JPH06109645A - Device for inspecting inner surface of pipe - Google Patents
Device for inspecting inner surface of pipeInfo
- Publication number
- JPH06109645A JPH06109645A JP28540992A JP28540992A JPH06109645A JP H06109645 A JPH06109645 A JP H06109645A JP 28540992 A JP28540992 A JP 28540992A JP 28540992 A JP28540992 A JP 28540992A JP H06109645 A JPH06109645 A JP H06109645A
- Authority
- JP
- Japan
- Prior art keywords
- pipe
- camera
- tube
- reflector
- illumination
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】この発明は、鋼管の内面検査や、
ガス、水道配管等の保守検査に適用される管内面検査装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the inner surface inspection of steel pipes,
The present invention relates to a pipe inner surface inspection device applied to maintenance inspection of gas and water pipes.
【0002】[0002]
【従来の技術】ガス、水道配管等の管内面検査は、TV
カメラ等の画像映出機器を使用して観察するのが一般的
である。その一例として、実開昭61−178454号
公報に記載されている配管内目視検査装置がある。この
装置は、管軸中心にその視野を管軸方向として設けたT
Vカメラを用い、TVカメラ前方の反射体および管軸上
に設けた照明器具により管内全周を同時に視野できるよ
うに設けて、管内面の全周を同時に目視検査可能となし
たものである。しかしながら、この装置の場合は、反射
体と管内面との距離が大きいと照明が暗くなり、映出さ
れる画像が不鮮明となり内面被写体を正確に検査するこ
とが困難となるため、適用できる管としては小径管に限
られ、大径管には適用できなかった。このため、大径管
の内面検査には、管内面を部分的に画像映出する方式の
内面検査装置が用いられている。2. Description of the Related Art Inspection of the inner surface of pipes for gas, water pipes, etc.
It is common to observe using an image projection device such as a camera. As an example, there is a visual inspection apparatus for pipes described in Japanese Utility Model Laid-Open No. 61-178454. This device has a T that has its field of view centered on the tube axis in the tube axis direction.
By using a V camera, a reflector in front of the TV camera and an illuminating device provided on the tube axis so that the entire circumference of the inside of the tube can be viewed at the same time, and the entire circumference of the inside surface of the tube can be visually inspected at the same time. However, in the case of this device, if the distance between the reflector and the inner surface of the tube is large, the illumination becomes dark, the projected image becomes unclear, and it becomes difficult to accurately inspect the inner surface subject. It was limited to small diameter pipes and could not be applied to large diameter pipes. For this reason, an inner surface inspection apparatus of a system that partially displays an image of the inner surface of the pipe is used for the inner surface inspection of the large diameter pipe.
【0003】大径管の内面検査装置としては、図5にそ
の概略を示すごとく、管内走行台車1に取付けたカメラ
ヘッド2にTVカメラ3を側方視できるように搭載し、
管内走行台車1を自走式または外部からの内挿手段にて
走行させて被検査管10の管内面を検査する方式となし
たものが一般的である。すなわち、この種の内面検査装
置は管内面被写体の画像映出手段として、カメラヘッド
2にTVカメラ3と照明用ランプ4をそれぞれ管内面に
向けて取付け、照明用ランプ4にて管内面のカメラ視野
を照らした状態でカメラヘッド2を回転させて管内面被
写体を撮像し、外部の信号処理部5を介してモニター6
に映出する方式がとられている。As an inner surface inspection device for a large-diameter pipe, a TV head 3 is mounted on a camera head 2 mounted on a pipe traveling carriage 1 so that the TV camera 3 can be viewed sideways, as shown in FIG.
In general, the system for inspecting the inner surface of the pipe 10 to be inspected is a system in which the in-pipe traveling vehicle 1 is driven by a self-propelled or external insertion means. That is, in this type of inner surface inspection apparatus, the TV head 3 and the illuminating lamp 4 are attached to the camera head 2 so as to face the inner surface of the tube as image projection means of the inner surface of the tube. The camera head 2 is rotated while the field of view is illuminated to capture an image of the subject inside the tube, and a monitor 6 is provided via an external signal processor 5.
