JP6542282B2 - Wall surface image acquisition device, wall surface image acquisition method, and program - Google Patents

Description

  The present invention relates to a wall surface image acquisition device, a wall surface image acquisition method, and a program for acquiring a planar image of a concrete wall surface.

  In recent years, it has become a social issue to safely maintain civil engineering structures constructed in high economic growth period including manholes. Generally, it is difficult to renovate an aging manhole with a large-scale construction. Therefore, in order to continue using safely in the future, it is necessary to diagnose deterioration of the underground structure by inspection, and to take measures such as repair to stop the progress of deterioration or reinforcement in some cases.

  As a means for checking the deterioration of the manhole main body, it is currently the mainstream that a worker enters the manhole and visually inspects it, and photographs a deteriorated part with a digital camera. However, water is accumulated in most of the manholes, and every time inspections are performed, it takes a lot of time for inspection work, such as drainage of stored water by workers. Therefore, inspection automation using a machine has been proposed as a means by which a worker can inspect the inside of a manhole without entering a hole.

  For example, Non-Patent Document 1 discloses a camera apparatus which inserts a camera tip portion from a keyhole of a manhole cover and thoroughly inspects the inside of a dark manhole. Moreover, the wall surface image acquisition apparatus which image | photographs, expanding and contracting to a height direction and a depth direction along a concrete wall surface to patent document 1 is disclosed.

"Development of Camera for Inspection in Sewer Manhole" Research Report of Tokyo Metropolitan Industrial Technology Research Center, No. 1, 2006

JP, 2016-001152, A

  However, in the camera device described in Non-Patent Document 1, it is difficult to capture deterioration of a concrete wall surface with high accuracy due to insufficient illuminance or resolution and insufficient viewing angle in a deep manhole (in particular, an end). The In order to solve such resolution and lack of viewing angle, the wall surface image acquisition device described in Patent Document 1 was developed, but the resolution of the photographed screen decreases with the distance from the photographing position for a large manhole with a long depth And there was a possibility to overlook the deterioration.

  An object of the present invention made in view of such a point of view is a wall surface image acquisition device capable of acquiring a clear and high-definition wall surface planar image over the entire wall surface of an underground structure without a worker entering a hole, a wall surface Abstract: An image acquisition method and program are provided.

  In order to solve the above problems, a wall image acquisition device for acquiring an image of a wall surface of an underground structure according to the present invention is attached to an extendable arm portion and a tip of the arm portion, and the extension and contraction of the arm portion The moving illumination unit illuminates a direction substantially perpendicular to the direction, the image acquisition unit attached to the tip and the image acquisition unit for capturing the wall surface, and the guide unit for inserting the arm unit, the extension direction of the arm unit A stationary illumination unit to be illuminated and an image processing unit for processing an image acquired by the image acquisition unit are provided, and the arm unit is expanded and contracted to perform the photographing at every predetermined distance.

  In order to solve the above problems, in the wall surface image acquisition method for acquiring an image of a wall surface of an underground structure according to the present invention, the arm portion is illuminated so as to illuminate a direction substantially perpendicular to the expansion and contraction direction of the extendable arm portion. And a step of controlling an image acquisition unit attached to the tip of the arm unit that extends and retracts so as to perform photographing of the wall surface; and an extension direction of the arm unit To illuminate the fixed illumination unit attached to the guide unit into which the arm unit is inserted, and extending and retracting the arm unit to move the image acquisition unit by a predetermined distance; The wall by direct light emitted from at least one of the moving illumination unit and the fixed illumination unit, or indirect light obtained by the direct light being reflected by the wall surface; The site of degradation to illuminate a convex side, and wherein the turning on the said moving illumination portion and the fixed lighting part alternately.

In order to solve the above-mentioned subject, the program concerning the present invention is a computer by the moving illumination part attached to the tip of the arm part which expands and contracts maintaining the wall surface of the underground structure and a substantially constant distance. In a state in which a direction substantially perpendicular to the expansion and contraction direction is illuminated, and in a state in which the direction in which the arm portion is extended is illuminated by a fixed illumination portion attached to a guide portion into which the arm portion is inserted by the image acquiring unit mounted, a process of acquiring a plurality of images of the wall taken at every predetermined distance, in each of the plurality of images, the illuminance of the irradiated light from the front Symbol fixed illumination unit Based on the processing of searching for substantially the same area, the processing of detecting the amount of movement between images having the same area, and the amount of movement, the images are linked to create a planar image of the entire wall surface. Processing and, to the execution.

  According to the wall surface image acquiring apparatus, the wall surface image acquiring method, and the program according to the present invention, it is possible to acquire a clear and high-definition wall surface planar image over the entire wall surface of the underground structure without the worker entering the hole. It is.

