JPH0650899A - Inside-of-tube situation recognition apparatus - Google Patents

Abstract

PURPOSE:To obtain an inside-of-tube situation recognition apparatus wherein light can be projected good energy efficiency, a picture can be taken and a tube passage length as an object under test can be made as long as possible. CONSTITUTION:In an inside-of-tube situation recognition apparatus, a movement device 4 which can be moved at the inside of a tube 2 is installed, a light irradiation device L, with which a tube inside 3 at the front of the movement device 4 is irradiated and a photographing device V which photographs the tube inside 3 exposed to light radiated from the light irradiation device L are installed respectively on the movement device 4 and a display device T which receives information photographed by the photographing device V and which can be drawn freely is installed at the outside of the tube 2. A light-emitting element 5 which is composed of a semiconductor laser oscillator or an LED and a light- path adjusting mechanism 7 by which the tube inside 3 can be irradiated uniformly with output light 6 from the light-emitting element 5 are installed at the light irradiation device L, and the photographing crevice V is constituted of a CCD area sensor 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention irradiates light while traveling inside an object to be inspected such as a gas pipe, photographs the wall surface on which the light is applied by a photographing device, and displays the projected portion. For example, the present invention relates to an in-pipe situation recognizing device for confirming the deformation of a pipe, a joint portion and a branch pipe, and inspecting a wall surface. More specifically, a moving device for moving the inside of the pipe is provided. The moving device is provided with a light irradiating device for irradiating the inside of the tube with light, and a photographing device for photographing the inside of the tube exposed to the light emitted from the light irradiating device. The present invention relates to an in-pipe situation recognition device provided with a display device which can be drawn by receiving the information.

[0002]

2. Description of the Related Art Conventionally, as a device for recognizing a situation in a tube of this type, a xenon lamp as a light source is arranged outside the tube, and light and electric power for a moving device and other devices are supplied between the moving device and a device outside the tube. There was a cable that was supplied from outside the pipe with a cable provided between them. And as a photographing device, C
The CD area sensor was adopted.

[0003]

According to the above-mentioned conventional in-pipe situation recognizing device, a xenon lamp is used as a light source. However, the xenon lamp emits a continuous spectrum similar to natural daylight and is visible. It emits light in a wide wavelength range including light having a wavelength other than the wavelength range of light rays (approximately 400 to 800 nm). Therefore, a large amount of energy required for light emission is required, and power consumption (about 500 W for the entire device)
Is large and the device itself is large and heavy (about 50 kg for the entire device). Therefore, it is difficult to equip this with a moving device that moves in the pipe, which is the target of the situation recognition in the pipe, and operate it. This problem is particularly noticeable when the target tube has a small diameter. For example, if a xenon lamp or the like is used as a light source, a power of several hundred watts is required, but if a lamp is installed in a mobile device and power is supplied from outside the tube by a cable, It is necessary to use a thick cable of about 15 mmφ for supplying electric power. As a result, if you try to inspect a tube with a bend, you can see an extension of 50
The limit is about m. Furthermore, the increase in the weight of this cable leads to an increase in the traction force of the moving device,
This was a big problem when the load on the moving device was directly increased and the inspection distance was desired to be increased. On the other hand, the CCD of the imaging device
In the area sensor, its spectral sensitivity characteristic has a peak at about 500 nm according to the human visual sensitivity.
Near infrared light is cut by the IR filter (65
Those of 0 nm or more are usually used. The wavelength range of light from the xenon lamp is 400 nm to 700 n.
It exhibits a substantially flat radiation characteristic over m or more, and irradiates light of an extra wavelength with respect to the spectral sensitivity characteristic of the CCD area sensor, which means that the conventional in-pipe situation recognizing device has poor energy efficiency. There was a flaw.

In view of the above-mentioned drawbacks, an object of the present invention is to provide a situation in a pipe where not only irradiation of light with high energy efficiency and imaging can be performed, but also the length of a pipe that can be an inspection target can be made as long as possible. It is in the area of providing a recognition device.

[0005]

The features of the in-pipe situation recognizing device of the present invention for achieving this object are: a light emitting device, a light emitting element comprising a semiconductor laser oscillator or an LED, and an output light from the light emitting element. And an optical path adjusting mechanism for uniformly irradiating the inside of the tube with each other, and the image pickup device is composed of a CCD area sensor (charge coupled device).

