JP6487763B2 - Inspection apparatus and inspection method - Google Patents

Description

  The present invention relates to an inspection apparatus and an inspection method for an object to be inspected that are suitable for inspection of cables and wires such as overhead electric wires.

Overhead electric wires such as power transmission lines are subject to corrosion due to secular change, damage from lightning strikes, arc discharge, etc., and therefore must be inspected regularly.
In recent years, it has been proposed and in practical use to inspect an overhead electric wire using an apparatus for inspecting the overhead electric wire while traveling on the overhead electric wire (hereinafter referred to as an “overhead electric wire inspection device”). The inspection using the overhead wire inspection device is simpler and safer than, for example, a person actually rides on the overhead wire and performs the inspection.

The overhead electric wire inspection apparatus is equipped with a camera. By photographing an overhead electric wire with a camera, if there is an abnormality in the external shape of the overhead electric wire, the abnormality can be detected from the captured image.
In Patent Document 1, in a self-propelled overhead wire inspection device that inspects an overhead wire while traveling on the overhead wire, an appearance image of the overhead wire is photographed, and the degree of shape change of the overhead wire from the photographed appearance image Techniques for diagnosing are described.

JP 2004-153933 A

  An overhead electric wire is usually suspended between steel towers and arranged at a high place. For this reason, when the camera mounted on the overhead wire inspection apparatus photographs the overhead wire, there is a possibility that the overhead wire becomes an image that cannot be easily identified depending on the photographing conditions such as the background. That is, the overhead electric wire itself has a substantially uniform surface color, and it may be difficult to distinguish the overhead electric wire from the background depending on the photographing conditions. Therefore, when judging the quality of an overhead wire by analyzing the image obtained by the overhead wire inspection device, it is very important to accurately extract the location of the overhead wire by image processing from the image taken by the camera. There is a problem that it is difficult.

  An object of the present invention is to provide an inspection apparatus and an inspection method capable of satisfactorily inspecting an object to be inspected such as an overhead electric wire using a mounted camera.

The inspection apparatus of the present invention is an inspection apparatus that includes a moving unit (conveying unit) that relatively moves the apparatus main body and a cable or a wire, and a camera that is attached to the main body and photographs an object to be inspected. As a camera, the 1st camera which image | photographs one side of a cable or a wire, and the 2nd camera which image | photographs the other side of a cable or a wire are provided.
Furthermore, the inspection device is attached to the body, mask and the first mask member first camera to mask a part of the background of the cable or wire to shoot, a part of the background of the cable or wire is a second camera for photographing a second mask member, the image first camera background image and the second mask member taken in a range where the background by the first mask member is masked is the second camera capturing a range masked, cable or The inspection part which detects the outline of a wire was provided, and the 1st camera, the 2nd camera, the 1st mask member, and the 2nd mask member were arrange | positioned in the state which open | released the cable or the lower side of the wire.

Test method of the present invention uses a device with a device body having a camera is attached to inspect the condition of the cable or wire, and a transfer section for relatively moving the main body and the cable or wire, cable or An inspection method for inspecting a wire. A first camera that is attached to a main body and photographs one side of a cable or wire and a second camera that photographs the other side of the cable or wire are prepared.
And the 1st mask process which masks a part of the background of the cable or wire which a 1st camera image | photographs with the 1st mask member arrange | positioned in the state which open | released the cable or the wire, and a 2nd camera image | photograph. A second mask process for masking a part of the background of the cable or wire with a second mask member arranged with the lower side of the cable or wire open, and a cable or wire whose background is masked with the first mask member Obtained by a first photographing process photographed by the first camera, a second photographing process in which the second camera photographs a cable or a wire masked with a second mask member, a first photographing process, and a second photographing process . And an inspection process for detecting the outline of the cable or wire from the image.

  According to the present invention, since an image whose background is masked by the mask member is taken by the camera, the contour of the object to be inspected can be clearly determined from the image taken by the camera, and the diameter of the object to be inspected can be determined from the taken image. Can be satisfactorily detected.

