JPH0695006A - Device for observing inside of tube - Google Patents

Abstract

PURPOSE:To obtain a device for observing the inside of a tube by which the inside of a long tube is easily observed. CONSTITUTION:An optical system 17, an image pickup element 18 and a signal processing part 6 for processing and transmitting a signal to a poststage are integrally bonded to be piled up in a cylindrical housing 4. Since a reflection mirror 13 attached so as to rise and fall to a turning cylinder 8 is provided on the front side of the optical system 17, the device is freely inserted without damaging an inside observed object even in the case of the small and long tube. In the case of observing the inside wall surface of the tube having tubular diameter in which the device can be inserted, the observation is easily executed without lowering accuracy while the direction of an optical axis P is changed by the reflection mirror 13 and the cylinder 8 is rotated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe observing device for observing the internal condition of pipes and the like.

[0002]

2. Description of the Related Art In recent years, power generation facilities and various types of plants are becoming more complicated in structure, and there is a tendency that the number of places that humans cannot directly approach during maintenance and inspection is increasing. In such a situation, there is no suitable method for observing the inside of the pipe except using an industrial endoscope. However, the length of the endoscope is at most tens of meters due to the optical fiber used, and therefore it is difficult to observe the place where humans cannot directly approach.

Further, even in a place accessible by humans, the entire length of the target pipe may be very long with respect to the length of the endoscope, and the place where the endoscope can be inserted is also limited. It was difficult to observe all of the piping. When intentionally making an observation, an insertion hole had to be bored in the pipe wall in the middle of the pipe.

Further, since the endoscope uses an optical fiber, it is attempted to observe a pipe wall of a pipe into which the endoscope can be inserted with a pipe diameter close to the thickness of the endoscope due to its structure. , The bending radius of the optical fiber is large, and the tube wall cannot be observed from the front because it does not bend sufficiently in the pipe, and when trying to reduce the bending radius, the number of pixels decreases and it is possible to obtain observation results with sufficient accuracy. Can not.

[0005]

As described above, in the conventional endoscopic observation using the endoscope, there is a limit in the observation region from the viewpoint of the length of the endoscope, and an observation result with sufficient accuracy cannot be obtained. The present invention has been made in view of such a situation,
The purpose is to provide an in-tube observation device that can easily perform internal observation of a small and long tube, and can perform observation with sufficient accuracy for tubes with insertable tube diameters regardless of the tube diameter. To provide.

[0006]

The in-tube observing apparatus of the present invention includes an optical system for capturing an observation target, an image pickup device for photoelectrically converting an image captured by the optical system, and a processing and transmitting of a video signal from the image pickup device. Is characterized in that the optical system, the image pickup device and the signal processing unit are integrally joined and formed, and a tube having an opening at the end and formed substantially in rotational symmetry. -Shaped housing, an optical system provided in the housing to capture an observation target through an opening, and a reflecting mirror that rotates around a rotation axis that coincides with the axis of symmetry of the housing and that undulates in a direction that opens and closes the opening. And an image pickup unit for outputting a video signal of the image captured by the optical system, and a signal processing unit for processing and transmitting the video signal from the image pickup unit. The optical system to capture and the image captured by this optical system An image pickup module in which an image pickup device for conversion and a signal processing unit for processing and transmitting a video signal from the image pickup device are integrally joined together, a base portion formed in substantially rotational symmetry to connect the image pickup module, and an optical system light. An attitude control mechanism for controlling the attitude of the image pickup module so as to change the axial direction.

[0007]

In the in-tube observation device configured as described above, the optical system, the image pickup device, and the signal processing section for processing and transmitting signals to the subsequent stage are integrated, so that the portion to be inserted into the tube is Can be small, and only the processed signal needs to be sent to the subsequent stage. Therefore, it can be freely inserted into a long tube, and observation can be easily performed without damaging the observation target. Further, since a means for changing the direction of the optical axis of the optical system such as a reflecting mirror is provided, it is possible to easily observe the inner wall surface of a tube having a tube diameter into which the apparatus can be inserted without lowering the accuracy.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the in-tube observation device of the present invention will be described below with reference to the drawings.

First, a first embodiment of the present invention will be described with reference to FIGS. 1 is a sectional view, and FIG. 2 is a schematic block diagram.

In FIG. 1, the in-tube observing apparatus 1 is constructed by providing a cylindrical casing 4 having an opening 2 at one end and a bottom plate 3 closed at the other end. A control unit 5, a signal processing unit 6, and an image pickup unit 7 are sequentially provided on the bottom plate 3 so as to have a cylindrical shape in the axial direction and are integrally joined to the bottom plate 3. And housing 4
In the gap between the inner wall surface of the control unit 5, the control unit 5, the signal processing unit 6, and the imaging unit 7, a revolving cylinder 8 is provided which is rotatable in the forward and reverse directions with the central axis of the housing 4 as the rotation axis. The turning cylinder 8 is the control unit 5.
It is rotationally driven by a known rotating mechanism 9 having a stationary side fixed to the outer surface of, for example, constituted by a piezoelectric element or an electrostatic element. The housing 4 can be freely moved to an area where a predetermined observation target is present by a moving means (not shown).

