JPH06137821A - Measuring device for internal state of pipe - Google Patents

Abstract

PURPOSE:To accurately measure the sectional shape and bend of a pipe by passing through a spherical marker applying an eccentricity on a photographed face as a bending index, and fixing a solid shaft connected to a camera through a universal joint to the center of the end face of a measuring section whose profile changes along the inside section of the pipe. CONSTITUTION:A solid shaft 23 passing through a spherical marker 20 is fixed to the center of the end face of a measuring section 19 at its one end, and connected to a camera 22 through a universal joint 21 at the other end. The camera 22 is connected to a data accumulater 4 and a monitor 5. The measuring section 19 is formed with a sponge so as to deform along a pipe and has a drum-shaped external form, and its influence face turns toward the camera 22, and a concentric circular pattern centering around the shaft 23 is drawn on it. When the pipe is bent, eccentricity occurs between the spherical marker 20 and the measuring section 19, and the quantity of eccentricity is read from a positional slippage between a concentric circle drawn on a photographed plane and the marker 20 to determine the curvature of the pipe. When a recess exists in the pipe, the photographed plane changes in its shape, and the outside profile shape of the concentric pattern coincides with the sectional shape of the pipe. Thus, the quantity of recess can be obtained from the profile shape.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe internal condition measuring device for measuring the bending and internal condition of an existing pipe buried underground by using an image.

[0002]

2. Description of the Related Art Several conventional methods have been proposed as conventional techniques for grasping the bend and internal condition of a pipe.
First, as a first method, there is a method using a pipe endoscope camera as shown in FIG. In the figure, 1 is a pipe endoscope camera, 2 is a camera body, 3 is a coaxial cable, 4 is a data storage unit, and 5 is a monitor.

The pipe endoscope camera 1 includes a camera body 2 for inputting an image of the internal state of the pipe and a coaxial cable 3.
The data storage device 4 has a simple structure including a data storage device 4 for storing an image of the data connected by and a monitor 5 for displaying a camera image. In this method, the state of the inner wall surface is observed from the monitor 5, and the rough condition of the pipe, the dent, the degree of erosion, etc. are observed from the image of the state inside the pipe.

As a second method, there is a method of using a cross-section inner profile measuring instrument using slit light. FIG. 14 shows a perspective side view of the schematic configuration of an apparatus used in this method. 6 in the figure
Is a pipe to be measured, 7 is a cross-section inner shape measuring instrument, 8 is a projector for generating a ring-shaped slit light α, 9 is a window for applying the slit light α from the projector 8 to the inner wall surface of the pipe 6, 10 A lens for condensing and imaging the reflected light α ′ of the slit light α from the inside of the pipe 6, and 11 is an imaging element for obtaining an image. In addition, the dotted line in the figure indicates the direction of advance of the slit light α and its reflected light α ′.

This method is effective for measuring the shape of the inside of the pipe 6 because the internal cross-sectional shape of the pipe 6 can be obtained directly from the reflected image of the slit light α obtained from the image pickup device 11. FIG. 15 is a drawing showing a measurement image according to the method. FIG. 15A shows a measured image of the pipe 6 in a healthy state, and FIG. 15B shows a measured image of the pipe 6 having a dent 6a. As shown in the figure, if the pipe 6 is dented, the measured image does not show a perfect circle as in (a) but shows a distorted circle as in (b).

As a third method, there is a method using an underground pipe line position measuring device. FIG. 16 shows a perspective side view of the schematic configuration of an apparatus used in this method. In the figure, 12 is an underground conduit position measuring device, 13 is a front part and a central part of the underground conduit position measuring device 12 that maintains a sliding state between the underground conduit position measuring device 12 and the inner peripheral surface of the pipe 6. Ripple support provided at the rear,
Reference numeral 14 is a rolling detector that detects rotational movement from the rotation of the weight 14a, 15 is a universal joint, 16 is a bend angle meter that detects a bending angle, and 17 is an inclinometer that measures a pitching posture angle of the main body.

In this method, the rolling detector 1 is installed by inserting the underground pipe position measuring device 12 into the pipe 6.
3 and the inclinometer 17, and the bending angle meter 16 measures the deviation between the front part and the rear part of the universal joint 15 to detect the bending direction and the bending angle of the pipe 6.

[0008]

However, the above-mentioned conventional techniques have the following problems. First, the first
According to the method using the endoscopic camera 1 which is the method described above, it is difficult to confirm depending on the conditions inside the pipe, such as when the pipe has a gentle curvature or when the dent is small, or when the metal pipe is severely corroded. There are problems.