It is a perspective view showing the example of whole composition of the inspection device by the example of one embodiment of the present invention. It is a perspective view which shows the structural example of the test | inspection part of the test | inspection apparatus by one embodiment of this invention. It is a block diagram which shows the internal structural example of the test | inspection apparatus by one embodiment of this invention. It is sectional drawing which shows the example of the camera arrangement | positioning location of the test | inspection part of the test | inspection apparatus by one embodiment of this invention. It is explanatory drawing which shows the example of the picked-up image by one embodiment of this invention. It is explanatory drawing which shows the example of the picked-up image when not applying this invention. It is a flowchart which shows the example of the inspection process by one embodiment of this invention.

Hereinafter, an embodiment of the present invention (hereinafter referred to as “this example”) will be described with reference to the accompanying drawings.
[1. Overall configuration of inspection device]
FIG. 1 shows the overall configuration of the inspection apparatus 100 of this example. The inspection apparatus 100 shown in FIG. 1 shows the state mounted on the two overhead electric wires 11 and 12 arrange | positioned in parallel.
The inspection apparatus 100 includes four traveling pulleys 101, 102, 103, and 104 that are rotating bodies. Each of the traveling pulleys 101, 102, 103, 104 includes an annular groove, and the annular groove engages with the overhead electric wires 11, 12. In FIG. 1, the traveling pulleys 101 and 103 are placed on and engaged with one overhead wire 11, and the traveling pulleys 102 and 104 are placed on and engaged with the other overhead wire 12. . In FIG. 1, the inspection apparatus 100 travels from the upper left to the lower right. Before and after described in the following description, it indicates before and after viewed from this traveling direction. Left and right indicate left and right directions when the inspection apparatus 100 is viewed from the front.

The traveling pulleys 101 and 102 are attached to the axle 111. The axle 111 is rotationally driven by the front wheel motor 113.
The traveling pulleys 103 and 104 are attached to the axle 112. The axle 112 is rotationally driven by the rear wheel motor 114. These traveling pulleys 101 to 104, the front wheel motor 113 and the rear wheel motor 114 constitute a traveling unit of the inspection apparatus 100.
The axle 111 and the axle 112 are connected by a main body 131. The main body 131 includes a first pole camera 141 at a location close to the traveling pulley 102 and a second pole camera 142 at a location close to the traveling pulley 104. The first pole camera 141 and the second pole camera 142 photograph the traveling pulleys 102 and 104 placed on the overhead electric wire 12.

  An inspection unit 120 is attached to the front axle 111. The inspection unit 120 includes a first inspection mechanism unit 121 that inspects the overhead electric wire 11 and a second inspection mechanism unit 122 that inspects the overhead electric wire 12. In FIG. 1, the 1st test | inspection mechanism part 121 and the 2nd test | inspection mechanism part 122 show the arrangement | positioning state at the time of test | inspecting each overhead wire 11,12. When the inspection apparatus 100 gets over an obstacle such as an insulator attached to the overhead wires 11 and 12, the first inspection mechanism 121 and the second inspection mechanism 122 move to a retracted position above the overhead wires 11 and 12. Then, they are separated from the overhead electric wires 11 and 12.

  In addition, the inspection apparatus 100 includes hook portions 150 and 160 at positions on the lower side with the traveling pulleys 102 and 104 and the overhead wire 12 interposed therebetween. The hook parts 150 and 160 function as a fall prevention mechanism of the inspection apparatus 100, and are opened and closed under the control of the hook driving part 213 (FIG. 3). The hooks 150 and 160 are opened when the inspection apparatus 100 is placed on or lowered from the overhead wires 11 and 12 or when an obstacle (such as an insulator) attached to the overhead wires 11 and 12 is avoided. Become. The hooks 150 and 160 are closed when the inspection apparatus 100 travels on the overhead wires 11 and 12.

  In addition, a first arm 133 and a second arm 134 are attached to the main body 131 via a suspension part 132, and a balance weight 135 is attached to the tip of the second arm 134. The first arm 133 is horizontally rotated by the support mechanism 132 a of the suspension part 132. The second arm 134 is rotated horizontally by the support mechanism 133a of the first arm 133. Since the balance weight 135 is attached to the tip of the second arm 134, the weight balance of the inspection apparatus 100 changes by adjusting the rotation positions of the first arm 133 and the second arm 134. An eye camera 143 is attached to a substantially central portion of the first arm 133, and the overhead wires 11 and 12 are photographed by the eye camera 143.

