JP6745512B2 - Pipe line position confirmation device and pipe line position confirmation method - Google Patents

Description

The present invention relates to a pipeline position confirming apparatus and a pipeline position confirming method, and in particular, a pipeline that is buried in the ground, a mountain portion, a river, or the like that is invisible or difficult to locate. The present invention relates to a pipeline position confirmation device and a pipeline position confirmation method for confirming a position including a distance and a direction in which a road is arranged.

Conventionally, pipelines with various pipes such as communication cables and power transmission lines inserted in the ground have been installed.At the time of installation, the pipelines were carefully prepared based on the installation plan drawings displayed on the map. Although installed, due to subsequent changes in the surrounding environment, such as changes in the width of roads and sidewalks, the existence or nonexistence of the roads, reconstructing and removing buildings, etc. At present, it is becoming difficult to confirm whether or not they are installed.

Also, in the mountainous areas, the pipes arranged on the surface of the earth are originally visible, but with the passage of time, they dive into the ground and hide in plants such as trees and flowers. The current situation is that there are a lot of places that cannot be seen because they have become worn out.

Therefore, a pipeline measuring device disclosed in Patent Document 1 below has been proposed. The conduit measuring device connects a power supply unit, a drive circuit unit, and a sensor unit, which are separately provided, to each other by a flexible joint that can be bent, and when the sensor probe is advanced along the conduit, The section, the drive circuit section, and the sensor section are individually guided along the curved portion of the conduit.

JP, 2010-32475, A

However, in the pipeline measuring device described in Patent Document 1 above, the sensor unit is composed of a small DTG (biaxial degree of freedom gyro), a MEMS gyro, and a triaxial accelerometer, and the pitch angle θ and azimuth of the sensor probe. Since the signal for detecting the angle ψ is output and used, the value of the angular acceleration is secondarily integrated to obtain the angle, and the error of the angular acceleration at a certain position is corrected by the position at the subsequent position. The error of position increases exponentially, resulting in poor accuracy.

Therefore, in the present invention, the portion of the pipeline indicated by the display device is photographed and analyzed by the photographing device, so that the bend of the pipeline within the range that can be seen from the photographing device can be understood without integration. We have developed a pipeline position confirmation device and a pipeline position confirmation method that enable direct calculation and confirmation.

The pipe line position confirmation device and the pipe line position confirmation method according to the present invention are, for example, for a pipe line arranged between one manhole and another manhole, in a vertical direction and a horizontal direction with respect to its length direction. It means measuring the displacement and confirming the position including the distance and the direction in which the pipeline is arranged.

A first pipeline position confirmation device according to the present invention is a plurality of position display devices which are connected at a predetermined interval and display a position in a pipeline, and a front part of the plurality of position display devices or And a photographing device which is connected to the position display device at the rearmost part at a predetermined interval and creates real image data of a plurality of position displays displayed by the plurality of position display devices. It is characterized in that it is a light irradiation device that emits light from a fixed position of the display device over the entire circumference in the radial direction of the conduit to generate an optical ring as a position indicator on the inner surface of the conduit .

In addition to the configuration of the first conduit position confirmation device, a second conduit position confirmation device according to the present invention has an orthographic projection conversion in a horizontal direction and/or a vertical direction based on the actual image data. It is characterized by comprising a first analysis means for creating the orthographic image data.

Further, in addition to the configuration of the second conduit position confirmation device, a third conduit position confirmation device according to the present invention is based on the orthographic image data, and the orthographic image nearest to the image capturing device. It is characterized by comprising a second analysis means for creating each data of the direction and the distance to the data and each data of the direction and the distance between the orthographic image data.

Furthermore, in addition to the configuration of the above-mentioned third pipeline position confirming apparatus, a fourth pipeline position confirming apparatus according to the present invention is provided with each direction and distance from the photographing device to the nearest orthoimage data. Based on the data, the respective data of the direction and distance between the orthoimage data, the actual distance from the photographing device to the nearest position display device, and the actual distance between the position display devices, the horizontal direction and/or Alternatively, it is characterized by including a third analysis means for creating vertical conduit position image data.

