JP5367305B2 - Visual inspection apparatus and visual inspection method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive and compact examination device capable of improving the examination quality by providing an examiner with an examination image of high visibility of a defect using a camera having a usual resolution, and to provide an examination device allowing the same examiner to take charge also of examination of different power generation plants without examination at the side. <P>SOLUTION: This examination device includes an image input device 103 for taking examination video and outputting an image of digital data, an image selecting device 104 for selecting the examination image used for the examination from the image output from the image input device 103 based on the feature amount of the image, a high-resolution image creating unit 105 for creating, from the examination image, a high-resolution image with a resolution higher than that of the examination image, and an image recognizing device 106 for displaying the examination image and high-resolution image. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a visual inspection apparatus for a structure and an inspection method thereof, and more particularly, to a visual inspection apparatus for a reactor internal structure and an inspection method thereof.

  In nuclear power plants, equipment is regularly inspected to maintain safety and reliability. The inspection of the in-furnace structure which is important among them is performed by indirect visual observation using a camera. This indirect visual inspection involves submerging an underwater camera or a camera in a watertight case from the top of the furnace into the water in the furnace manually, and remotely operating the camera from the top of the furnace to photograph the inspection target. The inspector visually confirms the video of the camera output to the monitor installed in the upper part (Patent Document 1).

  In addition, the video of the camera is recorded on a video tape or the like, and if there is a defect, the video tape is taken back to the office, and an inspection record is created while checking the video of the video tape again.

In addition, since a large-scale device such as a nuclear power plant has a wide imaging range, a method of obtaining a wide range of image data by scanning an inspection apparatus equipped with a plurality of cameras has been developed (Patent Document 2).
JP 2000-346976 A JP 2002-149859 A

  In conventional visual inspection, the inspector looks for defects visually from the camera image, and if the camera resolution is insufficient for the defects to be detected, the defect visibility becomes poor and defects are overlooked. there's a possibility that. In order to prevent such defects from being overlooked, it is necessary to perform inspections with a narrow imaging range of the camera, but it takes time to shoot all the furnace interiors of large equipment with a camera with a narrow imaging range. There is a problem that the inspection time becomes longer.

  Further, as shown in Patent Document 2, there is also known a means for shortening the inspection time by using a plurality of cameras, but the apparatus becomes large-scale, high-cost, poor in operability, and obtained. The resolution of the image did not exceed the resolution of each camera, and the resolution was not sufficient.

  On the other hand, there is a method using a high-resolution camera, but since the frame rate of a high-resolution camera is slow, there is a time lag before the operator's operation is reflected in the camera image, resulting in poor operability. ing. In addition, when using a high-resolution camera, it takes time to shoot all the internal structures of a large apparatus with a camera having a narrow shooting range, and there is a problem that the inspection time becomes longer. Furthermore, since a high-resolution video has a large data size, there is a problem that a larger-scale recording device is required than before, and it takes time to transmit data using a communication line.

Then, as a matter of inspectors resources, current tests are to inspector is an inspection in the field, it is impossible to test the different power plant are the same inspector Kakemotsu, It is difficult to make full use of inspector resources.

  The present invention has been made to solve the above-described problems, and uses a camera having a normal resolution and provides inspection images with good defect visibility to the inspector at a low cost that can improve inspection quality. A first object is to provide a compact inspection device, and a second object is to provide an inspection device in which the same inspector can take charge of inspection of different power plants without inspecting by the inspector on site. Objective.

In order to solve the above-described problems, a visual inspection apparatus according to the present invention includes an image input device that captures an inspection video and outputs an image of digital data, and an image feature amount among images output from the image input device. An image selection device that selects a plurality of inspection images to be used for inspection based on the image, and a high-resolution image having a resolution higher than the resolution of the inspection image is generated from the plurality of inspection images by an inter-image alignment device and a luminance estimation device . A high-resolution image creation device; and an image confirmation device that displays the inspection image and the high-resolution image , wherein the image selection device is in a state of change in camera momentum between successive images and / or illumination between successive images. The plurality of inspection images used for the inspection are selected based on the plurality of inspection images .

The visual inspection apparatus according to the present invention includes a camera that captures an inspection object, a camera operation device that is attached to the camera and operates the camera according to an external control signal, and that captures an inspection video imaged by the camera and digital data An image input device that outputs a plurality of inspection images, an image selection device that selects a plurality of inspection images to be used for inspection based on a feature amount of the image from images output from the image input device, and the plurality of inspection images comprising a high-resolution image creating apparatus for creating a high resolution image of high resolution by the inter-image alignment apparatus and brightness estimating unit than the resolution of the inspection image and the image checking device for displaying the inspection image and the high resolution image from The image selection device uses the compound motion to be used for inspection based on a camera momentum between consecutive images and / or a change in illumination between consecutive images. And selecting the test images.