  Due to such a change in the weight balance of the inspection apparatus 100, the front traveling pulleys 101 and 102 are lifted away from the overhead wires 11 and 12, or the rear traveling pulleys 103 and 104 are placed in the overhead wires 11 and 12. It can be in the state where it floated away from. The front traveling pulleys 101 and 102 or the rear traveling pulleys 103 and 104 are set in a lifted state over an obstacle (not shown) such as an insulator attached to the overhead wires 11 and 12. Because.

[2. Configuration of inspection unit]
FIG. 2 shows a configuration example of the inspection unit 120 attached to the axle 111 in front of the inspection device 100. In FIG. 2, the illustration of a mechanism that is not directly related to the inspection unit 120 such as the hook unit 150 is omitted.
The inspection unit 120 includes a first inspection mechanism unit 121 disposed on the overhead wire 11 and a second inspection mechanism unit 122 disposed on the overhead wire 12. The first inspection mechanism unit 121 inspects the overhead wire 11, and the second inspection mechanism unit 122 inspects the overhead wire 12.

The first inspection mechanism unit 121 includes a first cover 181 that covers the periphery of the overhead electric wire 11. In the first cover 181, a first inspection camera 171, a second inspection camera 172, and mirrors 183 and 184 are arranged. In the first cover 181, an outer shape sensor 176 (FIG. 3) and mask members 191 and 192 are arranged.
As shown in FIG. 2, the first cover 181 has a structure in which the overhead wire 11 is sandwiched from the left and right, and the first inspection camera 171 takes an image of one side of the overhead wire 11 and the second inspection camera 172. Shoots the lower side of the other side surface of the overhead wire 11.
Further, since the mirrors 183 and 184 are arranged above the overhead wire 11, the upper surface of the overhead wire 11 reflected by these mirrors 183 and 184 is displayed in the images taken by the first inspection camera 171 and the second inspection camera 172. Images are included. Specific arrangement states of the inspection cameras 171 and 172, the mirrors 183 and 184, and the mask members 191 and 192 will be described in detail with reference to FIG.

The second inspection mechanism unit 122 has the same configuration as the first inspection mechanism unit 121. That is, the second inspection mechanism unit 122 includes a second cover 182 that covers the periphery of the overhead electric wire 12. In the second cover 182, a third inspection camera 173, a fourth inspection camera 174, and mirrors 185 and 186 are arranged. In addition, an outer shape sensor 177 (FIG. 3) and mask members 193 and 194 are disposed in the second cover 182.
As shown in FIG. 2, the second cover 182 has a structure in which the overhead wire 12 is sandwiched from the left and right, and the third inspection camera 173 photographs the lower side of one side surface of the overhead wire 12, and the fourth inspection camera 174. Shoots the lower side of the other side surface of the overhead electric wire 12.
In addition, since the mirrors 185 and 186 are disposed above the overhead wire 12, the images taken by the third inspection camera 173 and the fourth inspection camera 174 are reflected on the upper surface of the overhead wire 12 reflected by these mirrors 185 and 186. Images are included.

[3. Internal structure of inspection equipment]
FIG. 3 shows an internal configuration example of the inspection apparatus 100 of this example.
The inspection apparatus 100 includes a control unit 201, and the control unit 201 controls the operation of each unit. A storage unit 202 and a wireless communication unit 203 are connected to the control unit 201. The storage unit 202 stores a program that controls the operation of the inspection apparatus 100. In addition, an image captured by the camera and data detected by the sensor are stored in the storage unit 202. The wireless communication unit 203 performs wireless communication with a ground-side controller (not shown) via the connected antenna 204. Then, an instruction from the controller received by the wireless communication unit 203 is transmitted to the control unit 201. In addition, an image captured by the camera and data detected by the sensor are transmitted from the wireless communication unit 203 to the controller side.

