JP6496123B2 - Imaging device for the inner wall of a hollow building - Google Patents

Imaging device for the inner wall of a hollow building Download PDF

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JP6496123B2
JP6496123B2 JP2014226565A JP2014226565A JP6496123B2 JP 6496123 B2 JP6496123 B2 JP 6496123B2 JP 2014226565 A JP2014226565 A JP 2014226565A JP 2014226565 A JP2014226565 A JP 2014226565A JP 6496123 B2 JP6496123 B2 JP 6496123B2
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photographing
hollow building
gondola
wall surface
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JP2016092654A (en
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圭三 西川
圭三 西川
昌宏 花野
昌宏 花野
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Metawater Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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Description

本発明は、焼却炉などの中空建造物の内壁面を撮影する装置に関する。   The present invention relates to an apparatus for photographing an inner wall surface of a hollow building such as an incinerator.

大型の中空建造物の内壁面の状態を調査するためには、中空建造物内に作業員が入って内壁面を詳細に目視する必要があり、そのためには内壁面に沿って足場を組み立てなければならず、多大な労力と費用を必要とした。さらに、内部が劣悪な雰囲気である場合には、足場の組立、解体及び内面壁の調査作業を行う作業員は、その安全を確保するため、防護服及び防護マスクを着用する必要があり、さらなる費用を必要とした。   In order to investigate the condition of the inner wall surface of a large hollow building, it is necessary for an operator to enter the hollow building and observe the inner wall surface in detail. To that end, a scaffold must be assembled along the inner wall surface. It required a lot of labor and expense. Furthermore, when the interior is in a poor atmosphere, workers who perform assembly, dismantling of the scaffolding and investigation of the inner wall must wear protective clothing and a protective mask to ensure its safety. Cost required.

焼却炉のような劣悪な雰囲気内に人が立ち入ることなく外部からの遠隔操作によって炉内の状況を撮影できる焼却炉内撮影システムが提案されている（特許文献1）。
このシステムは、無軌道手段により走行し、上部が水平面で旋回自在に構成された本体を有し、かつ該本体上部の前端部を支軸として垂直方向に回動自在に構成されたアームを有する自走車と、前記自走車のアーム先端近傍に設置され、リモートコントロール装置による操作で周囲の状況を撮影するテレビカメラと、該テレビカメラからの映像信号を映像表示するモニタを備えたものである。 There has been proposed an in-furnace photographing system that can photograph the situation inside the furnace by remote operation from outside without entering a poor atmosphere such as an incinerator (Patent Document 1).
This system travels by trackless means, has a main body whose upper part is configured to be rotatable on a horizontal plane, and has an arm configured to be rotatable in the vertical direction with the front end of the upper part of the main body as a support shaft. A traveling vehicle, a television camera that is installed in the vicinity of the arm tip of the self-propelled vehicle and that captures a surrounding situation by an operation by a remote control device, and a monitor that displays a video signal from the television camera. .

このシステムを利用すれば、焼却炉内の概要を観察することができるが、焼却炉内壁を詳細に調査するためには、できるだけ高精細のテレビカメラを搭載する必要があり、また、焼却炉内壁面全域の撮影をするためには、前記アームの先端部が焼却炉の頂部付近まで伸長可能でなければならならず、装置の大型化が避けられない。   If this system is used, the outline of the incinerator can be observed. However, in order to investigate the inner wall of the incinerator in detail, it is necessary to install a high-definition TV camera as much as possible. In order to photograph the entire wall surface, the tip of the arm must be able to extend to the vicinity of the top of the incinerator, and the size of the apparatus cannot be avoided.

炉内に人が入る代わりに、撮影装置を炉内に挿入して、炉内壁面の画像を得る方法も知られている（特許文献２）。この発明は、幅が狭いコークス炉炭化室内の撮影のため、スリット状視野を撮像して撮像信号を発する撮像装置を炭化室の挿入口から挿入し、前記撮像装置を上下動させて炭化室炉壁の二次元画像を得るものである。この方法によれば、狭い炭化室で撮像装置と壁面との距離を確保し、必要な解像度の画像を得ることができるとされている。
しかし、壁面が平面であるコークス炉炭化室と異なり、三次元的な曲面から構成される円筒状の中空建造物の内壁面の撮影は不可能であり、また、壁面と撮影装置はある程度近接している必要があり広い場所での撮影に係る方法を適用することができない。
さらに、撮影装置と壁面との距離が一定に保持された状態で炭化室内部を上下動させる必要があるため、炭化室上部の装入口付近に大掛かりな昇降装置を設ける必要があった。 There is also known a method of obtaining an image of the inner wall surface of a furnace by inserting a photographing device into the furnace instead of a person entering the furnace (Patent Document 2). In the present invention, for photographing a narrow coke oven carbonization chamber, an imaging device that images a slit-like field of view and emits an imaging signal is inserted from the insertion port of the carbonization chamber, and the imaging device is moved up and down to perform the carbonization chamber furnace. A two-dimensional image of the wall is obtained. According to this method, the distance between the imaging device and the wall surface can be secured in a narrow carbonization chamber, and an image with a necessary resolution can be obtained.
However, unlike a coke oven carbonization chamber with a flat wall surface, it is impossible to photograph the inner wall surface of a cylindrical hollow building composed of a three-dimensional curved surface, and the wall surface and the photographing device are somewhat close to each other. Therefore, it is impossible to apply a method related to shooting in a wide area.
Furthermore, since it is necessary to move the inside of the carbonizing chamber up and down while the distance between the imaging device and the wall surface is kept constant, it is necessary to provide a large lifting device near the charging port at the top of the carbonizing chamber.

炉内壁面を精密に撮影する手段として特許文献３では、撮像手段を炉の上部から１本又は複数本のロープで吊るし、ロープの吊り下げ長さを調節することにより、撮像手段を移動させるとともに、錘やリンク機構を利用して撮像装置を炉壁面に近接させて、精細な画像を得る装置が開示されている。   In Patent Document 3, as a means for precisely photographing the inner wall surface of the furnace, the image pickup means is suspended from one or more ropes from the top of the furnace, and the length of the rope is adjusted to move the image pickup means. An apparatus that obtains a fine image by bringing an imaging device close to a furnace wall surface using a weight or a link mechanism is disclosed.

