WO1996030719A1 - Appareil d'observation de la surface interieure d'une conduite - Google Patents
Appareil d'observation de la surface interieure d'une conduite Download PDFInfo
- Publication number
- WO1996030719A1 WO1996030719A1 PCT/JP1996/000782 JP9600782W WO9630719A1 WO 1996030719 A1 WO1996030719 A1 WO 1996030719A1 JP 9600782 W JP9600782 W JP 9600782W WO 9630719 A1 WO9630719 A1 WO 9630719A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- scanner
- data
- sewer
- image
- distance
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
Definitions
- the present invention relates to an apparatus for observing the inner wall surface of a sewer such as a water pipe or a sewer pipe.
- fume pipes, ceramic pipes, and iron pipes are used for sewers such as water pipes and sewer pipes buried underground. These pipes will be eroded by corrosive gas such as hydrogen sulfide and deposits, running water in the pipes, etc., due to long-term use. In addition, seams between pipes shift due to ground pressure or land subsidence, and gaps are formed, and deformation or cracking force is generated in part of the pipes due to overload. For this reason, it is necessary to determine that groundwater, etc., can enter the sewer from this part, or that water flowing in the sewer leaks into the ground.
- corrosive gas such as hydrogen sulfide and deposits
- running water in the pipes, etc. due to long-term use.
- seams between pipes shift due to ground pressure or land subsidence, and gaps are formed, and deformation or cracking force is generated in part of the pipes due to overload. For this reason, it is necessary to determine that groundwater, etc., can enter the sewer from this part, or that water flowing in the sewer leaks into the ground.
- TV camera As a tool to observe the wall inside the sewer completely and continuously.
- a TV camera is inserted into the sewer, and while monitoring with a video monitor, it is self-propelled by remote control or towed by a cable to photograph the inner peripheral wall of the sewer.
- the video of the inner wall of the sewer obtained by the TV camera is recorded on a video recorder and later played back to investigate damage such as crushing, cracking, and sinking.
- the borehole scanner hangs a cable down the boring hole, projects the hole wall around 360 ° as an image, and observes the condition of the ground (see Japanese Patent Application Laid-Open No. Sho 60-54467).
- This, borehole scanner Is suspended by a cable, the direction of light reception is always undefined, but the direction of movement is limited to the vertical direction in the ground. Therefore, in the continuous development scanning image of the hole wall surface, the scanning image of each round is always recorded from the time when the direction of the light reception of the scanner reaches a specific reference position, for example, the N pole, and these are sequentially recorded in the vertical direction. It is created by combining them continuously.
- the present invention relates to the continuous and continuous measurement of dark and difficult-to-observe inner wall surfaces in pipes such as water pipes and sewer pipes that run vertically and horizontally in the ground and tilt or meander, based on accurate position measurement. The purpose is to make it possible to observe it. Disclosure of the invention
- the configuration of the sewer inner wall surface observation device of the present invention is as follows.
- the reflected light obtained by illuminating the entire circumference of the inner wall of the sewer is received and photoelectrically converted and
- a scanner for outputting image data a moving means for moving the inside of the sewer by supporting the scanner along the central axis of the sewer, and a distance for outputting distance data by measuring a moving distance of the scanner.
- Measuring means attitude measuring means for measuring the inclination of the three axes of the scanner to output an attitude data; recording means for synchronizing and recording the image data, the distance data and the ⁇ data; A continuous reading and developing image creating and displaying means for aligning the starting points of the images indicated by the posture data and continuously arranging the image data to create and display a continuous developing image of the inner wall surface of the culvert; And a three-dimensional movement trajectory image creation display means for creating and displaying a three-dimensional movement trajectory image of the scanner based on the data and the posture data.
- the scanner receives reflected light obtained by irradiating the entire circumference of the inner wall of the sewer, performs photoelectric conversion, and outputs image data of the inner wall surface of the sewer.
- the moving means moves the inside of the sewer while supporting the scanner along the central axis of the sewer.
- the distance measuring means measures a moving distance of the scanner and outputs distance data.
- the posture sensor outputs the posture data by measuring the inclination of the three axes of the scanner.
- the recording means records the image data, the distance data, and the attitude data in synchronization.
- the continuously-developed image creation / display means creates and displays a continuously-developed image of the inner wall surface of the sewer by aligning the image data starting points indicated by the posture data and continuously arranging the image data.
- the three-dimensional movement trajectory image creation and display means creates and displays a three-dimensional movement trajectory image of the scanner based on the distance data and the posture data.
- FIG. 1 is a sectional view of an embodiment of the present invention.
- FIG. 2 is a sectional view of a scanner according to an embodiment of the present invention.
- FIG. 3 is a development view of the inner wall surface of the pipe according to the embodiment of the present invention.
