JPH08254418A - Inspection support device - Google Patents

Abstract

PURPOSE: To provide an inspection support device which supports the understanding of an inspection target and situations around it and facilitates inspection and monitoring works. CONSTITUTION: An inspection support device is provided with a signal processing part 3 for generating three-dimensional structure of an inspection target based on measurement data obtained from the inspection target, a measurement result record part 5 for recording the three-dimensional structure data from this signal processing part 3, and a three-dimensional shape storage part 6 for storing the three-dimensional shape model data around the inspection tact as known data beforehand. And it is also provided with an operation part 7 for inputting viewpoint information and display set information of a display image plane for the measurement target, and a presentation part 8 for composing the three- dimensional structure data and the three-dimensional shape model data so as to display graphics.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for inspecting and monitoring the condition of a structure existing in an opaque liquid or gas which cannot be inspected or monitored by a conventional optical camera.

[0002]

2. Description of the Related Art The condition inside an optically opaque liquid or gas cannot be observed by an optical camera. Therefore, ultrasonic waves, which have the property of propagating even in opaque liquids and gases, are used for such inspection work.

For example, JP-A-5-18732 and JP-A-5-27080 show that ultrasonic waves are emitted toward an object to be inspected and reflected by a structure existing in the traveling direction and returned. Disclosed is an ultrasonic see-through device that performs synthesis processing and signal processing to measure the three-dimensional shape of a structure within a measurement range.

[0004]

Generally, in order to inspect the state of the three-dimensional shape of the inspection target, not only can the observation target be observed freely from various directions in the surroundings, but also the surrounding three-dimensional structure and positional relationship In order to make it easier to understand, it is desirable to be able to observe a wider range of conditions around the inspection target.

However, in the above-mentioned conventional ultrasonic see-through device, it is difficult to perform in real time signal processing for restoring a three-dimensional structure within the measurement range from reflected waves of ultrasonic waves, and it is also necessary to perform a single measurement. The range of three-dimensional structural data that can be obtained is also limited. Therefore, unlike the inspection using an optical camera, the inspection using an ultrasonic see-through device determines the surroundings of the inspection target while checking visually the conditions within the inspection range in real time directly, and It was difficult to observe the whole picture.

Further, if a suspicious situation is observed in a periodic inspection that is performed under certain measurement conditions as needed, a more rigorous inspection is required for that portion. At this time, the measurement setting of the ultrasonic fluoroscope is changed from the setting at the time of the conventional regular inspection, and the ultrasonic fluoroscope is made closer to the desired inspection point than at the time of the periodic inspection to perform highly accurate measurement. .

However, since the measurement range becomes narrower when closer than during regular inspection, observing only the measurement results makes it possible to specify the actually measured position and to relate to the surroundings as compared to during regular inspection. Becomes more difficult to understand.

Further, generally, when a three-dimensional data format, which is called voxel data and has numerical information on each three-dimensional coordinate point, is used for graphics display, it is necessary to display a wide range of voxel data. The amount of calculation increases and the processing of the computer is burdened, which may impair real-time data display.

The inspection support device of the present invention has been made by paying attention to such a problem, and an object thereof is to obtain three-dimensional structure data around the inspection range obtained by a predetermined measurement and an existing three-dimensional structure. An object of the present invention is to provide an inspection support device that facilitates inspection and monitoring work by supporting the grasp of the inspection target and the surrounding conditions by displaying graphics based on the original shape data.

[0010]

In order to achieve the above object, the inspection support device of the present invention is a signal processing means for generating a three-dimensional structure of the inspection object based on the measurement data obtained from the inspection object. A measurement result recording means for recording the three-dimensional structure data from the signal processing means, a three-dimensional shape storage means for pre-storing the three-dimensional shape data around the inspection object as known information, and the measurement Based on the viewpoint information of the display screen for the object and the operation setting means for inputting the display setting information, and the viewpoint information and the display setting information input by this operation means, it is recorded in the measurement result recording means. The three-dimensional structure data,
And a graphic display unit for displaying a graphic by synthesizing with the three-dimensional shape data stored in the three-dimensional shape storage unit.

