JP6845836B2 - Piping route measurement method and piping route measurement system - Google Patents

Description

The present invention relates to a method for measuring a piping route and a piping route measuring system.

In old buildings, there are many cases where only paper drawings remain for the piping routes, and even if the piping route drawings remain, they are often not arranged according to the drawings, and the piping arranged on the wall. There is a need for a method for measuring and grasping the route of.

As a method for investigating the shape of a pipeline such as a pipe, a method of inserting a measuring device into the pipeline to be investigated is disclosed (Patent Documents 1 to 6). The measuring device is equipped with various measuring mechanisms. For example, Patent Documents 1 and 2 disclose a method of inserting a camera into a conduit. Patent Document 3 discloses a method of inserting a laser emitting device and a camera into a conduit. Patent Document 4 discloses a method of inserting an inclination sensor and an in-pipe position sensor that detects a pushing length along a pipe axis into a pipe line. Patent Document 5 discloses a method of inserting a light source, an image pickup unit, and a sensor for detecting a triaxial direction into a conduit. Patent Document 6 discloses a method of inserting an acceleration sensor, a geomagnetic sensor, and a camera into a pipeline. Patent Document 7 discloses a method of inserting an acceleration sensor and a gyro sensor into a pipeline.

Japanese Unexamined Patent Publication No. 08-24415 Japanese Unexamined Patent Publication No. 09-236412 Japanese Unexamined Patent Publication No. 2001-141431 Japanese Unexamined Patent Publication No. 2001-280961 Japanese Unexamined Patent Publication No. 2008-133687 Japanese Unexamined Patent Publication No. 2014-029302 Japanese Unexamined Patent Publication No. 2017-015563

Here, if the inside of the pipe is a contaminated sewage pipe or the like, the measuring device inserted in the pipe may be contaminated. When a measuring device is contaminated, it may be difficult to reuse the measuring device. However, it is not preferable in terms of cost to use a new measuring device for each measurement.

The present invention has been made in view of the above, and an object of the present invention is to provide a piping route measuring method and a piping route measuring system in which a measuring device can be easily reused.

In order to solve the above-mentioned problems and achieve the object, the method for measuring the piping route according to one aspect of the present invention can be applied in the pipeline constituting the piping route to be measured and over the longitudinal direction of the pipeline. The measurement is performed at a plurality of locations in the tubular body in the longitudinal direction, a first step of inserting a flexible tubular body, a second step of moving the measuring device along the longitudinal direction of the pipeline in the tubular body, and a plurality of locations in the tubular body in the longitudinal direction. It is characterized by including a third step of acquiring information on the position in the tubular body by the device and a fourth step of specifying the piping route based on the information.

In the method for measuring a piping route according to one aspect of the present invention, the tubular body has a plurality of markers visible from the inside in the longitudinal direction, and the measuring device has two or more imaging units. In the third step, the inside of the tubular body including the marker is imaged by the two or more imaging units to acquire information on the position in the tubular body, and in the fourth step, the image is taken. It is characterized in that the piping route is specified based on the information included in the image.

The method for measuring a piping route according to one aspect of the present invention is characterized in that, in the fourth step, the coordinates of the marker are specified from the captured image, and the piping route is specified based on the coordinates. ..

In the method for measuring a piping path according to one aspect of the present invention, in the third step, the image is imaged so as to include a reference marker whose coordinates are known and a measurement marker whose coordinates are unknown, and the position in the tubular body. The fourth step is characterized in that the coordinates of the measurement marker are specified based on the coordinates of the reference marker.

The method for measuring a piping path according to one aspect of the present invention is characterized in that the fourth step specifies the coordinates of the measurement marker by using trigonometry or epipolar geometry.

The method for measuring a piping path according to one aspect of the present invention is characterized in that the measuring device is a device having an optical sensor, at least a device having an acceleration sensor and a gyro sensor, or a device having an orientation sensor.

The piping route measurement system according to one aspect of the present invention includes a flexible tubular body configured to be inserted in the longitudinal direction into the pipeline constituting the piping path to be measured, and the pipe inside the tubular body. Based on a measuring device that is configured to be movable along the longitudinal direction of the path and is configured to be able to acquire information about a position in the tubular body at a plurality of locations in the longitudinal direction of the tubular body, and based on the acquired information. It is characterized by including a processing device for specifying the piping route.