Furthermore, in addition to the configuration of the above-mentioned fourth pipeline position confirmation apparatus, a fifth pipeline position confirmation apparatus according to the present invention allows the photographing apparatus to rotate the photography apparatus around the axial direction of the pipeline. Along with the inertial measurement device that is driven to rotate with, the rotation correction pipeline position image data corrected by the inertial measurement device error of the pipeline position image data that occurs when the imaging device is rotated around the axial direction of the pipeline. It is characterized in that a fourth analyzing means for creating is provided.

Furthermore, in addition to the configuration of the above-mentioned fifth pipeline position confirming apparatus, a sixth pipeline position confirming apparatus according to the present invention has the pipeline position image at each of the start point and the end point of the actually measured pipeline position. A fifth analysis means is provided for creating actually-corrected pipe line position image data in which the line segment from the start point to the end point is corrected by superimposing corresponding start points and end points in the data or the rotation correction pipe line position image data. It is characterized by that.

In addition to the configuration of the above-described first to sixth conduit position confirming devices, a seventh conduit position confirming device according to the present invention may be arranged such that the center position or center of gravity of orthoscopic image data is the center position of the optical ring. Alternatively, the position of the center of gravity is set.

As the position display device, a light emitting marker of a bean ball or an LED light that emits lighting light as a position display may be adopted, and the position display device has a reflection function that emits reflected light as a position display. The body may be used, and the imaging device may have a lighting function.

First conduit location confirmation method according to the present invention is connected at predetermined intervals, a plurality of position indication displayed by the plurality of position display device for displaying a position in the tube path, the position indication The device is a light irradiation device that emits light from a fixed position of the position display device along the entire circumference in the radial direction of the conduit to generate a light ring as a position indication on the inner surface of the pipe, and a plurality of positions displayed by the light irradiation device. The display is photographed by a photographing device connected to the position display device at a predetermined interval, and the position of the pipeline is confirmed by the plurality of photographed position displays.

Further, the second pipeline position confirmation method according to the present invention provides the position display device with a plurality of position displays displayed in the pipeline by the plurality of position display devices connected at a predetermined interval. Real image data for position display is created by shooting with an image pickup device that is connected at an interval of, and is accompanied by an inertial measurement device that is driven to rotate, and based on the real image data, an orthographic projection in the horizontal direction and/or the vertical direction is performed. Creates projection-converted orthographic image data, and based on the orthographic image data, each data of the direction and distance from the photographing device to the nearest orthographic image data, and the direction between the orthoscopic image data. And each data of the distance, each data of the direction and the distance from the photographing device to the nearest orthographic image data, each data of the direction and the distance between the orthogonal image data, and the photographing device. Based on the actual distance from the position display device to the nearest position display device and the actual distance between the position display devices, horizontal and/or vertical direction pipeline position image data is created, and the imaging device determines the axial direction of the pipeline. Rotation-corrected pipeline position image data is created by correcting the error that occurs when it is rotated about the center by an inertial measurement device that is driven to rotate together with the photographing device, and the pipeline is set at each of the start and end points of the measured pipeline position. Confirm by the actual correction pipeline position image data in which the line segment from the start point to the end point is corrected by overlapping the start point and end point of the corresponding pipeline position in the position image data or the rotation correction pipeline position image data. A method for checking the position of a pipeline characterized by.

Furthermore, a third pipeline position confirmation method according to the present invention is characterized in that, in addition to the configuration of the first or second pipeline position confirmation method described above, the position display device displays a pipeline from a fixed position of the position display device. A light irradiation device that emits light in the entire circumference in the radial direction to generate a light ring on the inner surface of the tube as a position display, wherein the center position or center of gravity position of the orthographic image data is set to the center position or center of gravity position of the light ring. To do.

As the position display device, a light emitting marker of a bean ball or an LED light that emits lighting light as a position display may be adopted, and the position display device has a reflection function that emits reflected light as a position display. The body may be used, and the imaging device may have a lighting function.

Furthermore, a fourth pipeline position confirmation method according to the present invention comprises moving a position display device and a photographing device in the pipeline in addition to the configurations of the first to third pipeline position confirmation methods. According to the above, the position display in the duct is photographed a plurality of times.

With the above configuration, the pipeline position confirming apparatus and the pipeline position confirming method according to the present invention integrate the portion of the pipeline indicated by the position display device by photographing and analyzing it with the photographing device. Since the bend of the pipeline within the range that can be seen from the image capturing apparatus can be grasped without any need, the position of the section can be directly calculated and confirmed, which is advantageous in that the pipeline position can be confirmed with high accuracy.

