JP6384362B2 - Fluid detector - Google Patents

Description

  The present invention relates to a fluid detection device that detects a specific type of fluid contained in a detection region.

  In factories, power plants, etc., a large amount of gas is used as a chemical material or fuel. The gas used as the chemical material or fuel is flammable or toxic, and if it leaks to the outside, it may cause air pollution, fire or explosion. Or Even if the toxicity is low, if the concentration is high, the oxygen concentration may decrease, leading to accidents such as suffocation.

  Therefore, in the facility using the gas, an operator periodically circulates the piping and the device through which the gas flows in the facility to monitor gas leakage. In addition, a plurality of detection devices are attached to the piping to synchronize all the detection devices, and the leakage position on the piping is specified based on the time when the detection device detects the leakage (for example, JP 2000-266626 A). Issue gazette).

  Furthermore, an optical gas leak detection system using the heat of gas has been proposed (for example, JP 2009-192469 A). In an optical gas leak detection system, an attachment including a heat receptor is attached to a flange, which is a part where gas leakage is likely to occur in an infrared camera. When the heat receptor is heated due to gas leakage, infrared rays are emitted from the heat receptor. Gas leakage is detected by imaging infrared rays emitted from the heat receptor with an infrared camera.

  In addition, an optical gas detection device using an optical absorption characteristic specific to gas has been proposed (for example, Japanese Translation of PCT International Publication No. 2010-522317). In the optical gas detection device, a space for detecting gas leakage is imaged by an image sensor, an increase / decrease due to the influence of gas of black body radiation generated by an object constituting the landscape is detected, and the presence or absence of gas leakage is determined.

JP 2000-266626 A JP 2009-192469 A Special table 2010-522317

  In the measuring apparatus disclosed in Japanese Patent Laid-Open No. 2000-266626, a detection device is attached to a pipe, and leakage from the pipe can be detected. However, it is difficult to detect leaks from parts other than piping. Further, in order to increase the accuracy of specifying the leak position, it is necessary to increase the number of detectors installed, which complicates the configuration of the device and increases the installation cost. Moreover, it is necessary to synchronize all the detection devices, and synchronization control becomes difficult when the number of detection devices increases.

  Moreover, in the gas leak detection system described in Japanese Patent Application Laid-Open No. 2009-192469, it is possible to confirm that there is a leak from the flange, but it is difficult to detect a gas leak from a portion other than the flange. It is difficult to specify the detailed position of the gas leak. Furthermore, since it is the structure which images the infrared rays emitted from the heat receptor heated with the leaked gas, the temperature of the gas must be high, and the low temperature gas cannot be detected.

  In addition, the optical gas detection device described in Japanese Translation of PCT International Publication No. 2010-522317 takes an image with an angle of view so that the entire space for detecting gas leakage enters, and the exact position of the leakage is determined from the gas image. It is difficult. Further, by narrowing the angle of view, it is possible to determine the exact position of the leak from the gas image, but the monitoring area of the gas leak is narrowed.

  Therefore, an object of the present invention is to provide a fluid detection device capable of accurately detecting the spread of fluid in order to grasp the leakage state of the fluid in the detection region.

  In order to achieve the above object, the present invention is a fluid detection device that detects the spread of a fluid in a detection region, and that captures an image formed by light in a wavelength region including the absorption wavelength of the fluid. A range moving unit that moves the imaging range of the imaging unit, and a processing unit that controls the operation of the range moving unit, wherein the processing unit scans the entire detected region. The range moving unit is controlled so as to follow a standard path set so as to scan, and when the imaging unit acquires the fluid image, the imaging range in which the fluid image is acquired and a range in the vicinity thereof are scanned. The range moving unit is controlled by switching to an image acquisition path for capturing the whole image of the fluid.

  According to this configuration, since the imaging is performed in the imaging range having a smaller area compared to the detection area for detecting the spread of the fluid, the entire detection area can be imaged with fine imaging data. Thereby, the image of the spread of the fluid can be taken accurately. Moreover, since the imaging range can be kept narrow, the cost increase of the imaging unit can be suppressed.

  In the above configuration, the standard path is set to have a plurality of divided areas that are the same size as the imaging range and arranged in the detected area without gaps, and the imaging range sequentially overlaps the plurality of divided areas. The image acquisition path is a path for moving the imaging range so that the imaging range sequentially overlaps the divided areas around the divided area where the leaked fluid image is acquired. . With this configuration, the entire detected area can be periodically monitored when operating on the standard route. When the fluid is detected, the surroundings are intensively monitored, so that the spread of the fluid in real time can be grasped. As a result, the operator can take measures against the fluid safely and quickly.

  In the above configuration, the processing unit captures the entire image of the fluid, and then corrects the position of the divided region so that the entire image of the fluid is within the minimum number of the divided regions. Control. Thus, by making the entire image of the fluid fit in the minimum divided region, the number of fluid images to be combined can be suppressed, and a decrease in the accuracy of the fluid image can be suppressed. Moreover, the processing time when combining can be reduced.

  In the above configuration, the range moving unit may hold the imaging unit and rotate the imaging unit around at least one axis.

  In the above configuration, the fluid may include a gaseous substance.

  The said structure WHEREIN: The said imaging part may be provided with the image pick-up element which can receive infrared light.

