JPH11250259A - Check data picture recording device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact check data picture recording device in which checking precision can be made constant, and the constant amounts of inspected results can be obtained. SOLUTION: When a surface inspecting command to an object by a user is inputted from a user interface part 11, an object surface 12 or the object surface 12 and a marker 13 indicating an object size and visual point angle are photographed by a compact and portable picturing device 1, and the picture data are stored in a portable memory 4 provided so as to be attachable and detachable. A picture processing processor 5 fetches the picture data outputted from the picturing device 1 and the data of a database part 2 through an input and output control part 9 in a memory part 3, operates a picture processing to the picture data, and extracts the surface shape data and outline shape data of the object. Then, the result is display-outputted by a display part 6, and print-outputted by a printer 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection data image recording apparatus for recording and analyzing and managing surface inspection data of an inspection object in an on-site inspection of equipment constituting a plant.

[0002]

2. Description of the Related Art In general, the surface inspection of an object in an on-site inspection of equipment constituting a plant is performed visually by a human. An on-site worker visually checks the surface of the object, and if there is a defect, measures the length and width of the defect with a measure, and measures the depth direction by touch. Then, the surface state of the object is sketched on a note paper, or the defective portion is photographed by rubbing the note paper on the surface of the object with a pencil or the like from above the note paper, and the office copies the report into a clear copy.

[0003] Recently, surface inspection using laser light or ultrasonic waves has also been developed. In both cases, the surface of an object is irradiated with laser light or ultrasonic waves, and reflection from the surface is measured to measure the surface condition. Is to be inspected.

[0004]

However, in the case of surface inspection by the human eye, quantification cannot be performed because there is variation in accuracy and the recording is made on paper. In addition, since it is necessary to copy the inspection results written on the spot at the office, the work load is large, and human errors such as transfer errors are likely to occur. In addition, there were problems such as the necessity of specialist skills at the time of on-site inspection.

In the case of surface inspection using laser light or ultrasonic waves, which is the latest technology, miniaturization is difficult, and it is not suitable for on-site inspection, and there is a problem of high cost.

It is an object of the present invention to provide a small and compact inspection data image recording apparatus capable of quantifying an inspection result with a constant inspection accuracy.

[0007]

An inspection data image recording apparatus according to the first aspect of the present invention is provided so as to be detachable by photographing an object surface or an object surface and a marker indicating the object size and viewpoint angle. A small and portable imaging device for storing image data composed of digital data in a portable memory; a database unit for storing data necessary for processing image data of an object; An image processor for taking the output image data and data of the database unit into a memory unit via an input / output control unit, performing image processing on the image data, and extracting surface shape data and contour shape data of an object, and video Memory read / write device for reading / writing data from / to a portable memory removed from an image processing device, and an image data and image processing processor. A display unit for displaying and outputting the surface shape data and the contour shape data extracted by the printer, or an output unit having a printer for printing out, and inputting a surface inspection command to an object for surface inspection at the site to the image processing processor. And a user interface unit for

In the inspection data image recording apparatus according to the first aspect of the present invention, when a surface inspection command for a target object is input by a user from a user interface unit, the inspection data image recording apparatus is a small and portable imaging device, and the surface of the target object is recorded. Alternatively, the surface of the object and a marker indicating the object size and the viewpoint angle are photographed, and the image data is stored in a removable memory that is provided detachably. The image processing processor captures the image data output from the imaging device and the data of the database unit into the memory unit via the input / output control unit, performs image processing on the image data, and processes the surface shape data and the contour shape data of the object. Is extracted. Then, the result is displayed on a display unit and printed out on a printer.

According to a second aspect of the present invention, there is provided an inspection data image recording apparatus according to the first aspect, wherein the imaging device determines an object surface or an object size and a viewpoint angle with the object surface. An image sensor imaging unit that captures a marker and outputs a video signal; an A / D conversion processing unit that converts a video signal output from the image sensor imaging unit into image data including digital data;
A data read / write unit that reads / writes image data converted by the / D conversion processing unit or surface shape data and contour shape data input from the input / output control unit into / from a portable memory; A data display unit for displaying data input from the output control unit, an image sensor imaging unit, and an A / D
The image processing apparatus further includes an imaging device control unit that controls the conversion processing unit, the data read / write unit, and the data display unit.

In the inspection data image recording device according to the second aspect of the present invention, in addition to the operation of the inspection data image recording device according to the first aspect, the imaging device operates as follows. The surface of the object or the surface of the object and a marker indicating the size and viewpoint angle of the object are photographed by the image sensor imaging unit, and the video signal is converted into image data composed of digital data by the A / D conversion processing unit. The image data converted by the A / D conversion processing unit or the surface shape data and the contour shape data input from the input / output control unit are read and written by the data read / write unit to the portable memory. The data display unit displays data stored in the portable memory or data input from the input / output control unit.

According to a third aspect of the present invention, there is provided the inspection data image recording apparatus according to the first aspect, wherein the image processor expands and stores the image data output from the imaging device. A frame memory unit, a logical / spatial filtering unit for extracting a contour region, a surface shape region, and a marker region of the object from the image data; and a surface shape region of the object and a pixel per pixel of the image data stored in the database unit. A labeling processing unit that calculates surface shape data that is the coordinates and dimensions of the shape of the object surface from the pixel resolution data indicating the size; a geometric shape extraction unit that extracts line and circle components from the contour region of the object; A contour for calculating contour shape data, which is the coordinates and dimensions of the contour of the object, from the line / circle components extracted from the geometric shape extraction unit and the pixel resolution data. A measuring unit, characterized in that a three-dimensional Afein conversion processing unit for movement and deformation transform the image data and the surface shape data and the contour shape data in three dimensions.

In the inspection data image recording apparatus according to the third aspect of the present invention, in addition to the operation of the inspection data image recording apparatus according to the first aspect, the image processor operates as follows. The image data output from the imaging device is developed and stored in the frame memory unit, and the logical / spatial filtering unit extracts a contour region, a surface shape region, and a marker region of the object from the image data. The labeling processing unit calculates surface shape data, which is the coordinates and dimensions of the shape of the object surface, from the surface shape area of the object and pixel resolution data indicating the size per pixel of the image data stored in the database unit. I do. Further, the contour measuring unit calculates contour shape data, which is the coordinates and dimensions of the contour of the target object, from the line / circle components extracted from the geometric shape extracting unit and the pixel resolution data, and the three-dimensional affine transformation processing unit The image data, the surface shape data, and the contour shape data are three-dimensionally moved and transformed.

According to a fourth aspect of the present invention, in the inspection data image recording apparatus according to the first aspect, the memory unit, the image processing processor, and the input / output control unit are included in the imaging device control unit. It is characterized by being incorporated.

According to a fourth aspect of the present invention, in addition to the operation of the inspection data image recording apparatus of the first aspect, the inspection data image recording apparatus photographs the surface of a target object with a visualization apparatus at the site, and at the same time, the imaging apparatus. The image processing is performed by the image processor inside, and the surface inspection is performed only by a small and portable imaging device.

According to a fifth aspect of the present invention, there is provided an inspection data image recording apparatus which is capable of photographing a surface of an object with parallax and storing digital parallax image data in a detachable portable memory. A portable 3D imaging device, a focus fixing unit attached to the surface of the object of the 3D imaging device and fixing the focal length between the 3D imaging device and the surface of the object, A database unit in which data necessary for processing the parallax image data is stored,
The double parallax image data output from the three-dimensional imaging device and the data of the database unit are taken into the memory unit via the input / output control unit, and the image processing is performed on the double parallax image data to determine the state of the surface of the object in the depth direction. An image processor for extracting the added surface shape data and the contour shape data of the object, a portable memory read / write device for reading and writing data in a portable memory removed from the imaging device, and double-parallax image data And a display unit for displaying and outputting surface shape data and contour shape data, and an output unit having a printer for printing and outputting, and a user interface for inputting a surface inspection command to a surface inspection target at a site to an image processor. And a unit.

In the inspection data image recording apparatus according to the present invention, when a user inputs a surface inspection command to a target object from a user interface unit, the inspection data image recording apparatus is a small and portable three-dimensional imaging apparatus. An image is taken with a parallax on the surface of the object via a focus fixing unit having a fixed distance, and double parallax image data composed of digital data is stored in a removable memory provided in a removable manner. The image processing processor takes in the double parallax image data output from the three-dimensional imaging device and the data of the database unit into the memory unit via the input / output control unit, performs image processing on the double parallax image data, and performs depth processing on the surface of the object. The surface shape data to which the state in the vertical direction is added and the contour shape data of the object are extracted. Then, the result is displayed on a display unit and printed out on a printer.