The light irradiating device is provided with a sub optical path adjusting mechanism for irradiating the output light from the light emitting element in a ring shape along the inner circumference of the tube, and selectively operates the optical path adjusting mechanism and the sub optical path adjusting mechanism. It is equipped with a switchable optical path switching mechanism, and also with a gamma characteristic switching mechanism that can switch the optical gamma characteristics in response to changes in the irradiation condition inside the tube due to the switching operation of the optical path switching mechanism. Good.

[0007]

According to the characteristic configuration of the in-pipe situation recognizing device of the present invention, the light irradiating device is provided with the light emitting element and the optical path adjusting mechanism for uniformly irradiating the output light from the light emitting element into the inside of the tube for photographing. Since the device is composed of a CCD area sensor, it is possible to realize the unique action as shown.

That is, the light emitted from the light emitting element has a spectral characteristic of about 670 to 68 in the case of laser light, for example.
It is in the wavelength range of 0 nm (560 to 660 nm in the case of LED). On the other hand, the spectral sensitivity characteristic of the CCD area sensor described above is the result of combining the CCD element and the optical filter. If this optical filter is removed, it can be extended to the near infrared region, and the wavelength range of the light emitting element can be increased. , Tens of meters
Since it can have sufficient sensitivity to detect even with a small power of W, it is possible to take an image of the inside of the tube with moderate sensitivity and energy efficiency without irradiating light with a wide wavelength band as in the past. Is possible.

That is, due to such factors, when the light emitting element is adopted, the power consumption of the entire device and the external dimensions and weight can be reduced, and the in-pipe situation recognizing device can be compared with the case where the conventional xenon lamp is used. It is possible to reduce the size, weight and power consumption. Therefore, it becomes possible to carry out the investigation of the in-pipe condition even for a small-diameter pipe, and since a small power source such as a low-power storage battery can be used, by providing the power source in the moving device together with the light irradiation device and the photographing device,
It is not necessary to provide a cable for power transmission from outside the pipe to the inside of the pipe, which improves the mobility of the inside situation recognition device in the pipe, and at the same time enables the mobile device to be moved further, thereby surveying the situation inside the pipe over a wide range. Is possible.

The light irradiating device is provided with a sub optical path adjusting mechanism for irradiating the output light from the light emitting element in a ring shape along the inner circumference of the tube, and selectively switching between the optical path adjusting mechanism and the sub optical path adjusting mechanism. If a flexible light path switching mechanism is provided, the light path switching mechanism can be switched between a state in which the irradiation light is uniformly irradiated inside the tube and a state in which it is irradiated as ring-shaped irradiation light along the inner circumference of the tube. It can be set arbitrarily by operating, for example, if you want to observe in more detail in the state where it is displayed as a result of uniform light irradiation or if you want to observe the inner peripheral surface of the tube particularly carefully, By switching the light path switching mechanism to the irradiation state of the ring-shaped light, the ring-shaped light is irradiated only on the inner surface of the tube, and it is possible to recognize the local condition of the inner surface of the tube in more detail with a clear image with a large contrast. It will be possible.

Further, if a gamma characteristic switching mechanism that can switch the optical gamma characteristics in response to a change in the irradiation condition inside the tube due to the switching operation of the optical path switching mechanism is provided, the irradiation light in a uniform state, It is possible to appropriately correct the difference in contrast between the ring-shaped irradiation light and the irradiated portion to optimize the image on the display device, and more accurate recognition of the in-pipe situation.

Further, a storage battery for supplying electric power to the light irradiation device, the photographing device and the load of the moving device is mounted on the moving device, and between the moving device and the command point on the display device side,
If a configuration is provided with a signal transmission line that exchanges only control / information signals including shooting information from the shooting device, almost all the power of the device provided on the mobile device side can be covered by the storage battery provided for this. Therefore, it is sufficient for the signal transmission line side to receive and send the imaging information, and further, for example, the transmission and reception of signals such as control information for each device. Therefore, in this case, the signal transmission line can be much thinner and lighter than the conventional one, and the length of the pipeline to be inspected can be sufficiently long.

