JPH02247508A - Length measurement system for subject by underwater robot - Google Patents
Length measurement system for subject by underwater robotInfo
- Publication number
- JPH02247508A JPH02247508A JP6751389A JP6751389A JPH02247508A JP H02247508 A JPH02247508 A JP H02247508A JP 6751389 A JP6751389 A JP 6751389A JP 6751389 A JP6751389 A JP 6751389A JP H02247508 A JPH02247508 A JP H02247508A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- subject
- distance
- distance signal
- underwater robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005259 measurement Methods 0.000 title abstract 3
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 9
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 6
- -1 acryl Chemical group 0.000 abstract 1
- 238000007689 inspection Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は水中ロボットにおける被写体の測長方式、特に
は発電所の導水路内の傷や付着物の大きさを計測する好
適な水中ロボットにおける被写体の測長方式に関するも
のである。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for measuring the length of an object in an underwater robot, and particularly to a method for measuring the length of a subject in an underwater robot suitable for measuring the size of scratches and deposits in a water conduit of a power plant. This relates to a method for measuring the length of an object.
一般に水中の状態を把握するために水中ロボットが用い
られている。この水中ロボットは第２図に示すように耐
圧殻１の一部に透明なアクリルドーム２を設け、このア
クリルドーム２内にテレビカメラ３を配置し、このテレ
ビカメラ３で撮影された被写体の映像は光ケーブル４を
介して水面上に配置された制御部５に導かれ、この制御
部５内に配置されたテレビ上に映写されるようになって
いる。Underwater robots are generally used to understand underwater conditions. As shown in Fig. 2, this underwater robot has a transparent acrylic dome 2 installed in a part of the pressure shell 1, and a television camera 3 is placed inside this acrylic dome 2. is led via an optical cable 4 to a control section 5 placed above the water surface, and is projected on a television set inside the control section 5.
ところでかかる水中ロボットにおいては、被写体の大き
さを具体的に検知することができない。したがって、例
えば発電所の導水路内壁の検査に使用した場合において
、映像において内壁に傷や生物が付着していたとき、そ
の大きさが判らないため、別にダイパーによる調査を必
要とし、その作業は面倒であり、多大の時間と労力を要
することとなっていた。However, such underwater robots cannot specifically detect the size of the subject. Therefore, when used to inspect the inner wall of a power plant's water conduit, for example, if the image shows scratches or organisms attached to the inner wall, the size of the scratches cannot be determined, so a separate inspection using a dipper is required, and that work is This was troublesome and required a great deal of time and effort.
本発明は前記したような問題点を解決するためになされ
たものであって、水中ロボットに映像信号作成手段と、
テレビカメラのレンズの合焦による距離信号作成手段を
設け、この映像信号と距離信号とを光ケーブルを介して
水面上に設けられた制御部へ導き、この制御部において
映像信号による映像と、距離信号に基づき演算された水
平寸法値、垂直寸法値及び対角寸法値を画面上に表示す
るようにしたものであって、この映像と各寸法値は何れ
も同期して画面に表示される。The present invention has been made to solve the above-mentioned problems, and includes a video signal generation means for an underwater robot,
A means for creating a distance signal by focusing the lens of a television camera is provided, and the video signal and the distance signal are guided through an optical cable to a control unit installed on the water surface, and this control unit converts the video signal based on the video signal and the distance signal. The horizontal dimension value, vertical dimension value, and diagonal dimension value calculated based on the above are displayed on the screen, and this image and each dimension value are all displayed on the screen in synchronization.
そして映像は一旦ＶＴＲに記録された後、点検後に画面
へ表示してもよく又はフレームメモリーを介して点検と
同時に直接表示してもよい。After the video is once recorded on the VTR, it may be displayed on the screen after the inspection, or it may be displayed directly at the same time as the inspection via a frame memory.
また、水平寸法値、垂直寸法値及び対角寸法値はあらか
じめ測定された画角をＣＰＵに入力して置き、距離信号
をこのＣＰＵに入力して演算される。Further, the horizontal dimension value, vertical dimension value, and diagonal dimension value are calculated by inputting a previously measured angle of view to the CPU and inputting a distance signal to the CPU.
かかる方式によれば、検査個所等の被写体が画面上に映
写されるとともに水平寸法値、垂直路寸法値及び対角寸
法値が同期して画面上に表示されるため、傷や付着生物
が存在する場合、その画面上より容易にその寸法を求め
ることができる。According to this method, the object such as the inspection area is projected on the screen, and the horizontal dimension value, vertical path dimension value, and diagonal dimension value are displayed on the screen in synchronization, so it is possible to detect the presence of scratches or attached organisms. If so, you can easily find the dimensions on the screen.