According to a sixth aspect of the present invention, there is provided the inspection data image recording apparatus according to the fifth aspect, wherein the three-dimensional imaging apparatus captures the surface of the object with parallax and performs two-dimensional imaging. A double-parallax image sensor imaging unit that outputs a video signal, and a parallax identification signal that converts two video signals output from the double-parallax image sensor imaging unit into two videos composed of digital data and determines which parallax is added A / D conversion double-parallax signal processing unit, and the double-parallax image data processed by the A / D conversion double-parallax signal processing unit or the surface shape data and contour shape data input from the input / output control unit are stored in a portable memory. A data read / write unit for reading / writing, and data for displaying data stored in the portable memory or data input from the input / output control unit. A display unit, characterized in that a three-dimensional imaging apparatus control unit for controlling the multi parallax image sensor imaging unit and the A / D conversion double disparity signal processing unit and a data reading-out portion and a data display unit.

In the inspection data image recording device according to the invention of claim 6, in addition to the operation of the inspection data image recording device of claim 5, the three-dimensional imaging device operates as follows. An A / D conversion double-parallax signal processing unit converts two video signals obtained by imaging the surface of the object with parallax by the double-parallax image sensor imaging unit into two images consisting of digital data, and determines which parallax is used. Is added. Double parallax image data processed by the A / D conversion double parallax signal processing unit or surface shape data and contour shape data input from the input / output control unit are:
The data is read from and written to the portable memory by the data read / write unit.
The data display unit displays data stored in the portable memory or data input from the input / output control unit.

According to a seventh aspect of the present invention, there is provided an inspection data image recording apparatus according to the fifth aspect, wherein the focus fixing portion is formed inside the inner wall so as to converge on the surface of the object. A cavity having a mirror surface whose angle changes according to the height, an illumination light source provided on the three-dimensional imaging device side in the cavity, and light condensed on an inner wall provided on an object surface side in the cavity And a surface light source conversion unit that scatters light and directs uniform light to the surface of the object.

In the inspection data image recording apparatus according to the seventh aspect of the present invention, in addition to the operation of the inspection data image recording apparatus according to the fifth aspect, the focus fixing section operates as follows. The light from the proof light source is collected by the mirror surface of the inner wall of the cavity, and the collected light is scattered by the surface light source conversion unit to shine uniform light on the surface of the object.

According to an eighth aspect of the present invention, in the inspection data image recording apparatus according to the fifth aspect, the image processing processor expands the double parallax image data output from the three-dimensional imaging apparatus. And a frame memory unit for storing and calculating a corresponding point between the parallax images from the double parallax image data, calculating the number of pixels of the depth from the number of pixels of the moving amount of the corresponding point by the principle of triangulation, and storing it in the database unit. An inter-pixel calculation unit that obtains surface shape data in which the depth dimension is obtained from the pixel resolution data representing the size per pixel of the double parallax image data and that adds the state of the object surface in the depth direction; A logical / spatial filtering unit for extracting a contour region of an object from an image on one side, a geometric shape extracting unit for extracting a line / circle component from the contour region of the object, and a geometric shape extraction unit A contour measuring unit for calculating contour shape data which is the coordinates and dimensions of the contour of the object from the line / circle components extracted from the part and the pixel resolution data; and a three-dimensional image data, surface shape data and contour shape data. And a three-dimensional affine conversion processing unit for performing movement / deformation conversion.

In the inspection data image recording apparatus according to the invention of claim 8, in addition to the operation of the inspection data image recording apparatus according to claim 5, the image processor operates as follows. The multi-parallax image data output from the three-dimensional imaging device is developed and stored in the frame memory unit. The inter-pixel calculation unit obtains a corresponding point between the parallax images from the double parallax image data, calculates the number of pixels of the depth from the number of pixels of the movement amount of the corresponding point by the principle of triangulation, and stores the number of pixels in the database unit. The depth dimension is obtained from the pixel resolution data representing the size per pixel of the parallax image data, and the surface shape data to which the state of the object surface in the depth direction is added is obtained. In addition, the logical / spatial filtering unit extracts a contour region of the object from one image of the double-parallax image data, and the contour measuring unit compares the line / circle component extracted from the geometric shape extracting unit with the pixel resolution data. Then, the contour shape data which is the coordinates and dimensions of the contour of the object is calculated. Further, the image data, the surface shape data, and the contour shape data are three-dimensionally moved and deformed by the three-dimensional affine conversion processing unit.

According to a ninth aspect of the present invention, in the inspection data image recording apparatus according to the fifth aspect, a memory unit, an image processing processor, and an input / output control unit are controlled by a three-dimensional imaging apparatus. It is characterized in that it is incorporated in a part.

In the inspection data image recording apparatus according to the ninth aspect of the present invention, in addition to the operation of the inspection data image recording apparatus according to the fifth aspect, the surface of the object is photographed by a three-dimensional imaging device at the site and simultaneously three-dimensionally. Image processing is performed by an image processor in the imaging device, and a surface inspection is performed using only a small and portable three-dimensional imaging device and a focus fixing unit.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described. FIG. 1 is a configuration diagram of an inspection data image recording device according to a first embodiment of the present invention.

As shown in FIG. 1, the inspection data image recording device has a small and portable imaging device 1.
This imaging device 1 is used for the surface 1 of an object to be inspected.
In this case, not only the object surface 12 but also the marker 13 indicating the object size and the viewpoint angle are imaged, and the video signal is converted into a 32-bit digital signal (image data). To remember.

That is, the image sensor image pickup section 1a comprises:
The object surface 12 and the object surface 12 and the marker 13 indicating the object object size and the viewpoint angle are photographed, and a video signal is output to the A / D conversion processing unit 1b. The A / D conversion processing unit 1b samples and quantizes the video signal (analog signal) output from the image sensor imaging unit 1a and converts it into image data consisting of a 32-bit digital signal. A
The image data converted by the / D conversion processing unit 1b is stored in the portable memory 4 by the data read / write unit 1c.
The portable memory 4 is detachable from the data read / write unit 1c, and data is read / written from / to the portable memory 4 by the portable memory read / write device 8.

The data stored in the portable memory 4 is displayed on the data display section 1d. Also,
The data display unit 1d can display not only the data stored in the portable memory 4 but also the data input from the input / output control unit 9 described later via the imaging device control unit 1e. .

The imaging device control unit 1e controls the image sensor imaging unit 1a, the A / D conversion processing unit 1b, the data read / write unit 1c, and the data display unit 1d in accordance with a command from the input / output controller unit 9. is there. Further, the imaging device interface unit 1f transmits a command (shooting, data reading / writing, data display) from the user to the imaging device control unit 1e.

Next, when the user inputs a surface inspection command to the object from the user interface unit 11, C
The imaging device 1 is activated via the PU 10 and the input / output controller unit 9, and is provided so that the object surface 12 or the object surface 12 and the marker 13 indicating the object size and the viewpoint angle are photographed and can be detached. The image data is stored in the portable memory 4.

The database unit 2 stores data necessary for processing image data of an object, and the image processor 5 stores the image data output from the imaging device 1 and the data of the database unit 2. The data is fetched into the memory unit 3 via the input / output control unit 9 and the CPU 10, and image processing is performed on the image data to extract surface shape data and contour shape data of the object. Then, the result is displayed on the display unit 6 of the output unit and printed out on the printer 7.

Here, a portable memory read / write device 8 is connected to the input / output control unit 9 so that data stored in the portable memory 4 removed from the imaging device 1 can be read and written. ing.

That is, the image processor 5 is based on the image data output from the imaging device 1 or the image data stored in the memory unit 3 and the portable memory 4 and the data stored in the database unit 2. Then, image processing is performed on the image data to extract a surface shape (surface shape data) and a contour shape (contour shape data) indicating the state on the object surface 12.

The image data output by the imaging device 1, the surface shape data and the contour shape data extracted by the image processor 5 are stored in the database unit 2, the memory unit 3, and the portable memory 4, respectively. The image data, the surface shape data, and the contour shape data stored in the database unit 2, the memory unit 3, and the portable memory 4 are displayed on the display unit 6 of the output unit and printed out on paper by the printer 7.