It is a schematic diagram which shows the structure of the wall surface image acquisition apparatus which concerns on one Embodiment of this invention. It is the schematic diagram which expanded a part of arm part of the wall surface image acquisition apparatus of FIG. It is the schematic diagram which showed the mode of the illumination by the wall surface image acquisition apparatus of FIG. It is a block diagram which shows the structure of the wall surface image acquisition apparatus of FIG. It is a schematic diagram which shows an example of control of the movement illumination part of FIG. 1, and a fixed illumination part. It is a 1st schematic diagram which shows the principle for catching the unevenness | corrugation formed in the surface of the upper floor slab. It is a 2nd schematic diagram which shows the principle for catching the unevenness | corrugation formed in the surface of the upper floor slab. It is a 3rd schematic diagram which shows the principle for catching the unevenness | corrugation formed in the surface of the upper floor slab. It is a flowchart which shows operation | movement of the wall surface image acquisition apparatus of FIG. It is a schematic diagram which shows an example of the image processing which the image processing part of FIG. 1 performs. It is a flowchart which shows the process which the image processing part of FIG. 1 performs.

  Hereinafter, an embodiment of the present invention will be described with reference to the attached drawings. In the following description, the directions of back, front, right, left, and top and bottom are based on the directions of arrows in the drawings.

  FIG. 1 is a schematic view showing a configuration of a wall surface image acquisition device 1 according to an embodiment of the present invention. FIG. 2 is a schematic view in which a part of the arm unit 10 of the wall surface image acquisition device 1 of FIG. 1 is enlarged. FIG. 3: is the schematic diagram which showed the mode of the illumination by the wall surface image acquisition apparatus 1 of FIG. FIG. 3A is a schematic view showing a state of illumination by the fixed illumination unit 50. FIG. FIG. 3B is a schematic view showing the state of illumination by the moving illumination unit 20. As shown in FIG. FIG. 4 is a block diagram showing the configuration of the wall surface image acquisition device 1 of FIG.

  The wall surface image acquisition device 1 according to one embodiment photographs a concrete surface of a concrete structure such as a building or a manhole, and clearly and precisely captures degraded portions such as exposed streaks, peeling of concrete, or cracks on the concrete surface. Acquire a flat image. In particular, the wall surface image acquisition device 1 acquires an image of a wall surface of an underground structure such as a manhole. In the following, the wall surface image acquisition device 1 will be described as an example that acquires a planar image in which the deteriorated portion is clearly and finely captured over the entire upper floor plate forming the upper surface of the manhole, but is not limited thereto. The wall surface image acquisition device 1 may acquire a planar image of a wall surface other than the upper floor plate of the manhole.

  The wall surface image acquisition device 1 illustrated in FIG. 1 includes an arm unit 10, a moving illumination unit 20, an image acquisition unit 30, a guide unit 40, a fixed illumination unit 50, and an image processing unit 60.

  The arm unit 10 is configured by connecting a plurality of substantially rectangular parallelepiped shaped members 11 as an example. For example, when the wall image acquisition device 1 acquires a plane image of the upper floor of a manhole, the arm unit 10 expands and contracts along the height direction and the depth direction. In the case of FIG. 1, the height direction is the depth direction of the manhole, that is, the vertical direction. The depth direction coincides with the horizontal direction. The arm unit 10 extends and contracts along the depth direction in the manhole while maintaining a substantially constant distance with the upper floor plate in the vertical direction.

  As shown in FIG. 2, the arm unit 10 is provided at a connecting portion 12 of a predetermined adjacent member 11 a and a member 11 b among the plurality of connected members 11, and is a deflection that restricts downward bending occurring in the member 11 b The control unit 13 is provided. The deflection control portion 13 is formed of any elastic member or metal member. The deflection control portion 13 is preferably made of, for example, an appropriate metal plate. The deflection restricting portion 13 is configured by fixing a metal plate to the lower portion of the connecting portion 12 by an appropriate method such as screwing. For example, even when the downward deflection angle θ is generated in the member 11b due to the weight of the plurality of connected members 11, sagging at the time of extension is caused by arranging the deflection restricting portion 13 as a spacer in the connecting portion 12 It is regulated. That is, the deflection control portion 13 functions to hold the arm portion 10 extended in the depth direction substantially horizontally.