しかしこの装置で、近接撮影が可能なのは一方向のみであり、錘やリンク機構の繊細な操作を必要とするので、撮像手段が停止し撮影可能な状態になるまで時間がかかってしまうという問題があった。また、ロープが１本の場合、バランスを精密にとらないと錘やリンク機構を利用して撮像装置を移動させると揺れが生じてしまい、精細画像を得ることが困難となる。   However, with this device, close-up photography is possible only in one direction, and delicate operations of the weight and link mechanism are required, so there is a problem that it takes time until the imaging means stops and it becomes ready for photography. there were. In addition, when the number of ropes is one, if the balance is not precisely taken, if the imaging device is moved using a weight or a link mechanism, shaking will occur and it will be difficult to obtain a fine image.

特開２００１−１０８２２６号公報JP 2001-108226 A 特開２００２−２２６８６１号公報Japanese Patent Laid-Open No. 2002-226861 特開２０１０−１６４２６４号公報JP 2010-164264 A

本発明は、焼却炉などの中空建造物の内部に人が入ることなく、中空建造物内壁面を撮影し得るコンパクトな装置を提供することである。   An object of the present invention is to provide a compact device capable of photographing an inner wall surface of a hollow building without entering a hollow building such as an incinerator.

焼却炉のような中空建造物の内壁面の概観をリアルタイムで観察するのであれば、小型のビデオ撮影機が便利であるが、人による目視と同等以上の精密な画像を得るためには、高画素数のカメラを使用する必要がある。このように、撮影手段はその目的に応じて使い分ける必要がある。   A small video camera is convenient if you want to observe in real time an overview of the inner wall of a hollow building such as an incinerator. It is necessary to use a camera with the number of pixels. Thus, it is necessary to use the photographing means properly according to the purpose.

中空建造物内部の任意の場所を撮影するには、撮影手段を装着した撮影ユニットを上下に移動可能とするとともに水平方向に回転可能とする必要があり、撮影手段を装着した撮影ユニットを回転するには、自動回転雲台を利用することが簡便である。カメラやビデオ撮影機を自動回転雲台に装着し方向を変えて撮影するためには回転雲台の回転軸が中空建造物の中心部付近で垂直となるようするとともに、撮影時にカメラやビデオ撮影機がぶれないように雲台の基体部を確実に固定保持する必要がある。   In order to photograph an arbitrary place inside the hollow building, the photographing unit equipped with the photographing means must be movable up and down and can be rotated in the horizontal direction, and the photographing unit equipped with the photographing means is rotated. It is convenient to use an auto-rotating head. In order to mount a camera or video camera on an auto-rotating pan head and change the direction of shooting, the rotating shaft of the pan head is vertical near the center of the hollow building, and the camera or video is shot during shooting. It is necessary to securely fix and hold the base of the pan head so that the machine does not shake.

回転雲台を中空建造物の中心部付近に固定し、かつ回転と上下動可能とするためには、前記中空建造物の中心部に支柱を設置することが考えられるが、中空建造物内に人が入らずに支柱を設置するには、予め中空建造物の全高とほぼ同じ高さの支柱を準備し、これを中空建造物の上部まで持ち上げ、頂部開口から中空建造物の内部に挿入することになるので、煙突のような高層構造物の場合は大掛かりな支柱や昇降装置が必要となる。   In order to fix the rotary head in the vicinity of the center of the hollow building and to be able to rotate and move up and down, it is conceivable to install a column in the center of the hollow building. In order to install the pillars without people entering, prepare a pillar of approximately the same height as the total height of the hollow building, lift it up to the top of the hollow building, and insert it into the hollow building from the top opening Therefore, in the case of a high-rise structure such as a chimney, a large support or lifting device is required.

本発明者は、撮影手段を装着した撮影ユニットを紐状部材で吊り下げれば大掛かりな支柱や昇降手段を必要とせず、撮影手段を装着した撮影ユニットを内部の所定の高さに位置させることができ、撮影手段を、回転雲台を介して撮影ユニットのゴンドラに取り付け、当該ゴンドラに制振装置、例えばジャイロスタビライザーを取り付けることにより、昇降手段のロープのような紐状部材を利用した吊り下げ装置で吊り下げられていても前記撮影手段を装着した撮影ユニットをその位置に固定したかのように確実に安定化させることができることを確認し、本発明に至った。   The present inventor can position the photographing unit with the photographing means at a predetermined height without requiring a large support or lifting means if the photographing unit with the photographing means is suspended by a string-like member. A suspending device that uses a string-like member such as a rope of an elevating means by attaching a photographing means to a gondola of a photographing unit via a rotary head and attaching a vibration control device, for example, a gyro stabilizer to the gondola. It was confirmed that the photographing unit equipped with the photographing means can be reliably stabilized as if it was fixed at that position even if it was suspended by the lens, and the present invention was achieved.

また、一般に中空建造物内は自然光が入りこまないので、その内部を撮影するためには照明が必要であるが、通常の照明手段で撮影した場合、画像の中心部と両端部とでは、明度の差が生じてしまい、内壁面を均等に調査することができない。特に、撮影手段のカメラに魚眼レンズや広角レンズを使用した場合、画像の中心部と両端部との明暗の差がより顕著となるので、得られた複数枚の画像をパノラマ画像に合成した場合、明度にむらが生じてしまうという問題があった。   In general, natural light does not enter the interior of a hollow building, so lighting is necessary to capture the inside of the building. However, when shooting with normal lighting means, the brightness at the center and both ends of the image This causes a difference between them, and the inner wall surface cannot be surveyed evenly. In particular, when a fish-eye lens or a wide-angle lens is used for the camera of the photographing means, the difference in brightness between the center and both ends of the image becomes more prominent, so when a plurality of images obtained are combined into a panoramic image, There was a problem that the brightness was uneven.