The input / output control unit 9 controls the database unit 2, the display unit 6, the printer 7, and the portable memory read / write device 8, and the CPU 10 controls the memory unit 3, the image processor 5, and the input / output control unit. 9 is controlled.

FIG. 2 is a block diagram of the image processor 5. As shown in FIG. 2, the image processor 5 expands the image data and stores it in the frame memory unit 5a. The logical / spatial filtering processing unit 5c calculates a surface shape indicating the state of the object surface 12, a contour area of the object, and a marker 13 indicating the object size and viewpoint angle from the image data.
Are extracted and binarized.

The area of the surface shape determined by the logical / spatial filtering processing unit 5c is input to a labeling processing unit 5d. The database unit 2 stores pixel resolution data indicating the size of each pixel of the image data,
The labeling processing unit 5d calculates surface shape data, which is the coordinates and dimensions of the surface shape, based on the surface shape region obtained by the logical / spatial filtering processing unit 5c and the pixel resolution data of the database 2.

On the other hand, the geometric shape extraction unit 5e extracts the line / circle component of the contour area determined by the logical / spatial filtering processing unit 5c, and extracts the line / circle component of the contour area extracted by the geometric shape extraction unit 5e. Is input to the contour measuring unit 5f. The contour measuring unit 5f calculates contour shape data, which is the coordinates and dimensions of the contour of the object, based on the line / circle components of the contour area obtained by the geometric shape extracting unit 5e and the pixel resolution data of the database unit 2. 3D Affine Conversion Processing Unit 5g
Is for three-dimensionally moving and transforming image data, surface shape data, and contour shape data.

Here, the frame memory unit 5a, the logical / spatial filtering processing unit 5c of the image processor 5,
Each of the labeling processing unit 5d, the geometric shape extraction unit 5e, and the contour measurement unit 5f includes data transmission buses 14, 15
Are connected to each other. Further, each of the frame memory unit 5a, the logical / spatial filtering processing unit 5c, the labeling processing unit 5d, the geometric shape extraction unit 5e, and the contour measurement unit 5f of the image processing processor 5 includes a CPU 1
0, the logical / spatial filtering processing unit 5c, the labeling processing unit 5d, the geometric shape extraction unit 5e, and the contour measurement unit 5f apply to the image data expanded and stored in the frame memory unit 5a. Image processing is performed.

Next, the operation of the first embodiment of the present invention having such a configuration will be described. FIG. 3 is a flowchart showing the operation of the inspection data image recording device according to the first embodiment of the present invention. As shown in FIG. 3, when a processing start command is given from the user interface unit 11 to the image processing processor 5 via the CPU 10, image data captured by the imaging device 1, image data stored in the database unit 2, or portable data The image data stored in the memory 4 is written into the memory unit 3 (step 1).
01), the image data written in the memory unit 3 is developed and stored in the frame memory unit 5a of the image processor 5 (step 102).

Next, the user inputs a viewpoint angle and an object designation (name and identification number and shooting date and time) from the user interface unit 11 as the reference viewpoint angle of photographing, and stores the inputted reference viewpoint data in the database unit 2 and the memory. Stored in the frame memory unit 5 (step 103).
From the luminance value distribution of the image data stored in the
The area of the surface shape and the area of the contour of the object indicating the state are extracted by the logical / spatial filtering processing unit 5c, converted into a two-gradation image, and developed and stored in the frame memory unit 5a (step 104). . Then, the geometric / shape extraction unit 5e extracts the circle / line components of the two-tone outline area stored in the frame memory unit 5a.
a (step 105), and the area of the marker 13 indicating the object size / viewpoint angle is extracted from the image data stored in the frame memory unit 5a by the logical / spatial filtering processing unit 5c of the image processing processor 5. To be stored in the frame memory section (step 10).
6).

Here, it is determined whether or not the area of the marker 13 exists in the image data written in the memory unit 3 (step 107).

If there is no area for the marker 13 in the image data written in the memory unit 3, the viewpoint is corrected based on the contour design data (step 108). That is, the circle / line component of the contour stored in the frame memory unit 5a is set as a reference viewpoint by the three-dimensional affine transformation processing unit 5g, using the center of gravity of the contour of the object stored in the database unit 2 as a reference viewpoint. The same amount of conversion is performed on the image data and the surface shape area in accordance with the contour design data which is the coordinates having the size and the center of gravity of the contour as the origin, and the viewpoint is corrected. Then, the image data subjected to the viewpoint correction, the surface shape region, and the outline circle / line component region are developed and stored in the frame memory unit 5a, and the photographing viewpoint data as the conversion amount is stored in the database unit 2 and the memory unit 3. (Step 108).

Thereafter, the size per pixel is determined based on the number of pixels of the circle and line components of the contour of the viewpoint correction stored in the frame memory unit 5a and the size of the circle and line components of the outline design data stored in the database unit 2. Is calculated and stored in the memory unit 3 (step 109).

On the other hand, if it is determined in step 107 that the area of the marker 13 is present in the image data written in the memory section 3, the logical / spatial filtering processing section 5c starts from the area of the marker 13 stored in the frame memory section 5a. The mark indicating the shooting viewpoint is read, the shooting viewpoint angle in the imaging device 1 is calculated, and the calculated shooting viewpoint data is stored in the database unit 2 and the memory unit 3 (step 11).
0). Then, the conversion amount for matching the photographing viewpoint data stored in the database unit 2 and the memory unit 3 with the reference viewpoint data stored in the database unit 2 and the memory unit 3 is calculated as 3
It is calculated by the dimensional affinity conversion processing unit 5g, and the calculated conversion amount is calculated based on the image data, the area of the surface shape, and the circle of the contour.
The viewpoint correction is performed on the line component region and the marker 13 region,
View point-corrected image data, surface shape area and contour circle
The line component area and the area of the marker 13 are stored in the frame memory unit 5a.
(Step 111).

Then, the number of pixels in the marker 13 area for viewpoint correction stored in the frame memory 5a is written into the memory 3 (step 112), and the marker size stored in the database 2 is written into the memory 3 (step 113). Calculating pixel resolution data representing the size per pixel from the number and size of the pixels of the marker written in the memory,
(Step 114).

Next, the coordinates and dimensions of the contour are measured (step 115). That is, the contour measuring unit 5f is extracted from the number of pixels in the circle / line component area of the contour stored in the frame memory unit 5a, extracted from the geometric shape extracting unit 5e, corrected for the viewpoint, and the pixel resolution data stored in the memory unit 3. Then, the coordinates with the origin at the dimension of the contour, the center of gravity of the contour, and the center of gravity of the contour are calculated and stored in the memory unit 3 as contour shape data.

Then, the coordinates and dimensions of the surface shape are measured (step 116). That is, the frame memory unit 5a
The two-gradation viewpoint correction surface shape area stored in the memory is grouped with a label number in pixel units, and the number of pixels in each group and the pixel resolution data stored in the memory unit 3 are used to group each surface shape area. And the coordinates with the center of gravity of the contour as the origin are calculated and stored in the memory unit 3 as surface shape data.

Thereafter, the result output and data storage are performed (step 117). That is, the frame memory unit 5a
The image data of the viewpoint correction stored in the memory unit 3 and the outline shape data and the surface shape data stored in the memory unit 3 are output as images, sketches, graphs, and texts on paper by the display unit 6 and the printer 7, and the database unit 2 and the portable memory The data is stored in the portable memory 4 by the read / write device 8.

Here, the display unit 6 and the printer 7 confirm the presence or absence of reprocessing of the processing result output on the paper with the display unit 6 and the user interface unit 11 (step 118). If it is determined that the processing is necessary, a reprocessing command is input from the user interface unit 11. Then, a re-processing command is given to the image processor 5 via the CPU 10, and a parameter change command for area extraction is input by the user interface unit 11 (step 119), and the area extraction of the surface shape and the contour and the binarization processing (step 119) Reprocessing is performed from step 104) to result output and data storage (step 117), and is repeated until the user determines that reprocessing is not necessary.

On the other hand, when it is determined that there is no need to reprocess the processing result output to the paper by the display unit 6 and the printer 7, the image processing by the image processing processor 5 ends.

Here, the image data photographed by the imaging device 1 is displayed on the data display section 1 d and stored in the portable memory 4.