Further, the drive control of the rotating mechanism 9 is performed by the control unit 5, and the amount of movement of the revolving cylinder 8 in the circumferential direction, that is, the rotation angle and the rotation angular velocity are determined by the scale 10 provided on the inner surface of the revolving cylinder 8. The sensor 11 attached to the outer surface of the signal processing unit 6 so as to face the reading is read, and the reading result is input to the control unit 5 so that the reading can be obtained.

A reflecting mirror 13 having a reflecting surface 12 on the inner surface side is pivotally supported at the end of the swirling cylinder 8 located on the opening 2 side of the housing 4, and the reflecting mirror 13 is located inside the swiveling cylinder 8. The undulating mechanism 14 attached to the wall surface undulates and operates to open and close the end of the revolving cylinder 8. The oscillating mechanism 14 is a known drive element 15 which is attached to the inner wall surface of the swiveling cylinder 8 and is composed of, for example, a piezoelectric element or an electrostatic element, and a reflecting mirror which is driven by the drive element 15 to move back and forth in the axial direction. The driving piece 16 is provided, and the undulation angle is changed by rotating the end of the reflecting mirror 13 by a predetermined amount by the movement of the reflecting mirror driving piece 16. The control of the undulation angle of the reflecting mirror 13 is performed by controlling the undulation mechanism 14 by the control unit 5.

On the other hand, the image pickup section 7 is provided with a lens group of an optical system 17 which aligns the optical axis P with the rotation axis of the revolving cylinder 8 so as to face the opening 2 side of the housing 4, and is further captured by the optical system 17. An image pickup device 18 such as a charge coupled device (CCD) that photoelectrically converts an image is provided. A focus adjusting mechanism 19 for automatically adjusting the focus position of the optical system 17 and a magnification changing mechanism 20 for changing and adjusting the focal length of the optical system 17 are attached around the optical system 17. Magnification change mechanism 2
0 is changed and adjusted by a control signal from the control unit 5.
It should be noted that each of the adjustment / change operations of the focus adjustment mechanism 19 and the magnification change mechanism 20 may be carried out by an image processing method by a separately provided device.

The signal processing unit 6 processes the video signal from the image pickup device 18, and the processed signal is provided outside the housing 4 through the signal transmission cable 21 as shown in the schematic block diagram of FIG. It is transmitted to the observation unit 22 and the like. In the observation unit 22, for example, an image captured by the image pickup unit 7 is displayed on the screen of the monitor 23 so that the observer can observe the image.
The control conditions of the rotation mechanism 9, the undulation mechanism 14, the magnification changing mechanism 20, etc., which the observer sets at any time, can be transmitted to the control unit 5 through the controller 24.

When the inside of the pipe is to be observed by the pipe observing device constructed as described above, first, the casing 4 is placed at a predetermined position in the pipe by a moving means (not shown).
To move. Then, when observing the axial direction in the pipe, that is, when looking forward, the reflecting mirror 13 that closes the front surface of the optical system 17 is fully opened, and the illumination means (not shown) is turned on to illuminate the observation target, and the optical system 17 The image in the pipe that is directly captured by is imaged on the image sensor 18.

The video signal from the image pickup device 18 is processed by the signal processing unit 6 and is sent through the signal transmission cable 21 to the observing unit 2.
2 is transmitted. In the observation section 22, an observer observes the image projected on the screen of the monitor 23. With respect to the portion in the pipe that is not visible due to the shadow of the reflecting mirror 13 opened in this observation, the rotating mechanism 9 is driven through the controller 24 or the like to rotate the turning cylinder 8 to move the position of the reflecting mirror 13. , Observation becomes possible.

Further, when the inner wall surface of the pipe is directly faced and observed, that is, when viewed laterally, the undulation angle of the reflecting mirror 13 is set to, for example, 45 degrees, and the reflecting surface 12 of the reflecting mirror 13 reflects the optical system. The image of the inner wall surface of the pipe that 17 captures
Tie it up. Further, when observing the inner wall surface of the pipe over the entire circumference, the rotating mechanism 9 is driven to rotate the revolving cylinder 8.
Observation is performed by moving the position of the reflecting surface 12 of the reflecting mirror 13.

As described above, according to this embodiment, the observation unit 22
Since the signal transmission cable 21 is connected between the housing 4 and the housing 4, it is possible to observe the inside of the long pipe by extending the signal transmission cable 21 for a long time.
Furthermore, since only the housing 4 connected to the observation section 22 by the signal transmission cable 21 needs to be sent into the pipe, the degree of damage when inserting it into the pipe can be greatly reduced. Note that instead of the cable, wireless may be used as the communication means.

Since only the necessary parts such as the image pickup part 7 and the signal processing part 6 are housed in the housing 4 so as to be stacked in the axial direction, the connection between the respective parts becomes strong and the reliability is higher. It can be configured as one, and the device can be made compact.

Even when it is necessary to directly observe the inner wall surface of the pipe, since the reflecting mirror 13 is provided up and down, the inside of the pipe having a diameter close to the outer dimensions of the housing 4 is provided. Even through, it is possible to observe through the reflecting surface 12 of the reflecting mirror 13.

Incidentally, the respective parts constituting the above-mentioned first embodiment are not limited to those described above,
For example, it may be configured as follows.