[0011]

That is, in the inspection support device of the present invention,
The three-dimensional structure of the inspection target is generated based on the measurement data obtained from the inspection target and recorded in the measurement result recording means. Further, the three-dimensional shape data around the inspection target is stored in the three-dimensional shape storage means in advance as known information. Then, when the viewpoint information and the display setting information of the display screen for the measurement target are input through the operation means, based on the input viewpoint information and the display setting information, the measurement result recording means to the measurement result recording means. The recorded three-dimensional structure data and the three-dimensional shape data stored in the three-dimensional shape storage means are combined and displayed graphically.

[0012]

EXAMPLE First, the outline of the present example will be described. In the present embodiment, the situation within the inspection range, which cannot be observed by optical means originally, is visualized and displayed by three-dimensional computer graphics, so that a work environment close to the inspection and monitoring work via the conventional optical camera and the visual inspection work can be realized. By providing the information, the inspection work by the ultrasonic fluoroscope is supported.

In the present embodiment, in order to bring the displayed graphics as close as possible to the actual situation within the inspection range,
The measurement results obtained with the ultrasound fluoroscope are used to display three-dimensional graphics. By using the newer measurement result, the contents of the graphic display can be brought closer to the actual inspection range.

When the inspection target to be observed in the inspection support device is designated by the operation unit, the state around the inspection target is displayed in three-dimensional graphics with the reference measurement position for the inspection target as a viewpoint. Since the display of the three-dimensional graphics is updated at any time according to the change of the viewpoint information input from the operation unit, it is possible to freely observe the periphery of the inspection target in real time by changing the viewpoint information.

Here, the display range of the graphics using the data of the measurement result is not limited to the measurement range of the conventional ultrasonic see-through apparatus, and the measurement result of the surrounding area is also displayed at the same time, so that It is possible to display the situation in a wider range than the original measuring device of the acoustic fluoroscope, and it becomes easier to confirm the situation in a wider range and to grasp the position of the target inspection place at once.

Further, when the three-dimensional structure around the inspection object is known and the three-dimensional shape model data (three-dimensional shape data) is available, this three-dimensional shape model data is used as the three-dimensional structure data based on the measurement result. In addition to displaying only the measurement result data, the display of the structure around the inspection target becomes more specific and the location of the displayed graphics becomes easier to identify when displayed together with It becomes easier to understand the position and status.

Thus, the three-dimensional structure within the inspection range, which cannot be directly observed in real time by the conventional ultrasonic see-through device, is visualized over a wide range by using computer graphics, and the viewpoint position with respect to the graphics is real time. By making it variable, it becomes possible to construct a work environment close to inspection / monitoring work using an optical camera and visual inspection.

In addition, a suspicious situation was observed in the periodic inspection,
If a more precise inspection is needed for that location,
The position subject to this precise inspection differs from the case of the regular inspection targeting the place decided each time, and changes depending on the situation. Here, using the measurement results of regular inspections where suspicious points were found in the graphic display, if you can freely observe from the position and direction desired by the inspector, you can consider the measurement position of the ultrasonic fluoroscope during precise inspection. Is also effective.

When a precision inspection is performed and there are measurement results with different accuracy (measurement results of regular inspection and precision inspection) for the same inspection object, the situation judgment for the inspection object is based on the measurement result with higher accuracy. It is desirable to be carried out by On the other hand, displaying voxel data over a wide area in three-dimensional graphics places a burden on the processing of the computer.
Therefore, when the display of a wide range of voxel data impairs the real-time display, it is necessary to limit the amount of voxel data displayed within a range that does not impair the information required for inspection work.

Therefore, in this embodiment, the viewpoint position used for the graphic display, the distance to the measurement result data and the three-dimensional shape model data within the display range, or the display setting (accuracy information, etc.) specified by the operation unit is set. Accordingly, by selecting the data to display and limiting the amount of data displayed,
Prioritize real-time display of graphics.

FIG. 1 is a block diagram showing the structure of an inspection support device to which the present invention is applied. An optically opaque liquid,
An ultrasonic wave transmission unit 1 that transmits ultrasonic waves in a gas, an ultrasonic wave reception unit 2 that receives a result of the transmitted ultrasonic waves reflected by a structure existing in a liquid or a gas, and a reflection from the received ultrasonic waves. An ultrasonic see-through section 4 equipped with a signal processing section (signal processing means) 3 for measuring a three-dimensional structure of a source structure is provided.