  In the above configuration, the range moving unit sets the imaging range such that an imaging time per unit area when moving the imaging range along the image acquisition path is longer than when moving along the standard path. It may be moved.

  According to the present invention, it is possible to provide a fluid detection device capable of accurately detecting the spread of fluid in order to grasp the leakage state of the fluid in the detection region.

It is the schematic of the fluid detection apparatus concerning this invention. It is the schematic which shows the state which has detected the leak of the fluid of the to-be-detected area | region with the fluid detection apparatus shown in FIG. It is a perspective view of an example of a range movement part. It is a top view which shows the scanning of an imaging range. It is a figure which shows the operation path | route of the imaging range when gas has generate | occur | produced in the to-be-detected area | region. It is a flowchart which shows the procedure which detects methane gas. It is a top view which shows the to-be-detected area | region of the state which detected methane gas. It is a schematic enlarged view of the imaging data in which the image of methane gas is reflected. It is a top view of the to-be-detected area | region which shows the state which moved the division area. It is a top view of the to-be-detected area | region which shows the state which moved the division area. It is a top view of the to-be-detected area | region which shows the state which moved the division area.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram of a fluid detection device according to the present invention, and FIG. 2 is a schematic diagram showing a state in which the fluid detection device shown in FIG. The fluid detection device A according to the present invention can grasp the leakage of the fluid from the piping or the machine in the detection area by detecting the spread of the fluid. In FIG. 1, the solid line indicates the signal flow, and the broken line indicates the rotation support state.

  The fluid detected by the fluid detection device A according to the present invention is a gaseous chemical substance or a gas in which fine particles are suspended (collectively referred to as a gaseous substance), and specifically, methane gas. That is, methane gas spreading in the atmosphere is detected in the detected region Re (part of the city gas plant), and the leakage of methane gas is grasped.

  As illustrated in FIG. 1, the fluid detection device A includes an imaging unit 100 that captures an image of the detected area Re, a range moving unit 200 that moves the imaging range of the imaging unit 100 within the detected area Re, and a processing unit 300. I have.

  The imaging unit 100 includes an imaging optical system 110, an imaging sensor 120, a filter 130, an image generation unit 140, and a connection interface 150. The imaging unit 100 includes a casing 160 that constitutes an exterior. The imaging optical system 110, the imaging sensor 120, the filter 130, the image generation unit 140, and the connection interface 150 are arranged inside the casing 160. The imaging unit 100 is a so-called digital camera that images the detected area Re.

  The imaging optical system 110 is an optical system for forming an image of the detection area Re on the light receiving surface of the imaging sensor 120, and includes one or a plurality of lenses. Here, the imaging optical system 110 employs a fixed focal point and a fixed stop. However, the present invention is not limited to this, and it may be possible to change the angle of view of the imaging range Pr or perform focusing.

  The lens used for the imaging optical system 110 selects a material so as to transmit the absorption wavelength of the fluid to be detected. For example, when there is an absorption wavelength in the wavelength range from the visible light range to the near infrared light range, optical glass is used. In addition, when there is an absorption wavelength in the wavelength range from the mid-infrared region to the far-infrared region, an infrared light transmitting material such as Ge, Si, or chalcogenide glass is used. Moreover, in order to improve the transmittance | permeability of a predetermined wavelength range, the coating may be given to the surface. The fluid detection device A of the present embodiment detects methane gas, and the optical absorption wavelength of the methane gas is about 3.3 μm (infrared region light: hereinafter referred to as infrared light). As the lens constituting the system 110, a lens formed of an infrared light transmitting material is employed.

  When methane gas exists within the imaging range, light is absorbed by the methane gas. This absorbed part is imaged as a shadow (image). In order to capture such an image due to light absorption of methane gas, the imaging unit 100 uses an image sensor having a high light receiving rate of the absorption wavelength of methane gas. Since the light absorption wavelength of methane gas is about 3.3 μm, the image sensor 120 is a sensor that can capture light in this wavelength region, that is, an infrared light image. The imaging sensor 120 has a configuration in which photoelectric elements that convert infrared light into electrical signals are two-dimensionally arranged on the light receiving surface. Then, the image sensor 120 receives the infrared light from the detection region Re by each photoelectric element and photoelectrically converts the infrared light from the detection region Re, thereby acquiring an image of the infrared light (black body radiation) from the detection region Re. As a material of the photoelectric element, indium antimony (InSb) having high infrared light receiving sensitivity around a wavelength of 3.3 μm can be given.

  In the imaging unit 100, a filter 130 is disposed between the imaging optical system 110 and the imaging sensor 120. The filter 130 transmits light having a wavelength suitable for acquiring a methane gas image out of light (infrared light) incident on the imaging optical system 110. In other words, the filter 130 cuts light having a wavelength unnecessary for acquiring the methane gas image. To do. The filter 130 is, for example, a band pass filter that transmits light having a wavelength of about 3.2 μm to about 3.4 μm.

