JPH07306155A - Device and system for processing image for inspection - Google Patents

Abstract

PURPOSE:To inspect a high-quality image as necessary and, at the same time, to make a camera section to be easily constituted into a radio-controlled micro- robot by making it possible to separately transmit a high-resolution image and a rough-pattern image. CONSTITUTION:A traveling unit 300 is provided with a contour extracting section 305 which extracts contour components from image pickup signals sent from an image pickup element 303. An encoding and transmitting section 306 transmits by radio contour components while the unit 300 moves and image pickup signals while the unit 300 stops. In a fixed unit 400, false multilevel image signals are generated in such a state that the inside of contours is filled with the signals by using a false multilevel generating section 424. similarity comparing section 426, and data base section 427 and the generated signals are supplied to a monitor 500 when the contour components are transmitted. When the image pickup signals are transmitted, the transmitted image pickup signals are supplied to the monitor 500.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image processing apparatus and system for inspection which is effectively used by a robot for inspecting the inside of a thin tube.

[0002]

2. Description of the Related Art A robot apparatus for inspecting a nuclear thin tube is
It has a structure as shown in FIG. 3 and is similar to an electronic endoscope apparatus which is a medical device. That is, the camera unit 10 is provided at the tip.
1, the camera unit 101 is connected to the camera control unit 103 via a flexible cable 102. The camera control unit 103 supplies power to the camera unit 101 via the electric wire in the cable. Also, the camera unit 101
The image pickup signal picked up in (1) is introduced through the electric wire in the cable and supplied to the image signal processing unit 104. The image signal processed by the image signal processing unit 104 is supplied to the monitor 105. The cable 102 is wound around the drum 106 on the way.

When inspecting the inside of the pipe 201, the camera section 101 is inserted into the inside of the pipe 110 as shown in FIG.
Image signals captured by the camera unit 101 are sequentially captured, processed, and observed on the monitor 106. Camera unit 101
Is, for example, a camera control unit 1 having a small motor and power wheels.
By operating the operation lever of 03, forward, backward, turning direction, etc. can be controlled.

[0004]

The above-mentioned conventional robot apparatus has a problem that a transmission loss occurs and image quality is greatly deteriorated because a cable is used. Therefore, in the conventional device for inspecting a nuclear thin tube, the thickness of the cable is 20
There was a limit of about 30 mm and a cable length of about 10 to 200 m. In order to solve this, it may be possible to use an optical fiber instead of the cable, but there is a problem in flexibility, and it becomes impossible to change the direction at a steep angle. Further, since it is necessary to use the optical interface, there is a problem that the structure of the camera unit 101 becomes large.

Therefore, according to the present invention, the image of the rough pattern and the high-definition image can be selectively used for transmission so that the camera unit can be easily used as a wireless micro-miniature robot. It is an object of the present invention to provide an inspection image processing apparatus and method capable of switching image processing modes and obtaining an inspection of high image quality as needed.

[0006]

According to the present invention, the transmitting side includes: an image pickup means, a contour extraction means for extracting a contour component of an image pickup signal obtained by the image pickup means and compressing the information, and the contour extraction means. And a transmission means for encoding and transmitting either the obtained compressed signal or the high-definition signal obtained from the imaging means, and at the receiving side; decoding for receiving and decoding the signal from the transmission means Means, and if the signal input to the decoding means is the contour signal, a database similar to the decoded contour component is detected, and a pseudo gradation image signal with gradation set based on the database. And a pseudo-tone generating means for obtaining the above-mentioned, and when the signal input to the decoding means is the high-definition signal, the decoded high-definition signal is converted for monitoring, and when it is a contour signal, the pseudo-gray Gradation generation In which a signal processing means for converting the pseudo gradation image signals from the stage for monitoring.

[0007]

By the above means, it is possible to selectively transmit a rough pattern image and a high-definition pattern image, and it is useful for a wireless micro robot.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 conceptually shows the overall structure of an embodiment of the present invention. This system is roughly divided into a mobile unit 300, a fixed unit 400, and a monitor 500.