It is a schematic perspective view which shows the position display apparatus which concerns on the Example of this invention. It is a schematic front view which shows the attitude|position in the pipe|tube of the position display apparatus which concerns on the Example of this invention. It is a schematic side view which shows the outline of an internal structure of the position display apparatus which concerns on the Example of this invention. It is a schematic perspective view which shows the state which has arrange|positioned the pipeline position confirmation apparatus which concerns on the Example of this invention in the pipeline. It is a schematic side view which shows the outline of the state which has arrange|positioned the pipeline position confirmation apparatus which concerns on the Example of this invention in the pipeline. It is a 1st test example using the pipeline position confirmation apparatus which concerns on the Example of this invention, Comprising: It is a front view which shows the actual image data which image|photographed the ring-shaped position display. FIG. 7 is a front view showing orthographic image data created based on the actual image data of FIG. 6 and each data of direction and distance. It is a figure which shows the pipe line position image data of a vertical direction based on the orthoimage data of FIG. FIG. 8 is a diagram showing a modified example of the first test example and showing vertical conduit position image data based on the orthogonal image data of FIG. 7. It is a 2nd test example using the pipeline position confirmation apparatus which concerns on the Example of this invention, Comprising: It is a front view which shows the actual image data which imaged the ring-shaped position display. FIG. 10 is a front view showing orthographic image data created based on the actual image data of FIG. 9 and each data of direction and distance. It is a figure which shows the pipe line position image of a vertical direction based on the orthographic image data of FIG. FIG. 11 is a diagram showing a modified example of the second test example and showing a pipeline position image in the vertical direction based on the orthographic image data of FIG. 10. It is a schematic diagram which shows the theoretical structure of the pipe line position confirmation apparatus which concerns on the Example of this invention, (a) in a figure is a figure which shows a measurement state, (b) is a figure which shows an analysis procedure. In the pipeline position confirmation apparatus according to the embodiment of the present invention, a concept of position measurement showing a state in which a plurality of orthographic projection converted images are created from captured images and the plurality of orthographic projection converted images are overlapped will be described. It is a schematic diagram. FIG. 9 is a schematic diagram illustrating a correction method when the camera is rotated in the pipeline position confirmation device according to the embodiment of the present invention, in which (a) shows the case where the camera is not rotated and is horizontal, ) Indicates a case where the camera is rotated by an angle θ. In the pipeline position confirmation apparatus according to the embodiment of the present invention, the start point and the end point of the measured pipeline position are respectively the start point and the end point of the pipeline position corresponding to the pipeline position image data or the rotation correction pipeline position image data. It is explanatory drawing which shows the method of creating the measurement correction|amendment pipeline position image data which correct|amended the line segment from a starting point to an end point by superimposing each of an end point, (a) in a figure shows pipeline position image data. (B) in the figure shows the start and end points of the pipeline position measured, and (c) in the figure shows the difference between the start and end points of the pipeline position image data and the start and end points of the pipeline position actually measured. FIG. 4D is a diagram showing the corrected actual measurement corrected pipeline position image data.

Next, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 3 show a position display device B which constitutes a part of the conduit position confirmation device A in this embodiment. The position display device B includes a transparent cylindrical case 10 having an internal structure and a rectangular stabilizer 11 attached to the upper end of the case 10.

The stabilizer 11 is attached to an appropriate position in consideration of the overall balance except the front side of the position display device B due to the internal structure of the position display device B, and as shown in FIG. The stabilizer 11 allows the position display device B to be stably placed on the bottom of the conduit T inside the conduit T. The conduit T is for arranging a communication cable, a power transmission line, or the like therein.

In the case 10 of the position display device B, a laser light generation component 12 and a conical metal mirror 13 which form a light irradiation device are arranged. In addition, a power cord 14 is connected to the laser light generating component 12 and also serves to connect the position display device B as described later. The laser light emitted from the laser light generating component 12 indicated by an arrow a collides with a conical surface centered on the apex of the cone of the metal mirror 13 and is orthogonal to the laser light, that is, the radial direction of the conduit T. The laser light is reflected on the entire circumference as indicated by the arrow b, and the optical ring 15 is generated as the position indication of the position indication device B on the inner surface of the conduit. Therefore, the case 10 is formed of a transparent material through which light is transmitted, and the stabilizer 11 is attached to avoid the front portion of the case 10 so that the laser light shown by the arrow b is not blocked by the stabilizer 11. ing.