That is, the imaging device interface unit 1
f to the imaging device control section 1e from the object surface 12
When the imaging command of the marker 13 is given, the imaging device control unit 1e converts the video signal captured by the image sensor imaging unit 1a into image data by the A / D conversion processing unit 1b, and converts the image data to the data display unit 1d. Is controlled to be displayed. The user confirms the image on the data display unit 1d, and gives an instruction to save the image data from the imaging device interface unit 1f to the imaging device control unit 1e, and the imaging device interface unit 1f controls the data read / write unit 1c to control the image. The data is stored in the portable memory 4.

The data stored in the portable memory 4 can be called and displayed on the data display section 1d.

That is, the portable memory 4 is set in the data read / write unit 1c, and when a command to read data from the portable memory 4 is given from the imaging unit interface unit 1f to the imaging unit control unit 1e, the imaging unit The control unit 1e switches from the data read / write unit 1c to the data display unit 1c.
d so that the data stored in the portable memory 4 is displayed.

Further, the data display section 1d of the imaging device 1
, The data of the database unit 2, the memory unit 3, and the portable memory 4 set in the portable memory read / write device 8 can be displayed.

That is, the input / output control unit 9 and the imaging device control unit 1e are connected, and the database unit 2, the memory unit 3, and the portable memory read / write device 8 are connected from the imaging device interface 1f to the imaging device control unit 1e. When a data read command from the portable memory 4 that has been set is given, the imaging device control unit 1e
The CPU 10 transmits data from the database unit 2 and the memory unit 3 to the CPU 10 via the input / output control unit 9 and data from the portable memory 4 set in the portable memory read / write unit 8 via the input / output control unit 9.
e to control the data display unit 1d to display the data stored in the database unit 2, the memory unit 3, and the portable memory 4 set in the portable memory read / write device 8.

The data read / write unit 1c of the imaging device 1
The database unit 2, the portable memory 4 set in the
The memory unit 3 can store data in the portable memory 4 set in the portable memory read / write device 8.

That is, the input / output control unit 9 and the imaging device control unit 1e are connected, and the database unit 2, the memory unit 3, and the portable memory read / write device 8 are connected to the imaging device control unit 1e from the imaging device interface 1f. When a portable memory data read command set from the set portable memory 4 to the data read / write device 1c is given, the imaging device control unit 1e sends the database unit 2 and the memory to the CPU 10 via the input / output control unit 9. The data is read from the portable memory 4 set in the unit 3 and the portable memory read / write device 8 to the imaging device control unit 1e via the input / output control unit 9, and the database unit 2 and the memory unit 3 and the portable memory read / write are read. Data stored in the portable memory 4 set in the device 8 Controls to store in the portable memory 4 which is set in the data reading-out portion 1c.

The image data photographed by the imaging device 1 and the data of the portable memory 4 set in the data read / write unit 1c are stored in the memory unit 3.

That is, the input / output control unit 9 is connected to the imaging device control unit 1e, and the user interface unit 11 shoots the imaging device control unit 1e via the CPU 10 and the input / output control unit 9 with the image sensor imaging unit 1a. Then, the image data converted by the A / D conversion processing unit 1b and the data stored in the portable memory 4 set in the data read / write unit 1c are written in the memory unit 3.

Further, image data photographed by the imaging device 1 and data of the portable memory 4 set in the data read / write unit 1c are output to the display unit 6 of the output unit and the printer 7.

That is, when an instruction to output data stored in the memory unit 3 to paper is given by the display unit 6 and the printer 7, the imaging device control unit 1e takes an image with the image sensor image pickup unit 1a and performs A / D conversion processing. The image data converted by the unit 1b and the data stored in the portable memory 4 set in the data read / write unit 1c are stored in the memory unit 3 via the input / output control unit 9, and are displayed on the paper by the display unit 6 and the printer 7. Is controlled by the CPU 10 so as to output the data.

In the first embodiment, the image processor 5 and the frame memory 5a, the logical / spatial filtering processor 5c, the labeling processor 5d, the geometric shape extractor 5e and the contour Each of the measuring units 5f can be realized in hardware as a processing board or an arithmetic unit. Further, it can be realized as software as a program module.

Further, the memory unit 3, the image processor 5, the input / output control unit 9 and the CPU 10 may be incorporated in the imaging device control unit 1e.
As a result, the surface 12 of the object is photographed by the imaging device 1 at the site, and image processing is performed by the image processor 5 in the imaging device 1 at the same time, and the surface inspection is performed only by the small and portable imaging device 1. It is possible to do. Further, by connecting the database unit 2, the display unit 6, the printer 7, the portable memory read / write device 8 and the user interface unit 11 to the input / output control unit 9 incorporated in the imaging device control unit 1e, a large capacity It can support data, display on a large screen, output to paper, reading and writing of a plurality of portable memories 4, and keyboard and mouse input.

Next, in order to make it possible to photograph an object larger than the photographing range of the imaging device 1, the position of the imaging device 1 when photographing the object surface 12 or the object surface 12 and the marker 13 is determined. The corresponding position is calculated between the image data of the boundary portions where the total sum of the luminance values between the image data continuously shot is changed and the sum of the luminance values between the continuously shot image data is minimized, and each image data is synthesized in pixel units. You may do it. This allows
Surface inspection can be performed when an object larger than the imaging range of the imaging device 1 is divided and photographed.

Further, in order to obtain the tendency of the change in the surface shape of the object, each user selects and adjusts the position of each image for which the photographing viewpoint to be compared in the user interface section 11 is to be compared, and converts each surface shape data into pixel units. To compare. And
The comparison result is stored in the memory unit 3 as trend graph data (trend graph data). In addition, the comparison of the surface shapes is stored in the memory unit 3 as image data (trend comparison image data) of the tendency comparison in which the color and pattern are compared on the image. In this case, the trend graph and the trend comparison image are obtained by outputting the data of the trend graph and the data of the trend comparison image stored in the memory unit 3 to the display unit 6 and the printer 7, so that the trend management can be performed. It becomes possible.

In this case, the management target value is further stored in the database unit 2. Then, the user interface unit 11 selects each image for which the photographing viewpoint to be compared with the tendency has been corrected, and simultaneously refers to the related management target value from the database unit 2. That is, it is determined whether the trend graph of the surface shape data of each image selected on the display unit 6 and the data subjected to the trend comparison on the trend comparison image exceed the management target value, and when the management target value is exceeded, a message and an alarm are output. I do.
In addition, the location exceeding the target management value on the trend graph and the trend comparison image is stored in the database unit 2 and is highlighted to notify the user. Thereby, the surface inspection of the object can be performed with high accuracy.

Next, in order to accurately obtain image data of an object at a viewpoint angle specified by the user, the following is performed. That is, a specific viewpoint angle and designation (name, identification number) of an object to be matched are input from the imaging device interface unit 1f and the user interface unit 11, and the image processor 5
The contour shape data calculated by the above is converted by the three-dimensional affine transformation processing unit 5g in the image processor 5 into the dimensions of the circle and line components of the contour of the designated object stored in the database unit 2 and coordinates with the center of gravity of the contour as the origin. And the same contour shape data of the same type of the designated object stored in the database unit 2 or of the same date and time of shooting. The focal length between the imaging device 1 and the object surface 12 is calculated from the pixel resolution data stored in the database unit 2 and stored as focal length data in the memory unit 3. From the three-dimensional affine conversion amount, a viewpoint angle which is a photographing viewpoint when photographing is performed by the imaging device 1 is calculated and stored in the memory unit 3. The viewpoint angle data stored in the memory unit 3 and the viewpoint angle to be corrected are displayed on the data display unit 1d of the imaging device 1 with an arrow and an alarm indicating the direction of the viewpoint angle to be corrected, and the user is notified of the viewpoint angle. And shoot according to the object.

When obtaining image data of an object,
The following is performed to correct the influence of illumination. That is, the object surface 12 and the object surface 12 and the marker 13
Is photographed a plurality of times while changing the viewpoint angle, and the 3D affine transformation processing unit 5g matches the contour design data of the object stored in the database unit 2, or the logical / spatial filtering processing unit 5c captures the image of the marker 13 Read the mark indicating.