  More specifically, the member 11 a and the member 11 b are connected to each other by the rotation mechanism 14, and can be rotated within a predetermined range with the rotation mechanism 14 as a fulcrum. For example, in FIG. 2, the member 11 b is rotatable upward from the horizontal state, that is, clockwise. In other words, the member 11b is bendable upward. On the other hand, in FIG. 2, the rotation of the member 11 b from the horizontal state downward, that is, in the counterclockwise direction is restricted. In other words, the downward bending of the member 11b is restricted. When extending the plurality of members 11 connected by such a mechanism in the depth direction, a downward deflection angle θ occurs in the predetermined member 11b due to its own weight. At this time, a metal plate is provided on the predetermined connecting portion 12 in order to give the member 11 b an upward angle θ. A metal plate is provided on the predetermined connecting portion 12 each time the arm portion 10 is further extended in the depth direction to generate a bending angle θ. Thus, the deflection restricting portion 13 improves the sagging when the arm portion 10 is extended. Further, by adjusting the installation position and thickness of the metal plate, the arm unit 10 is horizontally held more accurately. The arm unit 10 may be reduced in weight as a whole by being made of a lighter material.

  The mobile lighting unit 20 is configured by a suitable lighting device. For example, the mobile lighting unit 20 may illuminate the inside of the manhole with a normal light emitting diode (LED) or a high color rendering LED. High color rendering LEDs contain light of a wider range of wavelengths than regular LEDs. Therefore, the color reproduction of the photographed image is secured by photographing the upper floor plate in the state of being illuminated by the high color rendering LED.

  As shown in FIG. 3, the moving illumination unit 20 is attached to the tip of the arm unit 10. That is, the mobile lighting unit 20 moves in the horizontal direction in the corresponding manhole in accordance with the horizontal expansion and contraction of the arm unit 10. The moving illumination unit 20 illuminates a direction (right and left direction in FIG. 3B) substantially perpendicular to the extension and contraction direction of the arm unit 10. That is, the mobile lighting unit 20 illuminates the side in the manhole. As one example, in FIG. 3, the moving illumination unit 20 is disposed immediately below the image acquisition unit 30, but is not limited thereto. The moving illumination unit 20 may be disposed at any position as long as it can illuminate a direction substantially perpendicular to the extension and contraction direction of the arm unit 10 while realizing the function of the image acquisition unit 30 described later.

  The image acquisition unit 30 is configured of an arbitrary camera. For example, the image acquisition unit 30 may be configured by a fisheye camera capable of wide-angle shooting. The image acquisition unit 30 is attached to the tip of the arm unit 10, and captures an upper floor plate from below. The image acquisition unit 30 captures the upper floor slab at predetermined distances along the horizontal direction according to the expansion and contraction of the arm unit 10. That is, the image acquisition unit 30 performs imaging a plurality of times at different horizontal positions in order to image the entire lower surface of the upper floor plate of the manhole to be imaged. The image acquisition unit 30 outputs the plurality of acquired image data to the image processing unit 60.

  The guide part 40 is formed in a substantially L shape. That is, the guide portion 40 linearly extends along the lower side from the opening of the manhole formed in the upper floor slab, and then bends in the depth direction in the manhole and extends substantially horizontally. The arm unit 10 is inserted into the guide unit 40. More specifically, the guide portion 40 has a substantially L-shaped through hole 41 formed therein. The arm unit 10 which expands and contracts along the height direction and the depth direction is guided along the through hole 41 by an appropriate mechanism such as a roller mechanism driven by a motor. The arm unit 10 is extended and contracted along the depth direction in the manhole by being sent out and returned by the guide unit 40.

  The fixed lighting unit 50 is configured by a suitable lighting device. For example, the fixed lighting unit 50 may illuminate the inside of the manhole with a normal LED or a high color rendering LED, like the moving lighting unit 20.

  As shown in FIG. 3, the fixed illumination unit 50 is attached to a guide unit 40 into which the arm unit 10 is inserted. As an example, the fixed illumination unit 50 is disposed on the surface of a portion where the guide unit 40 is bent in the horizontal direction from the vertical direction. Unlike the movable illumination unit 20, the fixed illumination unit 50 is disposed at a fixed position independent of horizontal expansion and contraction of the arm unit 10. The fixed illumination unit 50 illuminates the direction in which the arm unit 10 extends, that is, the depth direction. In other words, the fixed lighting unit 50 illuminates the inside of the manhole. In particular, in order to efficiently illuminate the lower surface of the upper floor slab along the depth direction, it is preferable that the fixed illumination unit 50 be disposed such that the emission surface of the illumination light is directed obliquely upward.

  The image processing unit 60 processes the image acquired by the image acquisition unit 30. Specifically, the image processing unit 60 acquires a plurality of image data captured by the image acquisition unit 30. The image processing unit 60 performs various image processing to be described later using the plurality of image data.

  As shown in FIG. 4, the wall surface image acquisition device 1 further includes a control unit 70. The control unit 70 is a processor that controls and manages the entire wall surface image acquisition device 1 including each functional block of the wall surface image acquisition device 1. The control unit 70 is configured by a processor such as a central processing unit (CPU) that executes a program that defines a control procedure. Such a program is stored in any storage medium. For example, the control unit 70 controls the moving illumination unit 20 and the fixed illumination unit 50 in order to realize various illumination patterns.