The case 10 does not need to be entirely transparent as long as at least the portion through which the laser beam indicated by the arrow b passes is transparent. Further, the light irradiation device is not limited to the combination of the above laser light generation component 12 and the conical metal mirror 13, and employs a light emitting marker such as a miniature ball or an LED light that emits lighting light as a position indicator. Alternatively, a frame body having a reflection function of emitting reflected light for position display may be used as the position display device, and the photographing device may be provided with the illumination function.

FIG. 4 and FIG. 5 show the pipeline position confirmation device A arranged in the pipeline T. For simplification, three position display devices B (b1, b2, b3) are shown in series, but it is usual that about 5 to 9 position display devices B are connected in series. The respective position display devices b1, b2, b3 are connected by a power cord 14 at equal intervals. It should be noted that, even if the intervals are not equal, they may be arranged continuously at a preset interval.

In front of the position display device b1, a first instrument C having a photographing device 20 and an IMU (inertial measurement device) 21 connected to the position display device b1 at a predetermined interval by a power cord 14 as a sensor body. And a second device D on which a computer 22 in front of it and an inner wall surface of the conduit T are rotated to mount an encoder 23 for outputting a moving distance and a moving direction, and a third device on which a battery 24 in front of the device D is mounted. E and E are connected to each other by a universal joint F that houses an electric cable.

Therefore, the position display devices b1, b2, b3 and the first device C having the image capturing device 20 and the IMU 21 mounted thereon are connected by the power cord 14, and the first device C and the second device having the computer 22 and the encoder 23 mounted thereon. Since the D and the third device E equipped with the battery 24 are connected by the electric cable installed in the universal joint F, the position display devices b1, b2, b3, the imaging device 20, the IMU 21, the computer 22, and the encoder. 23 is operated by receiving power from the battery 24.

Further, a pulling tool G is attached to the third instrument E, and the third instrument E can be pulled forward of the duct T by the pulling tool G. Therefore, the first instrument C to the third instrument E and the position display devices b1, b2, b3 can be moved by the pulling tool G.

Furthermore, the first instrument C to the third instrument E can be smoothly moved in the duct T by the gripping component H that rotates by being in contact with the inner wall surface of the duct T, and the movement distance and the movement direction are encoders. It can be confirmed by 23. The gripping component H in the present embodiment is the one in which the roller wheel is attached to the first instrument C to the third instrument E so as to be in contact with the periphery of the inner surface of the conduit, and is in a floating state, but is not limited to this. Alternatively, the brush member may be attached to the first instrument C to the third instrument E so as to be in contact with the periphery of the inner surface of the duct and floated, as long as the resistance to move in the duct is reduced. , Other methods are acceptable.

Then, as described above, the position display devices b1, b2, b3 generate the first optical ring 15a, the second optical ring 15b, and the third optical ring 15c on the inner wall surface in the conduit T, and these optical rings 15a. , 15b, 15c are photographed by the photographing device 20, respectively.

[First test example]
6 to 8 show a first test example. FIG. 6 shows an optical ring using the conduit position confirmation device A for the conduit Ta and the position display device B according to the above procedure. 3 shows the actual image data 30 obtained by photographing the image with the photographing device.

In addition, this test example was performed in the straight pipe path Ta which is not curved, and the image pickup position s1 by the image pickup device and the position of the first position display device B are matched to each other. Is an equal interval.

In the actual image data 30, the light rings 30a, 30b, 30c, 30d and 30e form a light ring whose diameter becomes smaller toward the center where some distortion occurs depending on the condition of the inner wall surface of the duct Ta. Since the pipe Ta is a straight pipe which is not curved, the centers of the optical rings 30a, 30b, 30c, 30d, and 30e are originally all at the position of 30p.