- FIG. 4 is a columnar projection of the inner wall surface of the pipe according to the embodiment of the present invention.
- Figure 5 shows the book It is a figure showing the meandering state of the sewer of the example of the invention.
- FIG. 6 is a diagram showing a gradient state of a pipe according to the embodiment of the present invention.
- FIG. 7 is a sectional view of an embodiment of the present invention.
- FIG. 8 is a plan view showing the state of burial of a sewer according to an embodiment of the present invention.
- FIG. 1 is an explanatory sectional view of a main part of an example of the present invention.
- 1 is a sewer buried underground, such as a sewer pipe, which is in communication with a manhole.
- the culvert inner wall observing device 3 for observing the inner wall 1a of the culvert 1 includes a scanner 4, a moving device 5 supporting the scanner 4 and moving in the culvert, and a scanner 4 attached to the moving device 5 for the scanner 4.
- the scanner 4 and the moving device 5 are connected to the control device 8 by a cable 11.
- the moving device 5 has a traveling portion 5a that is driven and controlled by the control device 8 via the cable 11 so that the central axis a of the scanner 4 coincides with the central axis b of the inner diameter of the sewer 1;
- the position of the scanner 4 is supported in an adjustable manner.
- FIG. 2 is a schematic cross-sectional view of the scanner 4.
- the scanner 4 has a substantially cylindrical outer shape, and incorporates a light source 4a, a reflecting mirror 4b, a photoelectric converter 4c, and a data transfer device 4d in this order from the front end side.
- a window 4e is provided at a position facing the reflecting mirror 4b.
- the pipe wall inner wall observing device 3 is configured as described above. When observing the wall 1 a of the pipe 1, first, the scanner 4 supported by the moving device 5 is inserted into the pipe 1. Then, while rotating the reflecting mirror 4b of the scanner 4 in accordance with an instruction from the control device 8, the traveling unit 5a of the moving device 5 is moved along the central axis b in the conduit 1 by rotating.
- the light emitted from the light source 4a of the scanner 4 is reflected by the rotating reflecting mirror 4b and the window Irradiate the entire inner wall 1a of the culvert 1 through 4e.
- the light applied to the inner wall surface 1a reflects the state of the inner wall surface 1a, damage such as pylon, cracks, and depressions, and enters the reflecting mirror 4b as reflected light.
- This reflected light is once converted into an electric signal by the photoelectric converter 4c.
- This electric signal is further converted into a digital signal by the data unit 4d, and sent to the control unit 8 of the remote controller via the cable 11.
- the distance sensor 6 measures the moving distance of the scanner 4 based on the extension amount of the cable 11.
- the attitude sensor 7 measures the attitude of the scanner 4 using a three-axis gyro at a roll angle, a pitch angle, and a single angle. These distance data and posture data displaced with the movement of the scanner 4 are sequentially sent to the control unit 8 of itlh via the cable 11. The distance data and the attitude data sent to the control device 8 are recorded in the recording device 9 in synchronization with the image data output from the scanner 4.
- the control device 8 creates a continuously developed image of the inner wall surface 1a of the culvert 1 based on the distance data, the attitude data, and the image data transmitted by the cable.
- the roll angle (rotation angle of the axis of the scanner 4) of the attitude data is used to know the position of the image data obtained by the scanner 4. That is, since the scanner 4 itself may rotate during observation, the starting point of the image start may also move.
- the roll angle tells the position of the starting point of the image data, so that the starting point of the image data indicated by the portal angle is aligned, and the image data is sequentially and sequentially aligned. Create a continuous expanded image of 1a.
- FIG. 3 shows the inner wall 1a of the sewer 1 in a planar view, showing damage such as complicated conglomerate a1, narrow annular crack a2, large crack a3, and depression a4. Can be understood.
- FIG. 4 is a projection of FIG. 3 in a cylindrical shape.
- the movement trajectory of the scanner 4 is obtained from the distance data and the attitude data of the scanner 4.
- the roll angle, the pitch angle, and the yaw angle change are integrated by the unit distance of the movement distance to find the position of the scanner 4 for each unit distance, and the movements of the scanner 4 are obtained by connecting them.
- the meandering state of the sewer 1 shown in FIG. 5 and the gradient state shown in FIG. 6 can be displayed from this movement locus.
- the burial status of the sewer 1 shown in FIG. 8 can be displayed in a map-like form.
- 1 is a sewer such as a sewer pipe
- 2 is a manhole
- 13 is a mounting pipe described later.
- FIG. 7 is an explanatory sectional view of a main part of an embodiment using the towing type moving device 5.
- reference numeral 13 denotes an installation pipe having one end opened to a sewer 1 such as a sewer pipe buried underground, and the other end opened to a ground intake Wl4.