Next, in the second method, which uses the apparatus for measuring the inner contour shape of the slit light α, the output is only the circle pattern of the reflected image of the slit light α, so that each part of the pipe 6 is Although it is possible to accurately measure the inner contour shape of the cross section, it is difficult to grasp the entire image of the pipe 6. Therefore, the state of bending of the pipe 6 is
There is a problem that it is not possible to make a decision using this method.

In the third method using the underground conduit position measuring device 12, the bending degree of the pipe 6 can be measured, but the internal shape of the dent 6a of the pipe 6 is not directly known. There is a point. Here, in view of the above-mentioned conventional problems, the present invention does not provide a pipe internal state measuring device capable of accurately measuring the cross-sectional inner contour shape of each part of the pipe and the bending of the pipe with one measurement. It is what

[0011]

The above-mentioned conventional problems can be solved by adopting the novel characteristic constitution means listed in the following by the present invention. That is, a first feature of the present invention is that in a pipe internal state measuring device for inputting an image of a bend and an internal state of a pipe to an embedded pipe, a camera for obtaining an image of the internal state of the pipe and the camera. A data storage unit that stores the captured images, a monitor that displays the images obtained by the camera, a measurement unit in which the camera shooting surface contour is deformed along the internal cross-sectional shape of the pipe, and the measurement unit shooting A sphere marker that serves as a bend index of the pipe by photographing the eccentricity from the center of the surface with the camera, and one end is fixed to the center of the camera photographing surface of the measuring unit through the center axis of the sphere marker, and the like. It is a pipe internal state measuring device having a rigid shaft whose end is connected to the camera via a universal joint.

A second feature of the present invention is the pipe internal condition measuring device in which the measuring unit in the first feature has a drum-like appearance.

A third feature of the present invention is the pipe internal condition measuring device, wherein the measuring part in the first feature has a spherical appearance.

A fourth feature of the present invention is a pipe internal condition measuring device in which the measuring section in the first feature has a cylindrical outer shape.

A fifth feature of the present invention is that the camera photographing surface of the measuring unit according to the first, second, third or fourth feature of the present invention has endless concentric patterns at equal intervals in the radial direction. It is a pipe internal state measuring device.

A sixth feature of the present invention is that the first, second, and
The camera photographing surface of the measuring unit in the third or fourth characteristic is
It is a pipe internal state measuring device in which a plurality of diametrical lines passing through the center symmetrically are provided with graduations at equal intervals in the radial direction.

[0017]

According to the present invention, by taking the above-mentioned means, an endless concentric pattern or a diameter line passing through the center at equal intervals in the circumferential direction on the camera photographing surface of the measuring portion, which is photographed by the camera, is drawn, and a constant interval is provided in the straight radial direction. The bent state of the pipe is judged by the eccentric displacement of the marker from the center of each pattern on the scale, and the endless concentric pattern drawn on the camera shooting surface of the measurement unit or the diameter line passing through the center is drawn and the radial direction Since the dent state inside the pipe is judged by the distortion of the contour of the pattern in which the scales are drawn at regular intervals, the cross-sectional inner shape of each pipe portion and the bending of the pipe can be accurately measured by one measurement.

[0018]

【Example】

(Embodiment 1) A first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a schematic configuration of a pipe internal state measuring device of this embodiment.

In the figure, 18 is a pipe internal condition measuring device of this embodiment, 19 is a measuring portion which deforms along the cross-sectional shape of the interior of the pipe, 20 is a spherical marker which serves as an index of bending of the pipe, and 2
1 is a multi-joint universal joint, 22 is a camera for taking an image of the inside of the pipe, and 23 is a camera for the multi-joint universal joint 21
It is a rigid body axis that penetrates and connects the center axis of the measuring unit 19 and the center axis of the spherical marker 20. The same members as those in the conventional example are designated by the same reference numerals.

The present embodiment of FIG. 1 will be described more specifically.
The pipe internal state measuring device 18 of the present embodiment includes a measuring unit 19, a spherical marker 20, and a camera 22 inside the pipe 6 to be measured.
Are inserted in this order. A rigid body shaft 23 provided penetrating the spherical marker 20 has one end fixed to the center of the end face of the measuring unit 19, and the other end connected to the camera 22 by a multi-joint universal joint 21 that freely rotates only the joint 21a. There is. Camera 2
2 is connected to the data accumulator 4 via a coaxial cable 24.

