KR100657226B1 - Method and device for a forward side simultaneous image output of in-pipe - Google Patents

Abstract

The present invention relates to a method and apparatus for simultaneously outputting front and side images in a pipe, wherein an image in front of the pipe is input to a front center portion of a lens adapter installed in front of a camera mounted on an exploration device that moves the front and inner walls of the pipe. The image of the inner wall of the 360 degree pipe that is transmitted to the camera and orthogonal to the circumferential surface of the lens adapter is incident on the side of the lens adapter and then reflected and transmitted to the camera, and each image received from the camera is transmitted through the data processing apparatus. At the same time, it is divided into the image data and the inner wall image data that looks forward, and is displayed as a single image, and the inner wall image may be acquired as a developed image drawing through a process.

The present invention has a lens adapter that can be manufactured by combining a general lens rather than a camera manufactured for a special purpose, and the image development of the inner wall of the pipeline by acquiring the data collected through the lens adapter by dividing the information for each zone within a single image It is to make it possible to process information quickly and efficiently.

Probe, Camera, Lens Adapter, Pipeline

Description

METHOD AND DEVICE FOR A FORWARD SIDE SIMULTANEOUS IMAGE OUTPUT OF IN-PIPE}

1 is a perspective view of the front and side simultaneous image output exploration apparatus in the tube according to the present invention.

2 is a cross-sectional view showing the operating principle of the lens adapter according to the present invention.

3 is a schematic diagram illustrating an image range of photographing a subject through the lens adapter of FIG. 2;

4A and 4B are cross-sectional views illustrating a change state of an image range in which a reflective lens of a lens adapter according to the present invention photographs a subject according to a curved surface or a plane;

5 is an error and distortion analysis diagram of the image output information of the subject according to the present invention.

6 is a development view showing the details of cutting and processing of image output information of a subject according to the present invention;

7 is a perspective view of an anterior-side simultaneous image search apparatus in a tube according to another embodiment of the present invention.

8A and 8B are front views illustrating a state in which the probe of FIG. 7 is photographed or recovered by being located in a tube;

9 is a schematic diagram of a conventional image acquiring device according to a frontal perspective view.

10 is a schematic diagram of a conventional image acquisition device using a fisheye lens.

* Explanation of symbols for main parts of drawings *

1: probe 2: camera

3: adapter 4: supporting means

5: tow truck 6: pipeline

7: Image data processing device

The present invention relates to a method and apparatus for simultaneously outputting front and side images in a pipe such as a sewage pipe, and more particularly, a self-propelled exploration apparatus equipped with a camera for photographing and a lens adapter for photographing 360 degrees and including support means. And obtain a 360-degree planar image as data through the lens adapter and transmit it to a computer, and acquire clearer information in the tube as a developed state image and image by image processing and processing of the acquired data. The present invention relates to a method and apparatus for simultaneously outputting front and side images simultaneously in a tube.

As a conventional technique, an exploration apparatus for inspecting a state while moving the inside of the pipe to check the internal state of the pipeline is known. The probe is placed in a pipe for transporting various liquids, gases, slurries, etc., and the camera is photographed using a camera and a lighting device mounted while moving in the pipe, and the captured image is transmitted by wire or wirelessly. Receive processing to determine whether there is a defect. They acquire image information of the inner surface of the tube using a camera that only looks forward, and in a special case, the detailed image is taken by step or part while rotating up, down, left and right toward the wall surface, or photographed by a crust of 180 degrees or more. The image is acquired. These acquired images are complicated and cumbersome to delete (cut) and reconstruct the duplicated parts after collecting them, and it contains a lot of distorted parts compared to the data obtained in the orthogonal direction by the orthographic projection method, so that the accurate judgment of the state is possible. Because of this difficulty, there is a problem that the value of utilization as data is lowered.