上述した明暗むらが生じないよう、本発明者は、均一な照度となる照明方法を試み、照明手段をあえて撮影方向と正反対の方向に向けて照射し、撮影面をすべて間接照明（バウンス照射）としたところ、明度がほぼ均一な画像が得られることが確認できた。この方法では、直接照明の場合と比べ全体の照度は落ちるが、本発明の撮影装置はジャイロスタビライザーの作用で確実に固定されることから、遅いシャッタースピードでもブレなく撮影が可能である。   In order to prevent the above-described uneven brightness, the present inventor tried an illumination method with uniform illuminance, dared to illuminate the illumination means in a direction opposite to the photographing direction, and indirectly illuminated the entire photographing surface (bounce irradiation). As a result, it was confirmed that an image with almost uniform brightness was obtained. In this method, although the overall illuminance is lower than in the case of direct illumination, the photographing apparatus of the present invention is securely fixed by the action of the gyro stabilizer, so that photographing can be performed without blur even at a slow shutter speed.

撮影手段としてビデオ撮影機を併用した場合は、ビデオ撮影機はカメラよりも光量が必要となるので、光源はビデオ撮影機の方向に合わせて設置するのが好ましい。ビデオ撮影機を用いてリアルタイムで画像を観察しながら撮影方向を操作できるので、画面の中心部が鮮明であれば実用上問題がない。   When a video camera is used as the photographing means, the video camera requires a light amount more than that of the camera. Therefore, it is preferable to install the light source according to the direction of the video camera. Since the shooting direction can be controlled while observing the image in real time using a video camera, there is no practical problem if the center of the screen is clear.

本発明の撮影装置を用いれば、焼却炉や、煙突やマンホールなど、頂部に開口を有する垂直な中空建造物であれば、その内壁面の撮影が可能である。   If the imaging device of the present invention is used, the inner wall surface of an incinerator, a chimney, a manhole, or the like can be taken for a vertical hollow building having an opening at the top.

本発明の実施の態様は以下のとおりである。
（１）中空建造物の内壁面を撮影可能な撮影手段と、前記撮影手段が装着可能であり、且つ遠隔操作で回転可能な回転雲台と、前記回転雲台が固定可能であり、且つ制振手段を備えたゴンドラ、から構成される撮影ユニットと、前記ゴンドラに係着して前記撮影ユニットを吊り下げ可能な紐状部材、前記紐状部材によって懸架した前記撮影ユニットを、中空建造物内を上下動させ、且つ所定の位置に保持することが可能な前記紐状部材送出し・引き揚げ手段、から構成される前記撮影ユニットの昇降手段と、前記撮影手段の撮影と前記回転可能な回転雲台の回転を遠隔制御できる遠隔制御手段と、を備える中空建造物の内壁面撮影装置。
（２）撮影手段が、ゴンドラの下面に装着されている（１）の撮影装置。
（３）撮影手段が、カメラである（１）又は（２）の撮影装置。
（４）カメラが水平方向に対し下方に傾斜させて装着した（３）の撮影装置。
（５）前記回転雲台に、前記カメラの撮影方向の反対側の内壁面を照射する照明手段が装着されている（１）ないし（４）の何れかの撮影装置。
（６）前記撮影手段として更にビデオ撮影機が前記回転雲台に装着されている（１）ないし（５）の何れかの撮影装置。
（７）前記紐状部材が、前記ゴンドラに係着した複数のワイヤ状部材と該ワイヤ状部材の他端の結束部に係止されたロープ状部材からなる（１）ないし（６）の何れかの撮影装置。 Embodiments of the present invention are as follows.
(1) A photographing means capable of photographing the inner wall surface of a hollow building, a rotating pan head that can be attached to the photographing means and can be rotated by remote control, the rotating pan head can be fixed, and is controlled. An imaging unit comprising a gondola provided with a vibration means, a string-like member that can be attached to the gondola and can suspend the imaging unit, and the imaging unit suspended by the string-like member are arranged in a hollow building. Elevating and lowering means of the photographing unit composed of the string-like member feeding / lifting means capable of moving the image up and down and holding it in a predetermined position, photographing of the photographing means and rotating rotatable cloud A remote control means capable of remotely controlling the rotation of the table, and an inner wall surface photographing device for a hollow building.
(2) The photographing apparatus according to (1), wherein the photographing means is mounted on the lower surface of the gondola.
(3) The photographing apparatus according to (1) or (2), wherein the photographing means is a camera.
(4) The photographing apparatus according to (3), wherein the camera is mounted while being inclined downward with respect to the horizontal direction.
(5) The photographing apparatus according to any one of (1) to (4), wherein an illumination unit that irradiates an inner wall surface opposite to a photographing direction of the camera is attached to the rotating pan head.
(6) The photographing apparatus according to any one of (1) to (5), wherein a video photographing machine is further mounted on the rotary head as the photographing means.
(7) Any of (1) to (6), wherein the string-like member includes a plurality of wire-like members engaged with the gondola and a rope-like member locked to a binding portion at the other end of the wire-like member. Such a photographing device.

本発明の中空建造物の内壁面を撮影可能な撮影手段は、撮影対象物のサイズや形状によって、選定すればよい。たとえば、直径８ｍ程度の中空建造物であれば、３５ｍｍ一眼レフカメラに８〜３５ｍｍ程度の魚眼レンズ又は広角レンズを組み合わせて撮影することにより、十分な解像度の画像を得ることができる。また、リアルタイムで中空建造物内壁面の概観を観察するのであれば、撮像した画像を送信可能な小型ビデオ撮影機を併用すればよい。ただ、撮影手段は、中空建造物内で撮影するため、遠隔制御可能なものである必要がある。機種によっては、遠隔制御機能を内蔵しているものもあるが、そのような機能を有しない撮影手段の場合は、シャッターやスイッチ部に、遠隔操作可能なアクチュエーターを装着し、中空建造物の外部から撮影を制御できるようにすればよい。以上の遠隔制御は、有線でも可能であるが無線で制御する方がさらに好ましい。   What is necessary is just to select the imaging | photography means which can image | photograph the inner wall surface of the hollow building of this invention with the size and shape of a to-be-photographed object. For example, in the case of a hollow building having a diameter of about 8 m, an image with sufficient resolution can be obtained by photographing a 35 mm single lens reflex camera in combination with a fisheye lens or a wide angle lens of about 8 to 35 mm. In addition, if an overview of the inner wall surface of the hollow building is observed in real time, a small video camera capable of transmitting the captured image may be used in combination. However, the photographing means needs to be remotely controllable in order to photograph inside the hollow building. Some models have a built-in remote control function, but in the case of shooting means that do not have such a function, an actuator that can be remotely operated is mounted on the shutter or switch unit, and the outside of the hollow building It is sufficient to be able to control shooting from the beginning. The above remote control can be performed by wire, but it is more preferable to control by wireless.

