JP3364628B2 - Distance measuring device, photographing device and system for grasping the inside of cavity - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device for observing the internal condition of a cavity formed under a road surface, a photographing device and a system for ascertaining the internal condition of a cavity, and a survey hole having a small hole diameter of about 40 mm. The present invention relates to a distance measuring device, a photographing device, and a cavity inside condition grasping system suitable for grasping the inside of the cavity.

[0002]

2. Description of the Related Art As a method for exploring cavities generated under the surface of a road such as a paved road, first, a primary survey is conducted to roughly check the presence or absence of cavities while running a vehicle equipped with an underground radar. Based on the results of the primary survey, a secondary survey will be carried out on the roads that are considered to have cavities in detail, using a hand-held ground-penetrating radar.

When the occurrence of the cavity is confirmed as a result of the secondary investigation, in order to directly grasp the internal condition of the cavity,
An inspection hole is bored by boring, and an inspection rod having a CCD camera attached to the tip is inserted into this inspection hole to perform a licensed inspection in which the internal condition of the drive is obtained as image information.

[0004] The conventional investigation in such a conventional cavity exploration method is excellent in that it is possible to shorten the investigation time, reduce the generation of noise, and reduce the cost. Especially, regarding the diameter of the investigation hole. Is about 40 mm, the drilling time is short, and the time and labor required for backfilling the survey hole after the survey is short, but the diameter used for core removal of a normal paved road is about 100 mm. Therefore, the drilling time is long, and it takes time and labor to refill the survey hole after the survey is completed.

[0005]

By the way, in the recognition investigation in such a conventional cavity exploration method, only the inside of the cavity is photographed, and an arbitrary wall surface such as the depth of the inner wall of the cavity is obtained. I didn't try to get information about the distance to.

[0006] In photographing, if the light amount of the light source is weak, the inside of the cavity may be displayed as a black image due to the relationship between the lens in the field of view and the focus. If the amount of illumination light is increased, the size of the illumination device is increased. There was a problem.

Therefore, when an ultra-compact CCD camera for photographing the inside of the cavity, an illuminating device, a distance measuring device and other equipment are attached to the exploration rod, some means is required to insert the survey hole having a diameter of 40 mm. Needed.

Further, when a known distance measuring device utilizing ultrasonic waves is used in the cavity, the ultrasonic waves emitted for distance measurement are diffusely reflected in the cavity which is a closed space or are reflected on the soil. It was weak and not suitable for use in cavities.

The first object of the present invention is to provide a distance measuring device suitable for distance measuring the inner wall of the cavity.

A second object of the present invention is to provide a photographing apparatus capable of accurately photographing the inside of the cavity.

A third object of the present invention is to provide a cavity interior condition grasping system capable of grasping the condition inside the cavity accurately.

[0012]

A first structure of a distance measuring apparatus for achieving the object of the first invention of the present application is a CCD camera and a laser beam emitted in parallel along an optical axis of the camera. As described above, there is provided a pair of laser oscillators arranged on both sides of the CCD camera, and a calculation means for calculating a distance to a distance measurement object based on image information photographed by the CCD camera. Based on the distance (D) between the pair of irradiation lights irradiated to the object to be measured by the laser beams of the pair of laser oscillators, the viewing distance (W) of the photographed horizontal image, and the photographing angle of view (θ). It was done.

In the second configuration of the distance measuring device for achieving the object of the first invention according to the present application, when the calculation means has the distance (L) to be measured as D / W = P, L = D / (2P ・
tan θ).

A third configuration of the distance measuring device for achieving the object of the first invention according to the present application is such that image information photographed by the CCD camera is amplified by a night vision device.

A first configuration of an image pickup apparatus for achieving the object of the second invention according to the present application is an exploration rod in which a movable rod portion is attached to a lower end portion of an exploration rod body so as to be rotatable at least in a horizontal direction, A CCD camera for external observation attached to the exploration rod main body in a predetermined direction, and the movable rod so that the movable rod portion faces in the same direction as the external observation camera in a state of being rotated in the horizontal direction. And a CCD camera for internal observation attached to the section, the internal observation camera is located inside the cavity, and the external observation camera is located outside the cavity above the cavity.
CCD camera for external observation and CC for internal observation
The D camera is oriented so that it can be photographed in the same direction.