FIG. 9 schematically illustrates a state of photographing the front situation in the pipeline F by the camera C mounted in the front while the self-propelled vehicle A moves as described above. The current imaging technique is used to move forward by looking forward, so that it is impossible to accurately determine the damage state or surface change state in the pipeline, and because the focus position of the camera is not centered and lowered to the lower side, the acquired image is acquired. Since image values of upper and lower parts of the data are not constant, it is difficult to accurately diagnose the condition of the pipeline (F).

In addition, another conventional probe is coupled to the self-propelled vehicle A disposed almost in the center of the pipeline F as shown in FIG. 10, the camera C mounted in front of the self-propelled vehicle A, and the front of the camera. It consists of the convex fish-eye lens (L). The surveying device uses a method of expanding the received image data after acquiring an image in a range of about 180 degrees through the fisheye lens L, but by simply attaching the fisheye lens L to the existing camera C. The disadvantage is that it includes unnecessary areas because it acquires a wide range of images, and in particular, the image is severely distorted. Due to this problem, it is necessary to process an image for a narrow area of pixels in processing the acquired image unit. There is this.

As described above, the technique of the conventional exploration apparatus has a problem of only looking forward, or by simply combining the fisheye lens to photograph the wall of the pipeline, such that the photographed image on the inner surface of the pipeline is distorted and the resolution is remarkably decreased.

The present invention is to solve the problems of the above-described conventional exploration apparatus, the object of the present invention can be obtained as a single image by combining the images of the front and side situation at the same time through the lens adapter installed in front of the camera of the exploration apparatus In addition, the acquired image is used not only to move the probe while grasping the front side, but also to efficiently manage the side information of the pipeline by dividing the image with the minimum distortion and the high resolution and combining the captured image. Efficient management is possible by distinguishing and displaying the front and side images taken simultaneously, and the front and side simultaneous video output method in the pipe that allows the situation of the pipeline to be displayed as a developed image and acquired as a drawing through post-processing or real-time processing. To provide.

Another object of the present invention includes a self-propelled exploration device equipped with a video camera and a 360-degree image pickup lens adapter includes a support structure of a simple structure, always moving in a central position orthogonal through the lens adapter The present invention provides an apparatus for simultaneously and simultaneously displaying front and side images of an inner wall of a same distance pipe.

In order to achieve the object of the present invention as described above, the front of the lens adapter installed in the front of the camera mounted on the probe to move the front and the inner wall of the pipeline to the image of the front of the pipeline is transmitted to the camera, the lens The image of the inner wall of the 360 degree pipeline orthogonal to the adapter circumference is incident on the side of the adapter and then reflected and transmitted to the camera, and each image received from the camera is image data and the inner wall facing the front through a data processing device. It is divided into image data and simultaneously transmits data by capturing it so that it can be displayed as a single image and can be acquired as a drawing. It provides a method for outputting an image of a defect or damage site.

In addition, in order to achieve the object of the present invention is coupled to the periphery of the camera-mounted exploration apparatus and the support means having a wheel contacting the inner wall while being variable so as to position the camera in the center of the pipeline, coupled to the front of the camera A lens adapter capable of simultaneously acquiring images by transmitting images of the front and orthogonal walls of the pipeline to the camera, and dividing each image simultaneously received from the camera into a front and inner wall image through a data processing device. The present invention provides a front and side simultaneous video output device in a tube, characterized in that the display and drawing can be acquired and output as an image.

Hereinafter, with reference to the accompanying drawings in detail as follows.

1 is a perspective view of the front and side simultaneous image output apparatus in the tube according to the present invention, Figure 2 is a cross-sectional view of the operation principle of the lens adapter according to the present invention, Figures 8a and 8b is a photographing device is located in the tube Or it shows the front view of the state to collect | recover.