The visual inspection apparatus according to the present invention includes a camera that captures an inspection object, a camera operation device that is attached to the camera and operates the camera according to an external control signal, and that captures an inspection video imaged by the camera and digital data The image input device that outputs the image of the inspection, the inspection object recording device that records the shape information of the inspection object, the shape information recorded in the inspection object recording device and the output image output from the image input device are compared and collated An image recognition device for recognizing an inspection object from the output image, and an image selection device for selecting a plurality of inspection images to be used for inspection based on a feature amount of the image from images output from the image input device; , high resolution to create a plurality fit between the high resolution image of higher resolution than the resolution of the inspection image from the inspection image image position device and the luminance estimator An image creation device; and an image confirmation device that displays the inspection image and the high-resolution image. The image selection device selects the image by controlling the camera and the camera operation device from a recognition result of the image recognition device. An image of a feature amount to be processed is input from the camera to an image input device.

A visual inspection method according to the present invention is the visual inspection method using the visual inspection apparatus according to claim 1 , wherein a step of taking an inspection video and outputting an image of digital data, and an image from the output image are provided. Selecting a plurality of inspection images to be used for inspection based on the feature amount of the image, and using the inter-image alignment device and the luminance estimation device to generate a high-resolution image having a resolution higher than the resolution of the inspection image from the plurality of inspection images. and creating, have a, and displaying the high resolution image and the inspection image, the step of selecting said plurality of test images, the illumination between cameras momentum and / or continuous images between successive images The plurality of inspection images to be used for the inspection are selected based on the change state .

  The present invention provides a low-cost and compact inspection apparatus capable of improving inspection quality by providing an inspection image with good defect visibility to an inspector using a camera having a normal resolution. In addition, it is possible to provide an inspection apparatus in which the same inspector can also be in charge of inspection of different power plants without inspecting the field by the inspector.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 is a block diagram showing a configuration of a visual inspection apparatus according to the first embodiment of the present invention. As shown in FIG. 1, the visual inspection apparatus according to the first embodiment displays a camera 101 for photographing an inspection object 100, an operation apparatus 102 composed of, for example, a suspension that supports the camera by suspending the camera, and an image of the camera 101. An image input device 103 that outputs a captured digital image, an image selection device 104 that selects an inspection image to be used for inspection based on a feature amount of the image from output images of the image input device, and an image selection device 104 A high-resolution image creation device 105 that creates a high-resolution image higher than the resolution of the inspection image from the selected inspection image, and the inspection image selected by the image selection device 104 and the high-resolution image creation device 105 It is comprised from the image confirmation apparatus 106 which displays a high resolution image.

  Next, the operation of this visual inspection apparatus will be described. The camera 101 is a camera having a normal resolution, and is supported by, for example, an operation device 102 attached to the upper part of the camera 101. The operator operates the end of the operation device 102 opposite to the camera 101 to reach the inspection object 100. The camera 101 is moved to photograph the inspection object 100. The video of the camera 101 is input to the image input device 103 and output as a digital image. The output image of the image input device 103 is input to the image selection device 104. The image selection device 104 measures the image feature amount of the input output image of the image input device 103 by image processing, and based on the measured image feature amount. The image used for inspection is selected and output.

(First image selection method)
A first image selection method of the image selection device 104 will be described.
The image selection device 104 sequentially records the output image of the image input device 103, and compares the recorded image and the latest output image of the image input device 103 by image processing.

  FIG. 2 is an explanatory diagram of a method for comparing two images 200a and 200b. The image selection device 104 sets a rectangular comparison area 201 in the image 200a, performs image scanning 202 while sequentially shifting the overlapping position of the images one pixel at a time from the upper left to the lower right of the image 200b. A matching process is executed at the position to calculate a luminance correlation value.

  The image selection device 104 searches for a position having the highest correlation value among the correlation values of luminance calculated at each position, and calculates a shift amount between images with respect to the position of the comparison region 201 of the image 200a. As a result, the obtained shift amount is obtained by moving the shooting range by the movement of the camera 101.

  Next, the image selection device 104 calculates the amount of shift in time units from the difference between the shooting times of the two images. When this deviation amount is large, there is a high possibility that image blurring has occurred because a large camera motion has occurred. Therefore, the image selection device 104 selects an image with a small deviation and outputs it as an inspection image.