The setting items including the position and direction of the ultrasonic see-through unit 4 at the time of measurement, the width of the measurement range, and the accuracy, and the three-dimensional structure data obtained by the ultrasonic see-through unit 4 are stored in the measurement result recording unit (measurement unit). It is recorded in the result recording means) 5. Further, the three-dimensional shape model data around the inspection target that can be used as known information is managed by the shape storage unit (three-dimensional shape storage means) 6.

The measurement position / direction of the ultrasonic see-through unit 4 when the periodic inspection is started for each inspection target is called a reference measurement position for the inspection target, and the ultrasonic see-through unit 4 located there is referred to as a reference measurement position. The three-dimensional azimuth data is referred to as reference measurement azimuth data. This reference measurement azimuth data is also recorded in the shape storage unit 6 for each inspection target.

When an inspection object to be observed on the inspection support device is designated by the operation unit (operation means) 7, the reference measurement direction data corresponding to the inspection object is used as the initial value of the viewpoint information on the graphics display screen. Is set. This viewpoint information can be changed by the operation unit 7. The operation unit 7 is also used for inputting display settings (data accuracy information, etc.) for limiting the data to be displayed.

From the three-dimensional structure data obtained in the previous inspection work accumulated in the measurement result recording section 5 and the three-dimensional shape model data stored in the shape storage section 6, the graphic display means or the display data is displayed. The presentation unit 8 as the amount changing unit selects the data to be displayed based on the distance between the set viewpoint and each data in the display range or the designated display setting.

After that, based on the viewpoint information or the display setting designated by the operation unit 7, the presentation unit 8 displays the graphics in which the 3D shape model data and the 3D structure data as the measurement result are combined.

The situation around the inspection target displayed by three-dimensional graphics is updated and displayed every moment according to the change of the viewpoint information, and the inspector adjusts the position of the viewpoint, thereby the three-dimensional structure around the inspection target. It is possible to observe in real time the graphics that represent from any direction. If a suspicious situation is found in the graphic, the operation section 7 can be used to switch the measurement location of the ultrasonic see-through section 4 and return to the inspection work.

The flow of processing performed in the above-described embodiment will be further described below with reference to the data structure (FIG. 9) obtained as the measurement result. The ultrasonic see-through device (ultrasound see-through unit 4) equipped in this inspection support device is provided with the ultrasonic wave sending unit 1 and the ultrasonic wave receiving unit 2 as described above, and is reflected by a structure within the measurement range and returns. By performing signal processing on the ultrasonic waves by the signal processing unit 3, the structure of each of the coordinates of the measurement range indicated by a rectangular parallelepiped (volume: 2Xmax x 2Ymax x 2Zmax) as shown in FIG. Measure the presence or absence. FIG. 2B is a diagram showing a viewpoint for viewing the z direction.

FIG. 9 shows an example of the data structure obtained as the measurement result. The measurement settings are recorded in the header section of the data, and in addition to the measured inspection target name, the three-dimensional position and direction of the ultrasonic fluoroscopy device at the time of measurement, x, y, z Width of measurement range in three axes (x_max,
y_max, z_max) and the unit of measurement in each axis direction (x_un
It, y_unit, z_unit).

On the other hand, the main body of the data is the presence / absence of a structure at each coordinate point within the measurement range (0: does not exist, 1:
Existence) is three-dimensional structure data in the voxel data format, and is recorded in the order of coordinates. An individual identification number is attached to each of these measurement result data and recorded in the measurement result recording unit 5.

Each coordinate point of the main body portion of the measurement result data is a relative position coordinate based on the ultrasonic see-through device. Therefore, in order to broadly display the situation within the inspection range in combination with other measurement result data in the vicinity, the position, direction information, and position of the ultrasonic fluoroscope at the time of measurement recorded in the header section of each data, and It is necessary to perform coordinate conversion based on the measurement unit in each axial direction and match the measurement result data with the coordinate system of the common three-dimensional space (overall coordinate system).