As shown in Fig. 1 and Fig. 8A, the front and side simultaneous image output apparatus in the pipe of the present invention includes an exploration apparatus 1, a camera 2 installed in front or rear of the exploration apparatus 1, and the camera. (2) a support means (4) having a lens adapter (3) coupled to the front, a drive device (41) installed at the periphery to move the probe (1), and the probe (1). It consists of a tow truck (5) for moving into the conduit (6), the camera (3) includes a device for transmitting the captured image data, the inside of the exploration device (1) capable of operating related devices A power controller (not shown) with a battery is built in. It should be noted that the camera 2 of the exploration device 1, the drive device 41 of the support means 4, the towing vehicle 5, etc. can be operated in a conventional wireless or wired manner to which a cable is connected.

As shown in FIG. 2, the lens adapter 3 includes a transparent cylindrical case 31 having one end coupled to the front of the camera 2 and extending to a predetermined length, and an inner rear end of the case 31, that is, the camera 2. Of the curved lens 32 disposed on the lens side of the lens 31, a curved or flat reflector 33 disposed on the inner end of the case 31 and corresponding to the curved lens 32, and the reflector 33 It comprises a central lens 34 disposed in the center to look forward.

The case 31 is applied to a fastening method for fixing the focus after matching the focus to the camera 2 through the screw coupling, and to connect in a conventional connection socket or mutual interference fit method of the other pipe connection method. do. In addition, the case 31 is formed of a glass having excellent transparency so that the image of the inner wall of the conduit 6 can be transferred to the curved lens 32 disposed inside, and the synthetic resin tube can be easily processed and handled. Can also be used.

The curved lens 32 forms a curved surface so that the image of the inner wall 6 of the orthogonal direction is incident and then reflected and collected to be transmitted through the lens optical central axis of the final camera 2. As the angle of the curved surface of the curved lens 32 increases or decreases, the size of the image input to the camera 2 is changed.

The reflector 33 reflects the image of the inner wall of the conduit 6 transmitted from the curved lens 32 so that it can be transmitted through the lens optical central axis of the camera 2, and the shape thereof is illustrated in FIGS. 4B and 4A. Formed as a flat or curved surface as shown in the output through the camera 2 in the form of large and small donut (in the form of the donut (inner wall) image data (D), the identification and state identification of the output wall image data (D) and image processing and correction Choose the size that best suits your needs.

The central lens 34 is disposed at the center of the reflector 33 to transmit an image in front of the conduit 6 through the lens optical central axis of the camera 2. In addition, the center lens 34 is a front image data (D) forming a large and small circle in the center as shown in Figs. 4b and 4a after the image is transferred to the camera 2 according to the size of the lens and the angle of the curved surface. ') Is used to indicate.

The lens adapter 3 configured as described above looks at the front of the conduit 6 through the central lens 34 as shown in FIG. 3, and the inner wall of the conduit 6 through the curved lens 32 and the reflector 33. It is observed and transmitted in the orthogonal direction. The projection center of the front image of the conduit 6 transmitted through the central lens 34 and the image transmitted through the curved lens 32 and the reflector 33 is the lens of the camera 2. It is parallel to the center. The image incident through the lens adapter 93 is transmitted to the computer image data processing apparatus 7 through the camera 2 and identified through the screen 8, as shown in FIGS. 4B and 4A. In the center, the image in front of the conduit 6 can be configured so that the image data D of the inner wall of the conduit 6 is respectively or combined in the form of a circumferential ring.

Among the images acquired by the above process, the front circular front image data D 'of the center is used to operate the tow vehicle 5 for movement as shown in FIG. In the case of operating at, by maximizing and observing only the central front image data D ', the role of observation by the conventional front gaze type camera can also be simultaneously performed.

Also, among the images acquired by the above process, the image data D of the inner wall of the pipeline 6 is photographed in the form of a band as shown in FIG. 5, so that the application programs of the image distortion correction technique and the image processing technique are set. The image is converted and expanded through the image data processing apparatus 7 to produce the inner wall of the pipeline 6 as a developed image drawing. In the production of the developed image drawing, the image data D of the inner wall, which is merged with the front image data D ', is cut out and divided into a predetermined portion to develop the image in a date form. In this case, as shown in FIG. 5, the distortion of an image generated outside is corrected by a quadratic equation transformation or a polynomial image transformation, and an inverse static projection technique, which is an inverse technique of a static projection projection in which the same area is transformed into the same area. Then, by unfolding in the form of a strip of date it is possible to accurately determine the current state of the inner wall of the pipeline (6).