In the piping route measuring system according to one aspect of the present invention, the tubular body has a plurality of markers visible from the inside in the longitudinal direction, and the measuring device has two or more imaging units. The inside of the tubular body including the marker is imaged by the two or more imaging units, and the processing device identifies the piping route based on the information included in the captured image. ..

The piping route measuring system according to one aspect of the present invention is characterized in that the processing device identifies the coordinates of the marker from the captured image and identifies the piping route based on the coordinates.

In the piping route measuring system according to one aspect of the present invention, the measuring device captures the image so as to include a reference marker having known coordinates and a measuring marker having unknown coordinates, and the processing device uses the reference marker. It is characterized in that the coordinates of the measurement marker are specified based on the coordinates of.

The piping route measurement system according to one aspect of the present invention is characterized in that the processing device specifies the coordinates of the measurement marker by using trigonometry or epipolar geometry.

The piping path measuring system according to one aspect of the present invention is characterized in that the measuring device is a device having an optical sensor, at least a device having an acceleration sensor and a gyro sensor, or a device having an orientation sensor.

According to the present invention, it is possible to provide a piping route measuring method and a piping route measuring system in which the measuring device can be easily reused.

FIG. 1 is a schematic configuration diagram of a piping route measurement system according to the first embodiment. FIG. 2 is a diagram illustrating a configuration of the measuring device shown in FIG. FIG. 3 is an explanatory diagram of an example of a measurement method using the pipe path measurement system shown in FIG. FIG. 4 is an explanatory diagram of an example of a measurement method using the pipe path measurement system shown in FIG. FIG. 5 is a diagram illustrating a method of specifying the coordinates of the marker. FIG. 6 is a processing flow diagram of an example of a measurement method using the piping route measurement system shown in FIG. FIG. 7 is an explanatory diagram of an example of the piping route measurement system according to the second embodiment and the measurement method using the same.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments described below. Further, in the description of the drawings, the same or corresponding elements are appropriately designated by the same reference numerals. Furthermore, it should be noted that the drawings are schematic, and the relationship between the dimensions of each element may differ from the actual one. Even between drawings, there may be parts where the relationship and ratio of dimensions are different from each other.

(Embodiment 1)
FIG. 1 is a schematic configuration diagram of a piping route measurement system according to the first embodiment. The piping route measuring system 100 includes a tubular body 10, a measuring device 20, a processing device 30, a cable 40, and an illumination light source 50.

The tubular body 10 is configured to have a length and an outer diameter that can be inserted in the longitudinal direction in the pipeline that constitutes the piping route to be measured. Further, the tubular body 10 has flexibility, and even if the conduit is bent, it can be deformed accordingly. The tubular body 10 is made of, for example, a resin, but the constituent material thereof is not particularly limited, and the tubular body 10 may be made of, for example, a metal. In the present embodiment, the tubular body 10 is made of a translucent resin.

The tubular body 10 has a plurality of markers 12 formed on its outer peripheral surface 11. In the present embodiment, the plurality of markers 12 are arranged so as to be arranged at substantially equal angles along the circumferential direction and at substantially equal intervals at a distance L over the longitudinal direction. However, the mode of arranging the markers is not limited to equal angles in the circumferential direction and equal intervals in the longitudinal direction. The marker 12 is formed by coloring the outer peripheral surface 11 of the tubular body 10 with ink, for example, and has a circular shape in the present embodiment. Such a marker 12 can be easily formed from the outside on a commercially available translucent tubular body. Further, since the tubular body 10 has translucency, the marker 12 can be visually recognized from the inside of the tubular body 10.

The measuring device 20 is configured to have a size that allows it to move along the longitudinal direction within the tubular body 10. As shown in FIG. 2, the measuring device 20 has two imaging units 21 and 22 and a light irradiation unit 23.