  In this description, the comparison area has been described as a single rectangle. However, the comparison area may be set in an arbitrary shape such as to match the shape of the inspection target, or a plurality of areas may be used to correspond to the uneven shape on the surface. Block matching for each local region may be used.

(Second image selection method)
Next, the second image selection method of the image selection device 104 will be described.
Similar to the first image selection method, the image selection device 104 sequentially records the output images of the image input device 103, and the two images, the recorded image and the latest output image of the image input device 103, are imaged. Compare by processing.

FIG. 3 is an explanatory diagram of a method for comparing two images 200a and 200b.
The image selection device 104 receives the images 200 a and 200 b as input, performs image difference absolute value processing 301, obtains a luminance difference image 302 indicating a luminance difference between the two images, and calculates a luminance difference histogram 303 from the luminance difference image 302. Calculate

  The luminance difference histogram 303 is a frequency graph in which the horizontal axis indicates the luminance difference and the vertical axis indicates the number of pixels of each luminance difference. In the luminance difference histogram 303, when the luminance difference between two images is small, the number of pixels is distributed in the smaller luminance difference as in the luminance difference histogram 303a. When the luminance difference between images is large, the number of pixels is distributed in the larger luminance difference as in the luminance difference histogram 303b. Since the luminance difference between images is caused by a change in illumination, the change in illumination is small in the luminance difference histogram 303a, and the change in illumination is large in the luminance difference histogram 303b.

  Therefore, the image selection device 104 selects an image and outputs it as an inspection image when the frequency of the number of pixels in the luminance difference histogram is distributed in a smaller luminance difference.

  In this description, the image difference absolute value processing is performed on the entire image. However, the image difference absolute value processing may be performed on an arbitrary region such as matching with the shape of the inspection target, or a local luminance change may be performed. It may be performed for each local region to capture.

  As an image selection method in the image selection device 104, the first method selects an image based on the movement of the camera, and the second method selects an image based on a change in illumination. A method of selecting an image by combining these methods may be used.

(High brightness image creation device and creation method)
As shown in FIG. 4, the high-resolution image creation device 105 includes an inter-image registration device 400 and a luminance estimation device 401, and the inspection image selected by the image selection device 104 is an image of the high-resolution image creation device 105. This is input to the interposition alignment device 400 and the luminance estimation device 401.

  The inter-image registration device 400 sequentially records the inspection image input from the image selection device 104, and performs image processing on the recorded image and the latest inspection image input from the image selection device 104. In comparison, registration between images is performed with subpixel accuracy of one pixel or less.

  As an execution method, for example, by enlarging the image, the pixel accuracy of the image is increased, and in the same manner as the first image selection method of the image selection device 104, a comparison area is set and the overlapping position of the images is sequentially shifted by one pixel. The image is scanned while matching processing is executed at each position to calculate the luminance correlation value. Next, the position having the highest correlation value among the luminance correlation values calculated at each position is searched, and the images are aligned. Further, when the surface of the inspection object 100 is uneven, the distance from the camera 101 to the inspection object 100 is not constant, so that the position of alignment between images differs for each local region. In such a case, matching processing is performed for each local region, and alignment between images is performed for each local region.

  The luminance estimation device 401 creates a high-resolution image having a resolution higher than the resolution of the inspection image of the image selection device 104 from the inspection image input from the image selection device 104 and the alignment position of the inter-image alignment device 400.

An example of a method for creating a high-resolution image will be described with reference to FIG.
The images 500a and 500b are inspection images input from the image selection device 104, and a high-resolution image 502 is created from these images.

  In this example, the resolution of the high-resolution image 502 is set to twice that of the images 500a and 500b. If the pixel 501a of the image 500a is a pixel having the coordinates 1A, 2A, 1B, and 2B of the high-resolution image 502, the pixel 501b of the image 500b has the coordinates in the high-resolution image 502 from the alignment position of the inter-image alignment device 400. Calculated. In this example, they are 2B, 3B, 2C, and 3C.

Next, the brightness of the high resolution image 502 is calculated. The coordinate 2B of the high-resolution image 502 in the example of FIG. 5 is a coordinate where the pixel 501a of the image 500a and the pixel 501b of the image 500b overlap, and the luminance estimation device 401 uses the luminance of the pixel 501a and the pixel 501b. Estimate the brightness of coordinate 2B.
In such a procedure, the luminance in units of subpixels of one pixel or less is sequentially estimated, and a high-resolution image of the inspection object is created.