As described above, the developed inner wall image data of the inner wall of the conduit 6 processed through the image output device including the lens adapter 3 is determined by the exploration apparatus 1 equipped with the camera 2 at the traveling speed of the tow truck 5. Therefore, the entire inner wall of the pipeline 6 is acquired as an image by acquiring a delay according to a predetermined time difference or distance for each section, and the unit images obtained by processing and correcting the image acquired at each image unit or at each time interval unit are connected. In this way, the image of the inner wall of the conduit 6 is constructed as a whole, and only the necessary portion can be cut out and magnified.

When acquiring image information in the conduit 6 through the image output device, the lens adapter 3 is always located at the center of the conduit 6 so as to obtain an image to minimize errors and distortions. In order to provide a support means (4).

The support means (4) is rotatably connected to the circumferential surface of the exploration device (1) by a hinge method as shown in Figs. 1 and 7 and the wheels 42 are coupled to the other end to form a pair of three. The unit support 43 which is disposed in two places at a predetermined distance, and the wheels 42 of the unit support 43 are in contact with the wall surface of the pipeline 6 to connect the camera 2 and the lens adapter 3 to the pipeline. (6) a drive unit coupled to actuate the disc plate 44 or the connecting rod 45 to be positioned at the center or spaced for recovery or simple movement, and to operate the disc plate 44 or the connecting rod 45; 41 is made. The driving device 41 is selected from one of a hydraulic cylinder, an air cylinder or a reduction motor, and these are operated by being supplied with fluid, air or power from the outside.

As shown in FIG. 8A, the support means 4 has six wheels 42 as the support plate 43 opens outward when the disk plate 44 or the connecting table 45 is moved by the operation of the driving device 41. Is in contact with the inner wall of the conduit 6. The wheel 42 is in contact with the inner wall of the conduit 6 is a state in which the lens adapter (3) is always located in the center of the conduit (6), the best image of the inner wall of the conduit (6) can be obtained have. In the holding state, the exploration apparatus 1 photographs the inner wall while moving the pipeline 6 forward and backward by the tow vehicle 5, and acquires a desired image with minimum error and distortion.

As described above, while the wheel 42 of the support means 4 is in contact with the inner wall of the conduit 6, the image photographing operation of the inner wall and the front of the conduit 6 is terminated, and on the contrary, the driving device 41 is operated to support the support. If the disk 44 or the connecting rod 44 that has been pushed outward 43 is moved backward, the support 43 is retracted as shown in FIG. 8B to move the position of the lens adapter 3 downward and at the same time, the upper wheel. 42 is spaced apart from the inner wall of the conduit 6. In this state, since only the four wheels 42 of the lower two places are in contact with the conduit 6, the state is maintained in a preferable state for feeding and retrieving the exploration apparatus 1.

In the support means 4, the magnitude of the force transmitted to the support 43 with the wheels 42 in accordance with the operation of the drive device 41 is the same, so that the beam axis of the lens adapter 3 by the balance of the force Always located in the center of the conduit (6), and even if there is a deformation of the conduit (6), the balance of force is constantly maintained so that the beam axis of the lens adapter (3) in the center of the conduit (6) is always in front Or the role of observing and photographing orthogonal planes of the same distance of the inner wall of the pipe (6).

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and it is apparent that various modifications and changes can be made without departing from the spirit of the present invention.

As described above, the present invention transmits the image data by recording the front image through the lens adapter coupled to the front of the camera and the image data obtained through the reflection process by observing the inner wall of the conduit in an orthogonal direction. By taking a photographing operation, two image data of the front and the inner wall can be simultaneously acquired and output as one image.