  Images taken by the first pole camera 141, the second pole camera 142, and the eye camera 143 attached to the inspection apparatus 100 are transmitted to the control unit 201. Further, the inspection apparatus 100 is provided with an inclination sensor 144, an acceleration sensor 145, and a travel distance sensor 146, and detection data of these sensors 144, 145, 146 is transmitted to the control unit 201.

Further, the inspection apparatus 100 includes a travel drive unit 211, an arm drive unit 212, and a hook drive unit 213.
The travel drive unit 211 rotationally drives the front wheel motor 113 and the rear wheel motor 114 based on an instruction from the control unit 201.
The arm drive unit 212 adjusts the rotation positions of the first pole 133 and the second pole 134 (FIG. 1) based on an instruction from the control unit 201. By adjusting the rotation positions of the first pole 133 and the second pole 134, the weight balance adjustment operation of the inspection apparatus 100 by the balance weight 135 is performed.
The hook drive unit 213 performs an operation of opening or closing the hook units 150 and 160 based on an instruction from the control unit 201.

Further, the control unit 201 controls the inspection operation in the inspection unit 120.
Images taken by the four inspection cameras 171 to 174 are transmitted to the inspection unit 120. And the test | inspection part 120 performs the test | inspection of the state of the overhead electric wires 11 and 12 from the image image | photographed with the inspection cameras 171-174 using the image process part 120a with which the test | inspection part 120 is provided. The inspection unit 120 includes external sensors 176 and 177 that measure the external size of the overhead wires 11 and 12 using a laser or the like, and data detected by the external sensors 176 and 177 is transmitted to the inspection unit 120. Is done.

  The inspection apparatus 100 normally operates with a power supply supplied from a built-in battery (not shown), but has a built-in power supply circuit that obtains power from the overhead wires 11 and 12 in a live state. You may make it operate | move with the power supply obtained by (1).

[4. Configuration of camera location in inspection unit]
FIG. 4 shows a cross section of the inside of the first cover 181 provided in the first inspection mechanism 121.
4A shows a cross section at a substantially central position of the first cover 181, FIG. 4B shows a front cross section of the first cover 181, and FIG. 4C shows a rear cross section of the first cover 181. Here, the front and the rear are directions seen from the traveling direction of the inspection apparatus 100 shown in FIG.

  As shown in FIG. 4A, the first inspection camera 171 is disposed below the left side surface of the overhead wire 11, and the second inspection camera 172 is disposed below the right side surface of the overhead wire 11. The first cover 181 is in a state where the lower side of the overhead electric wire 11 is opened. Thus, the inspection part 120 to which the first inspection mechanism part 121 is attached can move to the upper retreat position and be separated from the overhead electric wire 11 because the lower side of the overhead electric wire 11 is open.

  Two mirrors 183 and 184 are arranged side by side above the first cover 181. The mirror 183 is disposed at a position that falls within an image captured by the first inspection camera 171. The mirror 184 is disposed at a position that falls within an image captured by the second inspection camera 172.

  By arranging the mirrors 183 and 184 in this way, the images taken by the inspection cameras 171 and 172 show the left and right side surfaces of the overhead electric wire 11 facing the inspection cameras 171 and 172, and the mirrors 183 and 183. The upper side surface of the overhead electric wire 11 reflected at 184 is reflected. Therefore, from the images taken by the two inspection cameras 171 and 172, the state of the side surface (surface) of almost the entire circumference of the overhead wire 11 can be observed.

In this example, as shown in FIGS. 4B and 4C, mask members 191 and 192 are disposed in front and rear of the first cover 181. Two of the mask member 191 and 192 is disposed longitudinally different positions of the hypothetical electric wire 11. That is, one mask member 191 is disposed on the front end side in the first cover 181, and the other mask member 192 is disposed on the rear end side in the first cover 181.
At the place where the mask members 191 and 192 are disposed, the mask members 191 and 192 are located behind the overhead wire 11 when viewed from the inspection cameras 171 and 172, and the mirrors 183 and 184 are hidden by the mask members 191 and 192. .
That is, as shown in FIG. 4B, the mask member 191 is disposed at a position where a mask process is performed to cover the rear of the overhead wire 11 when viewed from the first inspection camera 171. As shown in FIG. 4C, the mask member 192 is disposed at a position where mask processing is performed to cover the rear of the overhead wire 11 when viewed from the second inspection camera 172.