[0013]

As described above, according to the in-pipe situation recognizing device of the present invention, the device itself can be reduced in size and weight, and it can be adapted to an object having a small inner cross-section, so that the applicable range is widened. At the same time, more efficient energy efficiency and more detailed recognition of the in-service situation can be realized, and accurate and economical in-service situation recognition can be realized.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. As shown in the conceptual diagram of FIG. 1, a pipe situation recognizing device 1 described here is for recognizing a situation inside a pipe 3 in front of a gas pipe 2 which is an example of a target pipe. A moving device 4 that travels in the longitudinal direction 2 is provided, and a semiconductor laser oscillator 5 as a light emitting element and an optical path adjusting mechanism for irradiating a laser beam 6 output from the semiconductor laser oscillator 5 toward the inside 3 of the tube. 7 and a sub-optical path adjusting mechanism 8 are provided in the moving device 4, and an optical path switching mechanism 9 that can selectively switch between the optical path adjusting mechanism 7 and the sub-optical path adjusting mechanism 8 is provided. The CCD area sensor 10 for photographing the inside of the gas conduit 2 of
Drive / control operating device C provided at the command location 100 outside the pipe
And a monitor television T, which is an example of a display device, capable of transmitting and receiving information via a cable K such as an optical fiber.

The moving device 4 is provided with a wheel 4a and a rotary drive portion 4b for rotationally driving the wheel 4a as a traveling drive device for traveling. Further, the moving device 4 is further equipped with a rotation drive unit 4b and a storage battery 11 serving as an energy source of each device system (light irradiation device L, photographing device V) described later, and via a cable K from outside the tube. It is formed so that it can run freely by remote control by signal transmission. Here, what is transmitted by the cable K as the signal transmission line is only the control / information signal including the photographing information from the photographing device V.

As shown in FIG. 2, the semiconductor laser oscillator 5 includes either the optical path adjusting mechanism 7 or the sub optical path adjusting mechanism 8 arranged in the optical path passing through the optical path changing means 12 formed of a plurality of prisms and reflecting mirrors. It is formed so that the laser light 6 can be irradiated toward the inside 3 of the tube through the through.

The optical path adjusting mechanism 7 is formed of a spherical lens and has a laser beam bundle 6a from the semiconductor laser oscillator 5.
The optical path can be adjusted so that the light becomes uniform light (hereinafter, referred to as uniform light 6b) toward the inside 3 of the tube. Also,
The sub-optical path adjusting mechanism 8 is formed of a conical lens, and can adjust the optical path of the laser beam bundle 6a so that the laser beam bundle 6a becomes conical ring-shaped light (hereinafter referred to as ring light 6c) directed to the inside 3 of the tube. .

The semiconductor laser oscillator 5, the optical path adjusting mechanism 7 and the sub-light adjusting mechanism 8 constitute a light irradiation device L.

An optical path switching mechanism 9 for switching the optical path adjusting mechanism 7 and the sub-light adjusting mechanism 8 to the laser optical path.
The optical path adjusting mechanism 7, the sub-light adjusting mechanism 8 and a part of the optical path changing means 12 are integrally supported, and are slidably provided in a direction intersecting with the laser beam bundle 6a without changing their relative postures. By performing slide switching of the optical path switching mechanism 9 by remote control from outside the tube, as shown in the figure, the path of the laser light 6 is changed and the light passing through the optical path adjusting mechanism 7 or the sub-light adjusting mechanism 8 is changed. Allows irradiation.

On the other hand, the in-pipe situation recognizing device 1 has a drive / control for driving / controlling each device system in the pipe by each operation by the drive / control operating device C outside the pipe in addition to the above-mentioned constitutions. A device 13 is further provided, and further, a gamma characteristic switching mechanism 14 capable of automatically or manually switching the optical gamma characteristic in accordance with a change in irradiation condition such as contrast in the tube interior 3 accompanying the switching operation of the optical path switching mechanism 9. A camera controller 15 is provided.

With respect to the gamma characteristic, when the uniform light 6b is irradiated, γ = 0.45, and when the ring light 6c is irradiated, γ = 1, so that an image in an appropriate state can be obtained.

According to the in-pipe situation recognizing device 1 of the above-described embodiment, the moving device 4 is inserted into the pipe, and the driving / control operating device C outside the pipe is remotely operated via the cable K. By irradiating the inside 3 of the tube with laser light 6,
The inside of the tube can be appropriately displayed on the monitor TV T for observation, and depending on the inside of the tube, the irradiation state of the irradiation light can be switched for more detailed observation.