  FIG. 5 is a schematic view showing an example of control of the moving illumination unit 20 and the fixed illumination unit 50 of FIG. An example of the illumination pattern realized by the control of the movable illumination unit 20 and the fixed illumination unit 50 by the control unit 70 will be described in detail using FIG. 5.

  The control unit 70 may use the moving illumination unit 20 and the fixed illumination unit 50 in combination in order to ensure uniform illumination over the entire upper floor slab. That is, the control unit 70 may keep on lighting both the moving illumination unit 20 and the fixed illumination unit 50 for a predetermined time interval. At this time, as shown in FIG. 5A, the illumination light emitted from the fixed illumination unit 50 is diffused in the vertical and horizontal directions in the depth direction of the manhole. For example, the illuminance on the upper floor surface of the illumination light emitted from the fixed illumination unit 50 gradually decreases as the distance from the fixed illumination unit 50 in the depth direction increases. Similarly, the illuminance on the upper floor plate surface of the illumination light emitted from the fixed illumination unit 50 gradually decreases as it is separated from the left and right position of the fixed illumination unit 50 in the left and right direction.

  In order to compensate for such a reduction in illuminance and to ensure uniform illuminance over the entire upper floor slab, illumination light emitted from the moving illumination unit 20 is used. As shown in FIG. 5B, the illumination light emitted from the moving illumination unit 20 diffuses in the vertical direction, the depth direction, and the near direction in both the left and right directions. The illumination light emitted from the moving illumination unit 20 propagates in both left and right directions, and is reflected on the surfaces of the side walls B and C of the manhole. Part of the reflected illumination light propagates toward the upper floor as indirect light. Thus, even if the illumination intensity of the illumination light by the fixed illumination unit 50 is lowered at the predetermined surface position of the upper floor slab, the surface position is illuminated by the indirect light of the illumination light emitted from the moving illumination unit 20. Thus, uniform illuminance is secured over the entire upper floor slab.

  The control unit 70 illuminates the movable illumination unit 20 at each position of the arm unit 10 that expands and contracts along the depth direction in the manhole in consideration of the attenuation amount of the illumination light according to the separation distance from the fixed illumination unit 50. The light output may be controlled. For example, the control unit 70 may increase the output of the illumination light of the moving illumination unit 20 as the arm unit 10 extends and the moving illumination unit 20 moves further back. Conversely, the control unit 70 may decrease the output of the illumination light of the moving illumination unit 20 as the moving illumination unit 20 approaches the fixed illumination unit 50.

  The control unit 70 may alternately turn on the mobile lighting unit 20 and the fixed lighting unit 50. That is, the control unit 70 may turn on only the fixed illumination unit 50 for a predetermined time interval, and then turn on only the moving illumination unit 20 for the same or different time intervals. The control unit 70 may repeat this cycle at an arbitrary cycle. The alternate lighting control pattern of the moving illumination unit 20 and the fixed illumination unit 50 by the control unit 70 may be any pattern as long as the wall surface unevenness of the upper floor slab surface can be clearly captured.

  Below, the principle for the wall surface image acquisition apparatus 1 to catch the unevenness of the crack formed as a degradation part on the wall surface of an upper floor slab as an example clearly is explained.

  FIG. 6 is a first schematic view showing the principle for capturing the unevenness formed on the surface of the upper floor slab. FIG. 6A shows a case where an optional illumination unit such as the movable illumination unit 20 or the fixed illumination unit 50 is located on the concave side of the crack. FIG. 6 (b) shows the case where an optional illumination unit such as the mobile illumination unit 20 or the fixed illumination unit 50 is located on the convex side of the crack. FIG. 7 is a second schematic view showing the principle for capturing the unevenness formed on the surface of the upper floor slab. FIG. 8 is a third schematic view showing the principle for capturing the unevenness formed on the surface of the upper floor slab.

  For example, as shown by the broken line encircling part in FIG. 6A, when the illumination part is located on the recess side of the crack, the illumination light emitted from the illumination part directly illuminates the entire crack location from the recess side. Not formed. In this case, it is difficult for the image acquisition unit 30 to grasp the crack of the upper floor slab as the shadow of the surface. On the other hand, when the illumination unit is positioned on the convex portion side of the crack as shown by the dashed-line enclosed portion in FIG. 6B, the illumination light emitted from the illumination portion illuminates the crack location from the convex portion side. Therefore, part of the illumination light is blocked by the convex portion. As a result, shadows occur in the cracked portion of the upper floor slab. The image acquisition unit 30 captures a crack of the upper floor plate by photographing such a shadow on the upper floor plate surface.