  The image confirmation device 106 displays the inspection image output from the image selection device 104 and the high resolution image created by the high resolution image creation device 105 and provides them to the inspector. At that time, by appropriately comparing the two, it is possible to grasp and visually recognize the defect quickly and accurately, and also to evaluate the created high resolution image. Based on the evaluation, it is possible to instruct re-imaging of the inspection object and re-image processing as necessary.

In the present embodiment, the image input from the camera 101 is input to the image input device 103. However, a video recorded on an existing video tape or the like may be input to the image input device 103.
Further, the above-described image processing can be applied to a monochrome image or a color image.

  According to the first embodiment, when an inspector confirms and inspects a high-resolution image having a resolution higher than that of the camera, the visibility of defects is improved, and the inspection quality can be improved. Also, by creating a high-resolution image from an image when the camera motion is small or when the illumination change is small, the quality of the high-resolution image is improved, and the inspection quality is improved by improving the visibility of defects. be able to.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG.
FIG. 6 is a block diagram showing a configuration of a visual inspection apparatus according to the second embodiment of the present invention. In FIG. 6, the same or corresponding parts as in FIG.

  In the second embodiment, a camera operation device 600 for operating the camera 101 and a camera control device 601 for operating the camera 101 and the camera operation device 600 are added to the first embodiment shown in FIG. It is provided.

Next, the operation will be described.
The operator operates the camera control device 601 to adjust the shooting range of the camera 101 and the shooting direction of the camera 101 so that the inspection target 100 is shot by the camera 101. The camera control device 601 transmits an external control signal according to the operator's operation to the camera 101 and the camera operation device 600, and controls the angle of view of the camera 101 and the operation direction of the camera operation device 600. At this time, the camera control device 601 controls the camera 101 and the camera operation device 600 so as not to cause a sudden change in the angle of view of the camera 101 or a rapid operation motion of the camera operation device 600, so that the image selection device 104. The image of the image feature amount selected in step S is output from the camera 101.

  According to the second embodiment, the operator can operate the shooting range and shooting direction of the camera, and the image selected by the image selection device by controlling the camera and the camera operation device is transferred from the camera to the image selection device. It can be input and a high-resolution image can always be created.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIGS.
FIG. 7 is a block diagram showing a configuration of a visual inspection apparatus according to the third embodiment of the present invention. In FIG. 7, the same or corresponding parts as in FIG.

  This third embodiment is different from the first embodiment shown in FIG. 1 in that a camera operating device 600 that operates the camera 101, an inspection object recording device 701 that records shape information of an inspection object, and an inspection object recording An image recognition device 700 that recognizes the inspection object by comparing and collating the shape information of the inspection object recorded in the apparatus 701 with the output image of the image input device 103 by image processing is additionally provided.

Next, the operation will be described.
FIG. 8 is an explanatory diagram of the operation of the image recognition apparatus 700. The inspection target shape information 800 indicating the shape of the inspection target is recorded in the inspection target recording device 701, and the image recognition device 700 performs image processing for enlarging or reducing the image with respect to the output image 801 of the image input device 103. Is performed under a plurality of enlargement conditions.

  Next, an image rotation process 803 for executing image processing for rotating the image under a plurality of rotation conditions is performed on the plurality of output images of the image enlargement / reduction process 802, and a plurality of converted images output from the image rotation process 803 are performed. And the inspection object shape information 800 are compared in the image comparison process 804 to recognize the inspection object from the image 801.

  The image recognition apparatus 700 inspects the imaging range of the camera 101 by controlling the angle of view of the camera 101 and the operation direction of the camera operation apparatus 600 based on the result of recognizing the inspection object from the output image of the image input apparatus 103. Follow the target. As a result, the inspection object 100 can be stably captured by the camera 101, and an image of the image feature amount selected by the image selection device 104 is output from the camera 101.

  According to the third embodiment, the image selected by the image selection device is selected from the camera by automatically recognizing the inspection object from the image of the camera by image processing and automatically controlling the shooting range and shooting direction of the camera. It can be input to the device and a high resolution image can always be created.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described with reference to FIG.
FIG. 9 is a block diagram showing a configuration of a visual inspection apparatus according to the fourth embodiment of the present invention. 9, parts that are the same as or equivalent to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.

  In the fourth embodiment, a camera operation device 600 that operates the camera 101 and a position measurement device 900 that measures the position of the camera 101 are added to the first embodiment shown in FIG. It is.