  The imaging sensor 120 receives infrared light having a wavelength of about 3.2 μm to about 3.4 μm that has passed through the filter 130, and sends an electrical signal obtained by photoelectrically converting the received infrared light to the image generation unit 140. The image generation unit 140 performs processing for converting the electrical signal sent from the imaging sensor 120 into imaging data. In the present embodiment, the image generation unit 140 performs processing for generating captured image data of 30 fps moving images. The electrical signal output from the imaging sensor 120 indicates the luminance of light in gradation, and the imaging data generated by the image generator 140 is imaging data (monochrome image of a monochrome image) indicating gradation from white to black. Data). However, the present invention is not limited to this, and color image data may be used.

  The image generation unit 140 is configured to output moving image data based on an electrical signal from the image sensor 120, but is not limited thereto, and a still image is captured at regular intervals. Data may be output. In addition, the image generation unit 140 may perform preprocessing (for example, gamma correction or luminance correction) for acquiring an image of methane gas on the generated imaging data, or perform processing for detecting an image of methane gas. You may go. The image generation unit 140 of the present embodiment is configured to generate imaging data and transmit it to the external processing unit 300 via the connection interface 150.

  The connection interface 150 is an interface for connecting the optical detection device A to an external device. In the present embodiment, the processing unit 300 is connected. Examples of the connection interface 150 include a terminal for wired connection such as a USB or an optical cable. Further, an interface (antenna) for performing wireless communication such as wireless LAN and Bluetooth (registered trademark) may be used.

  The imaging optical system 110, the imaging sensor 120, the filter 130, the image generation unit 140, and the connection interface 150 are disposed inside the housing 160. In addition, since the imaging optical system 110 makes the infrared rays from the detection area Re enter the imaging sensor 120, a part of the imaging optical system 110 is exposed to the outside of the casing. Also, a part of the connection interface 150 is exposed outside the housing in order to connect the cable. Since these members are members that dislike foreign matters such as moisture, dust, and dust, the housing 160 has a hermetically sealed structure so that foreign matters such as moisture, dust, and dust do not enter. Moreover, it has a structure that can withstand external impacts and vibrations.

  In the imaging unit 100, blackbody radiation (infrared light) from the detection region Re enters from the imaging optical system 110. When the incident black body radiation passes through the filter 130, wavelength components other than wavelengths of about 3.2 μm to about 3.4 μm are cut. Thereby, infrared light having a wavelength of about 3.2 μm to about 3.4 μm is incident on the image sensor 120, and image data is generated by the image generation unit 140 based on the electrical signal from the image sensor 120. Thereby, the imaging unit 100 acquires imaging data of infrared light in the detection area Re. When methane gas exists (is leaking) in the detection region Re, light having a wavelength of about 3.3 μm is absorbed by the methane gas. Therefore, the portion where methane gas is present in the imaging data is darker (the gradation is lower) than the other portions. The darker part than the other part is an image of methane gas.

  The imaging unit 100 is attached to the range moving unit 200, and the imaging range of the imaging unit 100 is moved by the range moving unit 200. Here, the range moving unit 200 will be described with reference to the drawings. FIG. 3 is a perspective view of an example of the range moving unit. As shown in FIG. 3, the range moving unit 200 includes a base part 210, a rotary base 220 provided rotatably on the base part 210, and a rotation support part 230 disposed on the rotary base 220. Yes. The rotating pedestal 220 is rotatably supported by the base 210 so as to rotate about a vertical axis d1 extending in the vertical direction. The rotation support unit 230 rotates the imaging unit 100 about a horizontal axis d2 orthogonal to the vertical axis d1.

  The range moving unit 200 is a so-called pan / tilt head that rotates the imaging unit 100 about two axes (vertical axis d1 and horizontal axis d2) orthogonal to each other. The range moving unit 200 rotates the imaging unit 100 around the horizontal axis d2 (tilts) and rotates the rotation support unit 230 and the rotating pedestal 220 holding the imaging unit 100 around the vertical axis d1 (pans). ). The range moving unit 200 includes a drive unit 240 (see FIG. 1) for rotating the rotary base 220 about the vertical axis d1 and rotating the imaging unit about the horizontal axis d2. The drive unit 240 has a configuration capable of individually performing rotation around the horizontal axis d2 of the imaging unit 100 and rotation around the vertical axis d1 of the rotary base 220. As a configuration of the drive unit 240, The actuator may be driven by two independent actuators, or may be a combination of one actuator and a power transmission mechanism such as a gear. The drive unit 240 is controlled by a drive control unit 320 described later of the processing unit 300.

  The range moving unit 200 can move the imaging range of the imaging unit 100 in two orthogonal directions within the detection area Re by rotating around the vertical axis d1 and the horizontal axis d2. Then, by operating the range moving unit 200, the imaging range moves so as to fill the detected region Re without a gap. Although details of the movement of the imaging range will be described later, the movement of the imaging range may be referred to as scanning in the following description because the movement is performed so as to sequentially monitor the entire detected area Re. As described above, the range moving unit 200 rotates the rotating pedestal 220 around the vertical axis d1 and the housing 160 around the horizontal axis d2, and the range moving unit 200 determines the imaging range of the imaging unit 100 as the detection area. It is possible to move in Re in two orthogonal directions.

  The processing unit 300 is connected to the imaging unit 100 and the range moving unit 200, and receives imaging data from the imaging unit 100 while controlling the operation of the range moving unit 200. And the process part 300 detects the spreading | diffusion state of methane gas based on the received imaging data.

