JP6853457B2 - Pipeline position confirmation device - Google Patents

Description

The present invention relates to a pipeline position confirmation device, particularly for a pipeline buried in the ground, a mountainous area, a river, or the like, which is arranged in a place where it is invisible or difficult to see. The present invention relates to a pipeline position confirmation device for confirming the position of a pipeline including the installed distance and direction.

Conventionally, pipelines through which wiring such as communication cables and transmission lines are inserted have been arranged in the ground, and at the time of arrangement, the pipelines are carefully arranged based on the installation plan drawing displayed on the map. However, due to subsequent changes in the surrounding environment, such as changes in the width of roads and sideways, new construction or disappearance, renovation or removal of buildings, etc. At present, it is becoming difficult to confirm the position of the wires.

Also, in the mountainous areas, the pipelines arranged on the ground surface are originally visible, but as the years go by, they go underground or are covered with plants such as trees and flowers. The current situation is that there are many hidden parts that cannot be seen.

Therefore, a pipeline measuring device shown in Patent Document 1 below has been proposed. The pipeline measuring device connects a separately provided power supply unit, a drive circuit unit, and a sensor unit to each other by a flexible flexible joint, and when the sensor probe travels along the pipeline, the power supply unit The drive circuit unit and the sensor unit are individually guided along the curved portion of the pipeline.

JP-A-2010-32475

However, in the pipeline measuring device described in Patent Document 1, the sensor unit is composed of a small DTG (biaxial degree of freedom gyro), a MEMS gyro, and a three-axis accelerometer, and the pitch angle θ and orientation of the sensor probe. Since the signal for detecting the angle ψ is output and used, the value of the angular acceleration is integrated to the second order to obtain the angle, and the error of the angular acceleration at a certain position is the position at the position after that. As a result, the position error increases exponentially, resulting in poor accuracy.

Therefore, the applicant applied for Japanese Patent Application No. 2017-180163 in order to solve the above problems, but since it is a method of projecting the light ring directly on the inner surface of the pipeline, the actual image taken depending on the condition of the inner surface of the pipeline. Since the data is distorted, it is necessary to convert the actual image data into orthogonal projection to create and analyze the orthogonal image data.

Therefore, in the present invention, by photographing and analyzing the display device arranged in the pipeline with the photographing device, the bending of the pipeline within the range that can be seen from the photographing device can be known without integrating, so that the position of the section can be directly determined. We have developed a pipeline position confirmation device that can perform calculations and confirmation.

The pipeline position confirmation device according to the present invention measures, for example, the vertical and horizontal displacements of a pipeline arranged between one manhole and another manhole with respect to the length direction. It is a device for confirming the position including the distance and direction in which the pipeline is arranged.

The first pipeline position confirmation device according to the present invention is a plurality of position display devices that are connected at predetermined intervals and display positions in the pipeline, and the frontmost portion or the plurality of position display devices. The position display device is connected to the rearmost position display device at a predetermined interval, and includes a photographing device that creates real image data of a plurality of position displays displayed by the plurality of position display devices, and the position display device is circular. It is characterized in that it is composed of a frame body having a light emitting function of the above, and the photographing device and the frame bodies are connected by a flexible connecting string.

Further, in the second pipeline position confirmation device according to the present invention, in addition to the configuration of the first pipeline position confirmation device, the photographing device is subjected to rotation of the photographing device around the axial direction of the pipeline. A rotation-corrected pipeline position image data obtained by correcting an error in the pipeline position image data that occurs when the photographing apparatus rotates about the axial direction of the conduit is accompanied by an inertial measuring device that rotates in a driven manner. It is characterized by having an analysis means to be created.

Further, in the third pipeline position confirmation device according to the present invention, in addition to the configuration of the first or second pipeline position confirmation device, the light emitting function of the frame is a light reflection type, and the imaging device is described. However, it is characterized in that it is provided with a light irradiation function of irradiating the frame body with light.

Further, in the fourth pipeline position confirmation device according to the present invention, in addition to the configuration of the pipeline position confirmation device according to any one of the first to third, the light emitting function of the frame is a light reflection type. It is characterized by being provided with a light irradiation device that irradiates the frame with light.

