WO1997044958A1

WO1997044958A1 - Bored wall surface observation apparatus

Info

Publication number: WO1997044958A1
Application number: PCT/JP1997/001719
Authority: WO
Inventors: Yoshitaka Matsumoto; Osamu Murakami
Original assignee: Core Corp.
Priority date: 1996-05-23
Filing date: 1997-05-22
Publication date: 1997-11-27
Also published as: AU2791597A; CA2255820A1; AU715836B2; JPH09312835A

Abstract

An apparatus for displaying an all-around development image of a bored wall surface not only by a still image but also by a dynamic image by carrying out coordinate transformation at a high speed when the wall surface of a hole made by boring or a hole through which underground water flows is photographed and then developed into an all-around image. The digitalized image data are stored in each frame of an image memory by a memory data controller, and the data in odd-number fields and even-number fields of the image memory are read out alternately many times at a rate of 60 fields per second by a read memory address controller in accordance with vertical and horizontal synchronizing signals. During this time, the image data are read spirally by controlling a coordinate transformation table with reference to the directional data on the photographed image outputted from a direction indicator. The image data developed into a square diagram are converted into analog signals by a D/A converter, and picture signals are outputted through a RGB matrix circuit.

Description

Specification

Hole wall observation device Technical field

When constructing a dam or excavating an underground cavity, drill a borehole and conduct a geological survey of the construction site. The present invention relates to an apparatus for observing a hole wall surface, such as a borehole or a sewer pipe, which captures the wall surface of an underground hole and develops the image into an entire circumference image. Background art

Boring holes and sewer pipes are deformed or cracked on a part of the hole wall due to ground pressure or land subsidence, etc., from which they penetrate groundwater or other pores, or runoff leaks into the ground. Sometimes.

For this reason, it is important to closely observe the state of the borehole and the sewer pipe wall surface to accurately detect the location of the leak. Conventional observation equipment displayed observation data only with still images, so fl ^ It was difficult to find water leaks on the wall.

The hole wall surface observation device of the present invention performs a high-speed coordinate transformation when photographing a hole wall surface such as a borehole or a sewer pipe and developing the image into an omnidirectional image, so that the developed image around the hole wall surface can be obtained only with a still image. The purpose of this is to make it easier to recognize and recognize the situation inside a moving hole such as water leakage by displaying it in a moving image. Disclosure of the invention

The configuration of the present invention is as follows.

An illumination device that illuminates the entire circumferential direction of the hole wall surface,

A video camera that includes wide-angle imaging means and captures an image of the entire circumference of the hole wall surface illuminated by the lighting device from one viewpoint at a time, An azimuth meter that detects the direction of the video camera and outputs azimuth data of the captured image; Storage means;

Image data reading means for reading the entire circumference image data stored in the image memory with reference to the azimuth data in a spiral for each field;

Image data developing means for converting all-around image data read from the image memory with reference to a coordinate conversion table into expanded image data for each field;

Moving image display means for performing DZA conversion on the expanded image data for each field and outputting a video signal of a moving image;

With

An apparatus for observing a hole wall surface, wherein an entire circumference image of the hole wall surface captured by the video camera is converted into a developed image and displayed as a moving image. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a configuration diagram of a hole wall surface observation device of the present invention. FIG. 2 is an internal configuration diagram of the probe. FIG. 3 is an example of a captured image of a hole wall surface. FIG. 4 is a schematic projection view of a convex conical mirror. FIG. 5 is a schematic diagram of photographing of a wide-angle lens. FIG. 6 is a block diagram of the processing device. FIG. 7 is a schematic diagram of digitized image data. FIG. 8 is an interlaced scanning line diagram. FIG. 9 is a schematic diagram of a developed image around the hole wall surface. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a configuration diagram of a hole wall surface observation device embodying the present invention.

5 The hole wall observation device consists of a probe 1 that observes the hole wall surface, a wire 2 that suspends the probe 1, a winch 3 that pulls the wire 2, and moves the probe 1 up and down. Cable 4 for transmitting observation data 1) Processing unit 5 for inputting observation data of probe 1 for image processing, Display unit 6 for displaying the image processing result of processing unit 5 on the TV screen, Processing unit And a storage device 7 for storing image processing results.