Thus, the photographing viewpoint data is calculated and stored in the database unit 2 and the memory unit 3, and the corresponding position between the images of each viewpoint is calculated based on the photographing viewpoint data stored in the database unit 2 and the memory unit 3. Then, a portion having a poor shooting condition due to the influence of illumination on the object surface 12 is corrected with a brightness value at a corresponding position between images shot from different viewpoints.

Further, in order to obtain the image data of the object, in order to obtain only the natural light without using the illumination device, the image data taken by the imaging device 1 (the database unit 2, the memory unit 3, and the The region extraction parameter of the logical / spatial filtering processing unit 5c is adjusted according to the luminance value distribution of the image data stored in the portable memory 4). Thus, the surface inspection of the target object can be performed using only ordinary room lighting or natural light without using a special lighting device.

In order to remove the background from the image data of the object, image data (database unit 2, memory unit 3 and portable memory 4) taken by the imaging device 1
Object image surface 1)
By removing the background of the object surface 12 from the luminance value distribution indicating the state of the background 2 by the logical / spatial filtering processing unit 5c, the surface inspection of the object corresponding to various kinds of backgrounds can be performed.

Further, in order to be able to automatically create a report from the inspection results at the site, the date and time of the inspection,
Specify the name of the object, identification number and the name of the inspector,
From the image data, contour shape data and surface shape data stored in the database unit 2 and the trend graph data and trend comparison image data stored in the memory unit 3, the date and time of inspection, the name of the object, the identification number, and the inspection The necessary items corresponding to the name of the person are taken out, automatically arranged in the form of a report, and output on paper by the display unit 6 and the printer 7.

That is, the user inputs the date and time of the inspection, the name of the object, the identification number, and the name of the inspector via the user interface unit 11 and the imaging unit interface unit 1f, or the image stored in the database unit 2 The date and time of inspection of the photographed data, the name of the object, the identification number, and the name of the inspector by the image processing device 1 or the image data processed by the image processor 5 and stored in the database unit 2; Necessary items are determined from the contour shape data and the surface shape data and the trend graph data and the trend comparison image data stored in the memory unit 3.
A selection command is input by the user interface unit 11,
The report is automatically arranged in the form of the report stored in the database unit 2 and displayed on the display unit 6 or printed out on the printer 7.

In order to smoothly display and delete data on the display unit 6, a display button and an erasure button for the operation are displayed on the display unit 6.

That is, image data, contour shape data,
It has storage destination address information of the surface shape data, the trend graph data and the trend comparison image data, and the identification name of each data. When the display is started by the user interface unit 11, the display button and the delete button are displayed on the display unit 6. Is displayed. The display button is for copying the data of the storage destination address to the memory unit 3 and displaying it on the display unit 6. The delete button deletes data displayed on the display unit 6 from the display unit 6 and the memory unit 3.

Normally, display buttons are displayed on the display unit 6. The user identifies the data that each display button means by the data identification name on the display button, and the user operates only the necessary data display buttons. To display the data on the display unit 6. On the other hand, the erase button is for erasing data that the user no longer needs to display. By operating only the erase button, the data and the erase button are erased on the display unit 6. Thus, high-speed display on the display unit 6 and the amount of use of the memory unit 3 can be reduced and optimized.

Further, according to the first embodiment of the present invention, the image data photographed by the imaging device 1 is stored in the database unit 2 by changing the compression ratio according to the luminance value distribution and stored in the database unit 2. Capacity can be reduced and optimized.

As described above, according to the first embodiment, the luminance value distribution of the image data obtained by photographing the object surface 12 and the marker 13 with the small and portable imaging device 1 The image processing processor 5 extracts the surface shape indicating the state on the object surface 12 and the shape of the outline of the object, calculates dimensions and coordinates, and converts the extracted surface shape and outline shape into images, sketches, graphs, The text can be output to the display unit 6 and the printer 7.

Therefore, in the field inspection of the equipment constituting the plant, the object surface 12 is photographed by the small and portable imaging device 1, and the surface is obtained only by instructing the image processor 5 from the user interface unit 11. Inspection becomes possible, and the inspection result can be confirmed by the output result of the display unit 6 and the printer 7, so that anyone can perform the inspection, and a highly reliable and low-cost on-site inspection can be realized.

Next, a second embodiment of the present invention will be described. FIG. 4 is a configuration diagram of an inspection data image recording device according to the second embodiment of the present invention. The second embodiment is different from the first embodiment shown in FIG. 1 in that a three-dimensional imaging device 16 and a focus fixing unit 17 are provided instead of the imaging device 1. The three-dimensional imaging device 16 photographs the object surface 12 with parallax at a fixed focal length between the three-dimensional imaging device 16 and the object surface 12 by the focus fixing unit 17, and digitally stores the image in the portable memory 4. Double parallax image data composed of data is stored. Then, the image processor 5 performs image processing on the double-parallax image data output from the three-dimensional imaging device 16 and adds the state in the depth direction of the object surface 12 and the contour shape of the object. And extract the data.

As shown in FIG. 4, the inspection data image recording device has a small and portable three-dimensional imaging device 16. The three-dimensional imaging device 16 photographs the object surface 12 to be inspected with a parallax through the focus fixing unit 17 and converts the photographed image into two 32-bit digital signals (double parallax image data). It is something to memorize.

That is, the double parallax image sensor imaging unit 1
6a captures an image of the object surface 12 with parallax and outputs two video signals to the A / D conversion double parallax signal processing unit 16b. The A / D conversion double-parallax signal processing unit 16b samples and quantizes the two video signals (analog signals) output from the double-parallax image sensor imaging unit 16a and converts them into a 32-bit digital signal. Is added.

The digital signal (double parallax image data) processed by the A / D conversion double parallax signal processing section 16b is stored in the portable memory 4 by the data reading / writing section 16c.
The portable memory 4 is detachable from the data read / write unit 16c, and the portable memory 4 is a portable memory read / write device 8c.
Read and write data.

The data stored in the portable memory 4 is displayed on the data display section 16d. The data display unit 16d can display not only the data stored in the portable memory 4 but also the data input from the input / output control unit 9 to be described later via the three-dimensional imaging device control unit 16e. It has become.

Control unit 16e for three-dimensional imaging device
Controls the double-parallax image sensor imaging unit 16a, the A / D conversion double-parallax signal processing unit 16b, the data read / write unit 16c, and the data display unit 16d in accordance with a command from the input / output controller unit 9. The three-dimensional imaging device interface unit 16f transmits a command (shooting, data reading / writing, data display) from the user to the three-dimensional imaging device control unit 16e.

Next, when the user inputs a surface inspection command to the object from the user interface unit 11, C
The three-dimensional imaging device 16 is activated via the PU 10 and the input / output controller unit 9, photographs the object surface 12 with parallax via the focus fixing unit 17, and takes two 32-bit digital signals (double parallax image). Data) is stored in a removable memory 4 provided detachably.

The database unit 2 stores data necessary for processing the double parallax image data of the object. The image processor 5 stores the double parallax image data output from the three-dimensional The data of the database unit 2 is fetched into the memory unit 3 via the input / output control unit 9 and the CPU 10, and image processing is performed on the double-parallax image data to obtain surface shape data obtained by adding the state of the object surface 12 in the depth direction. , And the contour shape data of the object. Then, the result is displayed on the display unit 6 of the output unit and printed out on the printer 7.

Here, a portable memory read / write device 8 is connected to the input / output control unit 9 so that data stored in the portable memory 4 removed from the three-dimensional imaging device 16 can be read / written. It has become.

That is, the image processor 5 stores the double parallax image data output from the three-dimensional imaging device 16 or the double parallax image data stored in the memory unit 3 and the portable memory 4 and the database unit 2. The image processing is performed on the double-parallax image data based on the data that has been processed, and the surface shape (surface shape data) indicating the state in the depth direction on the object surface 12 and the contour shape of the object (contour shape data) ) To extract.

The image data output by the three-dimensional imaging device 16, the surface shape data and the contour shape data extracted by the image processor 5 are stored in the database unit 2, the memory unit 3, and the portable memory 4, respectively. The image data, the surface shape data, and the contour shape data stored in the database unit 2, the memory unit 3, and the portable memory 4 are displayed on the display unit 6 of the output unit and printed out on paper by the printer 7.

The input / output control unit 9 controls the database unit 2, the display unit 6, the printer 7, and the portable memory read / write device 8, and the CPU 10 controls the memory unit 3, the image processor 5, and the input / output control unit. 9 is controlled.