Furthermore, the fifth pipeline position confirmation device according to the present invention is characterized in that, in addition to the configuration of the first or second pipeline position confirmation device, the light emitting function of the frame is a self-luminous type. And.

Further, in the sixth pipeline position confirmation device according to the present invention, in addition to the configuration of the pipeline position confirmation device according to any one of the above 1 to 5, the frame body has an outer circumference thereof and an inner circumference of the pipeline. It is characterized in that a cushioning member is provided that is in contact with the surface and does not prevent the frame from moving in the longitudinal direction of the pipe in the pipe.

Further, in the seventh pipeline position confirmation device according to the present invention, in addition to the configuration of the pipeline position confirmation device according to any one of the above 1 to 6, the connecting string is a set of a plurality of intersecting strings. It is characterized in that it contains one or more crossing strings.

With the above configuration, the pipeline position confirmation device according to the present invention captures and analyzes the position display device arranged in the pipeline by the imaging device, so that the range can be seen from the imaging device without integration. Since the bend of the pipeline can be grasped, the position of the section can be directly calculated and confirmed, so that there is an advantage that the position of the pipeline can be confirmed with high accuracy.

It is a partial schematic perspective view which shows the position display device which concerns on 1st Embodiment of this invention. It is a schematic perspective view which shows the state which arranged the pipeline position confirmation device which concerns on 1st Embodiment of this invention in a pipeline. It is a schematic side view which shows the outline of the state which arranged the pipeline position confirmation device which concerns on 1st Embodiment of this invention in a pipeline. It is a partial schematic perspective view which shows the position display device which concerns on 2nd Embodiment of this invention. It is a schematic side view which shows the outline of the state which arranged the pipeline position confirmation device which concerns on 2nd Embodiment of this invention in a pipeline. It is a partial schematic perspective view which shows the position display device which concerns on 3rd Example of this invention. It is a schematic side view which shows the outline of the state which arranged the pipeline position confirmation device which concerns on 3rd Embodiment of this invention in a pipeline. It is a 1st test example using the pipeline position confirmation apparatus which concerns on 1st Example of this invention, and is the front view which shows the actual image data which image | photographed the ring-shaped position display. It is a figure which shows the pipeline position image data in the vertical direction created based on the real image data of FIG. It is a modification of the 1st test example, and is the figure which shows the pipeline position image data in the vertical direction created based on the actual image data of FIG. It is a 2nd test example using the pipeline position confirmation apparatus which concerns on 1st Example of this invention, and is the front view which shows the actual image data which photographed the ring-shaped position display. It is a figure which shows the pipeline position image in the vertical direction created based on the real image data of FIG. It is a modification of the second test example, and is the figure which shows the pipeline position image in the vertical direction created based on the actual image data of FIG. It is a schematic diagram which shows the theoretical structure of the conduit position confirmation apparatus which concerns on Example of this invention, (a) is a figure which shows the measurement state, and (b) is a figure which shows the analysis procedure. It is a schematic diagram explaining the concept of position measurement which shows the state which superposed a plurality of photographed images created by the pipeline position confirmation apparatus which concerns on embodiment of this invention. In the pipeline position confirmation device according to the embodiment of the present invention, it is a schematic diagram explaining the correction method when the camera rotates, and (a) in the figure shows the case where the camera does not rotate and is horizontal, and (b). ) Indicates that the camera is rotated by an angle θ. In the pipeline position confirmation device according to the embodiment of the present invention, the start point and the end point of the pipeline position actually measured correspond to 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 actual measurement correction pipeline position image data which corrected the line segment from the start point to the end point by superimposing each end point, and (a) in the figure is the conduit position image data. In the figure, (b) shows the start point and end point of the pipeline position measured, and (c) in the figure shows the difference between the start point and end point of the pipeline position image data and the start point and end point of the pipeline position measured. (D) in the figure is a diagram showing corrected actual measurement correction pipeline position image data.

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

1 to 3 show a first embodiment of the pipeline position confirmation device A, and FIG. 1 shows position display devices b1, b2, b3 (collectively referred to as B) constituting a part of the pipeline position confirmation device A. Is shown. For the sake of simplicity, three position display devices are shown in series, but it is usual that about 5 to 9 are connected in series.