The image pickup unit 21 includes an objective optical system 21a composed of an optical element such as a lens, and an image pickup element 21b such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The image pickup device 21b is driven by a drive signal supplied from the processing device 30 as described later, receives an optical image formed by the objective optical system 21a, and photoelectrically converts the optical image signal to include information on the optical image. Is output. The image pickup unit 22 has an objective optical system 22a and an image pickup element 22b. The image sensor 22b is also driven by a drive signal supplied from the processing device 30, receives an optical image formed by the objective optical system 22a, performs photoelectric conversion thereof, and outputs an image signal including information on the optical image. The imaging units 21 and 22 are installed so that their optical axes are parallel to each other. The light irradiation unit 23 irradiates the imaging objects of the imaging units 21 and 22 with illumination light.

The processing device 30 includes a calculation unit 31, a storage unit 32, a display unit 33, an operation unit 34, an interface (I / F) unit 35, and a bus line connecting them.

The arithmetic unit 31 performs various arithmetic processes for realizing the functions of the processing apparatus 30, and is composed of, for example, a CPU (Central Processing Unit), an FPGA (field-programmable gate array), or both a CPU and an FPGA. Will be done.

The storage unit 32 includes, for example, a ROM (Read Only Memory) in which various programs and data used by the calculation unit 31 to perform calculation processing are stored. Further, the storage unit 32 is provided with, for example, a RAM (Random Access Memory) used for storing a work space when the calculation unit 31 performs calculation processing, a result of the calculation processing of the calculation unit 31, and the like. There is. Further, the storage unit 32 may include a storage device such as a hard disk drive (HDD) or SSD (Solid State Drive) in which data or the like is stored.

The display unit 33 is a portion that displays characters, symbols, and the like for notifying the operator of the piping route measurement system 100 of various information, and is composed of, for example, a flat panel display such as a liquid crystal display.

The operation unit 34 is a part in which the operator operates the piping route measurement system 100, and is composed of, for example, a keyboard and a mouse. For example, when the operator operates the operation unit 34, the calculation unit 31 executes a program to generate a drive signal and transmits it to the imaging units 21 and 22. As a result, the imaging units 21 and 22 perform imaging.

The I / F unit 35 is a portion that outputs a drive signal to the image pickup units 21 and 22 and receives an input of an image signal from the image pickup units 21 and 22.

Such a processing device 30 is realized by using, for example, a personal computer system.

The cable 40 includes an electric cable 41 and an optical fiber cable 42. The electric cable 41 electrically connects the measuring device 20 and the processing device 30, and transmits a drive signal and an image signal. The optical fiber cable 42 optically connects the measuring device 20 and the illumination light source 50 that outputs the illumination light that is visible light, and transmits the illumination light from the illumination light source 50 to the light irradiation unit 23.

Next, an example of a method for measuring a piping route using the piping route measuring system 100 will be described with reference to FIGS. 3 and 4. In this example, the pipe P constitutes a piping path that is a measurement target and is arranged in the wall. The length of the pipe P is, for example, 1 m to a dozen meters, but is not particularly limited. The pipe P has an end portion E1 and an end portion E2. The ends E1 and E2 are exposed to the outside of the wall and their positions are known. The respective coordinates of the end portion E1 and the end portion E2 in the set coordinate space are stored in the storage unit 32, and are appropriately read out and used.

First, the measuring device 20 is inserted together with the tubular body 10 in the longitudinal direction of the pipe P (first step). In this example, first, the guide wire GW is inserted so that both ends are exposed from the ends E1 and E2 of the pipe P, respectively. Subsequently, the portion of the guide wire GW exposed to the end E2 side is fixed to the tubular body 10 and the measuring device 20, and the guide wire GW is pulled from the end E1 side. As a result, the tubular body 10 and the cable 40 connected to the measuring device 20 are smoothly inserted into the pipe P without buckling. After that, the tip of the tubular body 10 and the measuring device 20 are brought to the end E2 side.

Subsequently, a set of markers 12 arranged along the circumferential direction of the markers 12 are aligned with the positions of the end portions E1, and these are designated as reference markers 12R1. Further, another set of markers 12 is aligned with the position of the end portion E2, and these are designated as endpoint markers 12R2.

Subsequently, the measuring device 20 is moved to the end E2 side in the tubular body 10 along the longitudinal direction of the pipe P by pulling the cable 40 from the end E2 side (second step).