In addition, unlike the fisheye lens or the front gaze-type camera, the image information acquired by centering the photographing position by using the supporting means having a simple structure, as well as the information on the front wall as well as the information on the inner wall of the pipeline without distortion is relatively high As a result, it is possible to provide detailed observation information and visual information in acquiring the inner wall developed image.

In addition, in the process of processing an image, the camera and the image data processing apparatus acquire an image related to the condition of the inner wall of the pipeline which is always constant at a specific portion of the image, so that the image can be easily processed, Even in the case where the ring-shaped inner wall image data is cut out and simply expanded, the inner wall developed image of the pipeline having high accuracy can be easily obtained.

In addition, unlike other conventional systems for capturing the front surface with an angle of about 180 degrees, the image is obtained by dividing the resolution at the necessary part and acquiring the image of the required part of the front part and the part orthogonal to the camera. There is no deterioration in resolution, and the effect of magnifying and observing a part of the required pipe line can be observed.

Claims (7)

A camera mounted on an exploration device that moves the front and the inner wall of the pipeline captures and sends data, displays the data on a screen through an image data processing device of a computer, and judges a moving situation through the displayed image. In the method for outputting the image of the damaged area, An image of the front of the pipeline is input to the front center portion of the lens adapter installed in front of the camera and transmitted to the camera, and the image of the inner wall of the 360 degree pipeline perpendicular to the circumference of the lens adapter is incident on the side of the lens adapter and then reflected. Each image received from the camera may be divided into image data and inner wall image data that are forward-looked through a data processing device, and may be simultaneously displayed as one image and obtained as a drawing. Simultaneous output of front and side images in the pipe. The method of claim 1, Among the images input to the image data processing apparatus, the image data that looks forward is represented by a portion corresponding to a circle in the center, and the image data of the inner wall of the duct is configured in the form of a donut represented by an outer ring portion. A simultaneous front and side video output method in a tube, characterized in that the acquisition and display and drawing. The method according to claim 1 or 2, In the process of processing the acquired image data, the image of the center part is enlarged and used to observe the front part in the work process, and the outer ring part corrects and distorts the error and distortion caused by the shooting process and the characteristics of the camera. A method of simultaneously outputting front and side images in a pipe, wherein a developed image or a developed drawing of the entire pipeline can be obtained by correcting and collecting the offset technique. delete A camera mounted on an exploration device that moves the front and inner walls of the conduit by a tow truck, a wheel that is coupled to the periphery of the exploration device equipped with the camera and is variable in contact with the inner wall to position the camera at the center of the conduit; A lens that displays data received from the camera on a screen through an image data processing device of a computer, and is coupled to the front of the camera to transfer an image in front of the camera and an image in an orthogonal inner wall of the duct to the camera to simultaneously acquire an image. An adapter and an apparatus for acquiring and outputting each image such as a moving situation and a defect or damage portion simultaneously received from the camera into a front image and an inner wall image through a data processing apparatus, and displaying and outputting the image as a single image. The lens adapter may include a transparent cylindrical case coupled to the front of the camera, a curved lens disposed at an inner rear end of the case, a curved or planar reflector disposed at an inner end of the case and corresponding to the curved lens. And a central lens disposed at the center of the reflector to look forward, and simultaneously varying three wheels coupled to rotate around the probe equipped with the camera to guide the camera position to the center of the pipeline. Front and side simultaneous video output device in the tube, characterized in that further comprises. The method of claim 5, The support means has one end connected to the circumferential surface of the probe and the other end of the wheel is coupled to form a pair of three unit support that is arranged in two places at a predetermined distance, and the wheel of the unit support on the wall surface of the pipeline And a disk plate or connecting rod which contacts and positions the camera and lens adapter in the center of the conduit or is spaced apart for recovery or simple movement, and a drive unit coupled to operate the disk plate or connecting rod. Front and side simultaneous video output device in the pipe. The method of claim 6, The drive device is a front and side simultaneous image output device in the pipe, characterized in that made of any one of a hydraulic cylinder, an air cylinder or a reduction motor.

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