The position display device B is composed of circular frame bodies 10a, 10b, and 10c (10 in a general term), and each of the frame bodies 10 has a light reflection type light emitting function. That is, the frame body 10 is coated with a light-reflecting paint on its surface so as to reflect light satisfactorily. A frame body having a mirror surface may be used.

2 and 3 show a pipeline position confirmation device A arranged in the pipeline T. In each of these position display devices b1, b2, and b3, the frame bodies 10a, 10b, and 10c constituting them are connected to each other at equal intervals by the connecting string 12. It should be noted that the intervals may not be equal, but may be connected at preset intervals. The connecting string 12 is a flexible and light-transmitting material, and the frames 10a, 10b, and 10c are connected to each other in the following manner. It does not necessarily have to be light transmissive.

As shown in FIG. 1, the connecting string 12 is composed of four pairs of intersecting cords 12a and 12b as one pair, which intersect (including the twisted position). By crossing the two crossing strings 12a and 12b including the twisted position instead of being parallel in this way, one string works to regulate the movement of the other string, and such crossing. Since the frame bodies 10 are connected by four sets of strings, the frame bodies 10 are restricted from tilting and rotating with each other. Therefore, the frame bodies 10 are substantially vertical in the pipeline T shown in FIGS. 2 and 3. It is possible to maintain an upright position. The pipeline T is for arranging wiring such as a communication cable and a transmission line inside the pipeline T. The number of the above-mentioned cross cords is not limited to two, and may be three or more. Further, the connecting strings may be arranged in a parallel straight line without crossing and not at the twisted position.

Then, as shown in FIG. 3, a first instrument C on which the photographing device 13 and the IMU (inertial measurement unit) 14 are mounted as the main body of the sensor unit is connected to the front of the position display device b1. The photographing device 13 has a light irradiation function called a so-called flashlight. In front of the first instrument C, a computer 15 and a second instrument D on which an encoder 16 that rotates the inner wall surface of the pipeline T and outputs a moving distance, a moving direction, and the like are mounted are connected. In front of it is a third appliance E on which the battery 17 is mounted.

Further, the position display device b1 and the first instrument C are connected by the connecting string 12. The first instrument C, the second instrument D, and the third instrument E are connected by a power cable F. The connecting string 12 may be connected only between the position display devices, or the first instrument C, the second instrument D, and the third instrument E may be connected by the connecting string 12. Further, the position display device b1, the photographing device 13, the IMU (inertial measurement unit) 14 and the encoder 16 that need to be arranged in the pipeline T are arranged in the pipeline T, and it is not necessary to arrange them in the pipeline T. The configuration of the computer 15 and the battery 17 may be changed so as to be arranged outside the conduit T.

As described above, the photographing device 13, the IMU 14, the computer 15, and the encoder 16 are transmitted from the battery 17 to perform the scheduled operation.

Further, a towing tool G is attached to the third instrument E, and the third instrument E can be towed in the forward direction of the pipeline T by the towing tool G. Therefore, each position display device b1, b2, b3, the first instrument C, and the second instrument D can be moved in the pipeline T by the traction tool G.

Further, the first instrument C, the second instrument D, and the third instrument E can smoothly move in the pipeline T by the support component H that rotates in contact with the inner wall surface of the conduit T, and the moving distance thereof. And the moving direction can be confirmed by the encoder 16. The grip component H in this embodiment is a state in which the roller wheel is attached to the first instrument C, the second instrument D, and the third instrument E so as to be in contact with the periphery of the inner surface of the pipeline and floated. The brush member may be attached to the first instrument C, the second instrument D, and the third instrument E so as to be in contact with the periphery of the inner surface of the conduit so as to be in a floating state, and the brush member moves in the conduit. However, other methods may be used as long as the resistance is reduced.