  4 shows the arrangement state in the first cover 181, the mask members 193 and 194 arranged in the second cover 182 also have the same arrangement state as the mask members 191 and 192 in the first cover 181. It is.

5A and 5B show examples of images taken by the first inspection camera 171 and the second inspection camera 172. FIG.
FIG. 5A shows an example of an image P1 captured by the first inspection camera 171. FIG.
In the image P <b> 1 captured by the first inspection camera 171, the overhead electric wire 11 a on the lower left side surface viewed directly from the camera 171 is reflected. In addition, in this image P1, the overhead electric wire 11b on the upper surface reflected by the mirror 183 is reflected adjacent to the overhead electric wire 11a. The overhead electric wire 11b on the upper side is reflected with a slightly smaller diameter than the overhead electric wire 11a on the lower left side.
At the right end of the image P1, a mask member 191 is reflected in the background of the overhead wire 11a. Accordingly, in the image P1 captured by the first inspection camera 171, the upper and lower outlines e1 and e2 of the overhead wire 11a are clear at the location where the mask member 191 is present.

FIG. 5B shows an example of an image P2 captured by the second inspection camera 172.
In the image P <b> 2 captured by the second inspection camera 172, the overhead electric wire 11 c on the lower right side surface viewed directly from the camera 172 is reflected. Further, in this image P2, the overhead electric wire 11d on the upper surface reflected by the mirror 184 is shown adjacent to the overhead electric wire 11c.
At the right end of the image P2, a mask member 192 is shown in the background of the overhead wire 11c. Therefore, in the image P2 captured by the second inspection camera 172, the upper and lower contours e3 and e4 of the overhead electric wire 11c become clear at the location where the mask member 192 exists.

  As described above, the images P1 and P2 captured by the first inspection camera 171 and the second inspection camera 172 have clear upper and lower outlines of the overhead wire 11, and the inspection unit 120 has an outer shape such as the diameter of the overhead wire 11. The shape can be reliably discriminated from the images P1 and P2. Similarly, with respect to images taken by the third inspection camera 173 and the fourth inspection camera 174 arranged around the overhead wire 12, the outer shape such as the diameter of the overhead wire 12 is also provided by arranging the mask members 193 and 194. Can be reliably identified.

Here, an example of the image P3 of the first inspection camera 171 when the mask members 191 and 192 are not arranged is shown in FIG.
As can be seen from FIG. 6, the boundary portion with the background is not clear for any of the overhead wires 11a and 11b in the image P3, and it is possible to accurately determine the state of the overhead wire 11 from the camera image. Have difficulty.

[5. Inspection process in inspection department]
The flowchart of FIG. 7 shows a processing example in which the image processing unit 120a in the inspection unit 120 determines the state of the overhead electric wires 11 and 12 from the images captured by the inspection cameras 171 to 174. Here, an example in which the state of the overhead electric wire 11 is determined from images taken by the first inspection camera 171 and the second inspection camera 172 will be described. In performing this determination process, the inspection apparatus 100 travels on the overhead wires 11 and 12 and the inspection cameras 171 to 174 continuously perform the image capturing process, and a moving image or a still image captured at a constant cycle. Get. Then, the image processing unit 120a performs an inspection process described below on each obtained image.

  First, the image processing unit 120a sequentially acquires images (images P1 and P2 illustrated in FIGS. 5A and 5B) taken by the first inspection camera 171 and the second inspection camera 172. Then, the image processing unit 120a extracts an image in a range where the mask members 191 and 192 exist in the background from the respective images P1 and P2 (step S11).

Then, the image processing unit 120a binarizes the extracted range of images (step S12). The binarization here is, for example, a process of setting the value when the luminance level of the image is equal to or higher than a certain threshold value to “1” and setting the value when it is less than the certain threshold value to “0”. The threshold value used for the binarization is set to a value that can distinguish the overhead wire 11 and the mask members 191 and 192 from the image, for example.
Incidentally, when performing binarization, the image processing unit 120a, all of the images, including outside the range of the mask member 191, 192 is present may be binarized.