FIG. 3 is a flow chart showing the flow of coordinate conversion processing for this measurement result data. In FIG. 4, in step S1, the scale (measurement unit) is unified, that is, the matrix calculation shown in FIG. 4A is performed. Step S
In 2, the rotation component is calculated, that is, the matrix operation shown in FIG. In step S3, the translation component is calculated, that is, the matrix operation shown in FIG.
In step S4, a rectangular box (bounding bo
The size of x) is calculated, that is, the value of the formula shown in FIG.

Since the measurement range required for inspection differs depending on the shape and size of the inspection target, the number of measurements performed in one inspection may differ depending on the inspection target. However, in the periodical inspection, the same number of times of measurement is performed for the same inspection object every time, and the measurement result data of approximately the same amount and the same range can be obtained.

Here, as described above, if approximately the same amount of measurement result data can be obtained for the inspection target at each regular inspection, the measurement result data obtained by the new regular inspection is used as the measurement result of the past regular inspection. There is no problem in replacing the data. Therefore, when a new periodic inspection is performed on the measured inspection target, the measurement result recording unit 5 updates the measurement result data regarding the inspection target with the new measurement result data, and records the measurement result. It is assumed that the measurement result data at the latest regular inspection is always recorded in the section 5 and used for the graphic display.

If the inspector finds a suspicious part in the graphics within the inspection range displayed using the three-dimensional structure data obtained by this periodic inspection, it is possible to confirm the actual situation of the part. Precise three-dimensional structural data is required. In that case, change the measurement setting of the ultrasonic see-through device from the setting at the time of the periodic inspection, and bring the ultrasonic see-through device closer to the desired inspection point than at the time of the periodic inspection, for a more accurate inspection of the structure. Measurement is performed (precision inspection). The position subject to this precise inspection differs from the case of the regular inspection, and changes depending on the situation. Therefore, the measurement result of the periodic inspection found at the suspicious part was graphically displayed by this support device, and by freely observing from the desired position and direction, the position of the ultrasonic fluoroscope suitable for precise inspection was examined. Then, return to the actual measurement work and perform measurement from an appropriate position.

The measurement result data at the time of precision inspection in which the inspection location is likely to be different for each inspection is recorded separately for each inspection object each time the inspection is performed. Since the measurement result data obtained during this precision inspection has different measurement settings from the data during regular inspection, the values of each item in the header and the number of coordinate points included in the data body are different from the data during regular inspection. Although different, it is basically the same as the structure shown in FIG. Therefore, like the measurement result data at the time of regular inspection, the coordinate conversion described in the flowchart of FIG. 3 is performed on the basis of the measurement setting information in the header section, so that the coordinate system is shared with other measurement result data in the surroundings. It is possible. As a result, it is possible to display graphics at the same time as other measurement result data, regardless of regular inspections and precision inspections.

In the present embodiment, the measurement result data used for the graphic display is roughly classified into two types, that is, the measurement result at the time of periodic inspection performed periodically and the measurement result at the time of precise inspection. Furthermore, the three-dimensional shape model data corresponding to the structures within the inspection range stored in the shape storage unit is also used for the graphic display around the inspection range. The measurement result data and the three-dimensional shape model data can be displayed on the same graphics by matching the coordinate system used for the graphic display of the three-dimensional shape model data with the coordinate system of the measurement result data.

FIG. 5 is a flow chart showing the flow of simultaneous display of measurement result data and three-dimensional shape model data.
In the flowchart of FIG. 5, first, in step S10, an inspection target is designated. Next, in step S11, viewpoint information is initialized. In step S12, the three-dimensional shape model data is displayed based on the global coordinate system. Step S1
At 3, the measurement result data corresponding to the inspection target is selected. In step S14, each measurement result data is converted into the global coordinate system. In step S15, the measurement result data is displayed. In step S16, it is determined whether or not the viewpoint information is changed, and when it is changed, the viewpoint information is changed (step S17), and the measurement result data and the three-dimensional shape model data are displayed in a three-dimensional graphic form (step S18). . Next, it is determined whether or not the display has ended (step S19). In this way, steps S16 to S19 are repeated until the display is completed.