In this example, drive signals are transmitted to the imaging units 21 and 22 at a plurality of locations in the longitudinal direction of the tubular body 10 to execute imaging of the inside of the tubular body 10 (third step). FIG. 4 is an example of an image obtained by imaging. In the image, a plurality of black circle markers are shown through the translucent tubular body 10 together with the inner wall 13 of the tubular body 10. These markers included in the image provide information about their position within the tubular body 10. The image signal obtained by imaging is transmitted to the processing device 30 and processed as image data.

Here, as shown in FIG. 4, in the initial imaging, a total of three points in the reference marker 12R1 and a set of markers (referred to as the measurement marker 12M) adjacent to the reference marker 12R1 in the longitudinal direction. The angle of view of the imaging unit 21 is set so that six points are included in at least the imaging area IA of the imaging unit 21. The angle of view of the imaging unit 22 is set so that the same six points are included in the imaging area of the imaging unit 22.

Subsequently, the coordinates of each measurement marker 12M are specified from the coordinates of each reference marker 12R1. As described above, since each reference marker 12R1 has its position in the longitudinal direction aligned with the position of the known end E1, these coordinates are known and associated with the position coordinates of the end E1. The reference marker 12R1 functions as a known marker. On the other hand, although the coordinates of each measurement marker 12M are unknown, the coordinates of each measurement marker 12M can be specified by using trigonometry as follows, for example.

FIG. 5 is a diagram illustrating a method of specifying the coordinates of the marker M in the xyz Cartesian coordinate system. Here, reference numeral 21c is an imaging surface in the imaging unit 21, and reference numeral 22c is an imaging surface in the imaging unit 22. It is assumed that the imaging surfaces 21c and 22c are both parallel to the xy plane. It is assumed that the origin of the xyz orthogonal coordinate system is the focal position of the imaging unit 21, and the z-axis coincides with the optical axis of the imaging unit 21. It is assumed that the optical axis of the imaging unit 22 is parallel to the z-axis and orthogonal to the x-coordinate at the position of x = h. The focal lengths of the imaging units 21 and 22 are both f. Therefore, the imaging surfaces 21c and 22c are both at a distance of f from the x-axis.

A line connecting the marker M and the focal position of the imaging unit 21 and a line connecting the marker M and the focal position of the imaging unit 22 with _{the coordinates of the intersection of the imaging surface 21c as (X l} , Y _{l, f).} Assuming that the coordinates of the intersection with the imaging surface 22c are (X _r , Y _r , f), Y _l = Y _r . The coordinates (X _m , Y _m , Z _m ) of the marker M are represented by the following relational expressions (1) to (3).
Z _m = (h × f) / [h- (X _r − X _l )] ・ ・ ・ (1)
X _m == (Z _m / f) × X _r ... (2)
Y _m == (Z _m / f) x Y _r ... (3)

By using the above relational expressions (1) to (3), the position of the marker M can be specified with reference to the positions of the imaging units 21 and 22. Therefore, the processing device 30 uses the above relational expressions (1) to (3) to perform image processing on the captured image with reference to the positions of the imaging units 21 and 22, and based on this, the processing device 30 and each reference marker 12R1. The coordinates with each measurement marker 12M are calculated.

Subsequently, the processing device 30 corrects the calculated coordinates of each reference marker 12R1 based on the known coordinates of each reference marker 12R1, and also corrects the calculated coordinates of each measurement marker 12M. As a result, the processing device 30 specifies the coordinates of each measurement marker 12M. The coordinates of each of the identified measurement markers 12M are stored in the storage unit 32. Since the markers 12 are arranged at substantially equal intervals at a distance L over the longitudinal direction, more accurate correction can be performed by using this distance L for the correction.

The three-point marker 12 is selected as the reference marker 12R1 because the three-point marker 12 defines a plane that intersects the longitudinal direction of the pipe P, and the measurement markers 12M for each of the three points on this plane are defined. This is because the coordinates can be fixed. In order to be able to define the plane in this way, the three markers 12 should be selected so that they are not arranged linearly in the longitudinal direction of the pipe P. Further, the number of markers 12 selected as a reference is not limited to 3, and may be 4 or more.