また、撮影手段カメラに中空建造物の底部も写し込まれるように、カメラを水平に対し下方に傾斜させて本発明の撮影ユニットの回転雲台本体に取り付けることが好ましく、カメラで撮影ユニットのゴンドラが写し込まれないよう、スペーサーなどを利用して、前記回転雲台自体をゴンドラから離して固定することが好ましい。この場合、ゴンドラ下面にスペーサーを垂下させ、その底面にねじを形成し、回転雲台の基体部のねじ孔に前記ねじを螺着させる。   Further, it is preferable that the camera is tilted downward with respect to the horizontal so that the bottom of the hollow building is also captured on the photographing means camera, and is attached to the rotary head body of the photographing unit of the present invention. It is preferable to fix the rotary head itself apart from the gondola by using a spacer or the like so as not to be imaged. In this case, a spacer is suspended from the bottom surface of the gondola, a screw is formed on the bottom surface, and the screw is screwed into the screw hole of the base portion of the rotary head.

前記のカメラの設置傾斜角度やスペーサーの長さは、ゴンドラの大きさや撮影手段のカメラに装着されるレンズの焦点距離によって異なり、実際に回転雲台に装着されたカメラの視野で確認しながら決めればよい。スペーサーを介して回転雲台を前記ゴンドラから１０ｃｍ程度ゴンドラから離間させることにより、ゴンドラの写し込みが避けられ、カメラを１０〜２０°程度下方に傾斜させることにより、中空建造物の底面の詳細な画像も得る ことができる。この程度の傾斜であれば、水平面の画像の解像度の劣化はほとんどない。   The installation angle of the camera and the length of the spacer vary depending on the size of the gondola and the focal length of the lens mounted on the camera of the photographing means, and can be determined while confirming with the field of view of the camera actually mounted on the rotating pan head. That's fine. By separating the rotary head from the gondola by about 10 cm from the gondola through the spacer, the gondola is prevented from being imprinted, and by tilting the camera downward by about 10 to 20 °, the details of the bottom of the hollow building are detailed. Images can also be obtained. With such an inclination, there is almost no deterioration in the resolution of the horizontal image.

本発明の撮影ユニットの回転雲台は、基体部と本体からなり、本体が基体部に対して回転する。この回転は、遠隔操作で制御可能である必要があり、回転を所定の角度で制御可能な自動回転雲台を使用することが好ましく、無線で制御できるものがさらに好ましい。   The rotating pan / tilt head of the photographing unit of the present invention includes a base portion and a main body, and the main body rotates with respect to the base portion. This rotation needs to be controllable by remote operation, and it is preferable to use an automatic rotary head that can control the rotation at a predetermined angle, and more preferably one that can be controlled wirelessly.

前記撮影手段の撮影制御及び回転雲台の回転制御は、遠隔制御手段によって実現できる。遠隔制御手段は、制御信号を発信することが可能なパソコンやスマートフォンなどが好適に利用できる。この場合、撮影の制御と回転の制御を一つのプログラムに取り込み、前記制御手段を介して実施してもよいし、別々のプログラムによって前記制御手段を介して撮影の制御と回転の制御を別々に実施してもよい。   The photographing control of the photographing means and the rotation control of the rotary head can be realized by a remote control means. As the remote control means, a personal computer or a smartphone capable of transmitting a control signal can be suitably used. In this case, the shooting control and the rotation control may be incorporated into one program and executed via the control unit, or the shooting control and the rotation control may be separately performed via the control unit by different programs. You may implement.

本発明の撮影ユニットの制振手段として、ジャイロスタビライザーが好適に使用できる。ジャイロスタビライザーは1基でも制振作用を発揮するが、撮影手段を取り付けられるゴンドラを水平X-Y方向に安定させるためには、X-Y方向で直交するよう２基配置することが好ましい。さらに、X-Y-Z方向に直交するよう３基用いれば、本発明の昇降手段の紐状部材の伸縮方向の振動も抑えることができる。   A gyro stabilizer can be suitably used as the vibration control means of the photographing unit of the present invention. One gyro-stabilizer exerts a damping effect, but in order to stabilize the gondola to which the photographing means can be attached in the horizontal X-Y direction, it is preferable to arrange two gyro-stabilizers so as to be orthogonal to each other in the X-Y direction. Furthermore, if three groups are used so as to be orthogonal to the X-Y-Z direction, vibration in the expansion and contraction direction of the string-like member of the lifting means of the present invention can be suppressed.

定常運転時４ワット程度のジャイロスタビライザーを２基使用すれば、撮影手段として３５ｍｍ一眼レフカメラでＦ４、１／８秒での撮影が可能である。
また、ジャイロスタビライザーを駆動する電源は、外部から供給するようにしてもよいが、充電式のバッテリーを使用してもよい。 If two gyro-stabilizers of about 4 watts are used during steady operation, it is possible to shoot in F4, 1/8 second with a 35 mm single-lens reflex camera as the photographic means.
The power source for driving the gyro stabilizer may be supplied from the outside, but a rechargeable battery may be used.

本発明の撮影ユニットのゴンドラは、ジャイロスタビライザーからなる制振手段を備えているので、回転雲台の本体が回転してもゴンドラに固定された回転雲台の基体部は静止状態が維持され、回転雲台の本体に取り付けられた撮影手段の向きを精密に変えることができる。   Since the gondola of the photographing unit of the present invention is provided with vibration damping means composed of a gyro stabilizer, the base part of the rotating pan head fixed to the gondola is maintained stationary even when the main body of the rotating pan head rotates. The direction of the photographing means attached to the main body of the rotary head can be changed precisely.