  The processing unit 300 includes a data processing unit 310, a drive control unit 320, a storage unit 330, a display unit 340, and a connection interface 350. The connection interface 350 is an interface for connecting to the imaging unit 100 and the range moving unit 200 described above. The connection interface 350 is connected to the imaging unit 100 and the range moving unit 200 by wire or wireless. Note that in the fluid detection device A according to the present invention, a large amount of imaging data is often transmitted from the imaging unit 100, so that the connection is wired. However, the present invention is not limited to this.

  The processing unit 300 receives imaging data from the imaging unit 100 via the connection interface 350. The fluid detection device A according to the present invention is a detection device that detects the spread (leakage) of the fluid, and also serves as a monitoring device for the detection area Re. Therefore, all the imaging data from the imaging unit 100 is stored in the storage unit 330 regardless of the presence or absence of methane gas leakage. In addition, the operator may check the fluid detection device A constantly or at regular intervals. In preparation for such a case, the processing unit 300 may display the sent image data directly on the display unit 340 (without image processing). Note that examples of the display unit 340 include a display device such as a liquid crystal display device and an organic EL display device, but are not limited thereto.

  The storage unit 330 is a memory for storing data sent to the processing unit 300, data processed by the processing unit 300 (data processing unit 310), and the like. The storage unit 330 includes a recording medium such as a read-only ROM, a readable / writable RAM, a flash memory, and a hard disk. In the case where the processing unit 300 is configured to activate a program and perform various processes, a program for performing each process is also stored in the storage unit 330. Note that in the present embodiment, the storage unit 330 stores imaging data sent from the imaging unit 100, coordinate information used when controlling the movement of the range moving unit 200, and the like. In addition, a correction table for correcting the coordinate system described later is also provided. In addition to these, various data can be stored.

  The data processing unit 310 performs image processing so that an image of methane gas in the imaging data appears clearly, and performs processing for detecting the presence or absence of the methane gas image and the methane gas image from the imaging data after the image processing. Do. Examples of image processing include binarization processing, edging processing, smoothing processing, and the like. Note that the method for detecting an image of methane gas from the imaged data after image processing is a known process and will not be described in detail. Further, the position where the methane gas leaks may be estimated from the imaging data.

  As described above, the detected area Re is a part of the city gas plant, and includes an alarm device Cr that warns a person such as an operator with sound and / or light in preparation for an emergency. In the fluid detection device A, the processing unit 300 is connected to the alarm device Cr via the connection interface 350. When the data processing unit 310 detects the spread of methane gas in the detection area Re and determines that the methane gas is leaking, the processing unit 300 sends an instruction to perform an alarm to the alarm device Cr.

  In the fluid detection apparatus A, the imaging range of the imaging unit 100 is sequentially switched (scanned), and the entire detected area Re is sequentially imaged. By driving the range moving unit 200, the detection area Re is scanned within the imaging range of the imaging unit 100. The imaging unit 100 is attached to a pole Po that extends in a direction perpendicular to the detected area Re so that distortion of the imaged data taken after the movement is suppressed and the entire detected area Re can be scanned in the imaging range. (See FIG. 2). In the present embodiment, the pole Po for attaching the imaging unit 100 is cited, but the present invention is not limited to this, and it is possible to overlook the non-detection area Re of the plant building, device, etc. A place where the detection area Re can be scanned in the imaging range can be mentioned.

  In the fluid detection device A according to the present invention, the range moving unit 200 scans the imaging unit 100 and images the entire detected region Re. Scanning of the imaging range of the imaging unit 100 will be described with reference to the drawings. FIG. 4 is a plan view showing scanning of the imaging range. The processing unit 300 according to the present invention equally divides the detection area Re so as to have eight rows and five columns, and assumes a division area R in the detection area Re. The divided region R is rectangular here, but is not limited thereto. However, the movement of the imaging range Pr is determined by the range moving unit 200, and in the case of two axes or less (including one axis), a rectangular shape is preferable.

  Each divided region R is overlapped with the imaging range Pr of the imaging unit 100, that is, has the same shape and size. In other words, the configuration of the imaging optical system 110 of the imaging unit 100 is adjusted so that the imaging range Pr overlaps the divided region R. 2 and 4, the imaging range Pr is displayed smaller than the divided region R for convenience, but the divided region R is actually determined based on the imaging range Pr, and the imaging range Pr Is the same size as the divided region R.

  In the following description, for the convenience of explaining the operation, for the divided region R, the i-th column (i = 1 to 8) from the left end in the horizontal direction and the j-th (j = 1 to 5) divided region from the top. Displayed as a divided area Rij. For example, the fourth row from the left and the third row from the top are displayed as a divided region R43. The drive control unit 320 scans the imaging range Pr along a route as shown in FIG. That is, the drive control unit 320 operates the range moving unit 200 to overlap the imaging range Pr with the upper left divided region R11. And it stops for the predetermined time in the state which matched imaging range Pr with division area R11.

  In the imaging unit 100, the imaging unit 100 may shake due to the change or stop of the acceleration of the range moving unit 200 after the imaging range Pr stops. After the time until the shaking converges, the imaging unit 100 defines the divided region R11. Take an image. The imaging data generated by the image generation unit 140 is transmitted from the imaging unit 100 to the processing unit 300.