Subsequently, the measuring device 20 is moved to the end E2 side in the tubular body 10 by pulling the cable 40 or the like. The moving distance at this time is preferably about the same as the distance L of the marker 12. Then, the three measurement markers 12M whose coordinates are specified are set as reference markers whose coordinates are known this time. Then, the angle of view of the imaging units 21 and 22 is adjusted so that the reference marker and the three measurement markers adjacent to the reference marker in the longitudinal direction, a total of six points, are included in the imaging area of the imaging units 21 and 22 at least. Set and take an image.

Subsequently, the processing device 30 uses the above relational expressions (1) to (3) to refer to the positions of the imaging units 21 and 22, and the coordinates of each reference marker and each measurement marker based on the captured image. Is calculated.

Subsequently, the calculated coordinates of each reference marker are corrected based on the known coordinates of each reference marker, and the calculated coordinates of each measurement marker are corrected. As a result, the processing device 30 specifies the coordinates of each measurement marker.

Further, the measuring device 20 is moved to the end E2 side in the tubular body 10, each measuring marker whose position is specified is set as a reference marker this time, and these coordinates are set by using adjacent markers in the longitudinal direction as measuring markers. Repeat the identifying process. Then, when it is determined that the measurement marker is the endpoint marker 12R2 at the end E2, the step of specifying the coordinates is ended.

An example of the above measurement method will be further described with reference to the processing flow chart shown in FIG.
First, in step S101, the processing device 30 acquires an image of the reference marker and the measurement marker at the end E1 as image data. Subsequently, in step S102, the processing device 30 calculates the coordinates of the reference marker and the measurement marker. Subsequently, in step S103, the processing apparatus 30 corrects the coordinates of the reference marker and the measurement marker based on the known coordinates of the reference marker, and specifies the coordinates of the measurement marker. For example, in step S103, the processing device 30 corrects the coordinates of the marker M1 and the marker M2 (measurement marker) based on the coordinates of the marker M1 (reference marker) whose coordinates are known, and specifies the coordinates of the marker M2. ..

Subsequently, in step S104, the measuring device 20 is moved within the tubular body 10. The measuring device 20 can be moved by pulling the cable 40 or the like. The cable 40 may be pulled by the operator or may be pulled by a cable picker.

Subsequently, in step S105, the processing apparatus 30 newly sets the measurement marker whose coordinates are specified in step S103 as the reference marker, and sets the marker adjacent to the reference marker in the longitudinal direction as the measurement marker. For example, in step S105, the processing apparatus 30 sets the marker M2 whose coordinates are specified in step S103 as a reference marker, and sets the marker M3 adjacent to the marker M2 in the longitudinal direction as a marker (measurement marker) to be measured. ..

Subsequently, in step S106, the processing device 30 acquires an image of the reference marker and the measurement marker as image data.

Subsequently, in step S107, image processing is performed to determine whether or not the measurement marker is the endpoint marker at the end E2. Here, in order to facilitate the determination of whether or not the endpoint marker is an endpoint marker, it is preferable that the endpoint marker has visual features (color, shape, pattern, etc.) different from those of other markers.

If it is determined that the marker is not an endpoint marker (step S107, No), the processing flow returns to S102. If it is determined that the endpoint marker is used (step S107, Yes), the above processing flow is terminated.

By executing the above processing flow, the coordinate data of a plurality of reference markers can be obtained in the longitudinal direction. The piping route of the pipe P can be specified based on the coordinate data of the plurality of reference markers and the coordinate data of the end portion E1 (fourth step). Further, by executing a software program such as 3D CAD in the processing device 30 and displaying the coordinate data three-dimensionally, the piping path of the pipe P can be visually recognized.

Even if the piping path of the pipe P specified based on the coordinate data of the plurality of reference markers and the coordinate data of the end E1 is corrected based on the coordinate data of the end E2 to improve the measurement accuracy. Good.

According to the pipe path measurement system 100 according to the first embodiment described above and the method of measuring the pipe path using the system, the measuring device 20 is moved by moving the measuring device 20 within the tubular body 10 inserted into the pipe P. Since pollution and the like are suppressed, reuse becomes easy.

In the above processing flow, the measuring device 20 is moved after the coordinates are calculated, but the order is not limited to this. For example, first, the marker 12 is imaged in the tubular body 10 from the reference marker 12R1 to the endpoint marker 12R2, and these image data are stored in the processing device 30, and then these image data are read out and the coordinates are obtained. The calculation may be performed.