本発明の昇降手段の紐状部材としては、前記ゴンドラの端部に設けた複数の係止具にワイヤを係合させ、これらのワイヤの結束部を一本のロープで構成とすることが好ましい。このような構成によれば、一本のロープでも前記ゴンドラを安定的に水平に保つことが可能となる。   As the string-like member of the lifting and lowering means of the present invention, it is preferable that a wire is engaged with a plurality of locking tools provided at the end of the gondola, and the binding portion of these wires is constituted by a single rope. . According to such a configuration, the gondola can be stably kept horizontal even with a single rope.

前記ゴンドラの係止具と係合させるワイヤは堅牢で伸縮し難いものであれば、種類を問わないが、細くて丈夫な金属製のワイヤが好ましい。
前記ワイヤの結束部に係合するロープは、堅牢で柔軟性があり、且つ伸縮し難い材質のものを使用する必要があり、ナイロン製の登山用ロープが好適に使用できる。 The wire to be engaged with the gondola locking tool is not particularly limited as long as it is robust and difficult to expand and contract, but a thin and strong metal wire is preferable.
The rope that engages with the binding portion of the wire needs to be made of a material that is robust, flexible, and hardly stretchable, and a nylon climbing rope can be suitably used.

本発明の昇降手段の紐状部材送出し・引揚げ手段は、前記ロープを利用し、本発明の撮影ユニットを中空建造物の中心部付近を昇降させるためのもので、前記中空建造物の頂部開口部に渡される梁と、該梁に取り付けられた滑車を含む。本発明においては、中空建造物の頂部開口部に滑車を取り付けた梁を渡し、該滑車に前記ゴンドラを懸架したロープを掛け、該ロープの垂下位置が前記中空建造物の中心部付近となるよう前記梁の位置を調節すればよい。
中空建造物が円筒形の場合、前記紐状部材送出し・引揚げ手段によって、本発明の撮影ユニットがほぼ建造物の中心軸に沿って中空建造物の中に吊り降ろせば、当該撮影ユニットのゴンドラの中心部に固定した回転雲台の回転軸も建造物の中心軸とほぼ一致となり、前記回転雲台に装着した撮影手段と内壁面との距離がほぼ一定となるので好ましいが、断面角形のように、中心軸と壁面との距離が一定でない場合や、中心軸が確定できない場合でも、撮影手段カメラのレンズの絞りと焦点距離を適切に設定することにより、壁面全周の高精細化画像を得ることが可能である。 The string-like member feeding / lifting means of the lifting / lowering means of the present invention is for lifting and lowering the photographing unit of the present invention near the center of the hollow building using the rope, and the top of the hollow building. A beam passed to the opening and a pulley attached to the beam. In the present invention, a beam attached with a pulley is passed to the top opening of the hollow building, and a rope with the gondola suspended is hung on the pulley so that the hanging position of the rope is near the center of the hollow building. The position of the beam may be adjusted.
When the hollow building is cylindrical, if the photographing unit of the present invention is suspended in the hollow building substantially along the central axis of the building by the string-like member feeding / lifting means, The rotational axis of the rotating pan head fixed to the center of the gondola is also substantially coincident with the central axis of the building, and the distance between the photographing means attached to the rotating pan head and the inner wall surface is substantially constant. Even when the distance between the central axis and the wall surface is not constant or when the central axis cannot be determined, the lens diaphragm and focal length of the camera means can be set appropriately to increase the resolution of the entire wall surface. An image can be obtained.

また、前記紐状部材送出し・引揚げ手段は、前記滑車を介して、本発明の撮影ユニットのゴンドラを懸架したロープを送出し、あるいは引揚げれば、前記撮影ユニットを中空建造物の内部を自由に昇降させることができる。また、前記ロープを必要に応じて固定すれば、前記撮影ユニットを所定の位置に静止させることが可能である。
このような操作は、電動ウインチで行ってもよいが、本発明の撮影装置は軽量なので、人力でも行うこともできる。人力の場合は、制動手段付の滑車を使用し、撮影ユニットが中空建造物内の所定の位置まで移動したら、前記制動手段を作動させてロープを固定すれば、撮影ユニットを所定の位置で静止させることができる。 Further, the string-like member feeding / lifting means sends out the rope suspended by the gondola of the photographing unit of the present invention via the pulley or lifts the photographing unit inside the hollow building. Can be moved up and down freely. Further, if the rope is fixed as necessary, the photographing unit can be stopped at a predetermined position.
Such an operation may be performed with an electric winch. However, since the photographing apparatus of the present invention is lightweight, it can also be performed manually. In the case of human power, a pulley with braking means is used. When the photographing unit moves to a predetermined position in the hollow building, the photographing unit is stopped at the predetermined position by operating the braking means and fixing the rope. Can be made.

本発明の照明手段は、軽量で高照度のＬＥＤ照明ライトが好適に使用できる。例えば、直径８ｍ程度の中空建造物であれば、６３００Ｌx（１ｍ）の照度のＬＥＤ照明ライトを用いて、中心部が鮮明なビデオ画像が得られる。また、前記ＬＥＤ照明ライトをバウンス照明で使用しても、前記ＬＥＤ照明ライトの反対側、すなわち撮影手段のカメラの撮影方向の内壁面を撮影に適した均一且つ十分な照度とすることができる。
前記照明手段は、前記回転雲台の本体に固定した板状部材に取り付ける。この構成により、回転雲台の回転にあわせ前記照明手段も撮影手段と共に回転する。 As the illuminating means of the present invention, a light and high illuminance LED illumination light can be suitably used. For example, in the case of a hollow building having a diameter of about 8 m, a video image with a clear central part can be obtained using an LED illumination light with an illuminance of 6300 Lx (1 m). Further, even when the LED illumination light is used in bounce illumination, the opposite side of the LED illumination light, that is, the inner wall surface in the photographing direction of the camera of the photographing means can have a uniform and sufficient illuminance suitable for photographing.
The illumination means is attached to a plate-like member fixed to the main body of the rotary head. With this configuration, the illumination unit rotates together with the photographing unit in accordance with the rotation of the rotary head.