FIG. 6 is a diagram showing an assumed image of graphics displayed simultaneously through the above steps. In the figure, 100 is three-dimensional shape model data, and 101
Is measurement result data. It can be inferred from the measurement result data 101 that a dent has occurred in the portion indicated by 102 at the time of measurement. Further, the displayed object can be easily identified from the shape of the three-dimensional shape model data 100.

As described above, by using computer graphics to display the status within the inspection range,
The inspector can freely observe the situation within the inspection range based on the measurement result of the ultrasonic see-through device while changing the direction, size, and position of observation of the graphics as necessary. In addition, depending on the inspection target, purpose, and application, a graphics display, an HMD (Head Mounted Display), a large screen, or other image display device is used to present graphics.

Next, the flow of processing for the display unit 8 of the present support device to select display data from mixed measurement result data and three-dimensional shape model data will be described. First, the operation unit 7 designates an inspection target to be observed on the apparatus. When the inspection target is designated, the reference measurement direction data for the inspection target is set as the initial values of the viewpoint position and direction on the graphics display screen. Position of this viewpoint
After that, the direction can be changed by the three-dimensional azimuth information input from the operation unit 7, and the graphics display is updated each time it is changed. Here, the data to be graphically displayed is selected by the presentation unit 8. In general, the measurement result data should be closer to the actual state of the inspection target than the three-dimensional shape model data, so it is desirable that the measurement result data be displayed with priority. However, displaying the measurement result data that is voxel data over a wide area may burden the processing of the computer, so in this embodiment, attention is paid to the distance between the viewpoint and each measurement result data, and within a certain distance from the viewpoint. The amount of display data is limited by displaying only the measurement result data located at.

When the measurement result for the specified inspection target only includes the data at the time of the periodic inspection, the display distance for the measurement result data is set to d1 and the display data is selected as follows.

I) If there is no measurement result data at the time of regular inspection within the distance d1 from the viewpoint, only the three-dimensional shape model data is displayed. ii) If it is determined that the measurement result data at the time of the periodic inspection is partially present within the distance d1 from the viewpoint, the three-dimensional shape model data is displayed semitransparently. This is to prevent the measurement result data to be preferentially displayed from being hidden by the three-dimensional shape model data depending on the positional relationship between the three-dimensional shape model data and the measurement result data.

Here, as an example of the method of determining the distance between the viewpoint and the measurement result data, a method of determining whether or not the surface of the sphere circumscribing the measurement range exists within the distance d1 will be described. The radius r of the sphere circumscribing the rectangular parallelepiped showing the measurement range shown in FIG.

[0045]

[Equation 1]

It is obtained by Therefore, when the distance d between the center position of certain measurement result data and the viewpoint satisfies the relationship of d <r + d1, the measurement result data is displayed.
As a result, when observing from a viewpoint distant from the distance d1, only the three-dimensional shape model data is displayed, but it is easy to identify and understand the position of the displayed inspection target, and to observe the inspection target. It is also possible to adjust the viewpoint to the place you want by using almost real-time operation. Then, in the process of approaching the place to be inspected, the state of the inspection target, which is closer to the reality than the model data, is displayed using the measurement result data, so that the quality of the data necessary for the inspection judgment is guaranteed.

Next, a case where a suspicious situation is observed in the selected inspection target and a precise inspection is performed will be described. In order to make a more rigorous judgment on the inspection location, it is necessary to present the measurement result data during the precise inspection to the inspector.

Here, as in the case of the case described above, the display distances d1 and d2 are set for each of the two types of precision at the time of precision inspection and at the time of regular inspection, and the display is performed as follows. Here, d1 <d2 is set, and the measurement result at the time of precision inspection is displayed only when the distance is closer.

I) If there is no measurement result data within the distance d2 from the viewpoint, only the three-dimensional shape model data is displayed. ii) The measurement result data at the time of precision inspection is the distance d1 from the viewpoint.
It is displayed only when a part of the measurement range exists. Similarly, it is assumed that the measurement result data at the time of regular inspection is displayed when a part of the measurement range exists within the distance d2 from the viewpoint. In this case, the three-dimensional shape model data is displayed semi-transparently.