  Then, after a predetermined time has elapsed, the drive control unit 320 sends an instruction to rotate (pan operation) the rotary base 220 around the vertical axis d1. As a result, the imaging range Pr moves in the horizontal direction, and the drive control unit 320 stops moving the imaging range Pr to the divided region R21. In accordance with the above-described procedure, the imaging unit 100 captures the divided region R21 during the stop and transmits the imaging data to the processing unit 300.

  In this way, the drive control unit 320 moves the range moving unit 200 to the rightmost region R81 of the first stage. After completing the imaging operation of the region R81, the drive control unit 320 drives the rotation support unit 230 to rotate the imaging unit 100 around the horizontal axis d2 and move the imaging range Pr to the second stage region. That is, the area R81 is moved to the area R82. Thereafter, each time imaging is completed from the region R82, the rotating base 220 is driven so that the imaging range Pr overlaps the region adjacent in the left direction. Then, when imaging of the leftmost region R12 in the second stage is completed, the region moves to the third stage region (R13).

  The drive control unit 320 presets a path (standard path) for moving the imaging range Pr to the left and right and moving downward at both ends thereof, in other words, zigzag, and sets the imaging range Pr along the path. Move. When the imaging range Pr moves to the fifth-stage right end divided area R85, the same operation is repeated from the first-stage left end divided area R11. As described above, by performing imaging while moving the imaging range Pr, it is possible to obtain imaging data with an accuracy capable of accurately detecting an image of methane gas even when the detection area Re is wide.

  Next, the operation of the fluid detection device A when an image of methane gas is detected while scanning the imaging range Pr inside the detection area Re will be described with reference to the drawings. FIG. 5 is a diagram showing an operation path in the imaging range when gas is generated in the detection area, and FIG. 6 is a flowchart showing a procedure for detecting methane gas. As shown in FIG. 5, it is assumed that methane gas leaks in the divided region R43 at the center of the detected region.

  As shown in FIG. 6, the drive control unit 320 drives the range moving unit 200 so that the imaging range Pr moves along the above-described standard path (step S101). After completing the movement of the imaging range Pr, the imaging unit 100 captures the stopped divided region and transmits the imaging data to the processing unit 300 (step S102). In the fluid detection device A, the drive control unit 320 controls the range moving unit 200 so that the imaging range Pr of the imaging unit 100 operates within the detected region Re along the standard path. The processing unit 300 performs image processing on the imaging data transmitted by the data processing unit 310 (step S103). The data processing unit 310 analyzes the imaging data that has been subjected to image processing, and checks whether or not an image of methane gas is reflected (step S104).

  When an image of methane gas is not shown in the imaging data (No in step S104), the process returns to step S101, and the imaging range Pr is moved and imaged along the standard path. As shown in FIG. 5, when the imaging range Pr moves to the divided region R43, an image G1 of methane gas appears in the imaging data. When the data processing unit 310 confirms that an image of methane gas is reflected (Yes in step S104), the drive control unit 320 moves from the standard path to an image acquisition path for examining the entire image of the methane gas image G1. Change (step S105).

  Here, the image acquisition path will be described. When the imaging range Pr is moved along the standard path, the divided area R43 is reached next to the divided area R33. When the methane gas image G1 is detected in the imaging data captured in the divided region R43, the processing unit 300 determines that there is a possibility that the methane gas is also diffused around the divided region R43. The image acquisition path starts from the divided area R43, moves the imaging range Pr sequentially to the area close to the divided area R43, in FIG. 5, the divided areas R53, R54, R44, R34, R33, R32, R42, and R52. This is a route returning to the divided region R43 again.

  Then, after imaging the imaging data in these divided areas, the imaging range Pr is moved again to the divided area R43 to perform imaging. The image acquisition path is a path that moves clockwise in the divided areas R53, R54, R44, R34, R33, R32, R42, and R52, but is not limited to this. It may be counterclockwise, or may be a path that moves left and right (scans) for each stage.

  The drive control unit 320 drives the range moving unit 200 so that the imaging range Pr moves along the above-described image acquisition path (step S106). After completing the movement of the imaging range Pr, the imaging unit 100 captures the stopped divided area and transmits the imaging data to the processing unit 300 (step S107). In the image acquisition path, the time for stopping the imaging range Pr in each divided area is set longer than the time for stopping the imaging range Pr in each divided area in the standard path. Thereby, it becomes possible to acquire the image of methane gas correctly. Then, the data processing unit 310 confirms whether the imaging range Pr has finished moving the image acquisition path (step S108). When the movement of the image acquisition path is not completed (No in Step S108), the process returns to Step S106, and the drive control unit 320 moves the imaging range Pr to the next divided area.

  When the movement of the image acquisition path is completed (Yes in step S108), the data processing unit 310 joins the imaging data from the divided areas set in the image acquisition path to obtain the image data of the entire image of methane gas. The creation process is performed (step S108). Thereby, the image (for example, the whole image of methane gas) including the circumference | surroundings of the image G1 of methane gas is acquirable.