A second configuration of an image pickup apparatus which achieves the object of the second invention of the present application is such that image information photographed by the CCD camera is amplified by a night-vision apparatus.

The first configuration of the cavity interior condition ascertaining system which achieves the object of the third invention of the present application is an exploration in which a movable rod portion is attached to the lower end portion of the exploration rod body so as to be rotatable at least in the horizontal direction. CCD for internal observation mounted on the movable rod portion so that the front of the rod and the movable rod portion can be photographed in the horizontal direction.
A camera, a pair of laser oscillators arranged on both sides of the CCD camera for internal observation so that a laser beam is emitted in parallel along the optical axis of the CCD camera for internal observation, and the CCD for internal observation A calculating means for calculating the distance to the object to be measured based on the image information taken by the camera, the camera for internal observation is located in the cavity through a small hole communicating the exploration rod with the cavity, and the calculating means Is based on the distance (D) between the pair of irradiation lights irradiated to the object to be measured by the laser beams of the pair of laser oscillators, the viewing distance (W) of the photographed horizontal image, and the photographing angle of view (θ). It's something I asked for.

In the second configuration of the cavity internal condition ascertaining system for realizing the object of the third invention according to the present application, the calculating means sets the distance (L) of the distance measurement object as D / W = P. ,
This is obtained by L = D / (2P · tan θ).

A third configuration of the cavity interior condition grasping system for realizing the object of the third invention according to the present application is that the outside of the cavity is photographed in the same direction as that of the inside observation camera by the exploration rod. A CCD camera for external observation is attached.

The fourth configuration of the cavity internal condition ascertaining system for realizing the third object of the present invention is the CCD described above.
It has a monitor for displaying photographing information photographed by a camera.

A fifth configuration of the cavity internal condition ascertaining system for realizing the third object of the present invention is that the movable rod portion is provided with a direction detecting means for detecting the photographing direction of the CCD camera. is there.

A sixth configuration of the cavity internal condition grasping system which realizes the object of the third invention according to the present application is to display the distance measurement information by superimposing it on the image observed by the CCD camera for internal observation. It has a display means.

The seventh structure of the cavity internal condition ascertaining system for realizing the third object of the present invention is the CCD described above.
The image information captured by the camera is amplified by the night vision device.

The eighth configuration of the cavity interior condition ascertaining system for realizing the third object of the present invention is such that the diameter of the small hole leading to the cavity is about 40 mm.

[0025]

1 to 4 show an embodiment of the present invention.

FIG. 1 (a) shows a schematic structure of a cavity internal condition grasping system, FIG. 1 (b) shows the cavity internal condition shown on a monitor, FIG. 2 shows a probe rod, and FIG. 3 shows a probe rod. The movable rod part of is shown.

The system for ascertaining the internal state of a cavity according to the present embodiment comprises a photographing device 1 provided with a pair of distance measuring laser beam oscillators and the like on a search rod, and a distance measuring point measurement based on photographing information from the photographing device 1. The processing unit 2 is configured to perform distance calculation and the like and display the calculation result and the like on a monitor or the like.

The photographing device 1 has a hollow cylindrical probe rod 102 held by a support guide device 101 so as to be movable in the vertical direction. The probe rod 102 is a rod main body 1.
The movable rod portion 102b is foldably attached to the lower portion of 02a. The movable rod portion 102b is the support shaft 10.
It can be rotated by an angle of 90 ° or more about 2c as a fulcrum, and it can be rotated at an arbitrary angle by remote operation from the upper part of the exploration rod 102 by a wire (not shown) or the like. The direction shown in FIG. 1A in which the movable rod portion 102b rotates is referred to as the front.