Further, in the tubular body 10, the marker 12 is formed on the outer peripheral surface 11 of the tubular body 10, but the marker is not limited to this. For example, it is possible to use the inner surface state, which appears as a design or characteristic of the tubular body, as a marker. For example, when a bellows tube is used as the tubular body, the unevenness of the inner surface of the bellows tube can be used as a marker. Further, the marker is not limited to a point shape, and may be a pattern such as a mesh. Further, it is preferable that the specific marker has visual features (color, shape, pattern, etc.) different from those of the other markers 12. Specific markers include a reference marker 12R1, an endpoint marker 12R2, or a marker located at a predetermined distance (for example, a distance that is a multiple of 1 m) from the reference marker 12R1 or the endpoint marker 12R2. Further, for example, as a specific marker, a QR code (registered trademark) or a color code including information (position, etc.) of the marker may be used.

(Embodiment 2)
FIG. 7 is an explanatory diagram of an example of the piping route measurement system according to the second embodiment and the measurement method using the same. The piping route measuring system according to the second embodiment includes a tubular body 10A, a measuring device 20A, a cable 40A, and a processing device (not shown).

The tubular body 10A is configured to have a length and an outer diameter that can be inserted into the pipe P in the longitudinal direction. Further, the tubular body 10A has flexibility, and even if the inside of the conduit is bent, it can be deformed accordingly. The tubular body 10 is made of, for example, a resin, but its constituent material is not particularly limited, and may be made of, for example, a metal. When executing the measuring method of this example, the pipe P is inserted from the end E2 side to the end E1 side of the pipe P together with the measuring device 20A by the guide wire GW.

The measuring device 20A is configured to have a size that can be moved along the longitudinal direction within the tubular body 10A. The measuring device 20A is configured to be able to acquire information on the position in the tubular body 10A inserted into the pipe P. For example, the measuring device 20A includes the measuring mechanism described in Patent Documents 1 to 6. The measuring mechanism is, for example, a camera, a laser light emitting device and a camera, an inclination sensor and an in-tube position sensor, a light source and an imaging unit and a sensor for detecting three axial directions, an acceleration sensor and a geomagnetic sensor and a camera, or an acceleration sensor and a gyro sensor. .. A camera and an imaging unit are examples of devices having an optical sensor. Geomagnetic sensors, tilt sensors, and gyro sensors are examples of orientation sensors. The measuring device 20A is configured to generate an electrical signal including information about the acquired position.

The cable 40A electrically connects the measuring device 20A and the processing device, and transmits the electric signal generated by the measuring device 20A to the processing device. Like the processing device 30, the processing device includes a calculation unit, a storage unit, a display unit, an operation unit, an I / F unit, and a bus line connecting these, and is realized by using, for example, a personal computer system. The processing device receives the electric signal and extracts the information contained in the electric signal.

The measuring device 20A can move in the tubular body 10A toward the end E2 side by pulling the cable 40A or the like. The processing apparatus identifies the piping route of the pipe P based on the information regarding the positions acquired by the measuring device 20A at a plurality of locations in the longitudinal direction.

According to the piping route measuring system according to the second embodiment and the piping route measuring method using the same, by moving the measuring device 20A within the tubular body 10A inserted into the pipe P, contamination of the measuring device 20A is suppressed. Therefore, it is easy to reuse.

The piping route measurement system according to the first embodiment includes two imaging units, but may be configured to include three or more imaging units. For example, when there are three imaging units, three combinations of the two imaging units are provided, so that it is possible to obtain three times as much information as the piping route measurement system according to the first embodiment.

Further, when the optical axes of the two imaging units are, for example, non-parallel, it is preferable to use epipolar geometry in calculating the coordinates and distance of the markers. In this case, it is necessary to perform calibration such as parallelization of epipolar lines before measurement.

Moreover, the present invention is not limited by the above-described embodiment. The present invention also includes a configuration in which the components of each of the above-described embodiments are appropriately combined.