First, an undulating mechanism for undulating the reflecting mirror 13 will be described with reference to FIGS. FIG. 3 is a perspective view showing the undulation mechanism, FIG. 4 is a perspective view of the piezoelectric motor, and FIG. 5 is a diagram for explaining the operation principle of the piezoelectric motor. ) Is a diagram showing a process of each operation, and FIG. 6 is a characteristic diagram of the resonator element.

In FIGS. 3 and 4, reference numeral 25 is a reflecting mirror 13.
Is an undulation mechanism that undulates the opening 2 of the swiveling cylinder 8.
A piezoelectric motor 26 is provided at the side end. In the piezoelectric motor 26, a piezoelectric vibrator 27 that is displaced by applying a voltage fixes one end face in the displacement direction to the swiveling cylinder 8, and a U-shaped vibrating portion 28 is fixed to the other end face. Cutouts 31, 32 from one side are provided near the roots of the two vibrating pieces 29, 30 of the vibrating portion 28, and between the vibrating pieces 29, 30 the outer peripheral edge of the reflecting mirror 13 is provided. The fixed rotor 33 is sandwiched.

The vibrating pieces 29 and 30 have the same shape and the same natural frequency, and the center of gravity of the vibrating pieces 29 and 30 vibrates in the same direction as the displacement direction of the piezoelectric vibrator 27. The vibrating element 29 is displaced from the top, and the vibrating element 29 is located at a position closer to the rotor 33 than the vibration center axis 34.
With respect to, the vibration center axis 35 is eccentric to a position farther from the rotor 33.

The principle of operation of the piezoelectric motor 26 thus constructed will be described with reference to FIGS. FIG. 5A shows a case where a voltage having a sinusoidal waveform is applied to the piezoelectric vibrator 27 by a drive power source (not shown) and the phase of the applied voltage is -90 degrees.

When the phase of the applied voltage in FIG. 5 (b) becomes 0 degree, the piezoelectric vibrator 27 undergoes the expansion displacement of h, and the vibrating piece 29,
Since the center of gravity of 30 is eccentric to the rotor 33 in the opposite direction, the bending of 30 is caused by the inertial force due to eccentricity.

Then, the phase of the applied voltage in FIG.
Then, the piezoelectric vibrator 27 is further expanded and displaced by h, and the vibrating reeds 29 and 30 that have been bent are again in the straight state shown in FIG. 5A.

Next, the phase of the applied voltage in FIG.
At 0 degrees, the piezoelectric vibrator 27 contracts and displaces by h, and returns to the length shown in FIG. 5B. At this time, the vibrating piece 2
Reference numerals 9 and 30 are inertial forces due to the eccentricity of the center of gravity, and bend in the direction opposite to that in FIG.

When the phase of the applied voltage reaches 270 degrees, the state shown in FIG. 5 (a) is restored and the series of operations is completed. By repeating this series of operations, the locus drawn by the contact portions of the vibrating bars 29, 30 with the rotor 33 becomes an elliptical locus having the same rotation direction but different phases by 180 degrees.
When in this elliptical locus state, the vibrating bars 29 and 30 rub against the rotor 33, so that the rotor 33 moves to N _{1 in} FIG.
Rotate in the direction of. Since the piezoelectric vibrator 27 is generally used with a positive voltage, an appropriate bias voltage is necessary in this case as well, considering that the sinusoidal waveform voltage of the driving power source is also used with a positive voltage.

In the above-mentioned one, since the characteristics of the vibrating bars 29, 30 are substantially the same, it is assumed that both characteristics agree with the characteristic diagram shown in FIG. First, a voltage is applied to the piezoelectric vibrator 27 so that a frequency f ₁ near the resonance frequency f ₀ of the vibrating bars 29, 30 is applied to the vibrating bars 29, 30. At this time, the piezoelectric motor 26 operates as shown in FIG. 5 and the rotor 33 rotates in the direction N ₁ . In addition, the frequency f ₁ that is 180 degrees out of phase with the frequency f ₁ near the resonance frequency f ₀
By applying ₂ to the vibrating pieces 29 and 30, the vibrating piece 2
Phase shift occurs so that 9 and 30 vibrate in the direction opposite to the state of FIG. 5, and as a result, the rotor 33 rotates in the direction of N ₂ in FIG.

Therefore, the piezoelectric motor 26 includes the vibrating pieces 29, 3
₁ by switching the frequencies f ₁ and f ₂ given to 0
Forward / reverse rotation can be easily performed with only one piezoelectric vibrator 27. In addition, the center of gravity of the vibrating pieces 29, 30 is used as the vibration center axes
The notch portions 31 and 32 provided for eccentricity from 5 may have an arc shape, a triangular shape, or a quadrangular shape in cross section.

Next, another configuration example of the reflecting mirror will be described with reference to the drawings.

First, the first using a shape memory alloy (SMA)
An example of the configuration will be described with reference to FIGS. 7 and 8. FIG. 7 is a schematic side view showing a state when the reflecting mirror is used, and FIG. 8 is a schematic side view showing a state when the reflecting mirror is not used.

In FIG. 7, reference numeral 36 is a reflecting mirror formed of a flat shape memory alloy, and the reflecting surface 12 is heated when heated.
Is stored in a shape having an angle of, for example, 45 degrees with respect to the optical axis of the optical system 17, and is fixed to the swiveling cylinder 8. A spring 37 is attached in a tensioned state between the back surface of the reflecting mirror 36 and the swiveling cylinder 8. When the reflecting mirror 36 is cooled in such a state, the reflecting force of the spring 37 is pulled up by the pulling force of the spring 37 so that the reflecting mirror 36 is not on the optical axis of the optical system 17 and does not enter the visual field.
Since the reflecting mirror 36 made of a shape memory alloy is attached to the revolving cylinder 8 as described above, it is possible to arbitrarily perform the front view and the side view by heating and cooling. The shape may be memorized as a cooling state.