  The wall surface image acquisition device 1 captures a crack of the upper floor slab as a shadow on the surface by controlling the position of the illumination unit and the direction of illumination. For example, as shown to Fig.7 (a), the case where a crack is formed in substantially linear form along the depth direction of an upper floor slab is considered. Further, as shown in FIG. 7B, it is considered that the convex portion of the crack is formed on the right side, and the moving illumination unit 20 and the fixed illumination unit 50 are disposed at substantially the same left and right position with respect to the crack.

  In such a case, the illumination light from the moving illumination unit 20 and the fixed illumination unit 50 does not illuminate the convex side of the crack as direct light. Therefore, the image acquisition unit 30 can not capture the crack as a shadow on the surface of the upper floor slab only by direct light. Therefore, it is preferable that the control unit 70 causes the moving illumination unit 20 to be turned on, and direct light emitted from the moving illumination unit 20 in the right direction to be reflected by the side wall B. The indirect light obtained by the direct light of the moving illumination unit 20 being reflected by the side wall B illuminates the crack of the upper floor plate from the right side (convex side). Thus, the image acquisition unit 30 can capture the crack as a shadow on the surface of the upper floor slab.

  On the other hand, as shown in FIG. 7C, a case is considered where the convex portion of the crack is formed on the left side, and the moving illumination unit 20 and the fixed illumination unit 50 are positioned slightly to the left of the crack. That is, this corresponds to the case where the illumination unit is located on the convex portion side of the crack shown in FIG.

  Even in such a case, the illumination light from the moving illumination unit 20 propagates in the left-right direction, and does not illuminate the left side (convex portion side) of the crack as direct light. Therefore, only by controlling the moving illumination unit 20, the image acquiring unit 30 can not capture the crack as a shadow on the upper floor plate surface. Therefore, it is preferable that the control unit 70 controls the stationary illumination unit 50 so that the direct illumination light emitted from the stationary illumination unit 50 illuminates the crack of the upper floor plate from the convex portion side by lighting the stationary illumination unit 50. It is. Thus, the image acquisition unit 30 can capture the crack as a shadow on the surface of the upper floor slab.

  For example, as shown to Fig.8 (a), the case where a crack is formed in the substantially linear shape along the left-right direction on the back side of an upper floor plate is considered. Furthermore, as shown to FIG.8 (b) and (c), the convex part of a crack is formed in the back side, and the case where the mobile illumination part 20 and the fixed illumination part 50 are arrange | positioned with respect to a crack is considered.

  In such a case, since the movable illumination unit 20 and the fixed illumination unit 50 are disposed on the concave side of the crack, the direct light from the movable illumination unit 20 and the fixed illumination unit 50 does not illuminate the convex side of the crack. Therefore, the image acquisition unit 30 can not capture the crack as a shadow on the surface of the upper floor slab only by direct light. Therefore, after the control unit 70 causes the moving illumination unit 20 to light and direct light emitted from the moving illumination unit 20 in the left-right direction to be reflected once by the side wall B or the side wall C, it is further reflected by the side wall A. It is suitable. The indirect light obtained by being reflected twice by the side wall B or the side wall C and the side wall A illuminates the crack of the upper floor plate from the back side (convex side). Thus, the image acquisition unit 30 can capture the crack as a shadow on the surface of the upper floor slab.

  On the other hand, as shown in FIG. 8D, in a state where the convex portion of the crack is formed on the front side, the moving illumination unit 20 is disposed, for example, directly under the crack, and the illumination light from the moving illumination unit 20 is cracked Consider the case where you do not illuminate the convex side of. In such a case, the image acquisition unit 30 can not capture a crack as a shadow on the surface of the upper floor slab only by controlling the moving illumination unit 20. Therefore, the control unit 70 controls the fixed lighting unit 50 so that the direct light emitted from the fixed lighting unit 50 illuminates the crack of the upper floor plate from the front side (convex side) by lighting the fixed lighting unit 50. Is preferred. Thus, the image acquisition unit 30 can capture the crack as a shadow on the surface of the upper floor slab.

  As described above, according to the state of the crack formed in the upper floor slab, the control unit 70 causes the crack on the convex portion side by the direct light or the indirect light emitted from at least one of the moving illumination unit 20 and the fixed illumination unit 50. The mobile lighting unit 20 and the fixed lighting unit 50 are controlled so as to illuminate from the front. The image acquisition unit 30 acquires images of corresponding portions of the upper floor slab in synchronization with the lighting control pattern of the control unit 70 while the control unit 70 alternately lights the movable lighting unit 20 and the fixed lighting unit 50. Do. That is, the image acquisition unit 30 divides the image of the corresponding portion of the upper floor slab at a predetermined position into two cases, one being illuminated by the moving illumination unit 20 and the other being illuminated by the fixed illumination unit 50. Do.