本発明の撮影装置によれば、人が中空建造物内に入って作業するための足場が不要となり、撮影ユニットがコンパクト且つ軽量であるため、頂部の開口が小さい中空建造物であっても、頂部から撮影手段を内部に挿入でき、また、ロープによる昇降が可能なので、大掛かりな昇降手段を必要とせず、頂部の開口部上方の空間に余裕がない中空建造物でも適用可能である。さらに、ロープの繰り出し量で撮影手段の位置を正確に制御できるので、中空建造物の内周面の画像の撮影を、順次位置を変えて行うことにより、中空建造物の内壁全面の画像データを容易に得ることができる。
このようにして得られた画像データを利用すれば、人間が焼却炉などの中空建造物に入らなくても、本発明の撮影装置によって取られた画像を用いて、その内壁の検査や診断ができる。 According to the photographing device of the present invention, a scaffold for a person to enter and work in a hollow building is unnecessary, and the photographing unit is compact and lightweight, so even if it is a hollow building with a small top opening, Since the photographing means can be inserted into the interior from the top and can be moved up and down by a rope, a large-scale lifting means is not required, and it can be applied to a hollow structure where there is no room in the space above the opening at the top. Furthermore, since the position of the photographing means can be accurately controlled by the amount of feeding of the rope, the image data of the entire inner wall of the hollow building can be obtained by sequentially taking images of the inner peripheral surface of the hollow building. Can be easily obtained.
By using the image data obtained in this way, even if a human does not enter a hollow building such as an incinerator, the inner wall can be inspected and diagnosed using the image taken by the photographing apparatus of the present invention. it can.

本発明の装置を焼却炉内壁面の撮影に利用した場合の概略図である。It is the schematic at the time of utilizing the apparatus of this invention for imaging | photography of an incinerator inner wall surface. 本発明の撮影手段を装着した撮影ユニットを横方向から見た詳細図で、ゴンドラと撮影手段のカメラとの取り付け関係を示す図である。It is the detail figure which looked at the imaging | photography unit equipped with the imaging | photography means of this invention from the horizontal direction, and is a figure which shows the attachment relationship between the gondola and the camera of an imaging | photography means. 本発明の撮影手段を装着した撮影ユニットを他の横方向から見た詳細図で、照明器具を示す図である。It is the figure which shows the lighting fixture in the detailed view which looked at the imaging | photography unit equipped with the imaging | photography means of this invention from the other horizontal direction. 本発明の撮影手段を装着した撮影ユニットを他の横方向から見た詳細図で、撮影手段のカメラと照明器具との関係を示す図である。It is the detail which looked at the imaging | photography unit equipped with the imaging | photography means of this invention from the other horizontal direction, and is a figure which shows the relationship between the camera of an imaging | photography means, and a lighting fixture. 本発明の撮影ユニットを他の上方向から見た詳細図で、ゴンドラ上のジャイロスタビライザーの配置関係を示す図である。It is the detailed view which looked at the photography unit of the present invention from the other upper direction, and is a figure showing the arrangement relation of the gyro stabilizer on the gondola. 本発明の撮影ユニットを焼却炉頂部の開口から吊り下げる昇降手段の拡大図である。It is an enlarged view of the raising / lowering means which suspends the imaging | photography unit of this invention from opening of an incinerator top part.

図１は、本発明の撮影装置で焼却炉内壁面を撮影する概要を説明する図面である。
焼却炉１の頂部に開口部２０がある。開口部２０の蓋体２を昇降架台３により上方に約３５ｃｍ移動した状態で、滑車６に懸架させたロープ５によって、本発明の撮影装置を装着した撮影ユニット４を焼却炉１の開口部２０から、焼却炉１の中心軸に沿って下降させる。撮影装置を装着した撮影ユニット４の位置は、ロープ５の繰り出し量によって確定することができる。撮影ユニット４に装着されたカメラなどの撮影手段による撮影、及び回転雲台の回転は、焼却炉外のパソコン等の制御手段２３により無線による遠隔制御される。 FIG. 1 is a drawing for explaining the outline of photographing an incinerator inner wall surface with the photographing apparatus of the present invention.
There is an opening 20 at the top of the incinerator 1. With the lid 2 of the opening 20 moved about 35 cm upward by the lifting platform 3, the photographing unit 4 equipped with the photographing device of the present invention is attached to the opening 20 of the incinerator 1 by the rope 5 suspended on the pulley 6. Then, it is lowered along the central axis of the incinerator 1. The position of the photographing unit 4 to which the photographing device is attached can be determined by the amount of the rope 5 extended. The photographing by photographing means such as a camera mounted on the photographing unit 4 and the rotation of the rotating pan head are remotely controlled wirelessly by the control means 23 such as a personal computer outside the incinerator.

図２は、本発明の撮影装置を装着した撮影ユニットの拡大図である。ゴンドラ１４は辺長約２８ｃｍの正方形で、その上面には２基のジャイロスタビライザー１５が裁置され、バッテリー１６から供給される電力で駆動するよう配線されている。撮影手段カメラ１１の最外端からゴンドラ１４に係止されたワイヤの結束部１９までの距離が約５６ｃｍで、総重量約１２ｋｇ程度に収まる。
スペーサー１０の一端はゴンドラ１４の下面に固定され、スペーサー１０の他端には回転雲台１２の基体部１２ｂが螺着される。回転雲台の本体１２ａは、基体部１２ｂに対して回転可能な構成となっている。回転雲台の本体１２ａには、撮影手段カメラ１１と支持板９が装着され、支持板９には照明手段１３が装着される。本実施例において、更に支持板９にビデオ撮影機固定用支柱８が設けられ、ビデオ撮影機固定用支柱８を介して撮影手段のビデオ撮影機７が装着されている。
回転雲台１２を遠隔制御手段２３で駆動させると、ゴンドラ１４、スペーサー１０、及びスペーサーに螺着した回転雲台の基体部１２ｂは、ジャイロスタビライザー１５の制振作用により静止状態が維持され、回転雲台の本体１２ａ及び該回転雲台の本体１２aに固定された支持板９（灰色部分）が回転し、前記回転雲台の本体１２ａに装着されたカメラ、前記支持板９に取り付けられたビデオ撮影機７及び照明手段１３も回転雲台の本体１２ａと一体的に回転する。 FIG. 2 is an enlarged view of a photographing unit equipped with the photographing apparatus of the present invention. The gondola 14 is a square having a side length of about 28 cm, and two gyro stabilizers 15 are disposed on the upper surface thereof and wired so as to be driven by electric power supplied from the battery 16. The distance from the outermost end of the photographing means camera 11 to the bundling portion 19 of the wire locked to the gondola 14 is about 56 cm, and the total weight is about 12 kg.
One end of the spacer 10 is fixed to the lower surface of the gondola 14, and the base portion 12 b of the rotary head 12 is screwed to the other end of the spacer 10. The main body 12a of the rotary head is configured to be rotatable with respect to the base portion 12b. An imaging means camera 11 and a support plate 9 are attached to the main body 12 a of the rotary head, and an illumination means 13 is attached to the support plate 9. In this embodiment, a video camera fixing column 8 is further provided on the support plate 9, and a video camera 7 as a photographing unit is mounted via the video camera fixing column 8.
When the rotary head 12 is driven by the remote control means 23, the gondola 14, the spacer 10, and the base portion 12 b of the rotary head screwed to the spacer are maintained stationary by the vibration control action of the gyro stabilizer 15. A main body 12a of the pan head and a support plate 9 (gray portion) fixed to the main body 12a of the rotating pan head rotate, a camera mounted on the main body 12a of the rotating pan head, and a video attached to the support plate 9 The photographing machine 7 and the illumination means 13 also rotate integrally with the rotary head body 12a.