A second structural example using the shape memory alloy will be described with reference to FIG. FIG. 9 is a perspective view of the reflecting mirror,
Reference numeral 38 denotes a reflecting mirror, which is a frame 39 made of a shape memory alloy and a deformable reflecting film 40 attached to the frame 39.
When the electric wire 41 is energized, it is heated and deformed into a memorized shape. By mounting the reflecting mirror 38 thus configured on the swiveling cylinder 8 as in the first configuration example and performing heating / cooling, it is possible to arbitrarily perform forward view and side view.

Next, a third structural example using the shape memory alloy will be described with reference to FIGS. 10 to 12. 10 is a plan view, FIG. 11 is a cross-sectional view, and FIG. 12 is a side view showing a storage state.

In FIG. 10 and FIG. 11, the reflecting mirror 42 includes a reflecting film 43 forming the reflecting surface 12 and a flat elastic member 44.
It has a laminated structure in which a band-shaped body 45 made of a shape memory alloy is provided between. The reflecting mirror 42 is manufactured so as to have a flat shape by the elastic body 44 when cooled, and when heated through the electric wire 41, the reflecting mirror 42 has a spiral shape which the band-shaped body 45 memorizes, as shown in FIG. It is supposed to be. The reflecting mirror 42 configured in this way is
Like the configuration example described above, by attaching to the revolving cylinder 8 and performing heating / cooling, it is possible to arbitrarily perform forward view and side view.

Further, a fourth configuration example will be described with reference to FIGS. 13 and 14. 13 is a side view showing a front view state, and FIG. 14 is a side view showing a side view state.

In FIG. 13, a reflector 46 has a plurality of strip-shaped reflectors 47 each having a width d ₁ and arranged in parallel at an arrangement interval d ₂ with a reflection surface 48 facing upward in the figure, and a blind. It is configured in a shape. And the reflector 46
Is attached to the swiveling cylinder 8 by a hoisting mechanism 14 so as to be hoisted, and when it is positioned so as to be orthogonal to the optical axis of the optical system 17, the front view is performed through the gaps between the reflectors 47. Further, when the side view is performed, the reflecting mirror 46 which is in a state of closing the front side of the optical system 17 is raised as shown in FIG. The undulation angle of the reflecting mirror 46 at this time is determined by the relationship between the width d ₁ of the reflector 47 and the arrangement interval d ₂ , and when these intervals are equal, the reflecting mirror 4
Take 6 at 45 degrees. With the reflecting mirror 46 configured as described above, it is possible to reduce the weight of the component parts associated with the movement.

Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 15 is a sectional view of the device,
FIG. 16 is a plan view of a main part, and FIG. 17 is a schematic block diagram.

15 and 16, the in-tube observation device 4 is shown.
In the reference numeral 9, a rotary cylinder 51 that rotates around the optical axis P of the optical system 17 is provided in the image pickup unit 50 provided in the cylindrical housing 4, and the rotary cylinder 51 includes a gear and a speed reducer. It is driven by a drive source 53 via a rotating mechanism 52. A light transmitting plate 54 is obliquely attached to the front end of the rotating cylinder 51, and the light transmitting plate 54 is provided with a reflecting plate 55 through which the extension line of the optical axis P passes through substantially the center. Further, a reflector 56 such as a prism is arranged on the rear side of the optical system 17, and an image captured by the optical system 17 is reflected by the reflector 56.
The image is formed on the image pickup surface 58 of the image pickup device 57 by changing the direction.

The image captured by the optical system 17 is obtained by reflecting the inner axial direction of the pipe 59 in front of it through the light transmitting plate 54 and the side surface, that is, the inner wall surface of the pipe 59, through the reflecting plate 55. The image is obtained, and is also formed as a front view image 60 and a side view image 61 on the image pickup surface 58 of the image pickup element 57. In the inside of the tube, the image of the central portion in the front in the axial direction is often not an object to be observed, and even if there is no image information, there is no problem in the observation. for that reason,
Fit the image of the tube wall instead of the image of the center part,
A front view image 60 and a side view image 61 are simultaneously formed on one imaging surface 58.

Then, as shown in FIG. 17, the image signal photoelectrically converted by the image pickup device 57 of the image pickup unit 50 is processed by the signal processing unit 6, and the observation unit 62 provided outside the housing 4 through the signal transmission cable 21. Be transmitted to. The observation unit 62 is composed of a sensor controller 63 and a monitor 64, and an observer observes an image captured by the imaging unit 50 and displayed on the screen of the monitor 64. In the monitor 64, the display switching unit 65 causes the forward-view monitor 66 and the side-view monitor 67 to project a forward-view image 68 and a side-view image 69, respectively.

In this embodiment thus constructed, the same operation and effect as those of the first embodiment can be obtained, and by rotating the rotating cylinder 51, the thin cylinder having a diameter close to the outer dimension of the housing 4 can be obtained. Even the inside of the pipe can be observed through the reflection plate 55. Further, the front-view image 68 and the side-view image 69 inside the tube can be switched and observed with one image pickup device 57, and can be observed simultaneously.