  Then, the operation | movement which the wall surface image acquisition apparatus 1 performs is demonstrated using a flowchart. FIG. 9 is a flowchart showing the operation of the wall surface image acquisition apparatus 1 of FIG.

  The control unit 70 turns on the mobile lighting unit 20 (step S101). Thereby, the mobile lighting unit 20 illuminates the side in the manhole.

  The control unit 70 controls the image acquisition unit 30 so as to capture the surface of the upper floor slab at a predetermined position (step S102).

  The control unit 70 lights the fixed lighting unit 50 instead of the moving lighting unit 20 (step S103). Thereby, the fixed illumination unit 50 illuminates the depth direction in the manhole.

  The control unit 70 controls the image acquisition unit 30 to capture the surface of the upper floor slab at the same position as the predetermined position described above (step S104).

  The control unit 70 turns off the fixed illumination unit 50 (step S105).

  The control unit 70 extends and retracts the arm unit 10 to move the image acquisition unit 30 by a predetermined distance (step S106).

  The control unit 70 determines whether the arm unit 10 has moved to the end (step S107). When the control unit 70 determines that the arm unit 10 has moved to the end, the control unit 70 ends the flow. If the control unit 70 determines that the arm unit 10 has not moved to the end, the control unit 70 returns to step S101 and repeats the flow again.

  As described above, the control unit 70 causes the movable illumination unit 20 to illuminate the deteriorated portion of the upper floor slab from the convex portion side by direct light or indirect light emitted from at least one of the movable illumination unit 20 and the fixed illumination unit 50. And the fixed lighting unit 50 are alternately turned on.

  Subsequently, image processing performed by the image processing unit 60 will be described. FIG. 10 is a schematic view showing an example of image processing performed by the image processing unit 60 of FIG.

  As shown in FIG. 10, for example, the illuminance of the illumination light emitted from the fixed illumination unit 50 monotonously decreases as the distance from the fixed illumination unit 50 increases. The image processing unit 60 utilizes the attenuation effect of the illuminance of the illumination light, and the illuminance of the illumination light emitted from the fixed illumination unit 50 is substantially the same in each of the plurality of images captured by the image acquisition unit 30. Explore the area of For example, as illustrated in FIG. 10, the image processing unit 60 acquires an image I1, an image I2, and an image I3 captured by the image acquisition unit 30 at three different positions. The image processing unit 60 searches for an area in which the illuminance of the illumination light is substantially the same in the image I1 and the image I2. In the image I1 and the image I2, the illuminance of the illumination light substantially matches the predetermined region on the back side of the image I1 and the corresponding region on the near side of the image I2. The image processing unit 60 searches for these areas R1. Similarly, in the image I2 and the image I3, the image processing unit 60 searches for a region in which the illuminance of the illumination light is substantially the same. In the image I2 and the image I3, the illuminance of the illumination light substantially matches the predetermined region on the back side of the image I2 and the corresponding region on the near side of the image I3. The image processing unit 60 searches these areas R2.

  Subsequently, the image processing unit 60 detects the amount of movement between images having in common a region in which the illuminance of light emitted from the fixed illumination unit 50 is substantially the same. For example, the image processing unit 60 detects the amount of movement between the image I1 and the image I2 which have the region R1 in common. For example, the image processing unit 60 detects the amount of movement between the image I2 and the image I3 which have the region R2 in common.

  Subsequently, the image processing unit 60 connects corresponding images based on the detected movement amount. For example, the image processing unit 60 links the image I1 and the image I2 based on the movement amount between the detected image I1 and the image I2. That is, the image processing unit 60 connects the image I1 and the image I2 so as to superimpose the regions R1 on the basis of the movement amount. Similarly, the image processing unit 60 links the image I2 and the image I3 based on the movement amount between the detected image I2 and the image I3. That is, the image processing unit 60 links the image I2 and the image I3 so that the regions R2 overlap each other based on the movement amount.

  Further, the image processing unit 60 combines the image photographed at the same position by the image acquiring unit 30 when illuminated by the moving illumination unit 20 and the image illuminated by the fixed illumination unit 50. For example, the image processing unit 60 combines the image I 1 ′ when illuminated by the moving illumination unit 20 and the image I 1 when illuminated by the fixed illumination unit 50. The same applies to the image I2 and the image I3.

  The image processing unit 60 repeats the above to create a planar image of the entire surface of the upper floor plate.

  Subsequently, processing performed by the image processing unit 60 will be described using a flowchart. FIG. 11 is a flowchart showing processing performed by the image processing unit 60 of FIG.