Next, the operation will be described.
The operator operates the operation device 102 attached to the camera 101 to move the camera 101 to the inspection target 100, operates the operation device 102, operates the camera 101 using the camera operation device 600, and inspects the camera 101. The object 100 is photographed.

  The position measurement apparatus 900 measures the position of the camera using a method such as GPS, and inputs the measurement result to the image confirmation apparatus together with the operation position of the camera operation apparatus 600 and the viewing angle of the camera 101. The image confirmation apparatus 106 calculates the position of the inspection object 100 photographed by the camera 101 from the position of the camera 101 measured by the position measurement apparatus 900, the operation position of the camera operation apparatus 600, and the viewing angle of the camera 101, The history of the position of the inspection object for which the high-resolution image is created by the resolution image creation device 105 is displayed.

  According to the fourth embodiment, since the position of the inspection object that created the high-resolution image can be grasped, the inspection result can be recorded and managed by adding the position information of the inspection object, and the place where the inspection is not performed is clear. Thus, the inspection omission can be prevented.

[Fifth Embodiment]
Next, a fifth embodiment of the present invention will be described with reference to FIG.
FIG. 10 is a block diagram showing a configuration of a visual inspection apparatus according to the fifth embodiment of the present invention. 10, parts that are the same as or equivalent to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.

  This fifth embodiment is different from the first embodiment shown in FIG. 1 in an image recording memory 1000 that records a high-resolution image displayed on the image confirmation device 106 in accordance with an inspector's instruction on the image confirmation device 106. Is added.

Next, the operation will be described.
In the conventional visual inspection, the video from the camera is recorded on a videotape, and if there is a defect in the inspection object, the videotape is taken back to the office and the inspector checks the videotape video again. Had created an inspection record.

  The visual inspection apparatus according to the fifth embodiment has an image instructed by an inspector when the inspector confirms an image displayed on the image confirmation apparatus 106 and determines that the inspection object 100 is defective. The high-resolution image displayed on the confirmation device 106 is recorded in the image recording memory 1000 of the image confirmation device 106. Thereafter, an inspection report 1001 is created based on the high-resolution image recorded in the image recording memory 1000 of the image confirmation apparatus 106.

  According to the fifth embodiment, a high-resolution image determined to be defective while an inspector confirms an image displayed on the image confirmation device 106 is sequentially recorded in the image recording memory 1000 to create an inspection report 1001. By doing so, it is not necessary to create an inspection report while confirming the video again, and the inspector's restraint time can be shortened.

[Sixth Embodiment]
Next, a sixth embodiment of the present invention will be described with reference to FIG.
FIG. 11 is a block diagram showing a configuration of a visual inspection apparatus according to the sixth embodiment of the present invention. In FIG. 11, the same or corresponding parts as in FIG.

  This sixth embodiment is located on the site side 1100 that is connected by the communication line 1103 and images the inspection object 100 with the camera 101, and at a location away from the site side 1100, as compared with the first embodiment shown in FIG. However, a transmission / reception device 1102 for transmitting / receiving data between the offices 1101 that actually performs the inspection is additionally provided.

Next, the operation will be described.
The inspection image selected by the image selection device 104 is transmitted to the second transmission / reception device 1102b installed on the office side 1101 using the communication line 1103 by the first transmission / reception device 1102a installed on the site side 1100. The The communication line 1103 is realized by a telephone line, LAN, wireless LAN, infrared communication, satellite communication, or the like.

  The second transmission / reception device 1102b installed on the office side outputs the inspection image transmitted from the first transmission / reception device 1102a to the high-resolution image creation device 105 and the image confirmation device 106. The high resolution image creation device 105 creates a high resolution image from the inspection image output from the first transmission / reception device 1102 a and outputs the high resolution image to the image confirmation device 106. The image confirmation device 106 displays the inspection image output from the second transmission / reception device 1102b and the high-resolution image created by the high-resolution image creation device 105 and provides them to the inspector.

  According to the sixth embodiment, a high-precision visual inspection can be performed remotely by using the communication line even at a location away from the site. In addition, because a high-resolution high-resolution image is created from inspection images sent and received over a communication line, the amount of data can be reduced compared to sending and receiving a high-resolution image over a communication line, and a communication line with a limited transmission bandwidth It is possible to provide a highly accurate inspection even in remote inspection using the. In addition, since the inspector can check the imaging status such as the position of the camera 101 and the position of the inspection object 100 from the inspection images sent continuously, the inspection similar to the inspection that has been performed in the past is performed on the communication line. This can be done from the images sent and received.