The movable rod portion 102b has a laser oscillator 105 including a first CCD camera 103 for internal photographing, a plurality of LEDs 104 as a first illumination light source, a pair of laser pointers for distance measurement, and the like. A piezoelectric gyro 106 for detecting an elevation angle / horizontal angle is attached.

On the other hand, a halogen lamp 107 as a second illumination light source is attached to the lower part of the rod body 102a so as to face forward.

A second CCD camera 108 for photographing an external image is attached to the rod body 102a so as to face forward.

Furthermore, on the upper part of the rod body 102a,
An illumination controller 109 for controlling the LED 104 as the first illumination light source and the halogen lamp 107 as the second illumination light source is attached.

The support guide device 101 includes the exploration rod 10
It has an encoder 101a that outputs depth information in accordance with the vertical movement of 2. The support guide device 101
Supports the exploration rod 102 to be inserted so as to be rotatable around its axis.

The structure of the movable rod portion 102b described above is
Further description will be made with reference to FIG.

In the movable rod portion 102b, the first CCD camera 103 is arranged in the central portion so as to face the end surface,
A plurality of LEDs 10 are arranged in the movable rod portion 102b around the LED 10.
4 are arranged concentrically. Further, the laser oscillators 105 are arranged on both sides of the first CCD camera 103, and in the present embodiment, the distance between the outsides of the laser oscillators 105 on both sides is smaller than the inspection hole H having a diameter of 40 mm. It is built to fit the value.

Then, when the movable rod portion 102b is rotated forward by 90 °, for example, so as to be horizontal, a laser beam at the same level as the photographing optical axis of the camera is made parallel from both sides of the first CCD camera 103. It is injected toward the inner wall surface of the cavity. At that time, the two laser beams projected as points on the inner wall surface of the cavity are used for the first CCD camera 10.
3 shoots.

When photographing the inside of the cavity, it is desirable to turn on the halogen lamp 107 which is the second illumination light source in order to obtain a large amount of light. Since it is not possible to illuminate the inside of the cavity if is the inner wall of the inspection hole, the illumination inside the cavity can be secured by turning on the LED 104 which is the first illumination light source.

Here, the image taken by the first CCD camera 103 and the image taken by the second CCD camera 108 are the same although there is a difference between the hollow internal image and the external image on the road. The direction, the direction of which is obtained from the information from the gyro 106.

From the photographic device 1 having the above-mentioned configuration, the first photographic information from the first CCD camera 103, the gyro 1
The imaging direction information from 06, the second imaging information from the second CCD camera 108, and the depth information from the encoder 101a are input to the processing device 2, respectively.

The processing device 2 includes a night-vision device 202, first and second CCD cameras 103, 108 and the like for clarifying the images of the monitor unit 201 and the first CCD camera 103 when they are unclear due to insufficient light quantity. It is composed of a controller 203 for controlling the system, a personal computer 204 for processing and controlling input / output information, and a recording device 205 for recording video information, calculation information and the like.

First, the distance measuring method in the processor 2 will be described with reference to FIG.
Will be explained. As described above, the first CCD camera 103 captures the spot light of the two parallel laser beams emitted from the two laser oscillators 105 and irradiating the wall surface inside the cavity as the object of distance measurement together with the image inside the cavity. To do. In FIG. 4, the distance between the two laser oscillators 105 in the horizontal direction is D, and the first CCD camera 103
The field of view of the horizontal image is W and the distance measurement target distance is L. The first CCD camera 103 is located in the center between the two laser oscillators 105.

The ratio of the laser distance D to the visual field distance W of the horizontal image changes with a constant value according to the distance L. First
If the angle of view of the CCD camera 103 is θ, the field of view W of the horizontal image is W = 2L · tan θ, so W: D = 2.
L · tan θ: given by D.

Therefore, if D / W is set to a known value P by precalculating the value of W: D, L = D
/ (2P · tan θ), and the distance L to be measured is obtained. The personal computer 204 executes this arithmetic processing.