The size of the moving unit 300 is 3 m in diameter.
It has a length of m to 10 mm and a length of 15 mm to 30 mm, and is configured to have flexibility as a whole. That is, the outer case 301 is made of a flexible material. The case 301 has, for example, a cylindrical shape, and a lens 302 is attached to a front end portion in the axial direction thereof to form an optical system. A solid-state image sensor (CCD) 303 is arranged on the optical axis of the optical system, and an optical image from the front is formed. The CCD 303 is driven by the signal processing / driving unit 304, and its read signal is introduced to the signal processing / driving unit 304. Signal processing and driving unit 3
The image pickup signal processed in 04 is input to the contour extraction unit 305 and the encoding / transmission unit 306. Contour extraction unit 305
Then, the contour component of the image signal is extracted, information is compressed, and supplied to the encoding and transmitting unit 306.

The encoding / transmission unit 306 modulates the compressed data using an image compression technique, for example, a run length variable length method, and outputs the modulated data through the antenna 307. In the mobile unit 300, the received radio wave energy introduced from the antenna 307 is detected by the detection unit 308, and the power storage unit 30 is detected.
9 can be stored. The electric power accumulated in the power storage unit 309 operates the circuits and mechanisms of the respective units. The control unit 311 takes in a control signal received from the outside and controls the entire unit.

A driving mechanism 32 for controlling the movement of the entire moving unit 300 is provided on the outer periphery of the moving unit 300.
1, 322 are provided. This drive mechanism 321, 3
Various types of 22 are possible. For example, a method of driving legs, wheels, a belt or a caterpillar by electromagnetic waves such as a piezoelectric element and a magnetic coil, or a method of driving wheels by mounting a micro motor. In addition, any structure may be used as long as it can apply thrust to the inspection device, such as a structure for obtaining thrust by an inchworm or a vibrating arm, a villi-like drive mechanism, or the like. In the drawing, the drive mechanisms 321 and 322 are provided at positions facing each other by 180 degrees, but actually, three locations are provided at 120 degree intervals, or four locations at the periphery are provided at 90 degree intervals, or more.

The fixed unit 400 includes a camera controller 40.
1, an image signal processing unit 402, and an antenna 403. The antenna 403 is switched and controlled via the switch 404 to the transmitter 413 on the camera control unit 401 side or the receiving unit 404 on the image signal processing unit 402 side.

The camera control unit 401 includes the moving unit 30.
An operation element 411 for obtaining an operation signal for advancing, retreating, or changing the direction of 0, a control signal generating section 412 for receiving the operation signal and generating a control signal, and a control signal from the control signal generating section 412. Transmitter 41 for transmitting
Have three. The image signal processing unit 402 includes an antenna 403.
It has a receiving unit 422 for receiving the reception signal taken in from and a decoding unit 423 for decoding the output of the receiving unit 422. The signal decoded by the decoding unit 423 is the pseudo gradation generation unit 424.
Is input to the signal processing unit 425. Pseudo gradation generator 42
As will be described later, in No. 4, the contour component is decoded and the data of the database unit 427 is embedded in the contour to generate a pseudo image. In this case, the decoded contour component is compared in similarity degree with some contour components (database) of the database unit 427 in the similarity comparison unit 426 to identify the most similar contour, and then the pattern in the contour is identified. Data to be filled in is determined. The data input to the signal processing unit 425 is converted into a video signal of a format suitable for the monitor 500 and displayed on the monitor 500. The signal from the decoding unit 423 is directly input to the signal processing unit 425, and this direct signal is transmitted to the mobile unit 300.
Is captured by the signal processing unit 425 while it is stationary and displayed on the monitor 500 as a high-precision image.

Referring to FIG. 2, first, the movement mode of the above system will be described. In the move mode, the move unit 300, ie the camera, is advanced, retracted or turned. At this time, the antenna 403 is connected to the camera control unit 404. In this state, the operation unit 411
When is operated, the operation signal is converted into control data by the control signal generation unit 412 and transmitted to the mobile unit 300 via the transmitter 413 and the antenna 403. Mobile unit 3
00 receives the microwave that has modulated the control data, performs the detection by the detection unit 308, stores the power, and stores the control data in the control unit 311. When the control data is stored in the control unit 311, the drive mechanisms 321 and 322 operate to move the moving unit 300 forward or backward.