  The drive control unit 320 moves the imaging range Pr along the image acquisition path, returns to the original divided region R43, and then returns to the movement of the imaging range Pr along the standard path (returns to step S101). As described above, in the fluid detection device A, the detected area Re is imaged while scanning the detected area Re in the imaging range Pr, and an entire methane gas image is acquired from the imaging data. In the present embodiment, the imaging range Pr is moved once in each divided area set in the image acquisition path to perform imaging. However, the present invention is not limited to this. The imaging range may be moved a plurality of times.

  By scanning the detection area Re within the imaging range Pr, the imaging range Pr can be sized to accurately capture an image of methane gas. Further, by scanning, it is possible to accurately detect the spread (leakage) of methane gas in the detection region Re having a large area with respect to the imaging range Pr.

(Second Embodiment)
Still another example of the fluid detection device according to the present invention will be described with reference to the drawings. In the first embodiment, when an image of the spread of methane gas (leakage image) is detected, the imaging range Pr is moved so as to move a divided region adjacent to a divided region in which imaging data in which the image is reflected is captured. . That is, in the first embodiment, the image acquisition path is predetermined.

  Methane gas hardly stays in one place, and images of methane gas are often detected across the divided areas. Therefore, in the fluid detection device according to the present embodiment, the image acquisition path is determined to be changed according to the image of methane gas. The fluid detection device of the present embodiment has the same configuration as the fluid detection device A and performs the same operation except that the image acquisition path setting method is different. Therefore, description will be made using the same reference numerals as those of the fluid detection device A.

  FIG. 7 is a plan view showing a detection area in a state where methane gas is detected, and FIG. 8 is a schematic enlarged view of imaging data in which an image of methane gas is shown. In FIG. 7, an image G2 of methane gas is detected so as to extend over the divided regions R43, R53, R54, and R44. FIG. 8 shows an image of methane gas when imaging is performed with the imaging range Pr superimposed on each of the divided regions R43, R53, R54, and R44.

  In the example of FIG. 7, the drive control unit 320 controls the drive of the range moving unit 200 so that the imaging range Pr follows the standard path. Then, the data processing unit 310 detects the methane gas image G2 from the image data after the image processing of the imaging data (referred to as the imaging data of the divided region R43) captured when the imaging range Pr overlaps the divided region R43. When the methane gas image G2 is detected from the imaging data of the divided region R43, the data processing unit 310 specifies the boundary Bd1 of the methane gas image G2. For specifying the boundary Bd, a known image processing method is used.

  When the data processing unit 310 specifies the boundary Bd1 of the methane gas image G2, the data processing unit 310 checks which side of the divided region R43 the boundary Bd1 is connected to. For example, in the divided region R43 illustrated in FIG. 8, the boundary Bd1 is connected to the right side and the lower side of the divided region R43. This can be presumed that the image G2 of methane gas in the divided region R43 extends to the right divided region R53 or the lower divided region R44. Using this, the data processing unit 310 selects either the next divided region R53 or the divided region R44. Here, the image acquisition path is set to be clockwise, the divided region R53 is selected as the divided region to be moved next, and the information is sent to the drive control unit 320. Thereafter, the drive control unit 320 drives the range moving unit 200 to move the imaging range Pr to the divided region R53.

  Then, the data processing unit 310 performs similar image processing on the imaging data of the divided region R53, detects the methane gas image G2, and specifies the boundary Bd1. In the divided region R53, the boundary Bd1 extends from the side (here, the left side) adjacent to the source divided region R43 to the lower side. Therefore, the data processing unit 310 selects a divided region R54 adjacent to a side different from the side adjacent to the adjacent divided region R43 as the next destination among the sides that are in contact with the end of the boundary Bd1, and performs drive control. To part 320.

  With the above procedure, the data processing unit 310 determines a divided area to be moved next based on the detected methane gas image G2 and its boundary Bd1. In the methane gas image G2 in the divided region R44 of FIG. 8, the boundary Bd1 is connected to the left side adjacent to the divided region R54 and the upper side adjacent to the divided region R44. Since the movement source is the divided area R54, the next movement destination is the divided area R43 according to the rules described above.

  Also in the present embodiment, as in the first embodiment, the image acquisition path detects at least a divided area around the divided area where the methane gas image is first detected. The divided region R43 is a divided region in which the methane gas image G2 is first detected. When the divided region R43 moves to the divided region R43 next to the divided region R44, all the divided regions around the divided region R43 can be detected. become unable.

  For this reason, when the imaging range Pr first goes around the divided area (R43) where the methane gas image G2 is first detected, the next movement destination is the divided area that has already been imaged as the image acquisition path. Moves to the divided region R34 so as to be in the same direction as the moving direction from the previous divided region. Here, since the region has moved to the left from the divided region R54 to the divided region R44, it moves to the left divided region R34 as it is.

  In addition, an image of methane gas may not be detected in the divided area. Since the image acquisition path is a path for moving the imaging range Pr so as to capture the state of the methane gas in the divided area around the divided area R43 where the image of the methane gas is first detected, in the moving direction from the original divided area. The moving direction is determined so as to be clockwise. In addition, even when no image of methane gas is detected in the moved divided area, when the divided area is moved clockwise, if the divided area has already been captured, the same direction as the movement direction from the original divided area The destination divided area is determined so that

  In this way, the entire image of the methane gas image G2 extending over a plurality of divided regions is obtained by determining the divided region to be moved next in accordance with the connection direction (connected divided region) of the boundary of the methane gas image G2. can do.