Then, the image processing unit 120a detects an edge portion of the binarized image in a range where the mask member 191 or 192 exists in the background (step S13). By detecting the edge portion, the image processing unit 120a determines the positions of the contours e1 and e2 of the overhead wire 11 shown in FIG. 5A and the positions of the contours e3 and e4 of the overhead wire 11 shown in FIG. 5B.
Next, the image processing unit 120a determines the distance between two edges (contour e1 and contour e2, contour e3 and contour e4) in the image, and detects the diameter of the overhead wire 11 (step S14).

In parallel with the processing in steps S13 and S14, the image processing unit 120a determines the state of the surface of the overhead electric wire 11 from the image. That is, the image processing unit 120a performs noise removal processing from the image binarized in step S12 (step S15). This noise removal process removes parts that appear to be noise, such as areas where the brightness level is a value “1” that is equal to or greater than a certain threshold value, for example, in only a few pixels or a few pixels in the image. It is processing to do.
Then, the image processing unit 120a determines whether or not there is a defect in the overhead wire 11 from the state of the surface (side surface) of the overhead wire 11 in the image from which noise has been removed in Step S15 (Step S16). The area on the surface of the overhead electric wire 11 at this time is an area between the two edges detected in step S13. Then, the image processing unit 120a determines that the surface of the overhead electric wire 11 is defective when it detects a state (such as generation of scratches or corrosion) different from the normal state from the captured image.

Then, the image processing unit 120a determines the state of the overhead wire 11 from the diameter of the overhead wire 11 detected in Step S14 and the presence or absence of a surface defect of the overhead wire 11 in Step S16 (Step S17). When determining the state of the overhead electric wire 11 in step S17, the image processing unit 120a uses the images reflected by the mirrors 183 and 184 in the images P1 and P2 (the overhead electric wires 11b and 10B shown in FIGS. 5A and 5B). 11d) is also determined. For example, when a scratch or corrosion is detected from the location of the overhead electric wire 11a or 11c shown in FIGS. 5A and 5B, the image processing unit 120a determines how far the scratch or corrosion has reached by using mirrors 183 and 184. Judgment is made from the locations of the overhead wires 11b and 11d obtained.
In addition, about the image reflected by the mirrors 183 and 184, the image of the range which is not masked by the mask members 191 and 192 is used. As a result of processing the image of the range where the mask members 191 and 192 exist in the background, the timing adjustment with the image of the range not masked by the mask members 191 and 192 is performed at regular intervals, for example, the mask member 191 By performing for each range in which 192 exists, the amount of shift between the image in the range in which the mask members 191 and 192 exist and the image in the range not masked by the mask members 191 and 192 is known, so the timing of both images is synchronized. Can do.
For the overhead wires 11b and 11d (FIGS. 5A and 5B) in the image reflected by the mirrors 183 and 184, the edges are not always clear, but they can be used to determine the state of scratches or corrosion on the surface.

  As described above, according to the inspection apparatus 100 of this example, the state of the overhead electric wires 11 and 12 can be accurately inspected from the images taken by the inspection cameras 171 to 174. That is, the image processing unit 120a in the inspection unit 120 can clearly detect the edge portions of the overhead wires 11 and 12 shown in the captured image, and accurately and satisfactorily determine the diameters of the overhead wires 11 and 12 and the like. It will be possible to judge. In addition, since the range corresponding to the surface (side surface) of the overhead electric wires 11 and 12 in the image can be easily determined, the image processing unit 120a can also determine the surface state well. .

[6. Modified example]
In addition, the inspection apparatus 100 shown in FIGS. 1-6 was made to drive | work on the two overhead electric wires 11 and 12. FIG. On the other hand, the present invention can also be applied to an inspection device that travels over one overhead electric wire, or an inspection device that travels over three or more overhead electric wires.