以下、第１図に基づき本発明による水中ロボットにおけ
る被写体の測長方式の実施例を説明する。Hereinafter, an embodiment of a method for measuring the length of a subject in an underwater robot according to the present invention will be described based on FIG.
第１図において１１は水中ロボットの耐圧殻の一部をな
すアクリルドームで、このアクリルドーム１１内に被写
体１２の映像を補正する補正レンズ１３とカメラのレン
ズ１４とが配置されるとともに、このレンズ１４には測
距リング１５が取付けられている。そしてこの測距リン
グ１５には、後述する指令信号Ｖ、によって作動するモ
ータ１６によって回転するギヤー１７が噛合うとともに
、距離信号ｖ２の発生手段としてのボテンシッメータ１
８のギヤー１９が噛合うように取付けられている。In FIG. 1, reference numeral 11 denotes an acrylic dome that forms part of the pressure-resistant shell of the underwater robot. Inside this acrylic dome 11, a correction lens 13 for correcting the image of a subject 12 and a camera lens 14 are arranged. A distance measuring ring 15 is attached to 14. A gear 17 rotated by a motor 16 activated by a command signal V, which will be described later, meshes with this distance measuring ring 15, and a potentiometer 1 as a means for generating a distance signal v2 meshes with the gear 17.
8 gears 19 are attached so as to mesh with each other.
レンズ１４を通過した被写体１２の映像はハーフミラ−
２０により２分され、一方の光はプリズム２１、レンズ
２２から映像信号ｖ３の発生手段としてのＣＣＤ ＴＶ
２３に達する。そして他方の光はハーフミラ−２０を
通過してスチル写真用の長尺フィルムバック２４に達す
るとともに合焦センサ２５、合焦検知ユニット２６を経
てファインダ向合ＬＥＤ２７を光らせる。The image of the subject 12 that passes through the lens 14 is a half mirror.
20, and one of the lights passes through a prism 21 and a lens 22 to a CCD TV as a means for generating a video signal v3.
Reach 23. The other light passes through the half mirror 20 and reaches the long film back 24 for still photography, passes through the focus sensor 25 and the focus detection unit 26, and illuminates the finder facing LED 27.
そして距離信号ｖ２及び映像信号ｖ３は光−電変換器２
８及び光ケーブル２９内を通って、水面上に設けられた
制御部３０に達する。即ち、制御部３０内に設けられた
光−電変換器３１に入力され、ここで電圧として距離信
号ｙ ２１ と映像信号・ｙ３１ に復元され、距離信
号ｖ２°は距離信号ユニット３２に入力された後、音声
に変換されて距離−周波数信号Ｖ、となり、ＶＴＲ３３
に入力される。The distance signal v2 and the video signal v3 are sent to the photo-electrical converter 2.
8 and an optical cable 29 to reach a control unit 30 provided above the water surface. That is, it is input to a photo-electrical converter 31 provided in the control unit 30, where it is restored as a voltage into a distance signal y21 and a video signal y31, and a distance signal v2° is inputted to a distance signal unit 32. After that, it is converted to audio and becomes a distance-frequency signal V, which is sent to the VTR 33.
is input.
一方、映像信号ｙ 、 ｌ もＶＴＲ３３に入力され
る。On the other hand, video signals y and l are also input to the VTR 33.
この場合、ＶＴＲ３３には音声周波数に変換された距離
信号Ｖ、と映像信号ｙ 、ｌ が同期して別のトラック
に入力される。In this case, the distance signal V converted into an audio frequency and the video signals y and l are input to the VTR 33 in different tracks in synchronization.
一方、距離信号ユニット３２から音声に変換されずに並
行して出力された距離信号ｖ４はＡ／Ｄ変換器３４でＡ
Ｄ変換され、ＣＰＵ３５に導かれ演算処理されて距離値
とされる。即ち、ＣＰＵ３５にはあらかじめ測定しであ
るカメラ画角が入力されており、このカメラ画角と距離
信号とにより画面の水平（Ｘ軸）寸法値、垂直（Ｙ軸）
寸法値、対角寸法値が夫々演算される。そしてこの対角
寸法値はスーパーインポーザ３６を経てモニターテレビ
３７上に表示される。On the other hand, the distance signal v4 outputted in parallel from the distance signal unit 32 without being converted into audio is sent to the A/D converter 34.
The data is converted into D, and then sent to the CPU 35 for arithmetic processing to obtain a distance value. That is, the camera angle of view measured in advance is input to the CPU 35, and the horizontal (X-axis) and vertical (Y-axis) dimensions of the screen are determined based on this camera angle of view and the distance signal.
Dimension values and diagonal dimension values are calculated respectively. This diagonal dimension value is then displayed on a monitor television 37 via a superimposer 36.