In the present embodiment, the exploration rod 102
The above-described distance measurement calculation processing is executed while lowering the depth of.
As a result of the distance measurement calculation process, the distance measurement value is directly displayed as a numerical value on the display unit 201 shown in FIG. 1B, and the distance measurement point in the vertical direction is displayed on the image in the cavity on the display unit 201c. The state of the depth of the inner wall of the cavity obtained by plotting the coordinates of is superimposed and displayed. That is, the depths of the left and right cavity inner walls measured on the right and left sides with respect to the coordinates indicated by the cross are displayed as curves.

Therefore, it is possible to determine whether the inner wall of the cavity is on the front side or retracted on the back side.

On the other hand, the external image photographed by the second CCD camera 108 is displayed on the display unit 201a shown in FIG. 1B, and it is possible to confirm which direction the observation direction of the cavity corresponds to outside. You can do it. At that time, the plane of the cavity obtained in the above-described secondary survey is displayed on the display unit 201, and the direction obtained by the gyro 106 is displayed by an arrow.

The display section 201d is adapted to display the image information of the inside of the cavity including the inner wall of the examination hole H, which is photographed by a photographing device (not shown).

The display unit 201e has an encoder 1
The depth from 01a, the elevation angle of the movable rod portion 102b, and the area of the plane cavity at each distance measuring point are displayed numerically,
The information displayed on each display unit is recorded in the recording device 205.

[0049]

According to the inventions of claims 1, 2, and 3,
Since the distance to be measured can be calculated by image processing without using the reflected wave, the distance can be measured within the cavity. Further, even if the amount of light in the cavity is insufficient, it can be clarified by the night-vision device, and the distance measurement target can be reliably specified.

According to the fourth and fifth aspects of the invention, both inside and outside of the cavity can be photographed in the same direction, and the inside of the cavity can be observed according to the outside. Also,
Even if the amount of light in the cavity is insufficient, it can be clarified by the night-vision device, and the inside of the cavity can be clearly photographed.

According to the sixth to thirteenth aspects of the present invention, it is possible to grasp the distance to the inner wall surface of the cavity, whether it is on the front side or retracted, with a small photographing device, and its direction. Can be grasped together with the external situation, and in particular, the detailed situation can be grasped through a small hole of about 40 mm. Even if the amount of light in the cavity is insufficient, it can be clarified by the night-vision device, and the inside of the cavity can be clearly photographed.

[Brief description of drawings]

1A and 1B show an embodiment of the present invention, in which FIG. 1A shows a schematic configuration, and FIG. 1B shows details of a monitor unit in FIG. 1A.

2 is a side view showing the image pickup apparatus of FIG. 1, FIG.
(B) is a front view.

FIG. 3 shows the movable rod portion of FIG. 1, (a) is a side view,
(B) is a front view.

FIG. 4 is a schematic diagram showing a principle of distance measurement according to an embodiment of the present invention.

[Explanation of symbols]

1 Imaging device 101 Support guide device 102 exploration rod 102a rod body 102b Movable rod section 102c spindle 103 First CCD camera 104 LED 105 laser oscillator 106 Piezo gyro 107 halogen lamp 108 Second CCD camera 109 Lighting controller 2 processing equipment 201 monitor 202 Night Vision Device 203 controller 204 personal computer 205 recording device

─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Rie Hirosue 7-1 Hattomichi, Matsudo City, Chiba Prefecture Kanto Engineering Office, Kanto District Construction Bureau, Ministry of Construction (72) Inventor Hisao Naito 9-hisamatsucho, Nihonbashi, Chuo-ku, Tokyo 9 Incorporated Road Maintenance Technology Center (72) Inventor Shinichiro Yamamoto 9-9 Nihonbashi Hisamatsucho, Chuo-ku, Tokyo 9-9 Incorporated Road Maintenance Technology Center (72) Keisuke Hamaguchi 8-15-12 Nishi-Kamata, Ota-ku, Tokyo Geo · Search Co., Ltd. (72) Inventor Takumi Sugiura 8-15-12 Nishi Kamata, Ota-ku, Tokyo Geo Search Co., Ltd. (56) Reference JP 62-126313 (JP, A) JP 9-210677 (JP, A) Japanese Patent Laid-Open No. 4-110642 (JP, A) Actual Development 4-21808 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 7/06 G01B 11 / 00 G06T 7/00