FIG. 2 shows an internal configuration diagram of the probe 1. The probe 1 is composed of a video camera 1 1 that captures an image of the entire circumference of the submerged wall, a control device 12 that is connected to the video camera 11 and controls the video camera 1], and a video camera 11 A compass 13 that detects the direction of 1 and outputs the orientation data of the captured image, an illumination lamp 14 that is attached to the outer periphery of the video camera 11 and illuminates the entire circumference of the hole wall, and a video camera It is composed of a convex circular mirror 15 as a wide-angle photographing means, which is arranged in front of the optical axis 1 and projects the entire peripheral image of the hole wall surface irradiated by the illumination lamp 14 on a mirror surface.

With the above configuration, the probe wall observation device of the present invention inserts the probe 1 into the hole and illuminates the entire circumference of the hole wall with the illumination lamp 14.

As a result, as shown in FIG. 3, a donut-shaped 360 ° -direction image of the entire circumference is reflected on the mirror surface of the convex conical mirror 15, which is photographed by the video camera 11.

In the figure, a indicates a diagonal crack formed on the hole wall, b indicates a horizontal crack, and c indicates a vertical crack.

The entire circumference image reflected on the mirror surface of the convex conical mirror 15 appears to contract toward the center of the image when descending in the probe 1 force hole.

FIG. 4 shows a schematic projection view of the convex conical mirror 15.

The convex conical mirror 15 is trapezoidal when viewed from the side, and its mirror surface is inclined by 45 °, and the light reflected on the mirror surface of the convex conical mirror 15 turns 90 ° and converges on the lens surface of the video camera 11.

As a result, the video camera 11 can take an image of the entire circumference of the hole wall in the range r in the figure at once from one viewpoint.

In order to photograph the entire circumference image of the hole wall surface from one viewpoint at a time, as shown in FIG. In this case, the image range captured by the video camera 11 is the range r in the figure. FIG. 6 shows a block diagram of the processing device 5 for processing the observation data of the probe 1. The processing device 5 decomposes the video signal of the video camera 11 into R, G, and B signals by an RGB decoder 51, and converts it into digital image data by an AZD converter 52. The digitized image data is stored in the image memory 54 for each frame by the write memory data controller 53 as a collection of pixels as shown in FIG.

In the NTSC system, a screen composed of 262.5 lines is transmitted 60 frames per second, and the second image scanning line is swept between the scanning lines of the first image. (Interlaced scanning).

FIG. 8 shows a scanning diagram of this interlaced system.

The interlaced method displays a screen (one frame) with 525 scanning lines by combining two fields, an odd field shown on the left side of the figure and an even field shown on the right side.

In other words, this method draws 22.5 lines in the first 1/60 seconds, 22.5 lines in the next 1Z60 seconds, and completes 52.5 lines in these two times Screen.

When image data for one field is stored in the image memory 54, the contents of the image memory 54 are read out by the readout memory address controller 55 at a rate of 6 times per second in accordance with the vertical and horizontal synchronization signals for each field. The data of the odd field and the even field are alternately read many times at a speed of 0 times.

The reading of the image memory 54 is performed before the next frame updates the previous frame, that is, every 1/30 second per cycle.

At this time, the image data is spirally read out under the control of the coordinate conversion table 56 while referring to the azimuth data of the captured image output from the compass 13.

The reason why the image data is read in a spiral shape is that the scanning line on the TV screen is inclined as shown in FIG. 81¾.

By reading out the image data according to the inclination of the scanning line, it is displayed on the TV screen. To correct the misalignment when displaying, and display a high-fidelity screen.

The image of the hole wall surface read in a spiral shape becomes a trapezoidal figure due to the difference between the inner and outer circumferences, and is corrected by the coordinate conversion table 56 performed simultaneously with the reading of the image data. Convert to and expand.

Then, the image data developed into the rectangular figure is converted into an analog signal by the D / A converter 57, and the video signal is output through the RGB matrix circuit 58.

When the probe 1 is lowered at a constant speed, the position of the convex circular mirror 15 also changes every moment. Therefore, when the entire circumference image of the hole wall reflected on the mirror surface of the convex conical mirror 15 captured by the video camera 11 is processed at high speed and coordinate-transformed for each frame, the result is that the continuous hole wall The entire circumference developed image is displayed as a moving image.

If such a moving image looks like a three-dimensional image with depth rather than a two-dimensional image, it is easier to see.

Therefore, an example in which the entire circumference developed image of the hole wall surface is displayed as a three-dimensional moving image will be described next. In this example, one video camera is moved, and a stereoscopic image is obtained from images at two positions before and after the movement.