Further, in the above-described embodiment, the inspection apparatus 100 performs an inspection of an overhead electric wire. On the other hand, the inspection apparatus 100 may inspect cables other than overhead wires and wires installed in various structures such as bridges.
Further, the present invention is an image analysis process in which an object to be inspected other than a cable or a wire is photographed with a camera while the apparatus main body is moving, and an image obtained by photographing is analyzed. The present invention can be applied to various apparatuses that perform inspection and measurement. That is, when the object to be inspected is photographed by the camera while moving along the object to be inspected by the transport unit (moving part) included in the apparatus, a part of the background of the object to be inspected that is captured by the camera is masked. Mask with a member. Then, the image processing unit detects the contour of the object to be inspected from the captured image in the range where the background is masked by the mask member. With this configuration, it is possible to detect well the inspection of the outer shape and surface state of the object to be inspected.

  Further, the outer shape of the inspection apparatus 100 according to the above-described embodiment is an example, and other shapes may be used. For example, the inspection apparatus 100 in FIG. 1 has a configuration in which the inspection unit 120 is disposed at the front ends of the traveling pulleys 101 and 102, but the inspection unit 120 is disposed at other positions such as the rear ends of the traveling pulleys 103 and 104. You may make it do.

  In the above-described embodiment, the inspection unit 120 in the inspection apparatus 100 includes the image processing unit 120a, and the image processing unit 120a determines the state of the overhead wires 11 and 12 from the captured image. did. On the other hand, the inspection apparatus 100 captures images with the inspection cameras 171 to 174, and the determination process based on the analysis of the captured image may be performed by an external device (such as a computer apparatus) different from the inspection apparatus 100. Good. In this case, the external device sequentially receives the images taken by the inspection apparatus 100 and determines the state of the cable almost in real time. Alternatively, after the inspection apparatus 100 finishes traveling on the overhead wires 11 and 12, an external device takes out image data stored in the inspection apparatus 100 at an appropriate timing, and the cable status is determined from the extracted image data. You may make it determine.

  In the above-described embodiment, as shown in FIG. 5A, the mask member 191 covers the rear side of the lower left side overhead wire 11 a as viewed directly from the camera 171, and the front side of the upper side overhead wire 11 b reflected by the mirror 183. Although the mask processing is arranged so as to cover the mask member 191, the mask member 191 covers the rear of the overhead wire 11 a and the mask member 191 is placed in front of the overhead wire 11 b reflected by the mirror 183 so as not to perform the mask processing. Good. Also in the case of FIG. 5B, the mask member 192 may be similarly arranged.

  In the above-described embodiment, the case where the inspection apparatus performs the inspection while moving along the overhead electric wire has been described as an example. However, the cable is connected to the inspection apparatus such as a cableway cable such as an elevator, a ropeway, or a cable car. It can also be applied to an inspection apparatus when an object to be inspected such as a wire or a wire moves. That is, the present invention can also be applied to an inspection apparatus that performs inspection while the inspection apparatus and the object to be inspected move relatively.

Furthermore, the present invention is not limited to the above-described embodiments, and various other application examples and modifications can be taken without departing from the gist of the present invention described in the claims.
For example, in the above-described embodiment, the configuration of the apparatus is described in detail and specifically for easy understanding of the present invention, and is not necessarily limited to the configuration including all the configurations described. .
Further, the signal flow lines shown in FIG. 3 showing the internal configuration of the apparatus show what is considered necessary for the description, and do not necessarily indicate all lines necessary for the apparatus. Actually, it may be considered that almost all the components are connected to each other.

DESCRIPTION OF SYMBOLS 11,12 ... Overhead electric wire, 100 ... Inspection apparatus, 101-104 ... Driving pulley, 111, 112 ... Axle, 113 ... Front wheel motor, 114 ... Rear wheel motor, 120 ... Inspection part, 121 ... First inspection mechanism part, 122: second inspection mechanism section, 131: main body section, 132: suspension section, 133: first pole, 134: second pole, 135: balance weight, 141: first pole camera, 142: second pole camera, 143 ... Eye camera, 144 ... Tilt sensor, 145 ... Acceleration sensor, 146 ... Travel distance sensor, 150, 160 ... Hook part, 171 ... First inspection camera, 172 ... Second inspection camera, 173 ... Third inspection camera, 174 ... 4th inspection camera, 176, 177 ... Outline sensor, 181 ... 1st cover, 182 ... 2nd cover, 183 to 186 ... Mirror, 191 to 194 ... Disk member, 201 ... controller, 202 ... storage unit, 203 ... wireless communication unit, 204 ... antenna, 211 ... traveling drive unit, 212 ... arm drive unit, 213 ... hook driver