  For example, when the entire divided area is filled with methane gas, it is difficult to specify the boundary. In such a case, it is possible to select a divided region adjacent in the same direction as the direction of movement to the current divided region as the next divided region. Further, the next divided region in which the imaging range moves is determined based on the boundary of the methane gas image, but other than this, for example, the next divided region is determined using the density of the methane gas image, etc. In this way, the image acquisition path may be determined so that the entire image of the methane gas image can be acquired.

(Third embodiment)
As shown in FIG. 7, when methane gas leaks over a plurality of divided regions, the imaging data of the plurality of divided regions are respectively acquired as shown in FIG. An overall picture can be obtained. Thus, when combining a plurality of imaging data, it is difficult for the data processing unit 310 to achieve consistency at the connection portion of the imaging data, and the accuracy of the methane gas image may be reduced. Therefore, in the present embodiment, when there is methane gas extending over a plurality of divided areas, correction for moving the divided areas is performed. Hereinafter, correction of movement of the divided areas will be described with reference to the drawings. FIG. 9 is a plan view of the detected area showing a state where the divided areas are moved.

  A method for shifting the divided areas will be described below. When setting the divided area, the drive control unit 320 sets the position of the divided area to (X, Y) using an arbitrary point as the origin, the horizontal direction of the detected area Re as the X coordinate system, and the vertical direction as the Y coordinate system. It is determined by the coordinate system. Then, a divided area is specified using the (X, Y) coordinates of each divided area, and information on the (X, Y) coordinates is passed to the range moving unit 200. The range moving unit 200 includes a table for comparing the (X, Y) coordinate system with the rotation angle about the vertical axis d1 and the rotation angle about the horizontal axis d1, and includes information on (X, Y) coordinates. Based on this, the imaging unit 100 is moved.

  As shown in FIG. 7, when the methane gas image G2 is detected so as to extend over the divided regions R43, R53, R54, and R44, the data processing unit 310 operates in the vertical direction of the methane gas image G2 in each divided region. Get the stretch direction and the stretch direction in the lateral direction. For example, as shown in FIG. 8, the image of methane gas reflected in the divided region R43 has a shape extending leftward and upward from the right end of the divided region. Similarly, the divided region R53 extends from the left end to the right and upward, the divided region R44 extends from the right end to the left and downward, and the divided region R54 extends from the left end to the right and downward.

  The data processing unit 310 shifts the entire divided region so that the methane gas straddling the divided regions R43, R53, R54, and R44 enters one divided region R43. For example, when the methane gas image G2 as shown in FIG. 7 is formed, the methane gas image G2 can be accommodated in the divided region by shifting the divided region to the lower right. Therefore, the drive control unit 320 corrects the coordinate system that specifies the position of the imaging range Pr from the (X, Y) coordinate system to the (X + a, Y + b) coordinate system. That is, all the divided areas are shifted by a in the X direction (horizontal direction) and b in the Y direction (vertical direction).

  In this way, by changing the coordinate system for designating the position of the divided areas, the image of methane gas enters one divided area as shown in FIG. Thereby, it is not necessary to combine imaging data, and it is possible to suppress degradation of the image of methane gas. Further, since processing for combining image data is not required, image processing can be simplified, and the state of methane gas can be quickly determined.

  In addition, the correction value for putting the image of methane gas into one divided area, here, as a determination method of (a, b), the length in the horizontal direction and the vertical direction of methane gas is measured, and (a, b) However, the present invention is not limited to this. In addition, as shown in FIG. 9, if the coordinate system is left converted, when the imaging range Pr is scanned by the standard path, a portion that is not imaged may occur at the edge of the detection area Re. . In preparation for such a case, a portion that is not imaged may be separately imaged. Further, the correction of the coordinate system is for detecting an image of methane gas in as few divided regions as possible. Therefore, in the case of the standard path, the original (X, Y) coordinate system may be used, and the (X + a, Y + b) coordinate system corrected when switching to the image acquisition path may be used. Hereinafter, when the coordinate system is corrected, the coordinate system may be switched together with the switching of the route.

(Fourth embodiment)
FIG. 10 is a plan view of the detected area showing a state where the divided areas are moved. As shown in FIG. 10, depending on the size of the image G3 of methane gas, it may not be possible to fit into one divided region. For example, as shown in FIG. 10, in the original divided area, when there is an image G3 of methane gas detected so as to extend over six divided areas, the combination of the image data of the six divided areas results in deterioration of the image data. Likely to happen. Therefore, as illustrated in FIG. 10, the drive control unit 320 corrects the coordinate system that specifies the position of the imaging range Pr from the (X, Y) coordinate system to the (X + c, Y + d) coordinate system. By correcting the coordinate system in this manner, the methane gas image G3 can be captured in two divided regions. Thus, the combined imaging data can be reduced from 6 before correction to 2 and image degradation can be suppressed. In addition, processing can be reduced to reduce the number of image data to be combined.