Next, a modified example of the driving device applicable to the reflecting mirror undulating mechanism of each of the above embodiments will be described with reference to FIGS. FIG. 18 is a plan view, and FIG. 19 is a plan view of the drive unit in operation.

In FIG. 18, the driving device 70 has a plurality of driving units 71 connected in series via connecting hands 72, and the driving units 71 at both ends are provided with connecting hands 73. The drive unit 71 is configured by, for example, a pair of elastic bodies 74, 75 formed in a substantially diaphragm shape and integrally forming an insulating body 76 between the peripheral portions of the elastic body 74.
4, 75 are shaped so that they can be easily elastically deformed in the respective directions. The lead wires 7 are attached to the elastic bodies 74 and 75, respectively.
Voltages of different polarities are applied through 7,78.

Therefore, as shown in FIG. 19, the elastic unit 71 is attracted and deformed by electrostatic force when voltages of different polarities are applied to the elastic bodies 74 and 75, and the elastic bodies 74 and 75 are deformed.
The space between them narrows. Then, the drive device 70 that connects the plurality of drive units 71 with the connecting hands 72 realizes the deformation between the connecting hands 73 at both ends by the total amount of deformation of each driving unit 71. A drive unit 71 for applying a voltage
It is possible to finely adjust the amount of deformation of the drive device 70 by controlling the number of the drive units 71 to be changed and by controlling the voltage applied to each drive unit 71.

Next, modifications applicable to the optical system of each of the above embodiments will be described with reference to FIGS. 20 to 22 are cross-sectional views of modified examples, each of which is a variable focal length lens.

First, a first modification will be described. In FIG. 20, a lens 79 is configured by a pair of elastic bodies 80, 81 made of a transparent material and having a curved surface with a predetermined curvature, with an insulator 82 sandwiched at the peripheral edge portion, and integrated on the same optical axis. The elastic bodies 80 and 81 are shaped so as to be easily elastically deformed in the respective directions. A voltage can be applied to the elastic bodies 80 and 81 through lead wires 83 and 84, respectively.

Therefore, when a voltage is applied to the elastic bodies 80 and 81, the elastic bodies 80 and 81 are deformed, and the amount of deformation is changed by changing the value of the applied voltage, so that the lens 79 having a variable focal length can be obtained.

Next, a second modification will be described. In FIG. 21, a lens 85 is made of a transparent material and has a plurality of elastic bodies 86, 87, 88, 89 each having a curved surface with a predetermined curvature. The elastic body 86, 87, 8 is formed by being integrated.
8 and 89 are shaped so that they can be easily elastically deformed in the respective directions. A voltage can be applied to each elastic body 86, 87, 88, 89 through lead wires 93, 94, 95, 96, respectively.

Therefore, when a voltage is applied to the elastic bodies 86, 87, 88, 89, the elastic bodies 86, 87, 88, 89 are deformed, and the amount of deformation is changed by changing the value of the applied voltage, and the focal length is changed. A variable lens 85 is obtained.

Next, a third modification will be described. In FIG. 22, the lens 97 includes an elastic body 98 made of a transparent material and having a curved surface with a predetermined curvature, and a flat plate body 99 that is less likely to be deformed than the elastic body 98 made of the transparent material, and has an insulator 100 at the peripheral portion. The elastic body 98 has a shape that is easily elastically deformed in the direction of the flat plate body 99. A voltage can be applied to the elastic body 98 and the flat plate body 99 through lead wires 101 and 102, respectively.

Therefore, when a voltage is applied to the elastic member 98 and the flat plate member 99, the elastic member 98 is deformed, and the amount of deformation is changed by changing the value of the applied voltage, so that the lens 97 having a variable focal length can be obtained.

In each of the above-described modified examples, a transparent liquid or the like may be enclosed between elastic members integrally formed by sandwiching an insulator at the peripheral portion to adjust the refractive index of the lens.

Next, an example of the structure of the rotating mechanism applicable to the rotation of the swiveling cylinder 8 of the above embodiment will be described with reference to the drawings.

First, a first structural example will be described with reference to FIGS. 23 is a cross-sectional view of the main part in the axial direction, and FIG. 24 is a cross-sectional view in the direction orthogonal to the axis.

In FIGS. 23 and 24, 103 is a rotating mechanism, a drive source 104 such as a motor is provided on the bottom plate 3 of the housing 4, and a bottom stud 105 is provided at the center of the bottom plate 3.
Has been planted. One end of an elastic energy storage member 106 such as a mainspring is fixed to the bottom stud 105, and the other end of the elastic energy storage member 106 is a rotating cylinder 8.
It is fixed to the inner surface of the bottom wall of the. As a result, the revolving cylinder 8 is always rotatable by the energy stored in the elastic energy storage member 106. And housing 4
A clutch element 107 using known means is formed on the inner surface of the so as to face the outer surface of the bottom wall portion of the swiveling cylinder 8, and the swiveling cylinder 8 is fixed to the housing 4 by applying an operation signal. It can be set to the disengaged state, and the rotation of the orbiting cylinder 8 is controlled by controlling the on / off of the clutch element 107.