The method of projecting is adopted.
【0004】[0004]
【発明が解決しようとする課題】しかるに、上記の管内
面検査装置の場合は、図6に示すごとくTVカメラ3の
回りに複数の照明用ランプ4が配置される関係上、図7
に示すごとくランプの中心軸上の照度が最も高く、中心
軸から遠ざかるにつれて照度が低下する。つまり、TV
カメラの中心軸上が暗く、その周囲が明るくなってしま
うためこの照度のムラにより欠陥の判定可能範囲が限定
され、検査速度を向上できないといった問題や、カメラ
視野の中心部が暗いために、モニターに映出される画像
に明暗が生じ疵等を的確に判定できない等の問題があっ
た。また、照度のムラを少なくするために、複数の照明
用ランプ4それぞれに照明方向を調整する機構を設けた
としても、照度のムラは管内径によってことなるため、
その調整に多大な手間がかかるという問題が新たに生じ
る。However, in the case of the above-described tube inner surface inspection apparatus, as shown in FIG. 6, a plurality of illumination lamps 4 are arranged around the TV camera 3, and therefore, as shown in FIG.
As shown in, the illuminance is highest on the central axis of the lamp, and the illuminance decreases as the distance from the central axis increases. That is, TV
Since the central axis of the camera is dark and the surrounding area is bright, the range in which defects can be determined is limited due to this unevenness of illuminance, and it is not possible to improve the inspection speed. There was a problem in that the image displayed on the screen had light and dark, and defects such as flaws could not be accurately determined. Even if a mechanism for adjusting the illumination direction is provided for each of the plurality of illumination lamps 4 in order to reduce the unevenness of the illuminance, the unevenness of the illuminance varies depending on the inner diameter of the tube.
A new problem arises that the adjustment takes a lot of time.
【0005】この発明は、従来のこのような画像映出手
段の問題を解決するためになされたものであり、ランプ
照明により発生する照度ムラを防止し、明暗のない良好
な管内面被写体画像を映出可能な照明手段を用いた管内
面検査装置を提供しようとするものである。The present invention has been made in order to solve the problem of the conventional image projecting means as described above, and prevents the uneven illuminance caused by the lamp illumination, and produces a good image of the inner surface of the tube without light and dark. An object of the present invention is to provide a pipe inner surface inspection device using an illuminating means capable of projecting.
【0006】[0006]
【課題を解決するための手段】この発明は、管内面の照
明手段と、当該管内面被写体を画像映出する手段を備え
た管内面検査装置において、ランプ照明により発生する
照度ムラを防止する手段として、拡散反射板を用いて間
接的に管内面を照明する方式を採用することによって、
カメラ視野範囲の管内被写体の照度ムラを解消するもの
で、その要旨は、前記照明手段として、発光源からの光
を拡散反射して管内面被写体を照明する反射角可変の拡
散反射板を用いることを特徴とする管内面検査装置にあ
る。According to the present invention, there is provided a tube inner surface inspection apparatus comprising a tube inner surface illuminating means and a means for projecting an image of the tube inner surface object, and means for preventing uneven illumination caused by lamp illumination. As a result, by adopting a method of indirectly illuminating the inner surface of the tube using a diffuse reflector,
The purpose of this is to eliminate the uneven illuminance of the subject in the tube within the field of view of the camera, and the gist thereof is to use, as the illumination means, a diffuse reflection plate with a variable reflection angle for diffusing and reflecting the light from the light emitting source to illuminate the subject inside the tube. The pipe inner surface inspection apparatus is characterized by
【0007】[0007]
【作用】この発明に係る管内面検査装置では、管内面被
写体を撮影するTVカメラは、管径方向に垂直もしくは
ある角度を持たせてカメラヘッドに設置している。ま
た、管内表面の発光源である照明用ランプは、カメラヘ
ッドの先端部に管軸方向前方に向けて配置している。拡
散反射板は、上記照明用ランプの前方に適当な手段で反
射角可変にカメラヘッドに取付けている。照明用ランプ
からの照明光はこの拡散反射板に反射して管内被写体を
照明する。拡散反射板は、照明用ランプからの照明光が
散乱反射されるように反射面に半球状の凸部が形成され
ている。したがって、照明用ランプからの照明光は、こ
の拡散反射板により散乱反射され管内被写体が均一な照