During this forward or backward movement, image pickup is also performed and image pickup signals are fetched. However, during this movement, the contour component from the contour extraction unit 305 is captured by the encoding and transmission unit 306 and transmitted. Here, in the moving mode, the switch 4 is provided on the fixed unit 400 side.
04 is automatically controlled to be switched to the transmitter 413 side (charging and control data transmission period) and the receiving unit 422 side (imaging signal transmission period). As a result, the encoding / transmission unit 3
The signal transmitted from 06 can be received.
The signal input from the antenna 403 is received by the receiving unit 422 and decoded by the decoding unit 423. The decoded signal is input to the pseudo gradation generation unit 424 and the signal processing unit 425. The decoded signal in the moving mode is processed by the pseudo grayscale generation unit 424.

The decoded video signal at this time is an information-compressed contour component. Therefore, this contour component is input to the similarity comparison units 426 and 427 and compared with the data of the database unit 427. If a similar database exists, gradation data that fills the contour is extracted from the database to the pseudo gradation generation unit 424, and this signal is supplied to the signal processing unit 425 as a video signal. The signal processing unit 425 encodes a signal of a system suitable for the monitor 500 and sends it to the monitor 500.
This is because the situation inside the tube has been decided, and the captured image can be predicted in advance. Therefore, by storing the predicted image as a database, when the contour is found, other than the contour. This is because the data of the part can be filled. Even in such a shooting condition, since the captured contour component is retained, foreign matters and scratches inside the tube appear on the image. For example, a straight portion of a pipe is suitable for the inspection while moving.

Next, the operation of the observation mode will be described.
In the observation mode, the mobile unit 300 is stopped and switched to the imaging state. After a lapse of a predetermined time, the charging period starts, and when charging is completed, the imaging state is resumed. At this time, the high-definition signal from the signal processing unit 304 is directly
The image is input to the encoding / transmission unit 306 without image compression,
It is encoded and transmitted. Therefore, the transmission time is longer than sending the contour component. In this observation mode, in the image signal processing unit 402, the high definition image data from the decoding unit 423 is directly guided to the signal processing unit 425.
Therefore, a detailed image can be seen on the monitor 500.

As described above, in this system, there are a moving mode and an observing mode. Particularly in the moving mode, the contour component of the picked-up image is information-compressed, run-length coded, and transmitted, so that even in the observing mode. The detailed image is compressed to about 1/100 and transmitted. For example, when transmitting 8 bits per pixel of detailed data, if the contour component is set to 1 bit and run length coding is combined, it becomes about 1/100. In this case, run-length coding is performed for each bit plane (space) from the MSB to the LSB of an 8-bit video, and if the MSBs are transmitted in order, a rough overall image can be obtained quickly, and high definition can be achieved with the passage of time. You can get the video.

As described above, this system makes it possible to roughly understand the situation when moving, increase the number of frames, and obtain a high-definition image when stopped. Therefore, the in-pipe inspection can be efficiently performed in a short time. Also, by effectively combining the charging cycle of the charging section and the signal transmission cycle, it is possible to perform efficient inspection in a short time. Also, in this system, since the rough characteristic images are collated with the database and re-synthesized into images that are easy for humans to see, high-speed inspection is possible and the operator's operational burden is reduced.

In the above embodiment, the database unit 427
In the above, predetermined pseudo data is stored in advance. However, the present invention is not limited to this, and the actually captured data may be sequentially accumulated corresponding to the moving position of the moving unit 300. However, in this case, it is important to store the picture of a normal part without any abnormality inside the tube.

In the above embodiment, the transmission of the image pickup signal by the radio wave is explained, but the transmission by the light may be used. In the case of light transmission, the light reaches the receiving antenna while reflecting inside the tube. Of course, this light may be used to simultaneously supply energy to the entire inspection apparatus.

In the above embodiment, the moving unit 3 is used in the moving mode in consideration of downsizing and weight reduction.
Although the example in which the movement and imaging periods of 00 and the stop charging period exist alternately is shown, if the transmission frequency for transmitting the imaging signal and the frequency for charging and control data transmission are different from each other, It is also possible to operate while moving and imaging and charging at the same time. Then, the charging only period may be set in accordance with the power storage state, the power storage capacity, and the like.

[0023]

As described above, according to the present invention,
It is possible to transfer the image of a rough pattern and the high-definition image separately, and the image processing mode can be switched according to the degree required for observation, and a high-quality inspection can be obtained as necessary. This makes it easy to make the camera part a wireless micro robot.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention.