By analyzing each of the optical rings 30a, 30b, 30c, 30d and 30e in the actual image data 30 by an analyzer or a manual and performing orthographic projection conversion, as shown in FIG. 7, five concentric circles 31a, 31b, 31c are obtained. , 31d and 31e can be created. In this test example, since the test was performed on the straight pipe conduit Ta that is not curved, the centers 30p are all the same, so the direction of the conduit Ta is straight, and there is no deviation in the center position. , The center positions of the concentric circles 31a, 31b, 31c, 31d, and 31e in the orthographic image data 31 all coincide with each other without shifting.

Then, as shown in FIG. 8, the concentric circles 31a, 31b, 31c, 31d, and 31e in the created orthographic image data 31 (in FIG. 8, the diameter of each circle is represented by a line segment, and the symbol is the end point of the line segment). Is attached to a virtual light ring 35a, 35b, 35c, 35d and 35e corresponding to each light ring generated in the conduit at the imaging position s1 (in FIG. 8, the diameter of each circle is represented by a line segment). (The reference numerals are attached to the end points of the line segments) are images of the lights 34a, 34b, 34c, 34d, and 34e toward the position p of the image capturing apparatus.

The center positions 30p of the concentric circles 31a, 31b, 31c, 31d and 31e projected on the image pickup positions correspond to the center positions of the respective optical rings 35a, 35b, 35c, 35d and 35e.

Therefore, the center positions 36a, 36b of the respective optical rings 35a, 35b, 35c, 35d, and 35e are associated with the predetermined distances (a1) of the position display devices 32a, 32b, 32c, 32d, and 32e. By plotting 36c, 36d, and 36e with an analyzer or a manual and connecting the center positions 36a, 36b, 36c, 36d, and 36e with a straight line, the pipeline position image shown in FIG. 8 can be created, and the distance of the pipeline Ta and The position including the direction can be confirmed.

In this test example, since the center positions 36a, 36b, 36c, 36d and 36e of the optical rings are on a straight line, the conduit Ta goes straight between the position display devices 32a, 32b, 32c, 32d and 32e. You can confirm that. Further, the virtual cross-sectional shape of the pipeline Ta can be confirmed by drawing the virtual optical rings 35a, 35b, 35c, 35d and 35e on the pipeline position image.

[Modification Example of First Test Example]
In this modified example, in the first test example, the imaging position s1 is changed from the first position display device B to the imaging device, and the interval of each position display device B is multiplied by 1.2 times, that is, 1 The distance from the th position display device is changed to magnifications of 1.00 (b1), 1.20 (b2), 1.44 (b3) and 2.07 (b4).

Therefore, the common parts in FIGS. 6 to 8 are omitted in this modification by using the description of the first test example, and in FIG. 9, the imaging position in this modification is shown as s2 as a different part , and the pipeline position is shown. The center positions of the light rings forming an image are indicated by 36a1, 36b1, 36c1, 36d1 and 36e1.

[Second test example]
10 to 12 show a second test example, and FIG. 10 shows an optical ring using the conduit position confirmation device A for the conduit Tb and the position display device B according to the above procedure. 3 shows the result of the actual image data 40 taken by the image pickup device.

In addition, this test example is performed in the conduit Tb of the bending tube that bends downward as it goes deeper, and the imaging position s3 by the imaging device and the position of the first position display device B are matched to each other. The display devices B are arranged at equal intervals.

In the above-mentioned actual image data 40, the optical rings 40a, 40b, 40c, 40d, and 40e are slightly distorted depending on the condition of the inner wall surface of the conduit Tb, and have a smaller diameter toward the center and a smaller vertical diameter. Form an elliptical light ring that shortens.

By analyzing each of the optical rings 40a, 40b, 40c, 40d and 40e in the actual image data 40 by an analyzer or a manual and performing orthographic projection conversion, as shown in FIG. 11, five circles 41a, 41b, 41c are obtained. , 41d and 41e can be created. In this test example, the centers 40p1, 40p2, 40p3, 40p4, and 40p5 gradually decrease as they become small circles. That is, since the centers 40p1 to 40p3 are at the same position, the center 40p4 is slightly lower than the centers 40p1 to 40p3, and 40p5 is slightly lower than the center 40p4, the direction is curved downward.