なお、３８はモータ１６を作動させるための信号ｖＩを
作成するフォーカスコントローラで、３９は実際に指令
値を与えるジョイステ、りである。Note that 38 is a focus controller that creates a signal vI for operating the motor 16, and 39 is a joysteer that actually provides a command value.
かかる構成において、先ずジョイステック３９を操作し
て指令信号Ｖｌをモータ１６に与えて作動させ、レンズ
１４を回動させて被写体１２が合焦するとファインダ内
ＬＥＤ２７が点灯する。In this configuration, first, the joystick 39 is operated to apply a command signal Vl to the motor 16 to operate it, and when the lens 14 is rotated and the subject 12 is brought into focus, the LED 27 in the finder lights up.
このとき被写体とレンズと距離とポテンショメータ１８
の関係は予め校正されており、ポテンショメータ１８に
より被写体１２とレンズ１４との距離が求められ、この
距離信号ｖ、 ｌ は光−電変換器２８及び光ケーブル
２９を経て制御部３０内の光−電変換器３１に導かれ電
圧信号ｙ 、 ｌ として距離信号ユニット３２に入力
される。そして距離信号ユニット３２内で分岐され、一
方は電圧ｖ４としてへ／Ｄ変換器３４でＡＤ変換され、
ＣＰＵ３５で水平寸法値、垂直寸法値及び対角寸法値が
求められる。At this time, the subject, lens, distance, and potentiometer 18
The relationship between is calibrated in advance, and the distance between the subject 12 and the lens 14 is determined by the potentiometer 18, and this distance signal v, l is sent to the photo-electric converter in the control section 30 via the photo-electric converter 28 and the optical cable 29. The signal is guided to a converter 31 and input as a voltage signal y, l to a distance signal unit 32. Then, it is branched within the distance signal unit 32, and one is converted into a voltage v4 by an A/D converter 34,
The CPU 35 determines horizontal dimension values, vertical dimension values, and diagonal dimension values.
他方、距離信号ｙ、ｌ は距離信号ユニット３２からＶ
ＴＲ３３に距離−周波数信号Ｖ、として記録される。On the other hand, the distance signal y,l is transmitted from the distance signal unit 32 to V
This is recorded in the TR 33 as a distance-frequency signal V.
映像信号ｙ 、 ｌ は距離信号Ｖ、と同期してＶＴＲ
３３の別のトラックに記録されている。そしてＶＴＲ３
３からモニターテレビ３７の画面に映像を取出し、目視
して行き、傷や生物付着が見られたらＣＰＵ３５のマウ
ス４０を操作することによりＣＰＵ３５で演算された水
平寸法値、垂直寸法値及び対角寸法値がスーパーインポ
ーザ３６を経てモニターテレビ３７の画面に映像と同期
して表示される。The video signals y and l are sent to the VTR in synchronization with the distance signal V.
It is recorded on 33 separate tracks. And VTR3
3 to the screen of the monitor television 37, visually inspect the image, and if any scratches or biofouling are found, operate the mouse 40 of the CPU 35 to check the horizontal dimension, vertical dimension, and diagonal dimension calculated by the CPU 35. The value passes through a superimposer 36 and is displayed on the screen of a monitor television 37 in synchronization with the video.
以上の説明から明らかなように、本発明による水中ロボ
ットにおける被写体の測長方式によれば、映像信号によ
る被写体の映像と、距離信号により演算された水平寸法
値、垂直寸法値及び対角寸法値を同期して画面上に表示
することができるため容易に被写体の寸法を求めること
ができる。As is clear from the above description, according to the method for measuring the length of a subject in an underwater robot according to the present invention, an image of the subject based on a video signal, and horizontal dimension values, vertical dimension values, and diagonal dimension values calculated using a distance signal are obtained. can be displayed on the screen synchronously, making it easy to determine the dimensions of the object.
したがって、特に発電所の導水路中の保守点検時の作業
を迅速かつ容易に行なうことができるという効果がある
。Therefore, there is an effect that maintenance and inspection work, especially in the headrace of a power plant, can be carried out quickly and easily.