図３に示されるように、照明手段１３は、多数のＬＥＤランプからなり、ビデオ撮影機７は、照明手段の照明方向に向いている。   As shown in FIG. 3, the illumination means 13 is composed of a large number of LED lamps, and the video camera 7 is directed in the illumination direction of the illumination means.

図４に示されるように、撮影手段カメラ１１は水平に対し、約１５°下方に向けられて回転雲台に装着されており、前記ビデオ撮影機７及び照明手段であるＬＥＤランプ１３は、カメラの撮影方向とは逆向きに装着されている。   As shown in FIG. 4, the photographing means camera 11 is mounted on a rotating pan head so as to be directed downward by about 15 ° with respect to the horizontal, and the LED lamp 13 serving as the video photographing device 7 and the illuminating means includes a camera. It is mounted in the opposite direction to the shooting direction.

図５に示されるように、前記ジャイロスタビライザー１５は、互いに直交するよう配置されている。   As shown in FIG. 5, the gyro stabilizers 15 are arranged to be orthogonal to each other.

図２〜図５から明らかなように、ゴンドラ１４の四隅には係止具１８が設けられ、各係止具１８には、ステンレス製ワイヤ１７が係合している。各ワイヤ１７の他端は、リング状の結束部１９で結束され、該結束部にはロープ５が係合している。   As apparent from FIGS. 2 to 5, locking tools 18 are provided at the four corners of the gondola 14, and a stainless steel wire 17 is engaged with each locking tool 18. The other end of each wire 17 is bound by a ring-shaped binding portion 19, and the rope 5 is engaged with the binding portion.

図６に示されるように、本発明の撮影装置を装着した撮影ユニット４を垂下するロープ５は、炉体１の頂部開口部２０に載置された梁２１に取り付けられた滑車支持体２２に保持された滑車６に懸架され、ロープの進退で、撮影手段を装着した撮影ユニット４を上下動させることができる。なお、ロープ５に撮影手段を装着した撮影ユニット４の位置に対応した目盛をつけておけば、撮影ユニットの位置が容易に確認でき便利である。   As shown in FIG. 6, the rope 5 that hangs down the photographing unit 4 equipped with the photographing device of the present invention is attached to the pulley support 22 attached to the beam 21 placed on the top opening 20 of the furnace body 1. The photographing unit 4 mounted with the photographing means can be moved up and down by being suspended on the held pulley 6 and moving the rope back and forth. It should be noted that if a scale corresponding to the position of the photographing unit 4 with the photographing means attached to the rope 5 is provided, the position of the photographing unit can be easily confirmed, which is convenient.

以下、本発明の撮影装置を利用して焼却炉（直径約８ｍ、高さ約１4ｍ）の内壁面のパノラマ写真を作成する方法を説明する。本実施例で使用した機器は以下のとおりである。
カメラ：Nikon D7100
レンズ：Nikon 10.5mm F2.8DX
ビデオ撮影機：GoPro HERO3
ジャイロスタビライザー：KS-２×２台
回転雲台：Panogear 自動雲台ロボット
照明手段：LPL VLP-9000X Hereinafter, a method for creating a panoramic photograph of the inner wall surface of an incinerator (diameter: about 8 m, height: about 14 m) using the photographing apparatus of the present invention will be described. The equipment used in this example is as follows.
Camera: Nikon D7100
Lens: Nikon 10.5mm F2.8DX
Video camera: GoPro HERO3
Gyro-stabilizer: KS-2 x 2 Rotating pan head: Panogear Automatic pan head robot Illumination means: LPL VLP-9000X

２基のジャイロスタビライザーを駆動した状態で、カメラ及びビデオ撮影機からなる撮影手段を搭載したゴンドラ１４をロープ５で吊るし、焼却炉本体１の開口部２０に載置した梁２１に取り付けられた滑車に懸架して焼却炉内に垂下させる。この時、焼却炉内に垂下するロープ位置が、焼却炉の中心線とほぼ一致するよう支柱の位置を調節する。   While driving two gyro-stabilizers, a gondola 14 equipped with a photographing means consisting of a camera and a video camera is hung by a rope 5 and a pulley attached to a beam 21 placed on the opening 20 of the incinerator main body 1. Suspended on and suspended in the incinerator. At this time, the position of the support column is adjusted so that the position of the rope hanging down in the incinerator substantially coincides with the center line of the incinerator.