(Fifth embodiment)
FIG. 11 is a plan view of the detected area showing a state where the divided areas are moved. As illustrated in FIG. 11, the vertical and horizontal lengths of the methane gas image G4 may be longer than the vertical and horizontal lengths of the divided regions. In such a case, even if the divided regions are shifted by the coordinate conversion as described above, the methane gas image G4 needs at least two directions in the vertical direction and at least two directions in the horizontal direction. Therefore, in this embodiment, as shown in FIG. 11, among the divided areas arranged in the upper and lower stages, the divided areas are divided into the upper two stages and the lower three stages, and each divided area is shifted with a different coordinate system. ing. Specifically, the upper two steps convert the (X, Y) coordinate system to the (X + e, Y + f) coordinate system, and the lower three steps convert to the (X + g, Y + f) coordinate system. As a result, the upper two divided areas shift to the lower right, and the lower three divided areas shift to the lower left. In this way, by shifting, the image of the methane gas that is detected to be elongated can be stored in the image data of the two divided regions, thereby suppressing the deterioration of the image and reducing the processing required for combining the images. Is possible.

  In the present embodiment, an example of dividing vertically is described as an example, but the present invention is not limited to this, and may be divided horizontally according to the extending direction of the image of methane gas. In addition, if there is a gap between the divided areas when dividing and shifting, it is difficult to accurately detect an image of methane gas. Further, when the divided areas overlap, the control becomes complicated when determining the route. Therefore, it is preferable that the amount of shift in the vertical direction is the same when dividing up and down, and the amount of shift in the left and right direction is the same when dividing up and down.

  As described above, assuming a divided area assumed as a detected area, the imaging range is superimposed on the divided area and then imaging is performed for a certain period of time. However, the present invention is not limited to this. You may make it operate so that an imaging range may not be stopped within a to-be-detected area, performing imaging. In the case of performing such an operation, there can be mentioned an image acquisition path that changes around the imaging range when an image of methane gas is detected. At this time, the processing unit may set a divided area based on an imaging range when an image of methane gas is detected, and determine an image acquisition path along the divided area.

  In each of the embodiments described above, the range moving unit is configured to perform two-dimensional scanning around the two axes perpendicular to the vertical axis d1 and the horizontal axis d2, in other words, the present invention is not limited to this. The operation may be performed only in one direction of the vertical axis d1 or the horizontal axis d2. In this case, the standard path is a path that linearly reciprocates, and the image acquisition path can be a path that scans so as to reciprocate both sides of the divided area where the methane gas image is detected.

  In each of the embodiments described above, the fluid detection device is described as the fluid to be detected being methane gas. However, the fluid detection device is not limited thereto, and particulate matter is contained in gas or air other than methane gas. It can also be used to detect diffused gaseous substances and the like. Further, the fluid is not limited to a gaseous substance, and examples thereof include a liquid or a liquid in which fine particles are mixed. And the fluid detection apparatus concerning this invention is applicable also to the detection of the liquid chemical substance different from the water which exists in water, for example. Since the absorption wavelength varies depending on the state of the fluid to be detected (gaseous or liquid) and the type of fluid (for example, methane gas, CO2, etc.), the imaging unit, that is, the imaging optical system, the imaging sensor, and the filter The one that matches the detection target is used.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to this content. The embodiments of the present invention can be variously modified without departing from the spirit of the invention.

A fluid detection device 100 imaging unit 110 imaging optical system 120 imaging sensor 130 filter 140 image generation unit 150 connection interface 160 housing 200 range moving unit 210 base unit 220 rotation base 230 rotation support unit 240 drive unit 300 processing unit 310 data processing unit 320 drive control unit 330 storage unit 340 display unit 350 connection interface

Claims (7)

A fluid detection device that detects the spread of fluid inside a detection area,
An imaging unit that acquires an image formed by light in a wavelength region including the absorption wavelength of the fluid;
A range moving unit for moving an imaging range of the imaging unit;
A processing unit for controlling the operation of the range moving unit,
The processing unit controls the range moving unit so that the imaging range follows a standard path set to scan the entire detected region, and the imaging unit acquires the fluid image. A fluid detection device that controls the range moving unit by switching to an image acquisition path that captures the entire image of the fluid by scanning an imaging range in which the image of the fluid has been acquired and a surrounding range. The standard path is set with a plurality of divided areas having the same size as the imaging range and arranged in the detected area without gaps, and the imaging range so that the imaging range sequentially overlaps the plurality of divided areas. Is a route to move
The fluid detection device according to claim 1, wherein the image acquisition path is a path for moving the imaging range so that the imaging range sequentially overlaps a divided area around the divided area where the image of the leaked fluid is acquired.   The fluid detection device according to claim 2, wherein the processing unit controls the range moving unit by correcting a position of the divided region so that an entire image of the fluid falls within a minimum number of the divided regions.   4. The fluid detection device according to claim 1, wherein the range moving unit holds the imaging unit and rotates the imaging unit around at least one axis. 5.   The fluid detection device according to claim 1, wherein the fluid is a gaseous substance.   The fluid detection device according to claim 1, wherein the imaging unit includes an imaging element capable of receiving infrared light.   The range moving unit moves the imaging range so that an imaging time per unit area when moving the imaging range along the image acquisition path is longer than when moving along the standard path. The fluid detection device according to claim 1.