In the present embodiment, the measuring section 19 uses a sponge so as to be deformed along the pipe 6, and has a diameter smaller than the diameter of the pipe 6 to be measured in order to improve the adhesion. The shape is shown in FIG. 2A is an enlarged front view of the measuring unit 19, and FIG. 2B is an enlarged side view of the measuring unit 19. Measuring unit 19 shown in FIGS. 2A and 2B.
Is a measuring unit 19 having an hourglass-shaped appearance, and its camera 2
A concentric circle 19c centered on the rigid body axis 23 is drawn on the photographing surface 19a facing the 2 side.

Here, the reason why the measuring unit 19 is shaped like a drum is as follows.
It is as follows. First, make the shooting surface 19a a flat surface,
It is possible to suppress an error generated between the cross section of the pipe 6 to be measured and the imaging surface 19a. In addition, the saddle-shaped depression 19b at the center of the measuring unit 19 is the pipe 6 measured by the measuring unit 19.
The effect of suppressing the deformation of the imaging surface 19a that is deformed by the dent 6a on the inner wall surface of the device and the effect of suppressing the deformation of the measuring unit 19 caused by the bending of the pipe 6 are provided.

Next, the spherical marker 20 will be described.
First, the size of the spherical marker 20 complies with the following conditions. FIG. 3 is a schematic diagram for explaining the conditions that define the size of the spherical marker 20. First, when the distance between the imaging surface of the camera 22 and the spherical marker 20 is a, the distance between the imaging surface of the camera 22 and the measuring unit 19 is b, and the cross-sectional radius of the pipe 6 is R, the radius r of the spherical marker 20 is , Must satisfy the following formula (1). 0 <r <aR / b (1)

However, since the amount of eccentricity on the screen of the spherical marker 20 and the measuring section 19 is observed, ideally, a size of 0 <r <aR / 2b (2) is desirable. In this example, a styrofoam sphere having a spherical marker 20 radius r satisfying the expression (2) was used.

Here, the reason why a sphere is preferable as the shape of the sphere marker 20 will be described with reference to the drawings. Figure 4
It is a front view explaining the shape of the spherical marker 20. In the present invention, the bending degree of the pipe 6 is determined by the amount of eccentricity between the measuring unit 19 and the spherical marker 20. Therefore, as shown in FIG. 4B, when the spherical marker 20 has a concentric rectangular pattern 19c 'on a rectangular photographing surface 19a' other than a spherical shape, the eccentricity is not constant depending on the bending direction of the pipe 6. Become. On the other hand, if a sphere is used as shown in FIG. 4A, a certain amount of eccentricity can be obtained regardless of the bending direction of the pipe 6.

(Operation Example 1) The pipe internal state measuring device 18 of this embodiment has such a specific embodiment,
Next, the operation will be described with reference to the drawings. Figure 5
FIG. 5A is a schematic explanatory view of an operation state seen from a side direction when the pipe 6 is in a healthy state, and FIG. 5B is an image taken by the camera 22 at that time. At this time, the spherical marker 20 and the measuring unit 19 are on a straight line, and the spherical marker 2
There is no eccentricity between 0 and the group of concentric patterns 19c drawn on the photographing surface 19a of the measuring unit 19. Moreover, the shape of the photographing surface 19a of the measuring unit 19 does not change.

FIG. 6A is a perspective plan view from above showing a state where the pipe 6 is curved to the right on a horizontal plane, and FIG. 6B is an image taken by the camera 22 at that time. At this time, the shape change does not occur on the imaging surface 19a of the measurement unit 19, but eccentricity occurs between the spherical marker 20 and the measurement unit 19. The amount of this eccentricity is read from the positional deviation between the concentric circular pattern 19c drawn on the photographing surface 19a of the measuring unit 19 and the spherical marker 20, and the degree of curvature is determined.

FIG. 7 (a) is a perspective view from the side of the straight pipe 6 with the indentation 6a above, and FIG. 7 (b) is an image taken by the camera 22 at that time. At this time, the imaging surface 19a of the measuring unit 19 changes its shape, and the outermost contour shape of the concentric circular pattern 19c matches the inner cross-sectional shape of the pipe 6. Therefore, the internal cross-sectional shape of the pipe 6, that is, the depression 6a can be seen from this contour shape. In addition,
The data storage 4 may be installed outside the pipe 6.