[Seventh Embodiment]
Next, a seventh embodiment of the present invention will be described with reference to FIG.
FIG. 12 is a block diagram showing a configuration of a visual inspection apparatus according to the seventh embodiment of the present invention. In FIG. 12, the same or corresponding parts as those in FIG.

  This seventh embodiment is different from the sixth embodiment shown in FIG. 11 in that an image quality improvement device 1200 that improves the image quality of an inspection image selected by the image selection device 104 by image processing, and an image quality improvement device. A monitor 1201 that displays an image whose image quality has been improved in 1200 and a voice input / output device 1202 that inputs and outputs voices of workers on the site side 1100 and inspectors on the office side 1101 are additionally provided.

Next, the operation will be described.
In the conventional visual inspection, the inspector visually confirms the camera image displayed on the monitor, and if it appears that there is a defect that cannot be judged as a defect, the camera is brought closer to the inspection object and reconfirmed. It was.

  The visual inspection device according to the seventh embodiment is used when the inspector confirms the image displayed on the image confirmation device 106 and determines that reconfirmation is necessary by bringing the camera 101 close to the inspection object 100. The inspector gives instructions to the worker by voice.

  In the seventh embodiment, the voice of the inspector is input to the voice input / output device 1202b on the office side 1101, and the voice input / output device 1202b uses the communication line 1103 to transmit the voice of the inspector by the transmission / reception device 1102. To the voice input / output device 1202a of the side 1100. The voice input / output device 1202a outputs the inspector's voice and transmits the inspector's instruction to the operator.

  In addition, voice such as work confirmation of the worker is input to the voice input / output device 1202a on the site side 1100, and transmitted to the voice input / output device 1202b on the office side 1101 by the second transmission / reception device 1102. The voice input / output device 1202b outputs the worker's voice and transmits the worker's voice to the inspector.

  Through these operations, workers on the site side and inspectors on the office side conduct remote inspection while interacting. At the same time, the inspection image selected by the image selection device 104 is input to the image quality improvement device 1200, and the image quality is improved by image processing by the image quality improvement device 1200 and output to the monitor 1201. The image quality improvement device 1200 outputs an image in which the image quality is improved by image processing that enhances the image resolution by image processing similar to that of the high-resolution image creation device 105 or image processing that enhances the contrast of the image, for example.

  On the site side 1100, the operator confirms which position of the inspection object 100 the inspector wants to reconfirm with the dialogue by the voice input / output device 1202 and the image displayed on the monitor 1201, and the camera 101 is placed on the inspection object 100. Perform operations such as bringing them closer.

  According to the seventh embodiment, the operator confirms the position of the reconfirmation work such as bringing the camera 101 closer to the inspection object 100 with the dialog and the image displayed on the monitor, so that the inspector who is remotely The intention can be accurately communicated to the worker, and workability is improved. In addition, it is possible to perform the same inspection as the inspection that has been performed in the field from the image transmitted and received using the communication line.

[Eighth Embodiment]
Next, an eighth embodiment of the present invention will be described with reference to FIG.
FIG. 13 is a block diagram showing a configuration of a visual inspection apparatus according to the eighth embodiment of the present invention. 13, parts that are the same as or equivalent to those in FIG. 11 are given the same reference numerals, and descriptions thereof are omitted.

  In the eighth embodiment, a date and time drawing device 1300 for drawing the date and time is added to the inspection image selected by the image selection device 104 in addition to the sixth embodiment shown in FIG. is there.

Next, the operation will be described.
The inspection image selected by the image selection device 104 is input to the date and time drawing device 1300, and the date and time drawing device 1300 draws the current date and time, for example, at a position such as the upper left of the inspection image. The inspection image on which the date and time is drawn by the date and time drawing device is transmitted from the site side 1100 to the office side 1101 by the transmission / reception device 1102 using the communication line 1103 and displayed on the image confirmation device 106. At the same time, the date / time information drawn on the inspection image from the date / time drawing apparatus 1300 is transmitted to the image confirmation apparatus 106 by the transmission / reception apparatus 1102. The image confirmation device 106 reads the date and time drawn on the inspection image by image processing, compares it with the date and time information transmitted from the date and time drawing device 1300, and the received inspection image is the inspection image transmitted from the site side. Confirm. Further, the inspector compares the date and time of the inspection image displayed on the image confirmation apparatus 106 with the current date and time, and can confirm that the confirmed inspection image is the inspection image transmitted from the site 1100.