- the moving device 5 is provided with a plurality of legs called spring redders 12 radially.
- the spring redder 12 includes a spring 12a and a roller 12b attached to the tip of the spring 12a.
- the spring leg 12 supports the scanner 4 such that the central axis a of the scanner 4 and the central axis b of the inner diameter of the sewer 1 coincide.
- the tow-type moving device 5 is configured as described above, and can move without slipping even in a steep culvert such as the mounting pipe 13. Industrial applicability
- the scanner always supports the scanner along the center axis of the sewer, and measures the position and attitude of the scanner not only vertically but also vertically, horizontally, and diagonally in a three-dimensional space.
- the inner wall of the culvert is displayed as an image.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Remote Sensing (AREA)
- General Health & Medical Sciences (AREA)
- Water Supply & Treatment (AREA)
- Public Health (AREA)
- Radar, Positioning & Navigation (AREA)
- Hydrology & Water Resources (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Multimedia (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Astronomy & Astrophysics (AREA)
- Optics & Photonics (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Sewage (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU50160/96A AU707609B2 (en) | 1995-03-27 | 1996-03-26 | Device for observing the inner wall surface of a duct such as a water supply duct or sewage duct |
EP96906950A EP0831299A4 (en) | 1995-03-27 | 1996-03-26 | DEVICE FOR OBSERVING THE INTERNAL WALL SURFACE OF A TUBE |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7093065A JPH08262332A (ja) | 1995-03-27 | 1995-03-27 | 管渠内壁面観測装置 |
JP7/93065 | 1995-03-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996030719A1 true WO1996030719A1 (fr) | 1996-10-03 |
Family
ID=14072120
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1996/000782 WO1996030719A1 (fr) | 1995-03-27 | 1996-03-26 | Appareil d'observation de la surface interieure d'une conduite |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP0831299A4 (ja) |
JP (1) | JPH08262332A (ja) |
KR (1) | KR100386737B1 (ja) |
AU (1) | AU707609B2 (ja) |
CA (1) | CA2216800A1 (ja) |
TW (1) | TW306968B (ja) |
WO (1) | WO1996030719A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2968021A1 (fr) * | 2010-11-25 | 2012-06-01 | Structure Et Rehabilitation | Procede et dispositif pour analyser la partie basse d'un egout |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004509321A (ja) * | 2000-05-30 | 2004-03-25 | オーヨー コーポレーション,ユーエスエー | パイプラインの欠陥を検出する装置および方法 |
WO2003076842A1 (en) * | 2002-03-13 | 2003-09-18 | Borealis Technology Oy | Apparatus and method for testing pipes |
JP4293862B2 (ja) * | 2002-07-22 | 2009-07-08 | 株式会社キュー・アイ | 管路調査システム |
JP2007205956A (ja) * | 2006-02-03 | 2007-08-16 | Raito Kogyo Co Ltd | 内部検査装置 |
JP5337340B2 (ja) * | 2006-11-29 | 2013-11-06 | アイレック技建株式会社 | 管路点検システム |
JP5264623B2 (ja) * | 2009-06-05 | 2013-08-14 | 日鐵住金建材株式会社 | 立坑内壁調査用計測器の固定装置 |
US9372158B2 (en) | 2012-08-24 | 2016-06-21 | Jennison Corporation | Projection laser profiler |
DE102012022489B4 (de) | 2012-11-19 | 2022-11-17 | Jt Elektronik Gmbh | Vorrichtung für die Kanalinspektion mit einer Stereokamera |
JP6322787B2 (ja) * | 2013-12-20 | 2018-05-16 | 国土交通省近畿地方整備局長 | 管状構造物の計測装置及び評価方法 |
CN110656927B (zh) * | 2019-08-26 | 2021-06-18 | 中国矿业大学 | 一种基于钻孔电视的裂隙影像测量方法 |
KR102529091B1 (ko) * | 2020-08-28 | 2023-05-03 | 한국로봇융합연구원 | 배관 결함 분석 장치 및 방법 |