As shown in FIG. 5, the focus fixing section 17 has a hollow inner wall having a mirror surface, and
The angle of the mirror surface is changed according to the height of the inner wall so that the light is focused.
Further, inside the focus fixing unit 17, an illumination light source unit 18 is provided at an upper part, and light condensed by an inner wall of the focus fixing unit 17 is scattered at a lower part. A part 19.

FIG. 6 is a block diagram of the image processor 5. As shown in FIG. 6, the image processor 5 develops the double-parallax image data and stores the data in the frame memory unit 5a.
To be stored. The inter-pixel calculation unit 5b obtains a corresponding point between the parallax images from the double parallax image data, and calculates the number of pixels of the depth from the number of pixels of the movement amount of the corresponding point between the parallax images based on the principle of triangulation. Then, the depth dimension is obtained from the pixel resolution data representing the size per pixel of the double parallax image data stored in the database unit 2, and the surface shape data obtained by adding the depth direction indicating the state on the object surface 12 is obtained. Ask.

The logical / spatial filtering processing unit 5c includes:
The contour region of the object is extracted from one of the parallax image data of the double parallax image data and binarized, and the geometric shape extraction unit 5c extracts the line / line of the contour region of the object determined by the logical / spatial filtering processing unit 5c. Extract the circle component. The contour measuring unit 5f calculates contour shape data, which is the coordinates and dimensions of the contour, based on the line / circle components of the contour area extracted by the geometric shape extracting unit 5e and the pixel resolution data stored in the database unit 2. I do. 3D Affine Conversion Processing Unit 5g
Then, the coordinate value of the surface shape data and the contour shape data is set to 3
Move and transform in two dimensions.

Here, the pixel resolution data representing the size per pixel of the double-parallax image data is a constant determined by the double-parallax image sensor 16a, and the focal length data of the three-dimensional imaging device 16 and the object surface 12 ( (Fixed value) to calculate the image size of the double-parallax image data, calculate the image size of the double-parallax image data and the number of pixels, and
Is stored in

Each of the frame memory 5a, the inter-pixel calculator 5b, the logical / spatial filtering processor 5c, the geometric shape extractor 5e, and the contour measuring unit 5f of the image processor 5 includes a data transmission bus 14 , 15. Further, a frame memory unit 5a, an inter-pixel operation unit 5b of the image processor 5,
Spatial filtering processing unit 5c, geometric shape extraction unit 5
e, and each of the contour measuring units 5f are controlled by the CPU 10, and perform the inter-pixel calculating unit 5b, the logical / spatial filtering processing unit 5c, and the geometrical unit on the expanded and disparity image data stored in the frame memory unit 5a. Image processing is performed by each of the shape extraction unit 5e and the contour measurement unit 5f.

Next, the operation of the second embodiment of the present invention having such a configuration will be described. FIG. 7 is a flowchart showing the operation of the inspection data image recording device according to the second embodiment of the present invention. As shown in FIG. 7, when a processing start command is given from the user interface unit 11 to the image processing processor 5 via the CPU 10, double parallax image data captured by the three-dimensional imaging device 16 (multiple parallax image data stored in the database unit 2). The parallax image data and the double parallax image data stored in the portable memory 4 are written into the memory unit 3 (Step 201), and the double parallax image data written into the memory unit 3 is written into the frame memory unit 5a of the image processor 5. (Step 20)
2).

Next, the pixel resolution data stored in the database unit 2 is written in the memory unit 3 (step 203).
The logical / spatial filtering processing unit 5c extracts a contour area of the object from the luminance value distribution of the double-parallax image data stored in the frame memory unit 5a, converts the extracted region into a two-tone image, and stores the image in the frame memory unit 5a. (Step 20
4). Then, the geometric / shape extraction unit 5e extracts the circle / line components of the two-tone outline area stored in the frame memory unit 5a (step 205), and the outline circle / line extracted by the geometric shape extraction unit 5e. From the number of pixels of the components and the pixel resolution data stored in the memory unit 3, the contour measuring unit 5f calculates the dimensions of the contour, the center of gravity of the contour, and the coordinates with the origin of the center of the contour. It is stored (step 206).

Next, a point (corresponding point) corresponding to the luminance value between the parallax images of the double parallax image data stored in the frame memory unit 5a is calculated by the pixel calculation unit 5b (step 20).
7) The number of pixels of the depth is obtained from the number of pixels of the movement amount of the corresponding point by the principle of triangulation, the depth dimension is calculated from the pixel resolution data stored in the memory unit 3, and the center of gravity of the contour is set as the origin. Surface shape data indicating the state of the object surface 12, which is the coordinates of the position and depth of the corresponding point, is obtained and stored in the memory unit 3 (step 208).

The double parallax image data, the contour shape data and the surface shape data stored in the memory unit 3 are
Images, sketches, graphs, and text are output to the display unit 6 and the printer 7, and are stored in the portable memory 4 by the database unit 2 and the portable memory read / write device (step 209).

Here, with respect to the processing results output by the display unit 6 and the printer 7, the presence or absence of reprocessing is displayed on the display unit 6.
Then, the user is confirmed by the user interface unit 11 (step 210). If the user determines that reprocessing is necessary, the user inputs a reprocessing command from the user interface unit 11. This reprocessing command is given to the image processor 5 via the CPU 10. That is, the user interface unit 11 inputs a parameter change command for determining a corresponding point and extracting a contour area (step 211), and performs processing from contour area extraction and binarization processing (step 204) to result output and data storage (step 209). The reprocessing is performed, and the processing is repeated until the user determines that the reprocessing is not necessary.

On the other hand, when it is determined that there is no need to reprocess the processing results output to the display unit 6 and the printer 7, the image processing by the image processor 5 ends.

Here, the double-parallax image data captured by the three-dimensional imaging device 16 is displayed on the data display section 16 d and stored in the portable memory 4.

That is, from the three-dimensional imaging device interface unit 16f to the three-dimensional imaging device control unit 16e
When a command to shoot the object surface 12 is given to the three-dimensional imaging device control unit 16e, the three-dimensional imaging device control unit 16e converts the video signal captured by the double-parallax image sensor imaging unit 16a into an A / D converted double-parallax signal processing unit 16b. And the display is controlled to display the double-parallax image data on the data display unit 16d. The user checks the image on the data display unit 16d, and issues a storage instruction for the double-parallax image data from the 3D imaging device interface unit 16f to the 3D imaging device control unit 16e.
The three-dimensional imaging device interface unit 16f controls the data read / write unit 16c to store the double-parallax image data in the portable memory 4.

The data stored in the portable memory 4 can be called and displayed on the data display section 16d.

That is, the portable memory 4 is set in the data read / write unit 16c, and when a command to read data from the portable memory 4 is given from the three-dimensional imaging device interface unit 16f to the three-dimensional imaging device control unit 16e. The three-dimensional imaging device control unit 16e transfers the portable memory 4 from the data read / write unit 16c to the data display unit 16d.
Control to display the data stored in.

Further, the data display section 1d of the three-dimensional imaging device 16 can display the data of the database section 2, the memory section 3, and the portable memory 4 set in the portable memory read / write device 8. ing.

That is, the three-dimensional imaging device 16 connects the input / output control unit 9 and the three-dimensional imaging device control unit 16e,
f, a data read command from the database unit 2, the memory unit 3, and the portable memory 4 set in the portable memory read / write device 8 is given to the three-dimensional imaging device control unit 16e. Reference numeral 16e denotes three-dimensional imaging of data from the database unit 2, the memory unit 3, and the portable memory 4 set in the portable memory read / write device 8 to the CPU 10 via the input / output control unit 9 via the input / output control unit 9. The data is read into the device control unit 16e, and is controlled to display the data stored in the database unit 2, the memory unit 3, and the portable memory 4 set in the portable memory read / write device 8.

Furthermore, the database unit 2, the memory unit 3, and the portable memory 4 set in the portable memory read / write device 8 are stored in the portable memory 4 set in the data read / write unit 16c of the three-dimensional imaging device 16. Data can be stored.