Further, even when the energy stored in the elastic energy storage member 106 is completely released or partially released, if the drive source 104 is operated and the clutch element 107 is fixed, The rotation of the driving source 104 enables the elastic energy storage member 106 to store energy.

With such a structure, the rotation control of the orbiting cylinder 8 can be accurately performed only by turning the clutch element 107 on and off, and the motor or the like used as the drive source 104 can be rotated as long as a force is generated. Accuracy and rotation speed do not matter, and application to micromachines whose performance management is difficult becomes effective.

Next, a second configuration example will be described with reference to FIG. FIG. 25 is a sectional view of a main part in the axial direction.

In FIG. 25, reference numeral 108 denotes a rotating mechanism, and a bottom stud 105 is planted in the center of the bottom plate 3 of the housing 4. The bottom stud 105 has elastic energy storage members 109, which release energy in opposite directions,
One end of 110 is fixed, and the elastic energy storage member 10
The other ends of 9, 110 are fixed to clutch elements 111, 112, respectively. A motor 113 is provided between the two elastic energy storage members 109 and 110. The motor 113 is an outer rotor type in which the stator is attached to the bottom stud 105, and the stator and the rotor can be locked to each other. And the clutch elements 111, 11
2 can selectively realize a fixed state and a released state on the rotor of the motor 113 or on the inner surface of the bottom wall of the turning cylinder 8.

Therefore, the motor 113 is in the locked state,
When the clutch element 111 is fixed to the inner surface of the swivel cylinder 8 and the clutch element 112 is fixed to the rotor of the motor 113, the swivel cylinder 8 rotates in the direction in which the energy of the elastic energy storage member 109 is released. Clutch elements 111,1
If the fixed state of 12 is reversed, the direction of rotation of the swirling cylinder 8 will be the opposite direction.

When the motor 113 is started in a state where the clutch element 111 is fixed to the inner surface of the orbiting cylinder 8 and the clutch element 112 is fixed to the rotor of the motor 113, the elastic energy storage member 110 is changed in accordance with the rotation of the rotor. Energy can be stored. Clutch elements 111, 11
If the fixed state of No. 2 is reversed and the rotation direction of the rotor of the motor 113 is reversed, energy can be stored in the elastic energy storage member 109. Therefore, it is possible to completely release the energy of the elastic energy storage members 109 and 110 and prevent the swiveling cylinder 8 from becoming unrotatable.

Next, a third structural example will be described with reference to FIG. FIG. 26 is a sectional view of a main part in the axial direction.

In FIG. 26, reference numeral 114 denotes a rotating mechanism, which is provided with two elastic energy storage members 115 and 116 for releasing energy in opposite directions. That is, one end portion of one elastic energy storage member 115 is attached to the inner surface of the housing 4, and the other end portion is selectively fixed to the bottom plate 3 of the housing 4 or the inner surface of the bottom wall portion of the turning cylinder 8 by the clutch element 117. The state can be realized. A bottom stud 118 is planted in the center of the bottom plate 3 of the housing 4. One end of the other elastic energy storage member 116 is attached to the bottom stud 118, and the other end is fixed by a clutch element 119 to the inner surface of the wall of the revolving cylinder 8 or to the middle of the bottom stud 118. The fixed state can be selectively realized.

Accordingly, the other end of the elastic energy storage member 115 is fixed to the inner surface of the bottom wall of the swiveling cylinder 8 by the clutch element 117, and the other end of the elastic energy storage member 116 is fixed to the bottom stud 118 by the clutch element 119. When fixed to the plate 120, the swiveling cylinder 8 rotates in the direction in which the elastic energy storage member 115 releases energy. If the fixed states of the clutch elements 117 and 119 are reversed, the rotating cylinder 8 rotates in the opposite direction.

Further, the bottom plate 3 is provided with a motor 121, and the clutch element 117 is fixed to the rotor of the motor 121 so that the clutch element 117 is fixed to the bottom plate 3. Then, if the clutch element 117 is fixed to the rotor, the clutch element 119 is fixed to the inner surface of the wall of the swivel cylinder 8, and the swirl cylinder 8 is fixed to the inner surface of the housing 4 by another clutch element 122 provided. , The elastic energy storage member 11 according to the rotation of the motor 121
Energy can be stored in 5,116.

Next, a third embodiment of the present invention will be described with reference to FIG.

FIG. 27 is a schematic sectional view, and 123 is an image pickup module, which includes an optical system 124 having a lens, a focus adjusting mechanism and a magnification adjusting mechanism built therein, and an image pickup device 125 for photoelectrically converting an image captured by the optical system 124. , These optical systems 124
And a signal processing unit 126 for controlling the operating state of the image pickup device 125 and transmitting a video signal of the image pickup device 125 to a subsequent stage through a signal transmission cable (not shown).
4 are joined and integrated so as to be stacked in the optical axis direction. Further, reference numeral 127 denotes a base unit having a built-in platform optical system control unit 128. For example, between the base unit 127 and the imaging module 123, which are positioned so that their substantially spherical surfaces are opposed to each other, for example, Rotation / rotation of the attitude control mechanism of the image pickup module 123 configured by the above-described drive mechanism and the like.
An undulating element 129 is attached. The image pickup module 123 is driven in two directions of azimuth and elevation.