  According to the eighth embodiment, when performing a remote inspection using a communication line, it can be confirmed that the image confirmed by the inspector is an inspection image transmitted from the site side to the office side. , Can ensure that the inspection was done with the correct inspection image. Therefore, even when a problem occurs in the transmission of the inspection image due to an unintended communication line abnormality or system trouble, the abnormality can be recognized and appropriately dealt with.

[Ninth Embodiment]
Next, a ninth embodiment of the present invention will be described with reference to FIG.
FIG. 14 is a block diagram showing a configuration of a visual inspection apparatus according to the ninth embodiment of the present invention. In FIG. 14, the same or corresponding parts as in FIG.

  In the ninth embodiment, compared with the sixth embodiment shown in FIG. 11, a high-resolution image creation apparatus 105 and an image compression apparatus 1400 for newly compressing an image are installed on the site side 1100, and office work is performed. An image restoration device 1401 for restoring an image is additionally provided on the local side 1101.

Next, the operation will be described.
The image selection device 104 outputs the selected inspection image to the high resolution image creation device 105 and the image compression device 1400. The high resolution image creation device 105 creates a high resolution image from the inspection image output from the image selection device 104 and outputs the high resolution image to the first transmission / reception device 1102a.

  The image compression apparatus 1400 compresses the moving image such as MPEG for the inspection image output from the image selection apparatus 104 and outputs the compressed image to the first transmission / reception apparatus 1102a. The first transmission / reception device 1102a uses the communication line 1103 to transmit the high resolution image output from the high resolution image creation device 105 and the moving image compression inspection image output from the image compression device 1400 to the office side 1101. It transmits to the installed 2nd transmission / reception apparatus 1102b.

  The second transmission / reception device 1102b installed on the office side outputs the high-resolution image transmitted from the first transmission / reception device 1102a to the image confirmation device 106 and the moving image compression inspection image to the image restoration device 1401. The image restoration device 1401 restores the inspection image compressed with the moving image and outputs it to the image confirmation device 106. The image confirmation apparatus 106 displays the restored inspection image and the high-resolution image and provides them to the inspector.

  According to the ninth embodiment, similarly to the sixth embodiment, a high-precision visual inspection can be performed remotely by using a communication line even at a location away from the site. In addition, video compression inspection images and high-resolution images that aggregate time-space image information are transmitted over a communication line, so the amount of data can be reduced and transmission bandwidth is limited compared to transmission of uncompressed inspection images. High-accuracy visual inspection is possible even in remote inspection using the established communication line.

The block diagram of the visual inspection apparatus which concerns on the 1st Embodiment of this invention. Explanatory drawing of the 1st image selection method which concerns on the 1st Embodiment of this invention. Explanatory drawing of the 2nd image selection method which concerns on the 1st Embodiment of this invention. 1 is a configuration diagram of a high-resolution image creation apparatus according to a first embodiment of the present invention. Explanatory drawing of the production method of the high resolution image which concerns on the 1st Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 2nd Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 3rd Embodiment of this invention. Explanatory drawing of operation | movement of the image recognition apparatus which concerns on the 3rd Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 4th Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 5th Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 6th Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 7th Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 8th Embodiment of this invention. The block diagram of the visual inspection apparatus which concerns on the 9th Embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 ... Inspection object, 101 ... Camera, 102 ... Operation apparatus, 103 ... Image input apparatus, 104 ... Image selection apparatus, 105 ... High-resolution image creation apparatus, 106 ... Image confirmation apparatus, 200a, 200b, 500a, 500b, 801 ... Image 201 ... Comparison area 202 ... Image scanning 301 ... Image difference absolute value processing 302 ... Luminance difference image 303, 303a, 303b ... Luminance difference histogram 400 ... Inter-image registration device 401 ... Luminance estimation device 501a, 501b ... pixel, 502 ... high definition image, 600 ... camera operation device, 601 ... camera control device, 700 ... image recognition device, 701 ... inspection object recording device, 800 ... inspection object shape information, 802 ... image enlargement / reduction processing 803 ... Image rotation processing 804 ... Image comparison processing 900 ... Position measuring device 1000 ... Image storage memory 1102, 1102a, 1102b ... transmission / reception device, 1103 ... communication line, 1200 ... image quality improvement device, 1201 ... monitor, 1202a, 1202b ... voice input / output device, 1300 ... date and time drawing device, 1400 ... image compression device, 1401 ... image restoration apparatus.