That is, the input / output control unit 9 and the three-dimensional imaging device control unit 16e are connected, and the database unit 2, the memory unit 3, and the portable type are transmitted from the three-dimensional imaging device interface 16f to the three-dimensional imaging device control unit 16e. When a portable memory data read command set in the data read / write device 16 c from the portable memory 4 set in the memory read / write device 8 is given, the three-dimensional imaging device control unit 16 e is transmitted via the input / output control unit 9. The CPU 10 reads data from the database unit 2 and the memory unit 3 and from the portable memory 4 set in the portable memory read / write device 8 to the three-dimensional imaging device control unit 16e via the input / output control unit 9 to display data. The database section 2 and the memory section 3 and the portable type Stored data data reading-out portion 16c in the portable memory 4 has been set to the memory reading-out device 8
Is controlled to be stored in the portable memory 4 which is set in the memory.

The image data photographed by the three-dimensional imaging device 16 and the data of the portable memory 4 set in the data read / write unit 16c are stored in the memory unit 3.

That is, the input / output control unit 9 and the three-dimensional imaging device control unit 16e are connected, and the user interface unit 11 transmits the three-dimensional imaging device control unit 16e via the CPU 10 and the input / output control unit 9.
And the A / D image captured by the double parallax image sensor
The double parallax image data converted by the converted double parallax signal processing unit 16b and the data stored in the portable memory 4 set in the data reading / writing unit 16c are written in the memory unit 3.

Further, image data photographed by the three-dimensional imaging device 16 and data of the portable memory 4 set in the data read / write unit 16c are output to the display unit 6 of the output unit and the printer 7. I have.

That is, when an instruction to output the data stored in the memory unit 3 to the display unit 6 and the printer 7 is given, the control unit 16e of the three-dimensional imaging apparatus shoots the image with the double parallax image sensor image pickup unit 16a and performs A / D conversion. The data stored in the portable memory 4 set in the data reading / writing unit 16c and the double parallax image data converted by the converted double parallax signal processing unit 16b is stored in the memory unit 3 via the input / output control unit 9, The CPU 10 is controlled to output to the display unit 6 and the printer 7.

Here, the display unit 6 uses the coordinate values of the surface shape data calculated by the image processing processor 5 to display a wire frame display in which coordinate points are connected by lines, and the viewpoint and coordinate values when one light source is placed. Surface model display in which the luminance value on the object surface 12 is calculated so that the unevenness can be recognized, and texture mapping display in which the luminance value of one image of the double-parallax image data is matched to the coordinate value and pasted on the object surface 12 The user can change the viewpoint (perspective, rotation, etc.) in each display, and operate from the user interface unit 11.

In the second embodiment, a frame memory unit 5a, an inter-pixel operation unit 5b, a logical / spatial filtering processing unit 5c, a geometric shape extraction unit 5e, and a contour measurement unit 5f constituting the image processing processor 5 Can be realized in hardware as a processing board or an arithmetic unit. Further, it can be realized as software as a program module.

Further, the memory unit 3, the image processor 5, the input / output control unit 9 and the CPU 10 may be incorporated in the control unit 16e of the three-dimensional imaging device. As a result, the surface 12 of the object is 3
The image is taken by the three-dimensional imaging device 16 and simultaneously subjected to the image processing by the image processor 5 in the three-dimensional imaging device 16.
Surface inspection can be performed only by using the above. Further, by connecting the database unit 2, the display unit 6, the printer 7, the portable memory read / write device 8 and the user interface unit 11 to the input / output control unit 9 incorporated in the control unit 16e of the three-dimensional imaging device, It is possible to deal with large-capacity data, display on a large screen, output to paper, reading and writing of a plurality of portable memories 4, and keyboard and mouse input.

Next, in order to make it possible to photograph an object larger than the photographing range of the three-dimensional imaging device 16, the three-dimensional imaging device 16 changes the position of the object surface 12 to continuously photograph the object.
A corresponding position is calculated between the multiple parallax image data, which is a boundary portion where the total sum of the luminance values between the captured double parallax image data is minimum, and each double parallax image data is synthesized in pixel units. Thereby, it is possible to perform a surface inspection when an object larger than the imaging range of the three-dimensional imaging device 16 is divided and photographed.

Further, in order to obtain the tendency of the change in the surface shape of the object, each parallax image is selected, aligned with the contour shape data, and the surface shape data is compared pixel by pixel. It is stored in the memory unit 3 as (trend graph data). Further, the comparison of the surface shapes is stored in the memory unit 3 as image data (trend comparison image data) of a tendency comparison image classified by color and pattern on the wire frame display, the surface model display, and the texture mapping display. In this case, the trend graph data and the trend comparison image data stored in the memory unit 3 are displayed on the display unit 6 or the printer 7.
And output a trend graph and a trend comparison image to manage the trend.

Further, the management target values are stored in the database unit 2, each parallax image whose tendency is to be compared is selected by the user interface unit 11, and at the same time, the related management target values are referred to from the database unit 2 and selected on the display unit 6. A message and an alarm are output when the data obtained by performing the trend comparison on the trend graph of the surface shape data of each parallax image and the trend comparison image exceeds the management target value, and the data exceeds the target management value on the trend graph and the trend comparison image. The location can be stored in the database unit 2 and highlighted to notify the user.

Further, in order to be able to automatically create a report from the inspection results at the site, the date and time of the inspection,
Specify the name of the object, identification number and the name of the inspector,
From the image data, contour shape data and surface shape data stored in the database unit 2 and the trend graph data and trend comparison image data stored in the memory unit 3, the date and time of inspection, the name of the object, the identification number, and the inspection The necessary items corresponding to the name of the person are taken out, automatically arranged in the form of a report, and output on paper by the display unit 6 and the printer 7.

That is, the input is performed by the user interface unit 11 and the three-dimensional imaging device interface unit 16f.
Alternatively, the date and time of shooting or inspection by the three-dimensional imaging device 16 stored in the database unit 2, the name of the object,
Identification number, name of inspector, and image processor 5
The necessary items are selected from the user interface unit 11 based on the double parallax image data, the contour shape data, and the surface shape data stored in the database unit 2 after performing image processing according to the above, and the trend graph data and the trend comparison image data stored in the memory unit 3. A selection command is input by the database unit 2
The report can be automatically arranged in the format of the report stored in the printer and output to paper by the display unit 6 and the printer 7.

In order to smoothly display and delete data on the display unit 6, a display button and an erasure button for the operation are displayed on the display unit 6.

That is, it has storage destination address information of double parallax image data, contour shape data, surface shape data, trend graph data, and trend comparison image data, and identification names of the respective data. When a call is made, a display button and a delete button are displayed on the display unit 6.
Will be displayed. The display button is for copying the data of the storage destination address to the memory unit 3 and displaying it on the display unit 6.
The delete button deletes data displayed on the display unit 6 from the display unit 6 and the memory unit 3.

Normally, a display button is displayed on the display unit 6 so that the user can identify the data that each display button means by the data identification name on the display button, and the user operates only the display button of the necessary data. The data is displayed on the display unit 6 with. At the same time, an erasure button is added to the display unit 6. When the user operates only the erasure button of the data that is no longer required to be displayed, the data and the erasure button are erased on the display unit 6, and the display unit 6 is erased. , And the amount of use of the memory unit 3 can be reduced and optimized.

Further, by storing the double-parallax image data captured by the three-dimensional imaging device 16 in the database unit 2 with a variable compression ratio based on the luminance value distribution, the capacity of the database unit 2 can be reduced and optimized. it can.

As described above, according to the second embodiment, a small and portable three-dimensional imaging device 16 can be used for the object surface 1.
2. The surface shape and the object obtained by adding the depth indicating the state on the object surface 12 by the image processing processor 5 from the luminance value distribution of the double parallax image data obtained by photographing the image 2 and the corresponding points between the parallax images. Calculates the dimensions and coordinates of the contour shape of the image, and the user designates the extracted surface shape and contour shape from an arbitrary viewpoint (wireframe display, surface model display, texture mapping display), sketches, graphs, and the like. Display unit 6 and printer 7 in text
Output to

Accordingly, in the field inspection of the equipment constituting the plant, the object surface 12 is photographed by the small and portable three-dimensional imaging device 16, and the user interface unit 11 instructs the image processor 5. In this way, surface inspection with added depth becomes possible. In addition, the inspection result can be output to the display unit 6 or the printer 7 and confirmed, so that anyone can perform the inspection, and a highly reliable and low-cost on-site inspection can be realized.