In the pipeline position confirmation device A configured as described above, when the photographing device 13 irradiates the frame body 10 of each position display device b with light by utilizing the light irradiation function, each frame body 10a When the 10b and 10c emit light in a ring shape, the position display devices b1, b2, and b3 generate the first light ring c1, the second light ring c2, and the third light ring c3 in the conduit T. When these optical rings c1, c2, and c3 are photographed by the photographing apparatus 13, for example, the images shown in FIGS. 8 and 11 can be photographed. Further, as described above, since the connecting string 12 is made of a light-transmitting material, it does not interfere with the shooting of the light rings c1, c2, and c3, and the clear light rings c1, c2, and c3 are used. Can be photographed.

4 and 5 show a second embodiment, and this embodiment is a modification of the pipeline position confirmation device A in the first embodiment, specifically, a frame body in the position display devices b1, b2, and b3. It is a modification example of 10. For the same structure as that of the first embodiment, the reference numerals and the description in the first embodiment will be incorporated, and the description thereof will be omitted in the present embodiment.

In the pipeline position confirmation device 2A in this embodiment, as shown in FIG. 4, the position display device 2b is composed of a frame body 20 and a spring material 18 which is a cushioning member attached to the outer periphery thereof.

As shown in FIG. 5, the spring material 18 functions as a buffer between the inner wall of the conduit T and the frame body 20, and the frame body 20 floats in the conduit T and has a radial cross section of the conduit T. It is urged to be located in the center.

That is, the spring material 18 is made of a tough metal wire and is bent between the frame contact side 18a attached to the frame 20 and the conduit contact side 18b in contact with the inner surface of the conduit. ..

Then, as shown in FIG. 5, the frame body 20 is attached so that the frame body contact side 18a and the pipeline contact side 18b face rearward with respect to the direction in which the frame body 20 is inserted into the pipeline. Is not prevented from moving in the longitudinal direction of the conduit T in the conduit.

6 and 7 show a second embodiment, and this embodiment is a modification of the pipeline position confirmation device 2A in the second embodiment, specifically, a modification of the frame body 20 in the position display device 2b. Is. For the same structure as in Example 1 and Example 2, the reference numerals and description in Examples 1 and 2 will be incorporated, and the description thereof will be omitted in this example.

In the pipeline position confirmation device 3A in this embodiment, as shown in FIG. 6, the position display device 3b (3b1, 3b2, 3b3) is attached to the frame body 21 and the spring material 18 (spring material 18) which is a cushioning member attached to the outer periphery thereof. It is composed of the one described in the second embodiment) and the light irradiation device 19 attached to the lower part of the frame body 21.

These light irradiation devices 19 are connected by a power cord 19a connected to a power supply to the first appliance C by the power cable F. Then, when a current flows through the light irradiation device 19, the laser beam is irradiated toward the frame body 21, and the frame body 21 is designed to emit light as a light ring.

As described above, when the light irradiation device 19 is provided, the position of the center of gravity of the frame body 21 is displaced downward due to the weight of the light irradiation device 19, so that in addition to the action of the connecting string 12, the conduit T There is an advantage that the tilting and rotation of the frame body 21 can be further regulated within.

In each of the above embodiments, the frame has been described as having a light-reflecting light-emitting function, but the frame is not limited to the light-reflecting light-emitting function, and may be a self-lighting light-emitting function. Good. As a self-luminous light emitting function, for example, an LED may be incorporated along the frame to emit light in a ring shape. In addition, a phosphorescent paint may be applied to the frame body, and when not in use, it may be irradiated with light such as sunlight to store the light, and when it is used, it may emit light in a ring shape. Since the power cord for connecting the frame is not required and electricity is not required, there is an advantage that the cost can be reduced.

[First test example]
8 and 9 show a first test example, and FIG. 8 shows the pipeline position confirmation device A, 2A or 3A for the pipeline Ta, and the position display device B according to the above procedure. The result of the actual image data 30 obtained by photographing the light ring with the photographing apparatus is shown.

In addition, this test example was carried out in the straight pipe line Ta which is not curved, and the imaging position s1 by the photographing apparatus and the position of the 1st position display apparatus B were made to coincide with each other, and each position display apparatus B Are evenly spaced.