Claims (10)

A moving unit for relatively moving the apparatus main body and the cable or wire;
A first camera attached to the main body and photographing one side of the cable or wire;
A second camera attached to the body and photographing the other side of the cable or wire;
A first mask member attached to the main body and masking a part of the background of the cable or wire taken by the first camera ;
A second mask member attached to the main body and masking a part of the background of the cable or wire taken by the second camera;
From the image taken by the first camera in the range where the background is masked by the first mask member and the image taken by the second camera in the range where the background is masked by the second mask member, e Bei an inspection unit for detecting a contour,
The inspection apparatus in which the first camera, the second camera, the first mask member, and the second mask member are arranged with the lower side of the cable or wire opened . The said inspection part binarizes the image image | photographed with the said 1st camera and the said 2nd camera , detects the outline of the said cable or wire from the binarized image, and detects the diameter of the said cable or wire. The inspection apparatus according to 1. The inspection apparatus according to claim 2 , wherein the inspection unit detects a state of a surface of the cable or the wire from the binarized image. A first mirror installed at a position where the back surface of the cable or wire is reflected in an angle of view captured by the first camera, and a back surface of the cable or wire within an angle of view captured by the second camera. A second mirror installed at a position where
The first mask member and the second mask member are configured to mask different portions in the longitudinal direction of the cable or wire,
The inspection unit determines the state of the surface of the back surface of the cable or wire from the image reflected by the first mirror and the second mirror within a range not masked by the first mask member and the second mask member. The inspection apparatus according to claim 1 to be detected . A cover that covers the first camera, the second camera, the first mask member, the second mask member, the first mirror, and the second mirror;
The cover was arranged with the lower side of the cable or wire opened.
The inspection apparatus according to claim 4. A body camera attached to inspect the condition of the cable or wire, using the apparatus and a moving part for relatively moving the said and the body a cable or wire, inspects the cable or wire In the inspection method,
A first camera attached to the main body and photographing one side of the cable or wire; and a second camera attached to the main body and photographing the other side of the cable or wire;
A first mask process for masking a part of the background of the cable or wire photographed by the first camera with a first mask member arranged in a state where the lower side of the cable or wire is opened ;
A second mask process for masking a part of the background of the cable or wire photographed by the second camera with a second mask member arranged with the lower side of the cable or wire opened;
A first imaging process in which the first camera captures the cable or the wire whose background is masked by the first mask member;
A second imaging process in which the second camera captures the cable or wire whose background is masked by the second mask member;
An inspection method including an inspection process for detecting an outline of the cable or the wire from images obtained by the first imaging process and the second imaging process . In the inspection process, the images taken by the first camera and the second camera are binarized, the outline of the cable or wire is detected from the binarized image, and the diameter of the cable or wire is detected. The inspection method according to claim 6 . The inspection method according to claim 7 , wherein a state of a surface of the cable or wire is detected from the binarized image in the inspection process. The body, in the angle which the first camera captures a first mirror attached to the back surface is reflected position of the cable or wire, in the angle of view and the second camera captures the cable or wire And a second mirror installed at a position where the back of the
The first mask member and the second mask member are configured to mask different portions in the longitudinal direction of the cable or wire,
In the inspection process, in a range not masked by the first mask member and the second mask member, from the image reflected by the first mirror and the second mirror, the state of the back surface of the cable or wire is changed. The inspection method according to claim 6 to be detected . A cover for covering the first camera, the second camera, the first mask member, the second mask member, the first mirror, and the second mirror;
The cover was arranged with the lower side of the cable or wire opened.
The inspection method according to claim 9.

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