[0131]

As described above, according to the present invention, the surface shape of the object surface and the contour shape of the object are extracted by a small and portable imaging device, and the surface shape and the contour shape are extracted. Can be output to a display unit or a printer, so that on-site inspections of equipment that composes a plant, surface inspection can be performed with a small and portable imaging device, and inspection results can be easily confirmed. Inspection can be performed, and highly reliable and low-cost on-site inspection can be realized.

Further, according to the present invention, from the brightness value distribution of the double parallax image data obtained by photographing the surface of the object with a small and portable three-dimensional imaging device and the corresponding points between the parallax images, The user can specify the surface shape to which the depth indicating the state on the surface of the object and the contour shape of the object from an arbitrary viewpoint and output them to the display unit or the output unit of the printer. In the on-site inspection, it is possible to perform a surface inspection in which the depth of the object surface is added.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an inspection data image recording device according to a first embodiment of the present invention.

FIG. 2 is a block diagram of an image processor in the inspection data image recording apparatus according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing the operation of the inspection data image recording device according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram of an inspection data image recording device according to a second embodiment of the present invention.

FIG. 5 is an explanatory diagram of a focus fixing unit in an inspection data image recording device according to a second embodiment of the present invention.

FIG. 6 is a block diagram of an image processor in an inspection data image recording device according to a second embodiment of the present invention.

FIG. 7 is a flowchart showing an operation of the inspection data image recording device according to the second embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 imaging device 1a image sensor imaging unit 1b A / D conversion processing unit 1c data read / write unit 1d data display unit 1e imaging device control unit 1f imaging device interface 2 database unit 3 memory unit 4 portable memory 5 image processing processor 5a Frame memory unit 5b Inter-pixel operation unit 5c Logical / spatial filtering processing unit 5d Labeling processing unit 5e Geometric shape extraction unit 5f Contour measurement unit 5g Three-dimensional affine transformation processing unit 6 Display unit 7 Printer 8 Portable memory read / write device 9 Input / output control unit 10 CPU 11 User interface unit 12 Object surface 13 Marker 14 Data transfer bus 15 Data transfer bus 16 3D imaging device 16a Double parallax image sensor imaging unit 16b A / D conversion double parallax signal processing unit 16c Data reading Part 16d data display unit 16e 3-dimensional imaging device control section 16f 3-dimensional imaging device interface 17 fixed focus unit 18 illumination light source unit 19 faces the light source conversion unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shunichi Shimizu 8th Shinsugitacho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Inside the Toshiba Yokohama Office (72) Masahiko Sasaki 8th Shinsugitacho, Isogo-ku, Yokohama-shi, Kanagawa Stock Company Company Toshiba Yokohama Office

Claims (9)

[Claims] 1. A small-sized portable image pickup device that takes an image of an object surface or the surface of the object and a marker indicating the size and viewpoint angle of the object and stores image data composed of digital data in a portable memory that is detachably provided. A portable imaging device, a database unit storing data necessary for processing the image data of the object, and input / output of image data output from the imaging device and data of the database unit An image processor for capturing the image data in a memory unit via a control unit and performing image processing on the image data to extract surface shape data and contour shape data of the object; and the portable memory removed from the imaging device A portable memory read / write device for reading / writing data to / from the image data and the image data extracted by the image processor; A display unit for displaying and outputting the surface shape data and the contour shape data or an output unit having a printer for printing out, and a user for inputting a surface inspection command to a surface inspection target at the site to the image processor. An inspection data image recording device comprising an interface unit. 2. The inspection data image recording apparatus according to claim 1, wherein the imaging device captures an image of the surface of the object or the surface of the object and a marker indicating the size and viewpoint angle of the object. And an image sensor that converts a video signal output from the image sensor into digital image data.
An A / D conversion processing unit, and data reading / writing for reading / writing the image data converted by the A / D conversion processing unit or the surface shape data and the contour shape data input from the input / output control unit to / from the portable memory. A data display unit for displaying data stored in the portable memory or data input from the input / output control unit; an image sensor imaging unit; the A / D conversion processing unit; An inspection data image recording apparatus, comprising: a control unit for controlling a data display unit and a data display unit. 3. The inspection data image recording apparatus according to claim 1, wherein the image processing processor expands and stores image data output from the imaging device, and stores the image data from the image data. A logical / spatial filtering unit for extracting a contour region and a surface shape region of the object and the marker region, and one of the surface shape region of the object and the image data stored in the database unit
A labeling processing unit that calculates surface shape data that is coordinates and dimensions of the shape of the surface of the object from pixel resolution data indicating a size per pixel, and a geometric shape that extracts line and circle components from a contour region of the object An extraction unit, a contour measurement unit that calculates contour shape data that is coordinates and dimensions of a contour of the object from the line / circle components and the pixel resolution data extracted from the geometric shape extraction unit, and the image data. An inspection data image recording device, comprising: a three-dimensional affine conversion processing unit for three-dimensionally moving and deforming the surface shape data and the contour shape data. 4. The inspection data image recording apparatus according to claim 1, wherein the memory unit, the image processing processor, and the input / output control unit are incorporated in the imaging device control unit. Data image recording device. 5. A small and portable 3 for storing double parallax image data composed of digital data in a detachable portable memory for photographing the surface of the object with parallax.
A three-dimensional imaging device; a focus fixing unit attached to the surface of the object of the three-dimensional imaging device for fixing a focal length between the three-dimensional imaging device and the surface of the object; A database unit in which data necessary for processing the parallax image data is stored; and a memory unit via the input / output control unit for the double parallax image data and the data of the database unit output from the three-dimensional imaging device An image processor for performing image processing on the double-parallax image data and extracting surface shape data obtained by adding a state in the depth direction of the surface of the object and contour shape data of the object; and the imaging device. A portable memory read / write device for reading and writing data in the portable memory removed from the portable memory; the double parallax image data, the surface shape data, and the contour shape An output unit having a display unit for displaying and outputting data and a printer for printing out, and a user interface unit for inputting a surface inspection command to a surface inspection target in the field to the image processing processor. Inspection data image recording device characterized by the above-mentioned. 6. The inspection data image recording apparatus according to claim 5, wherein the three-dimensional imaging device captures the surface of the object with a parallax and outputs two video signals. A / D conversion double-parallax signal processing for converting two video signals output from the double-parallax image sensor imaging unit into two video images composed of digital data and adding a parallax identification signal for determining which parallax is used A data read / write unit for reading / writing the double-parallax image data processed by the A / D conversion double-parallax signal processing unit or the surface shape data and the contour shape data input from the input / output control unit into / from the portable memory And a data display unit for displaying data stored in the portable memory or data input from the input / output control unit. And a three-dimensional imaging device control unit that controls the double parallax image sensor imaging unit, the A / D conversion double parallax signal processing unit, the data read / write unit, and the data display unit. Inspection data image recording device. 7. The inspection data image recording apparatus according to claim 5, wherein the focus fixing portion is formed inside and changes an angle according to a height of an inner wall so as to converge on the surface of the object. A cavity having a mirror surface, an illumination light source provided on the three-dimensional imaging device side in the cavity, and scattering light collected on the inner wall provided on the surface side of the object in the cavity. An inspection data image recording device, comprising: a surface light source conversion unit that irradiates the surface of the object with uniform light. 8. The inspection data image recording device according to claim 5, wherein the image processing processor expands and stores the double-parallax image data output from the three-dimensional imaging device; One pixel of the double parallax image data stored in the database unit after calculating a corresponding point between the parallax images from the double parallax image data and calculating the number of pixels of the depth from the number of pixels of the movement amount of the corresponding point by the principle of triangulation. A pixel-to-pixel calculation unit that determines the depth dimension by the pixel resolution data representing the size of the hit and obtains surface shape data in which the state in the depth direction of the object surface is added, and from an image of one of the double parallax image data A logical / spatial filtering unit for extracting a contour region of the object, a geometric shape extracting unit for extracting a line / circle component from the contour region of the object, and an extraction from the geometric shape extracting unit A contour measuring unit for calculating contour shape data that is coordinates and dimensions of the contour of the object from the line / circle component thus obtained and the pixel resolution data, and the image data, the surface shape data, and the contour shape data as 3 An inspection data image recording apparatus, comprising: a three-dimensional affine conversion processing unit that performs three-dimensional movement / deformation conversion. 9. The inspection data image recording device according to claim 5, wherein the memory unit, the image processing processor, and the input / output control unit are incorporated in the three-dimensional imaging device control unit. Inspection data image recording device.