度で照らされる。TVカメラはこの均一な照度で照らさ
れた管内被写体を撮影するため、モニターには全体に均
一な明るさの画像が映出される。なお、拡散反射板を傾
斜角可変となしたのは、被検査管の内径が変った場合に
容易に対応できるようにするためである。In the tube inner surface inspection apparatus according to the present invention, the TV camera for photographing the tube inner surface object is installed in the camera head vertically or at a certain angle to the tube diameter direction. An illumination lamp, which is a light emitting source on the inner surface of the tube, is arranged at the tip of the camera head toward the front in the tube axis direction. The diffuse reflector is attached to the camera head in front of the illuminating lamp with a variable reflection angle by an appropriate means. Illumination light from the illumination lamp is reflected by this diffuse reflector to illuminate the subject inside the tube. The diffuse reflection plate has a hemispherical convex portion formed on its reflection surface so that the illumination light from the illumination lamp is scattered and reflected. Therefore, the illuminating light from the illuminating lamp is scattered and reflected by the diffuse reflector, and the subject in the tube is illuminated with a uniform illuminance. Since the TV camera photographs the subject in the tube illuminated with this uniform illuminance, an image of uniform brightness is displayed on the monitor as a whole. The reason why the inclination angle of the diffuse reflection plate is variable is that it can easily cope with a change in the inner diameter of the tube to be inspected.
【0008】[0008]
【実施例】図1はこの発明に係る管内面検査装置の一例
を示す概略側面図、図2は図1のAーA線上の縦断正面
図、図3は同上装置における拡散反射板の反射面を示す
拡大平面図、図4は図3のBーB線上の縦断側面図であ
り、7は拡散反射板、8は反射板取付治具である。1 is a schematic side view showing an example of a pipe inner surface inspection apparatus according to the present invention, FIG. 2 is a vertical sectional front view taken along the line AA of FIG. 1, and FIG. 3 is a reflection surface of a diffuse reflection plate in the same apparatus. FIG. 4 is an enlarged plan view of FIG. 4, and FIG. 4 is a vertical sectional side view taken along the line BB in FIG.
【0009】すなわち、この発明に係る管内面検査装置
は、管内走行台車1に取付けられモーター等の動力にて
回転駆動されるカメラヘッド2にTVカメラ3が管内面
に向けて管径方向に垂直もしくはある角度をもって設置
され、このカメラヘッド2の先端部に複数、ここでは4
個の照明用ランプ4を管軸方向前方に向けて取付けてい
る。拡散反射板7は、カメラヘッド2に管軸方向に突設
した反射板取付治具8に例えばねじピン9にて回動可能
に枢着され、このピンを軸にして傾斜角度を可変となし
ている。この拡散反射板7は、図3、図4に示すごと
く、反射面に半球状の凸部7−1が全体に規則的に形成
されている。この半球状の凸部7−1は、例えば縦横5
mmピッチに3mmφの半球を裏側からプレス加工によ
り形成する。That is, in the pipe inner surface inspection apparatus according to the present invention, the TV camera 3 is attached to the in-pipe traveling carriage 1 and is rotatably driven by the power of a motor or the like. Or, they are installed at a certain angle, and a plurality of them are attached to the tip of the camera head 2, here 4
The individual illumination lamps 4 are attached to the front in the tube axis direction. The diffuse reflection plate 7 is rotatably attached to a reflection plate attachment jig 8 provided on the camera head 2 so as to project in the tube axis direction, for example, by a screw pin 9, and the tilt angle is made variable with this pin as an axis. ing. As shown in FIGS. 3 and 4, the diffuse reflection plate 7 has a hemispherical convex portion 7-1 formed regularly on the reflection surface. This hemispherical convex portion 7-1 has, for example, a vertical and horizontal 5
A 3 mmφ hemisphere is formed at a mm pitch by press working from the back side.