  The image processing unit 60 acquires a plurality of image data captured by the image acquisition unit 30 (step S201).

  The image processing unit 60 searches a region in which the illuminance of the illumination light emitted from the fixed illumination unit 50 is substantially the same in each of the plurality of images captured by the image acquisition unit 30 (step S202).

  The image processing unit 60 detects the amount of movement between images having in common a region having substantially the same illuminance of light emitted from the fixed lighting unit 50 (step S203).

  The image processing unit 60 connects corresponding images based on the detected movement amount (step S204).

  The image processing unit 60 combines the image photographed at the same position by the image acquiring unit 30 when illuminated by the moving illumination unit 20 and the image illuminated by the fixed illumination unit 50 (step S205).

  The image processing unit 60 determines whether all the images have been connected and combined (step S206). If the image processing unit 60 determines that all the images have been connected and combined, the flow ends. If the image processing unit 60 determines that all the images are not connected and combined, the process returns to step S204, and the flow is repeated again.

  The above-described wall surface image acquisition device 1 can acquire a clear and high-definition wall surface planar image over the entire wall surface of the underground structure without the worker entering the hole. In particular, the wall surface image acquisition device 1 clearly and evenly covers the entire surface of the upper floor slab by performing imaging at predetermined distances while illuminating different directions in the manhole by the moving illumination unit 20 and the fixed illumination unit 50. It is possible to acquire a high definition wall plane image. The wall image acquisition device 1 can cope with any manhole size, that is, the surface area of any upper floor plate by adjusting the length of the arm unit 10.

  The wall image acquisition device 1 can hold the arm unit 10 extended in the depth direction substantially horizontally by restricting the downward deflection of the arm unit 10 by the deflection restricting unit 13. Therefore, the wall surface image acquisition device 1 can perform imaging in a state in which the image acquisition unit 30 is stabilized. The wall surface image acquisition device 1 can further suppress the downward deflection of the arm unit 10 by using the weight-reduced arm unit 10.

  The wall surface image acquisition device 1 can ensure uniform illuminance over the entire upper floor slab by using the moving illumination unit 20 and the fixed illumination unit 50 in combination. On the other hand, the wall surface image acquisition device 1 turns on the moving illumination unit 20 and the fixed illumination unit 50 alternately, and illuminates the deteriorated portion of the upper floor slab from the convex portion side to clearly capture the unevenness of the deteriorated portion. Can. The wall surface image acquisition device 1 can provide a photographed image that faithfully reproduces the surface of the actual upper floor slab by suppressing the oversight of the deteriorated portion. Thereby, the wall surface image acquisition device 1 can accumulate data of the upper floor plan planar image which allows the worker to easily grasp the deteriorated portion of the entire upper floor slab and the number thereof.

  The wall surface image acquisition device 1 can connect and combine a plurality of images regarding the surface of the upper floor slab with high accuracy by the above-described image processing by the image processing unit 60. Thereby, the wall surface image acquisition device 1 can provide a photographed image in which the surface of the actual upper floor is faithfully reproduced.

  The wall image acquisition apparatus 1 can improve the safety of the work and shorten the work time since the worker does not need inspection work such as draining the stored water in the manhole with a pump and then entering the hole. And contribute to the improvement of work efficiency.

  The wall surface image acquisition method described using FIG. 9 and the image processing method described using FIG. 11 performed by the wall surface image acquisition device 1 according to the present invention may be applied as a program to be executed by a computer. Moreover, such a program may be stored in any storage medium in the wall surface image acquisition device 1 or may be provided to the outside via a network.

  It will be apparent to those skilled in the art that the present invention can be realized in other predetermined forms other than the above-described embodiment without departing from the spirit or essential characteristics thereof. Thus, the foregoing description is illustrative and not restrictive. The scope of the invention is defined by the appended claims rather than by the foregoing description. Some of the changes that come within the scope of the equivalents are intended to be embraced therein. For example, functions or the like included in each means or each step can be rearranged so as not to be logically contradictory, and a plurality of means or steps can be combined or divided into one. .

  For example, the image linking step of step S204 in FIG. 11 and the image combining step of step S205 may be interchanged in order, or may be performed simultaneously in parallel. In addition, although the image processing unit 60 has been described as performing the same processing on a plurality of other images after connecting and combining a plurality of predetermined images, the present invention is not limited thereto. For example, the image processing unit 60 combines the combined image when illuminated by the moving illumination unit 20 and the combined image when illuminated by the fixed illumination unit 50 after performing only the image linking process over all corresponding images. You may As described above, the image processing unit 60 may perform image connection and image combination processing by any method as long as it is possible to obtain a clear, high-definition, and highly reproducible wall surface planar image.