第１図は本発明による水中ロボットにおける被写体の測
長方式の実施例を示す系統図、第２図は従来の水中ロボ
ットの説明図である。
１・・・耐圧殻、２，１１・・・アクリルドーム、３・
・・テレビカメラ、４．２９・・・光ケーブル、５．３
０・・・制御部、１２・・・被写体、１３・・・補正レ
ンズ、１４．２２・・・レンズ、１５・・・測距リング
、１６・・・モータ、１７゜１９・・・ギヤー、１８・
・・ポテンショメータ、２０・・・ハーフミラ−１２１
・・・プリズム、２３・・・ＣＣＤＴＶ 、２４・・・
長尺フィルムバック、２５・・・合焦センサ、２６・・
・合焦検知ユニット、２７・・・合焦ＬＥＤ、２８．３
１・・・光−電変換器、３２・・・距離信号ユニット、
３３・・・ＶＴＲ１３４・・・Ａ／Ｄ変換器、３５・・
・ＣＰＵ、３６・・・スーパーインポーザ、３７・・・
モニターテレビ、３８・・・フォーカスコントローラ、
３９・・・ジョイステック、４０・・・マウス。
第２図FIG. 1 is a system diagram showing an embodiment of a method for measuring the length of a subject in an underwater robot according to the present invention, and FIG. 2 is an explanatory diagram of a conventional underwater robot. 1...Pressure shell, 2,11...Acrylic dome, 3.
...TV camera, 4.29...Optical cable, 5.3
0...Control unit, 12...Subject, 13...Correction lens, 14.22...Lens, 15...Distance measuring ring, 16...Motor, 17° 19...Gear, 18・
...Potentiometer, 20...Half mirror-121
...prism, 23...CCDTV, 24...
Long film back, 25... Focusing sensor, 26...
・Focus detection unit, 27...Focus LED, 28.3
1... Photo-electric converter, 32... Distance signal unit,
33...VTR134...A/D converter, 35...
・CPU, 36...Superimposer, 37...
Monitor TV, 38...Focus controller,
39...joystick, 40...mouse. Figure 2
Claims (1)
映像を光ケーブルを介して水面上に配置された制御部へ
導き、該制御部内に設けられたテレビ上に映写するよう
にした水中ロボットにおいて、前記水中ロボットに映像
信号作成手段とテレビカメラのレンズの合焦による距離
信号作成手段を設け、該映像信号と距離信号とを光ケー
ブルを介して制御部に導き、該制御部において前記映像
信号による映像と距離信号に基づき演算された水平寸法
値、垂直寸法値及び対角寸法値を画面上に表示するよう
にしたことを特徴とする水中ロボットにおける被写体の
測長方式。 ２、距離信号を所定のカメラ画角を入力したＣＰＵに導
き、該距離信号とカメラ画角とにより水平寸法値、垂直
寸法値及び対角寸法値を演算することを特徴とする請求
項１記載の水中ロボットにおける被写体の測長方式。[Scope of Claims] 1. An image from a television camera placed inside the acrylic dome is guided via an optical cable to a control unit placed above the water surface, and is projected onto a television set inside the control unit. In the underwater robot, the underwater robot is provided with a video signal creation means and a distance signal creation means by focusing a lens of a television camera, the video signal and the distance signal are guided to a control unit via an optical cable, and the control unit A method for measuring the length of a subject in an underwater robot, characterized in that horizontal dimension values, vertical dimension values, and diagonal dimension values calculated based on the image and distance signal of the video signal are displayed on a screen. 2. A distance signal is introduced to a CPU into which a predetermined camera view angle is input, and a horizontal dimension value, a vertical dimension value, and a diagonal dimension value are calculated based on the distance signal and the camera view angle. A method for measuring the length of an object in an underwater robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1067513A JPH0778408B2 (en) | 1989-03-22 | 1989-03-22 | Object length measurement method for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1067513A JPH0778408B2 (en) | 1989-03-22 | 1989-03-22 | Object length measurement method for underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02247508A true JPH02247508A (en) | 1990-10-03 |
| JPH0778408B2 JPH0778408B2 (en) | 1995-08-23 |
Family
ID=13347138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1067513A Expired - Fee Related JPH0778408B2 (en) | 1989-03-22 | 1989-03-22 | Object length measurement method for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0778408B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6407372B1 (en) * | 2017-08-14 | 2018-10-17 | りんかい日産建設株式会社 | Underwater ranging device and its ranging method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6217606A (en) * | 1985-07-15 | 1987-01-26 | Hitachi Zosen Corp | Underwater measuring device |
| JPS63120203A (en) * | 1986-11-08 | 1988-05-24 | Dainippon Screen Mfg Co Ltd | Marked line display device of visual inspection apparatus |
-
1989
- 1989-03-22 JP JP1067513A patent/JPH0778408B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6217606A (en) * | 1985-07-15 | 1987-01-26 | Hitachi Zosen Corp | Underwater measuring device |
| JPS63120203A (en) * | 1986-11-08 | 1988-05-24 | Dainippon Screen Mfg Co Ltd | Marked line display device of visual inspection apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6407372B1 (en) * | 2017-08-14 | 2018-10-17 | りんかい日産建設株式会社 | Underwater ranging device and its ranging method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0778408B2 (en) | 1995-08-23 |
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