FIG. 2 is a timing chart shown for explaining an operation example of the system of FIG.

FIG. 3 is an explanatory diagram of an in-pipe inspection robot system.

[Explanation of symbols]

300 ... Moving unit, 301 ... Case, 302 ... Lens, 303 ... Solid-state image sensor, 304 ... Signal processing and drive section, 305 ... Contour extraction section, 306 ... Code or transmission section,
307 ... Antenna, 308 ... Detection section, 309 ... Power storage section,
400 ... Fixed unit, 401 ... Camera control unit, 402
Image signal processing unit 403 Antenna 404 Switch 412 Control signal generator 413 Transmitter 422
... reception unit, 423 ... decoding unit, 424 ... pseudo gradation generation unit,
425 ... Signal processing unit, 426 ... Similarity comparison unit, 427 ...
Database, 500 ... Monitor.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical indication H04N 7/18 B

Claims (7)

[Claims] 1. A transmitting side extracts an image pickup means and a contour component of an image pickup signal obtained by the image pickup means,
It has a contour extracting means for compressing information, and a transmitting means for encoding and transmitting either the compressed signal obtained by the contour extracting means or the high-definition signal obtained by the imaging means, and the receiving side Decoding means for receiving and decoding the signal from the transmitting means, and detecting a database similar to the decoded contour component when the signal input to the decoding means is the contour signal, and based on the database And a pseudo-grayscale generating means for obtaining a pseudo-grayscale image signal with gradation set, and if the signal input to the decoding means is the high-definition signal, the decoded high-definition signal is converted for monitoring. Then
An image processing device for inspection, comprising: a signal processing means for converting the pseudo gradation image signal from the pseudo gradation generating means for a monitor when it is a contour signal. 2. The image processing apparatus for inspection according to claim 1, wherein the image pickup means, the contour extraction means and the transmission means on the transmission side are mounted on a moving body. 3. An image pickup means on the transmission side, a contour extraction means for extracting a contour component of an image pickup signal obtained by the image pickup means, and compressing information, and a compression signal obtained by the contour extraction means for encoding. The transmitting side has a transmitting means, and the receiving side detects a decoding means for receiving and decoding a signal from the transmitting means, and a database similar to the contour component decoded by the decoding means, and stores it in the database. On the basis of the above, a pseudo gradation generating means for obtaining a pseudo gradation image signal with gradation set, and a signal processing section for converting an output signal from the pseudo gradation generating means into a monitor signal are characterized. Image processing device for inspection. 4. An image pickup means mounted on a moving body, and a contour component of an image pickup signal obtained by the image pickup means,
A contour extracting means for compressing information, and an information compression signal from the contour extracting means is encoded and transmitted when the moving body is moving, and a high level from the imaging means when the moving body is stopped. An image processing apparatus for inspection, comprising: a transmission means for transmitting a fine signal. 5. A transmission / reception antenna provided in the transmission means, a detection means for detecting a radio wave signal input from the transmission / reception antenna, and an output of the detection means is stored, and the output is stored in the contour extraction means and the transmission means. 5. The inspection image processing apparatus according to claim 4, further comprising a power storage unit that uses the power supply voltage of the. 6. A light-receiving element that constitutes the transmission means, receives light, and performs photoelectric conversion, and a light-emitting element by a light-emitting diode or laser diode that converts electric signals into light, and detects an optical signal received by the light-receiving element. 5. The inspection image processing according to claim 4, further comprising: a detection unit that stores the output of the detection unit, and a storage unit that stores the output of the detection unit and uses the output as a power supply voltage of the contour extraction unit and the transmission unit. apparatus. 7. A transmitting side extracts a contour component of an image pickup signal obtained by an image pickup means, compresses information, and encodes and transmits either one of the information-compressed compressed signal and the image pickup signal, and receives the information. The side receives and decodes the transmitted signal,
When the decoded signal is the contour signal, a database similar to the decoded contour component is detected,
Based on the database, obtain a pseudo gradation image signal with gradation set, and when the decoded signal is the image pickup signal, the decoded image pickup signal is converted for a monitor,
An image processing method for inspection, wherein the pseudo gradation image signal is converted for a monitor when it is a contour signal.