  The wall surface image acquisition device 1 is not limited to the detection of the deteriorated portion of the upper floor slab, and may capture the deteriorated portion of the side wall along the depth direction in the manhole, for example. In this case, the arm unit 10 expands and contracts along the depth direction in the manhole, that is, the up and down direction. The fixed illumination unit 50 illuminates the lower side in the manhole. The moving illumination unit 20 illuminates a direction perpendicular to the vertical direction and parallel to the surface of the side wall which becomes inspection symmetrical. The wall surface image acquisition device 1 may execute the same wall surface image acquisition method and image processing method as described above in such an arrangement.

DESCRIPTION OF SYMBOLS 1 Wall surface image acquisition apparatus 10 Arm part 11, 11a, 11b Member 12 Connection part 13 Flexure control part 20 Movement illumination part 30 Image acquisition part 40 Guide part 41 Through hole 50 Fixed illumination part 60 Image processing part 70 Control part A, B, C Side wall I1, I1 ', I2, I3 Image R1, R2 area

Claims (8)

A wall surface image acquisition device for acquiring an image of a wall surface of an underground structure,
Telescopic arm,
A moving illumination unit attached to the tip of the arm unit and illuminating a direction substantially perpendicular to the expansion and contraction direction of the arm unit;
An image acquisition unit attached to the tip and imaging the wall surface;
A fixed illumination unit attached to a guide unit into which the arm unit is inserted, and illuminating a direction in which the arm unit is extended;
An image processing unit configured to process an image acquired by the image acquisition unit;
Equipped with
A wall surface image acquiring apparatus characterized in that the photographing is performed at predetermined distances by expanding and contracting the arm unit. The arm portion is expanded and contracted along the depth direction in the underground structure while maintaining a substantially constant distance from the upper surface portion of the wall surface.
The wall surface image acquisition device according to claim 1. The arm unit is
Extending and contracting in the height direction and the depth direction by connecting a plurality of members,
It has a deflection restricting portion which is provided at a connecting portion between the adjacent members, and which restricts downward deflection occurring in the members.
The wall surface image acquisition device according to claim 2. And a control unit for alternately lighting the movable illumination unit and the fixed illumination unit,
The control unit may project the deteriorated portion of the upper surface portion by direct light emitted from at least one of the moving illumination unit and the fixed illumination unit, or indirect light obtained by reflecting the direct light by the wall surface. Controlling the moving illumination unit and the fixed illumination unit so as to illuminate from the unit side;
The wall surface image acquisition device according to claim 2 or 3. The image processing unit
Acquiring a plurality of images taken by the image acquisition unit;
In each of the plurality of images, a region in which the illumination intensity of the light emitted from the fixed illumination unit is substantially the same is searched,
Detect the amount of movement between images having the area in common;
Concatenating the images based on the amount of movement to create a planar image of the entire top surface portion;
The wall surface image acquisition device according to any one of claims 2 to 4. A wall surface image acquisition method for acquiring an image of a wall surface of an underground structure, comprising:
Turning on a moving illumination unit attached to the tip of the arm so as to illuminate a direction substantially perpendicular to the expansion and contraction direction of the extendable arm;
Controlling an image acquisition unit attached to a tip of the expanding and contracting arm unit so as to photograph the wall surface;
Lighting a fixed illumination unit attached to a guide unit into which the arm unit is inserted so as to illuminate the extension direction of the arm unit;
Extending or retracting the arm unit to move the image acquisition unit by a predetermined distance;
Including
Direct illumination from at least one of the moving illumination unit and the stationary illumination unit or indirect light obtained by the direct light being reflected by the wall illuminates the deteriorated portion of the wall from the convex portion side A wall surface image acquiring method comprising alternately lighting the moving illumination unit and the fixed illumination unit. The wall surface is an upper surface of the underground structure,
The arm portion extends and contracts along the depth direction in the underground structure while maintaining a substantially constant distance from the upper surface.
The wall surface image acquisition method according to claim 6. On the computer
A state in which a direction substantially perpendicular to the expansion and contraction direction of the arm unit is illuminated by a moving illumination unit attached to the tip of the arm unit that expands and contracts while maintaining a substantially constant distance from the wall surface of the underground structure ; The wall surface photographed at every predetermined distance by the image acquisition unit attached to the distal end of the arm unit in a state where the fixed illumination unit attached to the guide unit illuminates the direction in which the arm unit is extended Processing to acquire multiple images of
In each of the plurality of images, a process of the illuminance of the light irradiated from the previous SL fixed illumination unit to search substantially the same area,
A process of detecting an amount of movement between images having the area in common;
Processing of concatenating the images based on the amount of movement and creating a planar image of the entire wall;
A program that runs

Images