Further, a stud 130 is planted on the side surface of the image pickup module 123.
0 has a spring element 13 whose one end is fixed to the base 127.
The other end of No. 1 is attached, and rattling due to a mechanical factor between the base 127 and the imaging module 123 can be eliminated. In addition, a flexible signal line 132 is provided between the base 127 and the image pickup module 123, and a video signal or the like from the signal processing unit 126 is sent to the subsequent stage through the base 127. .

With such a configuration, the platform optical system control unit 128 performs a control operation in accordance with a control signal from the subsequent stage, and the turning / raising / lowering element with the base unit 127 kept stationary at a predetermined position. The imaging module 123 is driven by the operation of 129. Since the direction of the optical axis P of the optical system 124 can be freely changed, a target portion to be captured by the optical system 124 can be arbitrarily selected. For example, an image of a desired portion such as an inner wall surface of a pipe can be displayed on an observation unit (not shown). It can be observed through a monitor.

Therefore, also in this embodiment, the same operation and effect as in the first embodiment can be obtained.

Next, a fourth embodiment of the present invention will be described with reference to FIG.

FIG. 28 is a schematic sectional view of the image pickup module 1.
23 and the base unit 127 are connected by an inchworm link mechanism 133 that controls the posture of the imaging modules 123 that are provided in pairs at positions that are 180 degrees out of phase with the central axis of the base unit 127. Has been done. The inchworm link mechanism 133 is connected to the universal joint 134 provided on the side surface of the image pickup module 123.
One end of a link 136 that is bent at 35 is connected, and the other end of the link 136 is provided with an electromagnetic piezoelectric type inchworm 138 that is driven so as to move forward and backward in the guide 137 of the base 127 in the central axis direction. Has been done.

The electromagnetic piezoelectric type inch worm 138 is provided with a piezoelectric element 139 laminated in the axial direction and an electromagnet 140 fixed to the tip end portion in the laminating direction. The electromagnet 140 is excited and the other end portion of the link 136 is excited. When a voltage is applied to the piezoelectric element 139 in the state of adsorbing, the link 136 moves in the displacement direction of the piezoelectric element 139. This makes link 13
6, the image pickup module 123 and the base unit 1 connected by
The relative position of 27 changes.

Then, the pair of inchworm link mechanisms 133 are cooperatively controlled so that the directions of expansion and contraction are opposite to each other, so that the direction of the image pickup module 123 can be changed while the base 127 is stationary at a predetermined position. Can be changed.
Since the direction of the optical axis P of the optical system 124 can be freely changed, the target portion to be captured by the optical system 124 can be arbitrarily selected, and like the third embodiment, for example, a desired inner wall surface of the pipe or the like can be selected. The image of the part can be observed through the monitor of the observation unit (not shown).

Therefore, also in this embodiment, the same operation and effect as in the first embodiment can be obtained.

Next, a fifth embodiment of the present invention will be described with reference to FIG.

FIG. 29 is a schematic sectional view showing the image pickup module 1.
23 and the base 127 are connected by the string mechanism 141, and the posture of the imaging module 123 is controlled by this. Both ends of the string mechanism 141 are fixed at positions where the phases are different by 180 degrees with respect to the central axis of the side surface of the image pickup module 123, and the middle part is a base part 127.
The drive element 144 that moves the string member 143 such as a wire passing through the string guide 142 provided in the base member and the intermediate portion of the string member 143 provided on the base portion 127 in a forward direction from one direction to the other direction by scratching, for example. It is configured with.

Then, when the string member 143 stretched between the both side surfaces of the image pickup module 123 via the string guide 142 is sequentially fed from one direction to the other direction by the driving element 144, the string member 143 is pulled in. The image pickup module 123 is turned to the side surface. Further, by moving the string member 143 in the opposite direction, the orientation of the image pickup module 123 can be changed to the opposite direction. Since the direction of the optical axis P of the optical system 124 can be freely changed, a target portion to be captured by the optical system 124 can be arbitrarily selected, and like the third embodiment, a desired portion such as an inner wall surface of a pipe can be selected. Can be observed through the monitor of the observation unit (not shown).

Therefore, also in this embodiment, the same operation and effect as in the first embodiment can be obtained.

Next, a configuration example of the diaphragm mechanism of the optical system applicable to each of the above embodiments will be described with reference to the drawings.

First, a first structural example will be described with reference to FIGS. 30 and 31. FIG. 30 is a schematic side view and FIG. 31 is a plan view. In the figure, a diaphragm mechanism 146 is provided on the optical axis of the lens 145, which limits the amount of light that passes through the lens 145 and is sent to the subsequent stage. . Lens 1
The diaphragm mechanism 146 arranged in front of 45 is a flat disk-shaped one having a liquid crystal pattern 148 composed of a plurality of concentric, substantially annular diaphragm portions 147. A lead wire 149 is provided on each diaphragm portion 147 of the liquid crystal pattern 148. Are connected.

Then, the energization state to each diaphragm 147 is controlled through each lead wire 149, and by combining the control states, the area of the diaphragm 147 through which light passes is changed, and the amount of light passing through the liquid crystal pattern 148 is freely adjusted. It can be changed. As described above, in this configuration example, since there are no movable parts and the like, it is possible to realize a lightweight, compact and highly reliable one.