Then, as shown in FIG. 12, circles 41a, 41b, 41c, 41d, and 41e of different sizes in the created orthographic image data 41 (in FIG. 12, the diameter of each circle is represented by a line segment, and the symbol is a line segment). Is attached to the end points of the circles) at the imaging position s3, and the virtual light rings 45a, 45b, 45c, 45d, and 45e (in FIG. 12, the diameters of the circles corresponding to the light rings generated in the conduit are indicated by It is represented by minutes, and the reference numeral is attached to the end points of the line segments) are images of the lights 44a, 44b, 44c, 44d, and 44e toward the position p of the imaging device.

The center positions 40p1, 40p2, 40p3, 40p4, 40p5 of the circles 41a, 41b, 41c, 41d, and 41e of different sizes projected on the imaging position s3 are respectively located at the center positions of the optical rings 45a, 45b, 45c, 45d, and 45e. Equivalent to.

Therefore, the center positions 46a, 46b of the respective optical rings 45a, 45b, 45c, 45d, and 45e are associated with the predetermined distances (a1) of the position display devices 42a, 42b, 42c, 42d, and 42e. By plotting 46c, 46d and 46e with an analyzer or a manual and connecting the center positions 46a, 46b, 46c, 46d and 46e with a straight line, the pipeline position image shown in FIG. 12 can be created, and the distance of the pipeline Tb and The position including the direction can be confirmed.

In this test example, since the center positions 46a, 46b, and 46c are straight lines and 46d and 46e are inclined downward, the conduit Tb goes straight between the position display devices 42a, 42b, and 42c, and 42d and It can be confirmed that it is descending during 42e. Further, the virtual cross-sectional shape of the pipeline Ta can be confirmed by drawing the virtual optical rings 45a, 45b, 45c, 45d and 45e on the pipeline position image.

[Modification of Second Test Example]
In this modified example, in the second test example, the imaging position s3 is changed from the first position display device B to the imaging device, and the interval of each position display device B is multiplied by 1.2 times, that is, 1 The distance from the th position display device is changed to magnifications of 1.00 (b1), 1.20 (b2), 1.44 (b3) and 2.07 (b4).

Therefore, common parts in FIGS. 10 to 12 are omitted in this modification by using the description of the second test example, and in FIG. 13, the imaging position in this modification is shown as s4 as a different part , and the pipeline position is shown. The center positions for forming an image are indicated by 46a1, 46b1 , 46c1 , 46d1 and 46e1 .

[Theoretical configuration of pipeline position image data creation according to the present invention]
The theoretical configuration of this embodiment will be described below with reference to FIGS. 14 and 15.

As shown in FIG. 14A, the light emitting ring, that is, the first ring to the third ring, illuminated on the inner surface of the conduit is photographed by the camera. The distance from the camera to the first ring, the distance from the camera to the second ring, and the distance from the camera to the third ring are predetermined.

From the image photographed as described above, as shown in FIG. 14B, a circle after orthographic projection conversion obtained from the light emitting ring is created.

When the circle is disassembled and the center position of each circle is obtained, the center of the circle of the first ring is displaced to the right by the distance A. The center of the circle of the second ring is displaced to the right by the distance B. The center of the circle of the third ring is shifted to the right by the distance C.

Then, when plotting and plotting the positions of the determined camera and the distances between the rings and the distances A to C, the line position image data can be created by connecting the plots with straight lines as a change in the horizontal direction. , To the right and the amount of change can be confirmed. Therefore, it can be confirmed that the center position of the conduit is in the bent state shown in the figure.

Further, FIG. 15 shows images of photographed images when the pipeline is straight, when the pipeline is slightly bent, and when the pipeline is greatly curved. Orthogonal projection converted orthographic image data is created from the captured image, pipeline position image data is created based on this, and the orthographically projected converted pipeline position image data is superposed in consideration of the imaging position. In the figure, three types of conduit position image data created from three pieces of orthographic image data are shown in an overlapping manner. However, in reality, the same location is photographed 10 to 20 times and the orthographic projection conversion is performed on the pipe. The road position image data is superimposed to improve the accuracy of position measurement.

[Creation of rotation corrected pipeline position image data by correcting camera rotation]
Hereinafter, a correction method when the camera rotates about the axial direction of the conduit in the present embodiment will be described with reference to FIG.

FIG. 16A shows the case where the camera is not rotating and the change in the horizontal direction in that case is plotted. On the other hand, FIG. 16B shows a case where the camera is rotated and tilted by the angle θ, and the horizontal change in that state is displaced by the angle θ. Are mounted on the same device and move as a result, the camera and the IMU rotate at the same angle. Therefore, the angle θ can be calculated by the IMU, and the distances A to C are corrected by the calculated angle θ. By doing so, the same drawing as the drawing drawn in (a) in the drawing can be drawn.