In the state of ii), since the data at the time of precision inspection existing within the distance d1 is displayed with priority over the data at the time of regular inspection, the data at the time of regular inspection within the distance d1 is displayed semitransparently. And This is because, as in the measurement result data 106 at the time of regular inspection and the measurement result data 105 at the time of detailed inspection shown in FIG. 7, areas of the measurement result data having different precisions overlap, or the data 106 at the time of regular inspection is at the time of precise inspection. This is because the data 105 of the detailed inspection is included so that the data 105 of the detailed inspection can be observed even if the data 105 of the detailed inspection is hidden by the data 106 of the regular inspection.

Step S2 of the flowchart shown in FIG.
Reference numerals 0 to 29 show the flow of the selection processing of the display data at this time. In this way, the measurement result data display during precision inspection is limited only when the inspector is very close to the inspection point, and in other situations, the 3D shape model data,
Alternatively, by setting a part of the measurement result data at the time of the periodic inspection as a display target, real-time display can be performed without impairing the quality of the data necessary for the observation work of the inspection location.

[0052]

According to the present invention, the range of the measurement result data used for the graphic display is not limited to the measurement range of the conventional ultrasonic see-through apparatus, but the measurement result of the surroundings or the three-dimensional shape model data is displayed. By combining and displaying it together, it is possible to display a wider range of conditions than the original measurement range of the ultrasound fluoroscope, and it is possible to confirm a wider range of conditions at once, making it easier to understand and understand the position of the target inspection point. Becomes

Further, the data display during the precision inspection is limited only when the inspector approaches the inspection point, and even in other situations, it is displayed only on a part of the measurement result data during the regular inspection or the three-dimensional shape model data. By limiting the target, the amount of voxel data that is computationally burdensome to display is limited at one time, and it becomes possible to display in real time without compromising the quality of the data necessary for observation work at inspection points. .

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an inspection support device to which the present invention is applied.

FIG. 2A is a diagram showing a measurement range of the ultrasonic see-through device, and FIG. 2B is a diagram showing a viewpoint for viewing the z direction.

FIG. 3 is a flowchart showing a flow of coordinate conversion processing.

FIG. 4 is a diagram showing the contents calculated in each step of FIG.

FIG. 5 is a flowchart showing a flow of simultaneous display of measurement result data and three-dimensional shape model data.

FIG. 6 is a diagram showing an example of simultaneous display of shape model data and measurement result data.

FIG. 7 is a diagram showing an example in which data at the time of precision inspection is included in data at the time of regular inspection.

FIG. 8 is a flowchart showing a flow of a selection process of display data.

FIG. 9 is a diagram showing an example of three-dimensional structure data.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Ultrasonic wave transmission part, 2 ... Ultrasonic wave reception part, 3 ... Signal processing part, 4 ... Ultrasound see-through part, 5 ... Measurement result recording part, 6 ... Shape storage part, 7 ... Operation part, 8 ... Presentation part.

Claims (3)

[Claims] 1. A signal processing means for generating a three-dimensional structure of the inspection object based on measurement data obtained from the inspection object, and a measurement result recording means for recording the three-dimensional structure data from the signal processing means. A three-dimensional shape storage means for pre-storing the three-dimensional shape data around the inspection object as known information, viewpoint information of a display screen for the measurement object, and operation means for inputting display setting information, The three-dimensional structure data recorded in the measurement result recording means and the three-dimensional shape stored in the three-dimensional shape storage means based on the viewpoint information and the display setting information input by the operating means. An inspection support device comprising: a graphic display means for displaying a graphic by combining shape data. 2. A changing unit for changing the display amount of the three-dimensional structure data and the three-dimensional shape data depending on whether or not the three-dimensional structure data exists within a specific distance from a viewpoint to the three-dimensional shape data. The inspection support device according to claim 1, wherein the inspection support device is provided. 3. In the inspection work in which a periodic inspection for periodically measuring the inspection target and a precision inspection for performing a more accurate inspection on the inspection target are performed, the measurement of the periodic inspection or the precision inspection is performed. 2. The changing means for changing the display method of the three-dimensional structure data or the three-dimensional shape data according to whether or not the result data exists within a specific distance from the viewpoint, respectively. Inspection support device.