[Other Embodiment] Another embodiment will be described below.

<1> The optical path adjusting mechanism 7 described in the above embodiment is not limited to a spherical lens, and for example, if a hemispherical lens as shown in FIG. 3 is used, it is brought into contact with the prism of the optical path switching means 12. It becomes possible, and since there is no gas layer between the hemispherical lens and the prism, it is possible to suppress light interference. Further, as still another embodiment of the optical path adjusting mechanism 7, one using a rod lens (selfoc lens) as shown in FIG. 4, one using an optical fiber as shown in FIG. 5, and further a concave lens or a convex lens. It is possible to irradiate the uniform light 6b with a combination of the above. These components are collectively referred to as an optical path adjusting mechanism 7.

<2> The moving device 4 is not limited to a single structure, and may be a plurality of moving devices 4 in which the respective device systems described above are dispersed and mounted. Collectively referred to as a mobile device.

<3> The target object for recognizing the in-pipe condition is not limited to the gas conduit 2 described in the previous embodiment. For example, there is a risk of oxygen deficiency and no one can enter. The target may be a pipe or a tank, and the shape thereof is not limited to the circular shape.

<4> Further, in the above embodiment, an example in which a semiconductor laser oscillator is used as a light emitting element has been shown, but an LED may be used as a light emitting element to achieve the same object. .

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an in-pipe situation recognition device according to an embodiment.

FIG. 2 is an operation diagram of an optical path switching mechanism according to an embodiment.

FIG. 3 is a conceptual diagram showing an optical path adjusting mechanism of another embodiment.

FIG. 4 is a conceptual diagram showing an optical path adjusting mechanism of another embodiment.

FIG. 5 is a conceptual diagram showing an optical path adjusting mechanism of another embodiment.

[Explanation of symbols]

 2 tube 3 tube 4 moving device 5 light emitting element 6 light 7 optical path adjusting mechanism 8 sub optical path adjusting mechanism 9 optical path switching mechanism 10 CCD area sensor 14 gamma characteristic switching mechanism L light irradiation device T display device V imaging device

Claims (5)

[Claims] 1. A light irradiating device (L) for irradiating the inside of the tube (3) with light, provided with a moving device (4) for moving inside the tube (2), and the light irradiating device (L). ) Is provided in the moving device (4) with a photographing device (V) for photographing the inside (3) of the tube illuminated by the light, and the information is photographed by the photographing device (V). A device for recognizing a situation inside a tube in which a flexible display device (T) is provided outside the tube (2), wherein the light irradiation device (L) includes a light emitting element (5) composed of a semiconductor laser oscillator or an LED, and the light emission. An optical path adjusting mechanism (7) for uniformly irradiating the output light (6) from the element (5) inside the tube (3) is provided, and the photographing device (V) is configured by a CCD area sensor (10). In-service situation recognition device. 2. A sub optical path adjusting mechanism (8) for irradiating the light irradiating device (L) with the output light (6) from the light emitting element (5) in a ring shape along the inner circumference of the tube (2). 2. The in-pipe situation recognition device according to claim 1, further comprising an optical path switching mechanism (9) for selectively switching the optical path adjusting mechanism (7) and the sub optical path adjusting mechanism (8). 3. A gamma characteristic switching mechanism (1) capable of switching an optical gamma characteristic in response to a change in irradiation condition inside the tube (3) accompanying a switching operation of the optical path switching mechanism (9).
4. The in-pipe situation recognition device according to claim 2, wherein 4) is provided. 4. A storage battery (11) for supplying electric power to the light irradiation device (L), the photographing device (V) and the load of the moving device (4) is mounted on the moving device (4), and A signal transmission line (K) for exchanging only the control / information signal including the photographing information from the photographing device (V) between the moving device (4) and the command location (100) on the display device (T) side. ) The in-pipe situation recognition device according to claim 1, further comprising: 5. The in-pipe situation recognizing device according to claim 1, wherein the optical path adjusting mechanism (7) magnifies the light output from the light emitting element (5) with a spherical lens, a hemispherical lens or a self-focusing lens. .