KR102306056B1 (ko) * | 2020-10-26 | 2021-09-28 | 주식회사 한국지중정보 | 하수 관거 내부 손상 영역의 크기 측정 방법 및 장치 |
KR102497555B1 (ko) * | 2021-08-26 | 2023-02-07 | 한국로봇융합연구원 | 3차원 맵을 활용한 mfl 방식의 배관 검사 로봇을 이용한 결함 분석 장치 및 방법 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS58223113A (ja) * | 1982-06-22 | 1983-12-24 | Koa:Kk | ボアホ−ルスキヤナ− |
JPS61126292A (ja) * | 1984-11-20 | 1986-06-13 | 清水建設株式会社 | ボアホ−ル・スキヤナ−・ハ−ドコピ−装置 |
JPS61186693A (ja) * | 1985-02-13 | 1986-08-20 | 清水建設株式会社 | ボアホ−ル孔壁観測方法 |
JPH01121492A (ja) * | 1987-10-30 | 1989-05-15 | Shimizu Corp | ボアホールスキャナー |
JPH01308906A (ja) * | 1988-06-07 | 1989-12-13 | Central Res Inst Of Electric Power Ind | 高耐熱深部型ボアホールスキャナ装置 |
JPH0254086A (ja) * | 1988-08-12 | 1990-02-23 | Shimizu Corp | ボアホールスキャナー |
JPH02101283A (ja) * | 1988-10-04 | 1990-04-13 | Shimizu Corp | ボアホール壁面観測装置 |
JPH02157391A (ja) * | 1988-12-07 | 1990-06-18 | Central Res Inst Of Electric Power Ind | ボアホール壁面観測装置 |
JPH0310287U (ja) * | 1989-06-16 | 1991-01-31 | ||
JPH03100613A (ja) * | 1989-09-14 | 1991-04-25 | Koa:Kk | ボアホール壁全周有視差画像撮影装置 |
Family Cites Families (4)
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JPH067068B2 (ja) * | 1985-07-22 | 1994-01-26 | 清水建設株式会社 | 色調検層装置及びそれを用いる検層方法 |
JPH0251048A (ja) * | 1988-08-12 | 1990-02-21 | Koa:Kk | トンネル壁面観察装置 |
JPH02146494A (ja) * | 1988-11-25 | 1990-06-05 | Shinagawa Refract Co Ltd | 筒状体内部観察装置 |
EP0710351A4 (en) * | 1993-07-20 | 1996-11-20 | Commw Scient Ind Res Org | CONDUIT INSPECTION SYSTEM |
-
1995
- 1995-03-27 JP JP7093065A patent/JPH08262332A/ja not_active Withdrawn
-
1996
- 1996-03-08 TW TW085102842A patent/TW306968B/zh active
- 1996-03-26 AU AU50160/96A patent/AU707609B2/en not_active Ceased
- 1996-03-26 WO PCT/JP1996/000782 patent/WO1996030719A1/ja active IP Right Grant
- 1996-03-26 EP EP96906950A patent/EP0831299A4/en not_active Withdrawn
- 1996-03-26 KR KR1019970706735A patent/KR100386737B1/ko not_active IP Right Cessation
- 1996-03-26 CA CA002216800A patent/CA2216800A1/en not_active Abandoned
Patent Citations (10)
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---|---|---|---|---|
JPS58223113A (ja) * | 1982-06-22 | 1983-12-24 | Koa:Kk | ボアホ−ルスキヤナ− |
JPS61126292A (ja) * | 1984-11-20 | 1986-06-13 | 清水建設株式会社 | ボアホ−ル・スキヤナ−・ハ−ドコピ−装置 |
JPS61186693A (ja) * | 1985-02-13 | 1986-08-20 | 清水建設株式会社 | ボアホ−ル孔壁観測方法 |
JPH01121492A (ja) * | 1987-10-30 | 1989-05-15 | Shimizu Corp | ボアホールスキャナー |
JPH01308906A (ja) * | 1988-06-07 | 1989-12-13 | Central Res Inst Of Electric Power Ind | 高耐熱深部型ボアホールスキャナ装置 |
JPH0254086A (ja) * | 1988-08-12 | 1990-02-23 | Shimizu Corp | ボアホールスキャナー |
JPH02101283A (ja) * | 1988-10-04 | 1990-04-13 | Shimizu Corp | ボアホール壁面観測装置 |
JPH02157391A (ja) * | 1988-12-07 | 1990-06-18 | Central Res Inst Of Electric Power Ind | ボアホール壁面観測装置 |
JPH0310287U (ja) * | 1989-06-16 | 1991-01-31 | ||
JPH03100613A (ja) * | 1989-09-14 | 1991-04-25 | Koa:Kk | ボアホール壁全周有視差画像撮影装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0831299A4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2968021A1 (fr) * | 2010-11-25 | 2012-06-01 | Structure Et Rehabilitation | Procede et dispositif pour analyser la partie basse d'un egout |
Also Published As
Publication number | Publication date |
---|---|
JPH08262332A (ja) | 1996-10-11 |
CA2216800A1 (en) | 1996-10-03 |
AU707609B2 (en) | 1999-07-15 |
KR100386737B1 (ko) | 2003-08-14 |
TW306968B (ja) | 1997-06-01 |
EP0831299A1 (en) | 1998-03-25 |
EP0831299A4 (en) | 1999-09-22 |
AU5016096A (en) | 1996-10-16 |
KR19980703330A (ko) | 1998-10-15 |
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