[Creation of actual measurement corrected pipeline position image data by correction of actual measurement value]
Hereinafter, a method of correcting the pipeline position measurement data and the actual measurement value will be described with reference to FIG.

FIG. 17(a) is the pipeline position image data created by using the pipeline position confirming apparatus in the present embodiment, in which point A indicates the start point of the pipeline position and point B indicates the pipeline position. Indicates the end point of.

FIG. 17B shows the start point and the end point of the pipeline position measured, the point A'in the figure shows the start point of the pipeline position, and the point B'in the figure shows the end point of the pipeline position. The start point A′ and the end point B′ of the pipe line position measured by this measurement are, for example, one manhole when confirming the pipe line position arranged from the basement of one manhole to the basement of another manhole. The entrance position of the underground pipeline is measured to be the starting point A'point of the pipeline position, and the exit position of the underground pipeline of the other manhole is measured to be the ending point B'point of the pipeline position.

Then, as shown in FIG. 17 (c), and FIG. 17 showing the starting point A and end points B point of the pipeline in line position image data (a), starting point A 'of the conduit positions actually measured and the end point B In FIG. 17 (b) showing the'point, the start point A and the start point A'are at the same position, but the end point B and the end point B'are shown at different positions. The starting point A and the starting point A′, and the ending point B and the ending point B′ must originally be at the same position.

Therefore, as shown in FIG. 17(d), the starting point A point is set by an analyzing means or a manual so that the end point B of the pipeline in the pipeline position image data coincides with the end point B′ of the actually measured pipeline position. When the rotational movement is performed around the point A′, the actually measured corrected pipeline position image data is completed by correcting the actually measured value. Of course, the same applies when the rotation correction conduit position image data is used as the starting data.

Although the embodiment of the present invention has been described above, this embodiment is presented as an example and is not intended to limit the scope of the invention. This embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the invention described in the claims and its equivalents, as well as being included in the scope and spirit of the invention.

A…………Conduit position confirmation device B…………Position display device b1, b2, b3……Position display device C…………First instrument D…………Second instrument E…………Third instrument F…… …Universal joint G…………Travel tool H…………Gripping component T…………Pipe Ta…Pipe 10 ……Case 11 ……Stabilizer 12 ……Laser light generating component 13 ……Metal mirror 14 …… Power cord 15... Optical ring 15a, 15b, 15c... Optical ring 20... Imaging device (camera)
21... IMU (Inertial Measurement Unit)
22...computer 23...encoder 24...battery s1...imaging position 30...actual image data 30a, 30b, 30c, 30d, 30e...optical ring of actual image data 30p...center 31...for actual image data Corresponding orthographic image data 31a, 31b, 31c, 31d, 31e... Concentric circles 32a, 32b, 32c, 32d, 32e of orthoscopic image data corresponding to actual image data... Position p of position display device... Positions of the device 34a, 34b, 34c, 34d, 34e... Light toward the shooting position 35a, 35b, 35c, 35d, 35e... Virtual light ring 36a, 36b, 36c, 36d, 36e... Center of the light ring Position s2... Imaging position 36a1, 36b1, 36c1, 36d1, 36e1... Center position of optical ring Tb... Pipeline s3... Imaging position 40... Actual image data 40a, 40b, 40c, 40d, 40e... Actual Optical ring of image data 40p1, 40p2, 40p3, 40p4, 40p5... Center 41... Orthogonal image data corresponding to actual image data 41a, 41b, 41c, 41d, 41e... Orthoscopic image data corresponding to actual image data 42a, 42b, 42c, 42d, 42e ... Position of the position display device p .... Position of the photographing device 44a, 44b, 44c, 44d, 44e ... Straight lines 45a, 45b, 45c connecting the diameter position from the photographing position , 45d, 45e ... virtual light ring 46a, 46b, 46c, 46d, 46e ... center position of light ring s4 ... imaging position 46a1, 46b1, 46c1, 46d1, 46e1 ... center position of light ring

Claims (11)