Each time the video camera 11 moves a fixed distance (for example, l mm), one frame of image data is stored in the image memory 54 as a set of pixels shown in FIG. The moving distance of the video camera 11 is measured by a rotary encoder (not shown) attached to the winch 3, and the pulse generated by the rotary encoder is used as a trigger to write. The image data 54 is controlled by the memory data controller 53, The image data is written to the image memory 54 and stored.

The image memory 54 stores all image data to be taken while moving the video camera 11 at a distance equal to the distance between both eyes. For example, when the distance between both eyes is 65 mm, one frame of image data is stored every time the video camera 11 moves 1 mm, and at least 65 frames of image data are stored at a time.

The write memory data controller 53 stores images stored in the image memory 54 at once. The image memory 54 is controlled so that the image data newly stored is added to the oldest image data every time the video camera 11 moves while the number of image data is kept constant. When the image data is stored in the image memory 54 in this manner, the position interval between the newly added image data and the oldest image data is always equal to the binocular interval. The image data stored in the image memory 54 is stored in the image memory 54 by the memory address controller 55 in accordance with the vertical and horizontal synchronizing signals for each field in the same manner as in the previous embodiment. The data of the odd and even fields are alternately read many times at a rate of 60 times per second.

At that time, the reading of the image memory 54 is performed by alternately switching the read address, assembling the image data to be newly added and the oldest image data, and reading them alternately in a time-division manner. At this time, the interval between the binocular parallaxes can be arbitrarily adjusted by changing the readout address of the left and right image data to be combined.

If the video camera 11 moves vertically as in the case of bowling moss, the two images, the newest image and the oldest image in the image memory 54, are rotated 90 degrees each and turned sideways. Then, right and left parallax images are obtained.

The stereoscopic image reproduces a space with depth before and after the display surface by separately presenting two 2D images with binocular disparity to the left and right eyes.

For this reason, in general, left and right parallax images are simultaneously presented on a CRT for the left and right eyes or a liquid crystal display to display a stereoscopic image.

It is known that a stereoscopic image can be stereoscopically viewed even if the left and right parallax images are not completely simultaneous and have a time delay of about 10 Omsec or less. In the NTSSC method, 60 images are presented per second, so each image is presented approximately every 16.7 msec. Therefore, the left and right parallax images are alternately displayed on a single TV screen in a time-sharing manner, and the stereoscopic vision is made possible by observing the TV screen with shutter glasses that alternately open and close the left and right eyes. Become.

In addition, the left and right sides displayed on one TV screen using complementary colored glasses or polarized glasses The parallax images may be separately presented.

In this way, if the entire circumference image of the hole wall surface can be stereoscopically viewed, the depth of the hole wall surface can be known, so that the state of the hole wall surface can be grasped more realistically than with the conventional device, and it is difficult to find in the past. However, there is an advantage that a problem spot such as a crack formed on the hole wall surface can be easily found. Industrial applicability

The hole wall surface observation device of the present invention performs high-speed coordinate conversion when photographing a hole wall surface such as a boring hole or groundwater and developing the image into a full-circumference image, so that not only a still image but also a moving image Display as an image.

In addition, by reading the image data spirally in accordance with the inclination of the scanning line of the TV screen, the position shift is corrected and a high-fidelity screen is displayed.

Therefore, according to the present invention, it is possible to easily find a moving leaking point and the like, and also to accurately recognize and recognize the position on the screen.

Claims

The scope of the claims

1. A lighting device that illuminates the entire circumference of the hole wall,

A video camera including wide-angle photographing means and photographing the entire peripheral image of the hole wall surface illuminated by the lighting device from one viewpoint at a time,

An azimuth meter that detects the direction of the video camera and outputs azimuth data of a captured image; and an image data storage that performs AZD conversion of a video signal of an all-around image captured by the video camera and stores it in an image memory for each frame. Means,

Image data reading means for reading the entire circumference image data stored in the image memory in a spiral manner for each field with reference to the azimuth data,

Image data expanding means for converting all-around image data read from the image memory with reference to a coordinate conversion table into expanded image data for each field;

Moving image display means for performing D / A conversion of the self-developed image data for each field and outputting a video signal of the moving image;

With

A perforated wall surface observation apparatus, which converts a perimeter image of a perforated wall surface captured by the video camera into a developed image and displays a moving image.