撮影手段４が焼却炉の所定の位置まで下降したら、制動手段付の滑車（図示なし）によって、ロープを固定し、カメラが装着された回転雲台を６０°ずつ、遠隔制御手段２３により回転させ、焼却炉の内壁面を撮影し、６枚の画像を得る。
ついで、前回撮影した画像の下端部が次に撮影する画像の上端部と一部重なる位置まで、撮影手段を装着した撮影ユニット４を下降させ、同様にロープを固定した状態で、カメラを回転雲台で６０°ずつ回転させ、焼却炉の内壁面を撮影し、６枚の画像を得る。
以上の操作を繰り返し、焼却炉の底部付近まで内壁面の撮影を実施する。得られた画像は、汎用ソフトで合成することにより、焼却炉の全内壁面の画像とすることができる。 When the photographing means 4 is lowered to a predetermined position in the incinerator, the rope is fixed by a pulley with a braking means (not shown), and the rotating pan head on which the camera is mounted is rotated by 60 ° by the remote control means 23. The inner wall surface of the incinerator is photographed to obtain six images.
Next, the photographing unit 4 with the photographing means is lowered to a position where the lower end portion of the previously photographed image partially overlaps the upper end portion of the next photographed image, and the camera is rotated with the rope fixed in the same manner. Rotate by 60 ° on the table and take pictures of the inner wall of the incinerator to obtain 6 images.
The above operation is repeated, and the inner wall surface is photographed to the vicinity of the bottom of the incinerator. The obtained image can be made into an image of the entire inner wall surface of the incinerator by synthesizing with general-purpose software.

焼却炉の内壁面をリアルタイムで観察する場合は、ビデオ撮影機を利用する。本実施例で使用したビデオ撮影機７は、撮影した画像を連続して無線で送信し、焼却炉外のモニタに動画として表示することができる。
ロープの進退で上下の位置を、回転雲台の回転により方向を変えることができるので、焼却炉の内壁面の全域を前記ビデオ撮影機で観察することが可能である。
本実施例のように、カメラとビデオ撮影機を搭載した場合には、ビデオ撮影機で内壁面の概要をリアルタイムで確認し、損傷箇所が発見された場合に、その場所で撮影装置を装着した撮影ユニット４の停止位置を再調整してカメラでの撮影を行い、破傷箇所の高精細画像を得ることができる。 Use a video camera to observe the inner wall of the incinerator in real time. The video camera 7 used in the present embodiment can continuously transmit the captured images wirelessly and display them as a moving image on a monitor outside the incinerator.
Since the direction of the vertical position can be changed by the rotation of the rotary head, the entire area of the inner wall surface of the incinerator can be observed with the video camera.
If the camera and video camera are installed as in this example, the video camera will check the outline of the inner wall surface in real time, and if a damaged part is found, the camera is installed at that location. The stop position of the photographing unit 4 is readjusted and photographing with the camera is performed, and a high-definition image of the ruptured portion can be obtained.

本発明の撮影装置によれば、上記カメラ及びビデオ撮影機などの撮影手段とジャイロスタビライザーのような制振手段の組合せにより、焼却炉頂部の開口部から底面まで１４ｍ以上となるが、ロープのような紐状部材によって懸架しても、前記撮影手段が設置されたゴンドラが安定的に固定され、高精細な画像を得ることができた。
また、撮影手段に耐熱手段を施し、昇降手段に耐熱性に優れた材質のものを採用すれば、より過酷な条件下でも内壁面の撮影が可能となる。 According to the photographing apparatus of the present invention, the combination of the photographing means such as the camera and the video camera and the vibration damping means such as the gyro stabilizer makes the distance from the opening to the bottom of the incinerator top 14 m or more. Even when suspended by a string member, the gondola provided with the photographing means was stably fixed, and a high-definition image could be obtained.
Further, if the photographing means is provided with heat resistant means and the lifting means is made of a material having excellent heat resistance, the inner wall surface can be photographed even under more severe conditions.

１ 焼却炉本体
２ 蓋体
３ 蓋体昇降架台
４ 撮影ユニット
５ ロープ
６ 滑車
７ ビデオ撮影機
８ ビデオ撮影機固定用支柱
９ 支持板
１０ スペーサー
１１ カメラ
１２ 回転雲台
１２ａ 回転雲台の本体
１２ｂ 回転雲台の基体部
１３ 照明器具
１４ ゴンドラ
１５ ジャイロスタビライザー
１６ バッテリー
１７ ワイヤ
１８ 係止具
１９ 結束部
２０ 開口部
２１ 梁
２２ 滑車支持体
２３ 撮影手段及び回転雲台の遠隔制御手段 DESCRIPTION OF SYMBOLS 1 Incinerator main body 2 Cover body 3 Cover body elevating mount frame 4 Shooting unit 5 Rope 6 Pulley 7 Video camera 8 Video camera fixing support 9 Support plate 10 Spacer 11 Camera 12 Rotating head 12a Rotating head 12b Rotating cloud Base body part 13 Lighting equipment 14 Gondola 15 Gyro stabilizer 16 Battery 17 Wire 18 Locking tool 19 Bundling part 20 Opening part 21 Beam 22 Pulley support 23 Photographing means and remote control means for rotating pan head

Claims (2)

撮影手段と、
ゴンドラ、前記ゴンドラに固定され、且つ前記撮影手段が装着可能な回転雲台、及び前記ゴンドラに配置されたジャイロスタビライザー、を備える撮影ユニットと、
前記ゴンドラに係着して前記撮影ユニットを吊り下げ可能な紐状部材と、
前記紐状部材によって懸架した前記撮影ユニットを、中空建造物内を上下動させ、且つ所定の位置に保持する昇降手段と、
前記撮影手段の撮影と前記回転雲台の回転を遠隔制御できる遠隔制御手段と、
前記回転雲台に装着された、前記撮影手段の撮影方向の反対側の内壁面を照射する照明手段と、を備える中空建造物内壁面の撮影装置。 Photographing means;
Gondola, fixed to said gondola, the imaging unit and the imaging means attachable rotation pan head, and a gyro stabilizer, disposed in the rubber handler,
A string-like member that can be attached to the gondola to suspend the photographing unit;
Lifting means for moving the imaging unit suspended by the string-like member up and down in a hollow building and holding it in a predetermined position;
Remote control means capable of remotely controlling photographing of the photographing means and rotation of the rotary head;
An imaging device for an inner wall surface of a hollow building , comprising: illumination means for irradiating an inner wall surface on the opposite side of the imaging direction of the imaging means mounted on the rotary head . 前記撮影手段が水平方向に対し下方に傾斜させて装着した請求項１記載の中空建造物内壁面の撮影装置。   The photographing device for an inner wall surface of a hollow building according to claim 1, wherein the photographing means is mounted so as to be inclined downward with respect to a horizontal direction.
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