To facilitate recognition of the direction of a captured image in piping for a tube travel device, even if the tube travel device rotates around the optical axis, when the tube travel device travels in the piping.SOLUTION: A tube inspection system 1 including an imaging part 12 for imaging in piping, posture detection parts 21a, 22 for measuring rotation angle around the optical axis of the imaging part 12, and a tube travel device 10 capable of proceeding in piping, is further provided with a storage section 12b storing a reference axis y that is set for forming a captured image, acquired from the imaging part 12, into an image perpendicular to the optical axis of the imaging part 12, a posture change operation part 21c for calculating the posture change amount θr around the optical axis of the tube travel device 10, from the difference of the reference axis y and the rotation angle around the optical axis of the imaging part 12 detected by the posture detection parts 21a, 22 while the tube travel device 10 is traveling, and a display direction determination part 30c1 for determining the display direction of the captured image so that the display direction of the captured image for the reference axis y becomes constant, on the basis of the posture change amount θr.SELECTED DRAWING: Figure 2
【課題】管内走行装置が配管内を走行する際に、管内走行装置が撮像部の光軸周りに回転しても、管内走行装置に対する配管内の撮像画像の方向を認識し易くする。【解決手段】管内検査システム1は、配管内を撮像する撮像部12と、撮像部12の光軸周りの回転角を計測する姿勢検出部21a,22と、配管内を進行可能な管内走行装置10とを含み、撮像部12から取得した撮像画像を当該撮像部12の光軸と垂直な画像に形成するために設定された基準軸yを記憶する記憶部12bと、基準軸yと管内走行装置10の走行時における姿勢検出部21a,22で検出した撮像部12の光軸周りの回転角との差分から、管内走行装置10の光軸周りの姿勢変化量θrを演算する姿勢変化演算部21cと、姿勢変化量θrに基づいて、基準軸yに対する撮像画像の表示方向が一定となるように当該撮像画像の表示方向を決定する表示方向決定部30c1とを備える。【選択図】図2
TUBE INSPECTION SYSTEM
管内検査システム
2019-08-22
Patent
Electronic Resource
Japanese
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B61B RAILWAY SYSTEMS , Eisenbahnanlagen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
NTRS | 1978
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Emerald Group Publishing | 1990
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