Claims (12)

An image input device that captures an inspection video and outputs an image of digital data; and an image selection device that selects a plurality of inspection images to be used for inspection based on a feature amount of the image from images output from the image input device; A high-resolution image creation device that creates a high-resolution image having a resolution higher than that of the inspection image from the plurality of inspection images by using an inter-image alignment device and a luminance estimation device, and displays the inspection image and the high-resolution image. An image confirmation device ,
The visual selection device, wherein the image selection device selects the plurality of inspection images to be used for inspection based on a camera momentum between consecutive images and / or a change state of illumination between consecutive images . A camera that shoots an inspection object, a camera operation device that is attached to the camera and operates the camera by an external control signal, an image input device that takes an inspection video imaged by the camera and outputs an image of digital data, and An image selection device that selects a plurality of inspection images to be used for inspection based on image feature amounts from images output from the image input device, and a resolution higher than the resolution of the inspection image from the plurality of inspection images A high-resolution image creation device that creates a high-resolution image by an inter-image alignment device and a luminance estimation device, and an image confirmation device that displays the inspection image and the high-resolution image ,
The visual selection device, wherein the image selection device selects the plurality of inspection images to be used for inspection based on a camera momentum between consecutive images and / or a change state of illumination between consecutive images . The visual inspection apparatus according to claim 2 , further comprising a camera control device that operates the camera and the camera operation device. A position measuring device for measuring the position of the camera, calculating the position of the inspection object being photographed by the camera from the position of the camera, the operation position of the camera operation device, and the viewing angle of the camera, and the high resolution The visual inspection apparatus according to claim 3, wherein a position history of an inspection object for which a high-resolution image is generated by the image generation apparatus is measured. A camera for photographing an inspection object, a camera operation device that is attached to the camera and operates the camera by an external control signal, an image input device that captures an inspection video imaged by the camera and outputs an image of digital data, and an inspection An inspection object recording device that records shape information of an object, and shape information recorded in the inspection object recording device and an output image output from the image input device are compared and collated to recognize the inspection object from the output image. an image recognition device, an image selection device for selecting a plurality of test images to be used for inspection on the basis of the feature amount of the image from the image output from the image input device, from said plurality of test images of the test image and a high-resolution image creating apparatus for creating a high resolution image of high resolution by the inter-image alignment apparatus and brightness estimating unit than the resolution, the inspection image and the high And an image verification device that displays Zodo image,
An image of a feature amount selected by the image selection device is input from the camera to the image input device by controlling the camera and the camera operation device from the recognition result of the image recognition device. Inspection device. Wherein comprising an image memory for recording an arbitrary image on the image checking device, a visual inspection apparatus according to any one of claims 1 to 5, characterized in that to create an inspection report from the recorded image in the image memory. And an image quality improving apparatus for improving the image quality of the selected test image by the image selection device, to any one of claims 1 to 6, characterized in that a monitor for displaying an output image of the image quality improving apparatus The visual inspection device described. A first transmission / reception device that transmits an inspection image selected by the image selection device to a second transmission / reception device via a communication line; and a second transmission / reception device that receives the selected inspection image and outputs the selected inspection image to the high-resolution image creation device. visual inspection apparatus according to any one of claims 1 to 7, characterized in that it comprises a transceiver. An image compression device for compressing the inspection image selected by the image selection device, a compressed image created by the image compression device and the high resolution image created by the high resolution image creation device via a communication line A first transmission / reception device that transmits to the transmission / reception device, the compressed image and the high-resolution image are received, the compressed image is output to the image confirmation device via an image restoration device, and the high-resolution image is output to the image visual inspection apparatus according to any one of claims 1 to 8, characterized in that it comprises a second transceiver that outputs a confirmation device. A voice output device for the input and output of voice, according to claim 8 or 9, characterized in that the remote inspection while sending and receiving voice conversation using the communication line by said first or second transceiver The visual inspection device described. The date and time are drawn on an image transmitted / received using a communication line by the first or second transmission / reception device, so that it can be confirmed that the transmitted image and the received image are not different. Item 10. The visual inspection apparatus according to any one of Items 8 to 10 . In visual inspection method using the inspection apparatus of claims 1 to 11, wherein the step of outputting the image of the digital data capturing the test image, a plurality to be used for inspection on the basis of the feature amount of the image from among the output image selecting the test images, and creating a plurality fit between the high-resolution high-resolution image than the resolution of the inspection image from the inspection image image position device and the luminance estimator, the high and the inspection image possess displaying a resolution image, and
The step of selecting the plurality of inspection images includes selecting the plurality of inspection images to be used for the inspection based on a camera momentum between consecutive images and / or a change state of illumination between consecutive images. Visual inspection method.

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