For example, the step of inserting the tubular body and the measuring device into the conduit may be performed a plurality of times. In this case, a plurality of measurement data of the piping route can be acquired by performing the processing flow shown in FIG. 6 or 7 in each step. By processing these data statistically, for example, it is possible to obtain data on the piping route with higher position accuracy than in the case of one measurement. Further, the measurement data obtained by performing the processing flow shown in FIG. 6 may be combined with the measurement data obtained by performing the processing flow shown in FIG. 7, and these may be statistically processed, for example. Further, the measurement data obtained by using the piping route measurement system according to the first embodiment and the measurement data obtained by using the piping route measurement system according to the second embodiment are combined, and these are processed statistically, for example. May be good.

Further, further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspect of the present invention is not limited to the above-described embodiment, and various modifications can be made.

10, 10A Tubular body 11 Outer peripheral surface 12 Marker 12M Measurement marker 12R1 Reference marker 12R2 Endpoint marker 13 Inner wall 20, 20A Measuring device 21, 22 Imaging unit 21a, 22a Objective optical system 21b, 22b Imaging element 21c, 22c Imaging surface 23 Light Irradiation unit 30 Processing device 31 Calculation unit 32 Storage unit 33 Display unit 34 Operation unit 35 I / F unit 40, 40A Cable 41 Electric cable 42 Optical fiber cable 50 Illumination light source 100 Piping route measurement system E1, E2 End GW guide wire IA Imaging area P pipe

Claims (12)

The first step of inserting a flexible tubular body over the longitudinal direction of the pipeline into the pipeline constituting the piping route to be measured, and
The second step of moving the measuring device along the longitudinal direction of the conduit in the tubular body, and
A third step of acquiring information on the position in the tubular body by the measuring device at a plurality of locations in the tubular body in the longitudinal direction.
A method for measuring a piping route, which comprises a fourth step of identifying the piping route based on the information. The tubular body has a plurality of markers that can be seen from the inside in the longitudinal direction.
The measuring device has two or more imaging units, and has two or more imaging units.
In the third step, the inside of the tubular body including the marker is imaged by the two or more imaging units to acquire information on the position in the tubular body.
The method for measuring a piping route according to claim 1, wherein the fourth step is to specify the piping route based on the information included in the captured image. The method for measuring a piping route according to claim 2, wherein the fourth step specifies the coordinates of the marker from the captured image and specifies the piping route based on the coordinates. In the third step, the image is imaged so as to include a reference marker whose coordinates are known and a measurement marker whose coordinates are unknown, and information on the position in the tubular body is acquired.
The method for measuring a piping route according to claim 3, wherein the fourth step specifies the coordinates of the measurement marker based on the coordinates of the reference marker. The method for measuring a piping route according to claim 4, wherein the fourth step is to specify the coordinates of the measurement marker by using trigonometry or epipolar geometry. The method for measuring a piping route according to claim 1, wherein the measuring device is a device having an optical sensor, at least a device having an acceleration sensor and a gyro sensor, or a device having an orientation sensor. A flexible tubular body that can be inserted in the longitudinal direction into the pipeline that constitutes the piping route to be measured.
A measuring device configured to be movable along the longitudinal direction of the conduit in the tubular body and capable of acquiring information on a position in the tubular body at a plurality of locations in the longitudinal direction of the tubular body.
A processing device that identifies the piping route based on the acquired information, and
A piping route measurement system characterized by being equipped with. The tubular body has a plurality of markers that can be seen from the inside in the longitudinal direction.
The measuring device has two or more imaging units, and the inside of the tubular body including the marker is imaged by the two or more imaging units.
The piping route measuring system according to claim 7, wherein the processing apparatus identifies the piping route based on the information included in the captured image. The piping route measuring system according to claim 8, wherein the processing apparatus identifies the coordinates of the marker from the captured image and identifies the piping route based on the coordinates. The measuring device captures the image so as to include a reference marker having known coordinates and a measuring marker having unknown coordinates.
The piping route measurement system according to claim 9, wherein the processing device specifies the coordinates of the measurement marker based on the coordinates of the reference marker. The piping route measurement system according to claim 10, wherein the processing apparatus uses trigonometry or epipolar geometry to specify the coordinates of the measurement marker. The piping route measurement system according to claim 7, wherein the measuring device is a device having an optical sensor, at least a device having an acceleration sensor and a gyro sensor, or a device having an orientation sensor.

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