In the actual image data 30, since the optical rings 31a, 31b, 31c, 31d and 31e are formed by the circular frame body 10 having a light emitting function as described in the first embodiment, the conduit is Ideally, a perfect circular optical ring with a smaller diameter toward the center of Ta is formed, and since the conduit Ta is a straight tube that is not curved, the centers of the optical rings 31a, 31b, 31c, 31d, and 31e are All are concentric circles at the position of 30p. Hereinafter, the optical rings 31a, 31b, 31c, 31d and 31e are also referred to as concentric circles 31a, 31b, 31c, 31d and 31e.

When some of the optical rings appear in an elliptical shape due to any of the frame bodies 10 being tilted, the diameter of the frame body 10 is predetermined, and the encoder 16 of each frame body 10 is used. Since the moving distance is known, the elliptical light ring is corrected to a perfect circular light ring, and the actual image data 30 as shown in FIG. 8 is created. Further, although each of the optical rings 31a, 31b, 31c, 31d and 31e actually has the width of the circular frame 10, each optical ring 31a, 31b, 31c, 31d and 31e adopts an outer peripheral circle. The inner circumference may be adopted, or the central circumference thereof may be adopted.

Further, even if the photographing device rotates about the axial direction of the pipeline during measurement, the IMU (Inertial Measurement Unit) attached to the photographing device rotates in a driven manner with the rotation of the photographing device. The IMU (Inertial Measurement Unit) analyzes the error of the pipeline position image data that occurs when the photographing device rotates, and can create the corrected rotation correction pipeline position image data.

In this test example, since it was performed in the non-curved straight pipe line Ta, since the centers 30p are all the same, the direction of the line 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 actual image data 30 do not deviate and all coincide with each other.

Then, as shown in FIG. 9, concentric circles 31a, 31b, 31c, 31d and 31e in the created real image data 30 (in FIG. 9, the diameter of each circle is represented by a line segment, and the reference numerals are at the end points of the line segments. (Attached) indicates virtual optical rings 35a, 35b, 35c, 35d and 35e corresponding to each optical ring generated in the conduit at the imaging position s1 (in FIG. 9, the diameter of each circle is represented by a line segment). , The code is attached to the end point of the line segment) is an image of the rays 34a, 34b, 34c, 34d and 34e toward the position p of the photographing device.

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

Therefore, the center positions 36a, 36b of each of the optical rings 35a, 35b, 35c, 35d and 35e correspond to 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. 9 can be created, and the distance of the pipeline Ta and the distance of the pipeline Ta can be created. The position including the direction can be confirmed.

In this test example, since the central positions 36a, 36b, 36c, 36d and 36e of the optical ring are in a straight line, the conduit Ta travels straight between the position display devices 32a, 32b, 32c, 32d and 32e. Can be confirmed. 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.

[Modified example of the first test example]
In this modification, in the first test example, the imaging position s1 is changed from the first position display device B to the imaging device, and the distance between the position display devices B is multiplied by 1.2 times, that is, The distance from the first position display device is changed to a magnification of 1.00 (b1), 1.20 (b2), 1.44 (b3), and 2.07 (b4).

Therefore, the common part in FIGS. 8 and 9 is omitted in this modified example by referring to the explanation of the first test example, and in FIG. 10, the imaging position in this modified example, which is a different portion, is indicated by s2, and the tube is shown. The central positions of the optical rings forming the road position image are indicated by 36a1, 36b1, 36c1, 36d1 and 36e1.

In this way, it can be confirmed that the pipeline is traveling straight even in the modified example of the first test example.

[Second test example]
11 and 12 show a second test example, and FIG. 11 shows the pipeline position confirmation device A, 2A or 3A for the pipeline Tb, and the position display device B according to the above procedure. The result of the actual image data 40 obtained by photographing the light ring with the photographing apparatus is shown.

In addition, this test example was performed in the conduit Tb of the curved tube which curves downward toward the back, and the imaging position s3 by the photographing device and the position of the first position display device B are matched, and each position is matched. The intervals between the display devices B are equal.

In the above-mentioned actual image data 40, the optical rings 41a, 41b, 41c, 41d and 41e form an optical ring having a small diameter toward the center of the conduit Tb and becoming shorter as the diameter decreases downward. Hereinafter, the optical rings 41a, 41b, 41c, 41d and 41e are also referred to as circles 41a, 41b, 41c, 41d and 41e.