【0010】上記構成の管内面検査装置において、管内
面の検査に際しては、TVカメラ3の管内面被写体の視
野全体が照明用ランプ4により照らされるように拡散反
射板7を所定の傾斜角度に傾斜させる。照明用ランプ4
により管軸方向に発光された照明光は上記拡散反射板7
に当たると同時に表面の半球状の凸部7−1により拡散
散乱して管内面方向に反射され、TVカメラ3の管内面
被写体の視野全体を均一な照度で照明する。TVカメラ
3はこの均一な照度で照明された管内面被写体を撮影す
ることになるので、外部のモニターには、明暗のない良
好な管内面被写体の画像が映出される。被検査管10の
内径が変った場合には、カメラヘッド2の中心を管軸に
合せた後に、拡散反射板7の傾斜角度を調整することに
より最適な画像を容易に得ることができる。In the tube inner surface inspection apparatus having the above structure, when inspecting the tube inner surface, the diffuse reflection plate 7 is tilted at a predetermined tilt angle so that the entire field of view of the tube inner surface subject of the TV camera 3 is illuminated by the illumination lamp 4. Let Lighting lamp 4
The illumination light emitted in the tube axis direction by the
Simultaneously with the hitting, the hemispherical convex portion 7-1 on the surface diffuses and scatters the light and reflects it toward the inner surface of the tube, and illuminates the entire field of view of the inner surface object of the TV camera 3 with uniform illuminance. Since the TV camera 3 shoots the subject on the inside of the tube illuminated with this uniform illuminance, a good image of the subject on the inside of the tube without light and shade is displayed on the external monitor. When the inside diameter of the tube 10 to be inspected changes, the optimum image can be easily obtained by adjusting the inclination angle of the diffuse reflection plate 7 after aligning the center of the camera head 2 with the tube axis.
【0011】[0011]
【発明の効果】以上説明したごとく、この発明装置によ
れば、管内面被写体撮影のための照明を反射角可変の拡
散反射板を用いて間接的に行う方式としたことにより、
管内面被写体を均一な照度で照明できるので、常に明暗
のない良好な画像を映出でき、管内面の疵等の判定を容
易にかつ的確に行うことが可能である。さらに、この発
明装置は、管径に応じて拡散反射板の角度を調整できる
ので小径管から大径管にいたるすべての管の内面検査に
容易に適用でき、各種の管内面の検査精度および能率向
上に多大な効果を奏するものである。As described above, according to the device of the present invention, the illumination for photographing the inner surface of the tube is indirectly performed by using the diffuse reflection plate having the variable reflection angle.
Since the subject inside the tube can be illuminated with a uniform illuminance, it is possible to always display a good image without light and shade, and it is possible to easily and accurately determine the flaws on the inside of the tube. Furthermore, since the device of the present invention can adjust the angle of the diffuse reflection plate according to the pipe diameter, it can be easily applied to the inner surface inspection of all pipes from small diameter pipes to large diameter pipes, and the inspection accuracy and efficiency of various pipe inner surfaces can be improved. It has a great effect on the improvement.
【図1】この発明に係る管内面検査装置の一例を示す概
略側面図である。FIG. 1 is a schematic side view showing an example of a pipe inner surface inspection device according to the present invention.
【図2】図1のAーA線上の縦断正面図である。FIG. 2 is a vertical sectional front view taken along the line AA of FIG.
【図3】同上装置における拡散反射板の反射面を示す拡
大平面図である。FIG. 3 is an enlarged plan view showing a reflection surface of a diffuse reflection plate in the same apparatus.
【図4】図3のBーB線上の縦断側面図である。FIG. 4 is a vertical sectional side view taken along the line BB in FIG.