(Embodiment 2) A second embodiment of the present invention will be described with reference to the drawings. First, the configuration itself of the pipe internal state measuring device is the same as that of the first embodiment. The characteristic point in this embodiment is the shape of the measuring portion. FIG. 8A is an enlarged front view of the measurement unit of this embodiment, and FIG. 8B is an enlarged side view of the measurement unit of this embodiment. In the figure, reference numeral 24 is a measuring unit of this embodiment.

As shown in FIGS. 8 (a) and 8 (b), the measuring unit 24 of this embodiment is a sphere, and the photographic surface 24a thereof penetrates the sphere marker 20 as in the first embodiment. Concentric pattern 2 centered on the rigid shaft 23
4b is depicted. Since the spherical measuring unit 24 has a smaller contact area with the pipe 6 than the measuring unit 19 in the first embodiment, the measuring unit 24 is less likely to be deformed even if the curvature is large. It is very advantageous in that it can accommodate a wide range of curvatures.

(Operation Example 2) The operation of this embodiment will be described with reference to the drawings. 9 (a) is a perspective view from the side of the pipe having a dent, FIG. 9 (b) is an image obtained by the camera 22 at that time, and FIG. 10 (a) shows the pipe curving to the right on a horizontal plane. FIG. 10B is a perspective plan view from above in the state of being held.
Is an image taken by the camera 22 at that time. In the figure, 25 is a pipe internal state measuring device to which the measuring unit 24 of this embodiment is applied.

Pipe internal state measuring device 25 of this embodiment
Shows almost the same operation as that of the first embodiment, as shown in FIGS. Further, the images obtained through the camera 22 are almost the same.

(Embodiment 3) A third embodiment of the present invention will be described with reference to the drawings. First, the configuration itself of the pipe internal state measuring device does not change, as in the second embodiment.
The characteristic point of this embodiment is the shape of the measuring portion, as in the second embodiment. FIG. 11A is an enlarged front view of the measuring unit of this embodiment, and FIG. 11B is an enlarged side view of the measuring unit of this embodiment. In the figure, reference numeral 26 is a measuring unit of this embodiment.

As shown in FIGS. 11 (a) and 11 (b), the measuring section 26 of the present embodiment has a cylindrical shape, and its photographing surface 26a.
In the same manner as in the first and second embodiments, a concentric circular pattern 26b centered on a rigid body axis 23 penetrating the spherical marker 20 is drawn. In this embodiment, since the shape is simple, molding is very easy, and it is very advantageous in terms of cost.

(Embodiment 4) In the above three embodiments, the photographing surfaces 19a, 24 of the measuring units 19, 24, 26 are used.
Concentric circle patterns 19c, 24b, and 26b are drawn on a and 26a, but as shown in the photographing surface 27a of the measuring unit 27 in FIG. 12, the diameter line 2 passing through the center of the photographing surface 27a symmetrically.
Even if a plurality of 7b are drawn and the scales 27c are provided on the entire diameter line 27b at equal intervals in the radial direction, the same effect can be obtained.

The four embodiments have been described above. In these examples, styrofoam was used as the material of the spherical marker 20, but any material can be used as long as it can form a spherical body.

Although sponges are used for the measuring parts 19, 24, 26 and 27, any elastic material such as rubber may be used as long as it is an elastic material that deforms in response to an applied force. Furthermore, in the above-mentioned four embodiments, only the case where the cross section of the pipe 6 is circular has been described, but when the cross section of the pipe 6 is rectangular, the measuring units 19, 24, 26 and 27 are used.
Needless to say, the same effect can be obtained by using a shape that matches the cross-sectional shape of the pipe 6, such as a rectangular cross-sectional shape.

[0038]

As described above, according to the present invention, in comparison with the conventional means, conventionally, the cross-sectional shape of each part of the pipe and the bending degree of the pipe must be measured more than once. Although there was a problem, by using the device of the present invention, it is possible to measure the inner cross-sectional shape of each part of the pipe and the bending degree of the pipe by using the internal state image of the pipe in one measurement, which is excellent. Demonstrate usefulness.

[Brief description of drawings]

FIG. 1 is a side view showing a schematic configuration of a pipe internal state measuring device according to a first embodiment of the present invention.

2A and 2B, FIG. 2A is an enlarged front view of the measuring unit, and FIG. 2B is an enlarged side view of the measuring unit.

FIG. 3 is a side view for explaining the conditions for defining the size of the spherical marker.

FIG. 4 is an enlarged front view for comparatively explaining the shape of the spherical marker and the concentric circular pattern.