A plurality of position display devices that are connected at a predetermined interval and display the position in the pipeline,
Of the plurality of position display devices, a photographing operation that is connected to the frontmost or rearmost position display device at a predetermined interval and creates real image data of a plurality of position displays displayed by the plurality of position display devices. Equipped with a device,
The position display device is a light irradiating device that emits light from a fixed position of the position display device over the entire circumference in the radial direction of the conduit to generate an optical ring as a position indication on the inner surface of the conduit. .. The pipeline position according to claim 1, further comprising a first analysis unit that creates orthographic image data that has been orthographically projected and converted in the horizontal direction and/or the vertical direction based on the actual image data. Confirmation device. Secondly, based on the orthographic image data, each data of a direction and a distance from the photographing device to the nearest orthographic image data and each data of a direction and a distance between the orthographic image data are created. The pipeline position confirmation device according to claim 2, further comprising: Each data on the direction and distance from the photographing device to the nearest orthoimage data, each data on the direction and distance between the orthoimage data, and the actual distance from the photographing device to the nearest position display device The pipe according to claim 3, further comprising a third analysis unit that creates horizontal and/or vertical pipe line position image data based on the actual distance between the position display devices. Road position confirmation device. The imaging device is accompanied by an inertial measurement device that is driven to rotate together with the rotation of the imaging device around the axial direction of the pipeline,
A fourth analysis means is provided for creating the rotation-corrected pipeline position image data in which the error of the pipeline position image data generated when the imaging device is rotated about the axial direction of the pipeline is corrected by the inertial measurement device. The pipe line position confirmation device according to claim 4. The line segment from the start point to the end point is corrected by superimposing each of the start point and the end point of the pipe line position by actual measurement on the corresponding start point and end point in the pipe line position image data or the rotation correction pipe line position image data. The pipeline position confirmation device according to claim 5, further comprising: a fifth analysis unit that creates the actually measured corrected pipeline position image data. The center position or center of gravity position of the orthographic image data is set to the center position or center of gravity position of the optical ring. The pipeline position confirming device according to claim 1, wherein A plurality of position displays displayed by a plurality of position display devices that are connected at a predetermined interval and that display a position in the pipeline, wherein the position display device is a diameter of the pipeline from a certain position of the position display device. A light irradiation device that emits light all around the direction to generate a light ring on the inner surface of the tube as a position display, and displays a plurality of position displays displayed by the light irradiation device at predetermined intervals on the position display device. A method for confirming the position of a pipeline, characterized by taking an image with a connected imaging device and confirming the position of the pipeline by displaying the plurality of taken positions. A plurality of position indications displayed in the pipeline by a plurality of position display devices connected at a predetermined interval are connected to the position display device at a predetermined interval and are accompanied by an inertial measurement device that is driven to rotate. Created the actual image data of the position display by shooting with the shooting device
Creating orthographic image data that has undergone orthographic projection conversion in the horizontal direction and/or the vertical direction based on the actual image data,
Based on the orthographic image data, each data of the direction and distance from the photographing device to the nearest orthographic image data, and each data of the direction and distance between the orthoscopic image data are created,
Each data on the direction and distance from the image capturing device to the nearest orthographic image data, each data on the direction and distance between the orthographic image data, and the actual distance from the image capturing device to the nearest position display device. Based on the actual distance between the position display device and the horizontal and/or vertical direction pipeline position image data,
Create a rotation-corrected pipeline position image data in which an error that occurs when the imaging device rotates about the axial direction of the conduit is corrected by an inertial measurement device that rotates following the imaging device,
From the start point to the end point by superimposing the start point and the end point of the pipe line position by the actual measurement on the start point and the end point of the corresponding pipe line position in the pipe line position image data or the rotation correction pipe line position image data, respectively. A method for confirming the pipeline position, which is characterized by confirming the actual corrected pipeline position image data with the line segment corrected. The position display device is a light irradiation device that emits light from a fixed position of the position display device to the entire circumference in the radial direction of the conduit to generate an optical ring on the inner surface of the pipe as a position display,
Conduit localization method according to claim 9, characterized in that the center position or gravity center position of the optical ring center position or gravity center position of the orthoimage data. The pipeline position confirmation according to any one of claims 8 to 10, wherein the position display device and the photographing device are moved in the pipeline to photograph the position display in the pipeline a plurality of times. Method.

Images