6,
The image correction unit
An expansion processing unit for enlarging each pixel of the image data stored in the storage device and the measurement image acquired by the image acquisition unit ;
A reduction processing unit for reducing each pixel of the output image of the expansion processing unit;
A clustering processing unit for classifying the outer shape of the structure of the output image of the reduction processing unit;
A cluster area calculation processing unit for calculating the area of each cluster of the output image of the clustering processing unit;
The image data stored in the storage device by deleting, from the output image of the clustering processing unit, a cluster having an area equal to or smaller than a preset threshold among the areas of the plurality of clusters calculated by the cluster area calculating processing unit. And an image updating unit for correcting the measurement image acquired by the image acquisition unit . In the position detection apparatus of the underwater mobile object according to claim 2,
In order to calculate the vertical position of the underwater moving body, the underwater moving body position detection apparatus further includes a pressure sensor that detects a depth of the underwater moving body in water. In the position detection apparatus of the underwater mobile object according to claim 1,
An underwater moving body position detection device, further comprising: a display device configured to display the image data stored in the storage device and including the mirror image, and the measurement image obtained by the image acquisition unit. Creating image data created based on the design information of the structure, wherein the outer shape of the structure on a certain plane is represented in association with the position information;
Creating a mirror image of the outer shape of the structure with reference to lines constituting the outer shape of the structure in the stored image, and adding the mirror image to the stored image;
By measuring the distance from the underwater moving body to the structure existing around the underwater moving body on the certain plane, a measurement image showing the outer shape of the structure on the certain plane is obtained. A step to obtain,
Based on the correspondence between the stored image to which the mirror image is added and the measurement image and the positional information attached to the stored image to which the mirror image is added, the underwater moving object on the certain plane A method for detecting the position of an underwater vehicle, comprising: calculating a position.

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