FIG. 5 is a diagram for explaining the operation of the first embodiment of the present invention,
(A) is a schematic explanatory view of an operation state seen from a side direction when the pipe is in a healthy state, and (b) is an image taken by a camera at that time.

FIG. 6 (a) is a perspective plan view from above in a state where the pipe is curved to the right on a horizontal plane, and FIG. 6 (b) is an image taken by a camera at that time.

FIG. 7 (a) is a perspective view from the side in the state where there is a dent above the straight pipe, and FIG. 7 (b) is an image taken by a camera at that time.

8A and 8B are views showing a second embodiment of the present invention, in which FIG. 8A is an enlarged front view of the measuring unit, and FIG. 8B is an enlarged side view of the measuring unit.

FIG. 9 is a diagram showing the operation of the second embodiment of the present invention,
(A) is a perspective view from the side when the pipe has a dent, and (b) is an image obtained by the camera at that time.

FIG. 10 (a) is a perspective plan view from above in a state where the pipe is curved to the right on a horizontal plane, and FIG. 10 (b) is an image taken by a camera at that time.

11A and 11B are views showing a third embodiment of the present invention, in which FIG. 11A is an enlarged front view of the measuring unit, and FIG. 11B is an enlarged side view of the measuring unit.

FIG. 12 is a view for explaining the fourth embodiment of the present invention and is an enlarged front view of the measuring section.

FIG. 13 is a diagram illustrating a conventional technique, and is a diagram illustrating a configuration of a pipe endoscope camera.

FIG. 14 is a diagram illustrating a conventional technique, and is a perspective side view showing a schematic configuration of a cross-sectional shape measuring instrument using slit light.

15A and 15B are diagrams showing a measurement image when a cross-sectional shape measuring instrument using slit light is used, FIG. 15A shows a pipe in a healthy state, and FIG. 15B shows a state in which there is a dent inside the pipe. It is a figure.

FIG. 16 is a view for explaining a conventional technique and is a perspective side view showing a schematic configuration of an underground conduit position measuring device.

[Explanation of symbols]

 1 ... Pipe endoscopic camera 2 ... Camera body 3 ... Coaxial cable 4 ... Data storage part 5 ... Monitor 6 ... Pipe 6a ... Dent 7 ... Cross-section shape measuring device 8 ... Projector 9 ... Windu 10 ... Lens 11 ... Imaging element 12 ... Underground Pipe position measuring device 13 ... Ripple supporting part 14 ... Rolling detector 14a ... Weight 15 ... Universal joint 16 ... Bend angle meter 17 ... Inclinometer 18, 25 ... Pipe internal state measuring device 19, 24, 26, 27 ... Measuring part 19a, 19a ', 24a, 26a, 27a ... Imaging surface 19b ... Saddle-shaped depression 19c, 24b, 26b ... Concentric circular pattern 19c' ... Concentric rectangular pattern 20 ... Spherical marker 21 ... Multi-limb universal joint 21a ... Joint 22 ... Camera 23 ... Rigid body axis 27b ... Diameter line 27c ... Scale

Claims (6)

[Claims] 1. A pipe internal state measuring device for inputting an image of a bent pipe and an internal state of a buried pipe, wherein a camera for obtaining an image of the internal state of the pipe and an image taken by the camera are accumulated. A data storage unit, a monitor for displaying an image obtained by the camera, a measuring unit in which the camera photographing surface contour is deformed along the cross-sectional shape inside the pipe, and an eccentricity from the center of the measuring unit photographing surface. A spherical marker that serves as a bend index of the pipe when photographed by a camera, one end of which is fixed to the central portion of the camera photographing surface of the measuring unit through the central axis of the spherical marker, and the other end of which is a universal joint with the camera. A rigid body shaft connected via a pipe, and a pipe internal state measuring device. 2. The pipe internal state measuring device according to claim 1, wherein the measuring unit has a drum-shaped appearance. 3. The pipe internal condition measuring device according to claim 1, wherein the measuring unit has a spherical appearance. 4. The pipe internal condition measuring device according to claim 1, wherein the measuring unit has a cylindrical outer shape. 5. The endless concentric pattern at regular intervals in the radial direction is drawn on the camera photographing surface of the measuring unit.
The pipe internal state measuring device according to 2, 3 or 4. 6. The pipe interior according to claim 1, 2, 3 or 4, wherein the camera photographing surface of the measuring section has a plurality of diametrical lines passing through the center symmetrically with graduations at equal intervals in the radial direction. Condition measuring device.