Claims (13)

(57) [Claims] 1. A CCD camera and the CCD so that a laser beam is emitted in parallel along an optical axis of the camera.
It has a pair of laser oscillators arranged on both sides of the camera, and a calculation means for calculating the distance to the object to be measured based on the image information taken by the CCD camera. An interval (D) between a pair of irradiation lights that is irradiated onto the object to be measured by the laser beam,
A distance measuring device characterized by being obtained based on a field of view (W) of a photographed horizontal image and a photographing angle of view (θ). 2. The calculation means is a distance measurement target distance (L).
And D / W = P, L = D / (2P · tan θ)
The distance measuring device according to claim 1, wherein 3. The night-vision device amplifies image information captured by the CCD camera.
Alternatively, the distance measuring device according to 2. 4. An exploration rod in which a movable rod portion is attached to a lower end portion of the exploration rod body so as to be rotatable at least in a horizontal direction, and a CCD camera for external observation attached to the exploration rod body in a predetermined direction. A CCD camera for internal observation, which is attached to the movable rod portion so as to face the same direction as the camera for external observation in a state where the movable rod portion is rotated in the horizontal direction. The camera for external observation is located inside the cavity, and the camera for external observation is located outside the cavity above the cavity, and the CCD camera for external observation and the CCD camera for internal observation face in the same direction. An imaging device characterized by being able to shoot. 5. The night-vision device amplifies image information captured by the CCD camera.
The imaging device described in. 6. An exploration rod in which a movable rod portion is attached to a lower end portion of an exploration rod body so as to be rotatable at least in a horizontal direction, and an image can be taken in front of the exploration rod in a state in which the movable rod portion is horizontally rotated. A CCD camera for internal observation attached to the movable rod portion, and a CCD camera for internal observation arranged on both sides of the CCD camera so that a laser beam is emitted in parallel along the optical axis of the CCD camera for internal observation. Pair of laser oscillators, and the internal observation C
A calculation means for calculating the distance to the object to be measured based on image information taken by a CD camera, the camera for internal observation is located in the cavity through a small hole communicating the exploration rod with the cavity, and the calculation is performed. The means is based on a distance (D) between a pair of irradiation lights with which the distance measurement target is irradiated by the laser beams of the pair of laser oscillators, a viewing distance (W) of a photographed horizontal image, and a photographing angle of view (θ). A system for ascertaining the internal condition of a cavity, which is characterized by the following. 7. The distance (L) of a distance measurement target is calculated by the calculation means.
And D / W = P, L = D / (2P · tan θ)
The cavity internal condition ascertaining system according to claim 6, wherein: 8. The external observation C for photographing the outside of the cavity in the same direction as the internal observation camera, on the exploration rod.
8. The system for grasping the inside condition of a cavity according to claim 6, wherein a CD camera is attached. 9. The cavity internal condition ascertaining system according to claim 6, further comprising a monitor for displaying photographing information photographed by the CCD camera. 10. The cavities internal condition ascertaining system according to claim 6, wherein the movable rod portion is provided with azimuth detecting means for detecting a photographing direction of a CCD camera. 11. The display device according to claim 6, further comprising display means for displaying distance measurement information in an overlapping manner on an image observed by the CCD camera for internal observation. Cavity internal situation grasp system. 12. The cavity internal condition ascertaining system according to claim 6, wherein image information photographed by said CCD camera is amplified by a night-vision device. 13. The small hole leading to the cavity has a diameter of 40 m.
m is about m, Claims 6, 7, 8, 9,
The system for ascertaining the inside condition of a cavity according to 10, 11, or 12.