Next, a second configuration example will be described with reference to FIG. FIG. 32 is a plan view showing the diaphragm mechanism 150.
Is a flat disk having a liquid crystal pattern 152 having a diaphragm 151 formed of a plurality of strip-shaped rows, and a lead wire 153 is connected to each diaphragm 151 of the liquid crystal pattern 152.

Then, the energization state to each diaphragm section 151 is controlled through each lead wire 153, and by combining the control states, the area of the diaphragm section 151 through which light passes is changed, and the amount of light passing through the liquid crystal pattern 152 is freely adjusted. It can be changed. Therefore, the same effect as that of the first configuration example can be realized.

The present invention is not limited to the above-mentioned respective embodiments and the constitutional examples applicable to these embodiments, but can be carried out by appropriately changing them without departing from the scope of the invention. is there.

[0089]

Since the present invention is constructed as described above, the apparatus can be downsized, the inside of a long tube can be easily observed, and a tube having an insertable tube diameter can be used. It is possible to obtain an effect that observation with sufficient accuracy can be performed regardless of the pipe diameter.

[Brief description of drawings]

FIG. 1 is a cross-sectional view of a first embodiment of the present invention.

FIG. 2 is a schematic block diagram according to the first embodiment of the present invention.

FIG. 3 is a perspective view of another configuration example of the undulating mechanism.

FIG. 4 is a perspective view of a piezoelectric motor.

FIG. 5 is a diagram for explaining the operation principle of the piezoelectric motor.

FIG. 6 is a characteristic diagram of a resonator element.

FIG. 7 is a schematic sectional view of the first example of the configuration of the reflecting mirror when in use.

FIG. 8 is a schematic cross-sectional view of the first example of the configuration of the reflecting mirror when it is not used.

FIG. 9 is a perspective view of a second configuration example of the reflecting mirror.

FIG. 10 is a plan view of a third configuration example of the reflecting mirror.

FIG. 11 is a cross-sectional view of a third configuration example of the reflecting mirror.

FIG. 12 is a side view showing a form of a storage state in a third configuration example of the reflecting mirror.

FIG. 13 is a side view showing a front view state of a fourth configuration example of the reflecting mirror.

FIG. 14 is a side view showing a side view state in a fourth configuration example of the reflecting mirror.

FIG. 15 is a sectional view of a second embodiment of the present invention.

FIG. 16 is a plan view of an essential part according to the second embodiment of the present invention.

FIG. 17 is a schematic block diagram according to the second embodiment of the present invention.

FIG. 18 is a plan view of a modified example of the driving device.

FIG. 19 is a plan view of the drive unit according to a modified example of the drive device during operation.

FIG. 20 is a cross-sectional view of a first modification example of the optical system.

FIG. 21 is a cross-sectional view of a second modified example of the optical system.

FIG. 22 is a cross-sectional view of a third modification example of the optical system.

FIG. 23 is a cross-sectional view of a main part in the axial direction of the first configuration example of the rotating mechanism.

FIG. 24 is a cross-sectional view in the direction orthogonal to the axis in the first configuration example of the rotating mechanism.

FIG. 25 is a sectional view of an essential part in the axial direction of a second configuration example of the rotating mechanism.

FIG. 26 is a sectional view of an essential part in the axial direction of a third configuration example of the rotating mechanism.

FIG. 27 is a schematic cross-sectional view of the third embodiment of the present invention.

FIG. 28 is a schematic sectional view of the fourth embodiment of the present invention.

FIG. 29 is a schematic sectional view of the fifth embodiment of the present invention.

FIG. 30 is a schematic side view of a first configuration example of a diaphragm mechanism.

FIG. 31 is a plan view of the first configuration example of the aperture mechanism.

FIG. 32 is a schematic side view of a second configuration example of the aperture mechanism.

[Explanation of symbols]

 2 ... Aperture 4 ... Housing 6 ... Signal processing unit 7 ... Imaging unit 8 ... Swivel cylinder 9 ... Rotating mechanism 12 ... Reflecting surface 13 ... Reflecting mirror 14 ... Raising / lowering mechanism 17 ... Optical system 18 ... Imaging device 21 ... Signal transmission cable P …optical axis

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hajime Suto 1 Komukai Toshiba-cho, Kouki-ku, Kawasaki-shi, Kanagawa Incorporated Toshiba Research Laboratory

Claims (3)

[Claims] 1. An optical system for capturing an observation target, an image sensor for photoelectrically converting an image captured by the optical system, and a signal processing unit for processing and transmitting a video signal from the image sensor. An in-tube observation device characterized in that the element and the signal processing unit are integrally formed. 2. A cylindrical housing having an opening at an end thereof and formed in a substantially rotational symmetry, an optical system provided in the housing for capturing an observation target through the opening, and a symmetry axis of the housing. A reflecting mirror that rotates around a rotating shaft that coincides with the opening and closing in the direction that opens and closes the opening, an imaging unit that outputs a video signal of a video captured by the optical system, and a video signal from the imaging unit. An in-tube observation device comprising a signal processing unit for processing and transmitting. 3. An imaging module in which an optical system for capturing an observation target, an image sensor for photoelectrically converting an image captured by the optical system, and a signal processing unit for processing and transmitting a video signal from the image sensor are integrally formed. And a base portion that is formed in substantially rotational symmetry and that connects the imaging modules, and an attitude control mechanism that controls the attitude of the imaging module so as to change the optical axis direction of the optical system. In-pipe observation device.