【図5】従来の管内面検査装置の一例を示す概略側面図
である。FIG. 5 is a schematic side view showing an example of a conventional pipe inner surface inspection device.
【図6】図5のAーA線上の拡大平面図である。FIG. 6 is an enlarged plan view taken along the line AA of FIG.
【図7】図5のBーB線上の拡大正面図である。FIG. 7 is an enlarged front view taken along the line BB in FIG.
1 管内走行台車 2 カメラヘッド 3 TVカメラ 4 照明用ランプ 5 信号処理部 6 モニター 7 拡散反射板 8 反射板取付治具 9 ねじピン 10 被検査管 1 In-pipe traveling vehicle 2 Camera head 3 TV camera 4 Lighting lamp 5 Signal processing unit 6 Monitor 7 Diffuse reflection plate 8 Reflector mounting jig 9 Screw pin 10 Pipe to be inspected
Claims (1)
被写体を画像映出する手段を備えた管内面検査装置にお
いて、前記照明手段として、発光源からの光を拡散反射
して管内面被写体を照明する反射角可変の拡散反射板を
用いることを特徴とする管内面検査装置。1. A tube inner surface inspection apparatus comprising illumination means for a tube inner surface subject and means for projecting an image of the tube inner surface object, wherein the illumination means diffuses and reflects light from a light emitting source to produce a tube inner surface object. A pipe inner surface inspection apparatus characterized by using a diffuse reflection plate having a variable reflection angle for illuminating a pipe.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP28540992A JPH06109645A (en) | 1992-09-30 | 1992-09-30 | Device for inspecting inner surface of pipe |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP28540992A JPH06109645A (en) | 1992-09-30 | 1992-09-30 | Device for inspecting inner surface of pipe |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH06109645A true JPH06109645A (en) | 1994-04-22 |
Family
ID=17691147
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP28540992A Pending JPH06109645A (en) | 1992-09-30 | 1992-09-30 | Device for inspecting inner surface of pipe |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH06109645A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009125652A (en) * | 2007-11-22 | 2009-06-11 | Panasonic Electric Works Co Ltd | Electrostatic atomizing device and examination system of the device |
JP2009285539A (en) * | 2008-05-27 | 2009-12-10 | Panasonic Electric Works Co Ltd | Method and apparatus for inspecting electrostatic atomizer |
JP2016092654A (en) * | 2014-11-07 | 2016-05-23 | メタウォーター株式会社 | Shooting device of hollow building inner wall surface |
JP2016203350A (en) * | 2015-04-28 | 2016-12-08 | 富士電機株式会社 | Component supply device, robot picking device, and robot assembling system |
CN110914966A (en) * | 2017-06-08 | 2020-03-24 | 布鲁克斯自动化(德国)有限公司 | Method for inspecting containers and inspection system |
-
1992
- 1992-09-30 JP JP28540992A patent/JPH06109645A/en active Pending
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009125652A (en) * | 2007-11-22 | 2009-06-11 | Panasonic Electric Works Co Ltd | Electrostatic atomizing device and examination system of the device |
JP2009285539A (en) * | 2008-05-27 | 2009-12-10 | Panasonic Electric Works Co Ltd | Method and apparatus for inspecting electrostatic atomizer |
JP2016092654A (en) * | 2014-11-07 | 2016-05-23 | メタウォーター株式会社 | Shooting device of hollow building inner wall surface |
JP2016203350A (en) * | 2015-04-28 | 2016-12-08 | 富士電機株式会社 | Component supply device, robot picking device, and robot assembling system |
CN110914966A (en) * | 2017-06-08 | 2020-03-24 | 布鲁克斯自动化(德国)有限公司 | Method for inspecting containers and inspection system |
JP2020524779A (en) * | 2017-06-08 | 2020-08-20 | ブルックス オートメーション (ジャーマニー) ゲゼルシャフト ミット ベシュレンクテル ハフツングBrooks Automation (Germany) Gmbh | Container inspection method and inspection system |
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