When some of the optical rings appear in an elliptical shape due to any of the frame bodies 10 being tilted, the diameter of the frame body 10 is predetermined, and the encoder 16 of each frame body 10 is used. Since the moving distance is known, the elliptical light ring is corrected to a perfect circular light ring, and the actual image data 40 as shown in FIG. 11 is created. Further, although the optical rings 41a, 41b, 41c, 41d and 41e actually have the width of the circular frame body 10, the outer circles are adopted as the optical rings 41a, 41b, 41c, 41d and 41e. The inner circumference may be adopted, or the central circumference thereof may be adopted.

Further, even if the photographing device rotates about the axial direction of the pipeline during measurement, the IMU (Inertial Measurement Unit) attached to the photographing device rotates in a driven manner with the rotation of the photographing device. The IMU (Inertial Measurement Unit) analyzes the error of the pipeline position image data that occurs when the photographing device rotates, and can create the corrected rotation correction pipeline position image data.

In this test example, since it was performed in the downwardly curved pipeline Tb, it gradually decreases as the centers 40p1, 40p2, 40p3, 40p4 and 40p5 become smaller circles. That is, since the centers 40p1 to 40p3 are at the same position, the center 40p4 is slightly lower than the center 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 real image data 40 (in FIG. 12, the diameter of each circle is represented by a line segment, and the reference numeral is a line segment. The virtual optical rings 45a, 45b, 45c, 45d and 45e (attached to the end points) corresponding to the respective optical rings generated in the conduit at the imaging position s3 (in FIG. 12, the diameter of each circle is a line segment). It is an image of rays 44a, 44b, 44c, 44d and 44e directed to the position p of the photographing apparatus (represented by

The centers 40p1, 40p2, 40p3, 40p4, 40p5 of the circles 41a, 41b, 41c, 41d and 41e projected on the imaging position s3 correspond to the center positions of the optical rings 45a, 45b, 45c, 45d and 45e, respectively. To do.

Therefore, the center positions 46a, 46b of each of the optical rings 45a, 45b, 45c, 45d, and 45e correspond to 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. The position including the direction can be confirmed.

In this test example, since the central positions 46a, 46b, and 46c are straight and the 46d and 46e are tilted downward, the pipeline Tb goes straight between the position display devices 42a, 42b, and 42c, and 42d and It can be confirmed that it is descending between 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.

[Change example of the 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 photographing device, and the interval of each position display device B is multiplied by 1.2 times, that is, 1 The distance from the second position display device is changed to a magnification of 1.00 (b1), 1.20 (b2), 1.44 (b3), and 2.07 (b4).

Therefore, the common part in FIGS. 11 and 12 is omitted in this modified example by referring to the explanation of the second test example, and in FIG. 13, the imaging position in this modified example, which is a different portion, is indicated by s4, and the tube is shown. The center positions forming the road position image are indicated by 46a1, 46b1, 46c1, 46d1 and 46e1.

In this way, it can be confirmed that the pipeline is curved downward even in the modified example of the second test example.

[Theoretical Configuration of Pipeline Position Image Data Creation According to the Present Invention]
Hereinafter, the theoretical configuration of this embodiment will be described with reference to FIGS. 14 and 15.

As shown in FIG. 14A, the light emitting ring irradiated on the inner surface of the conduit by the camera, that is, the first ring to the third ring is photographed. 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 determined in advance.

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

When the circle is decomposed to obtain the center position of each circle, the center of the circle of the first ring is shifted to the right by the distance A. The center of the circle of the second ring is shifted 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 specified distance between the camera and each ring and the above distances A to C, the pipeline position image data can be created by connecting each plot with a straight line as a change in the horizontal direction. , It can be confirmed that it is shifted to the right and the amount of change. Therefore, it can be confirmed that the center position of the pipeline is in the bent state shown in the figure.

Further, FIG. 15 shows an image of a photographed image when the conduit is straight, when the conduit is slightly curved, and when the conduit is greatly curved. Orthogonal image data converted by orthogonal projection is created from the captured image, pipeline position image data is created based on the data, and the conduit position image data converted by orthogonal projection is superimposed in consideration of the photographing position. The figure shows a superposition of three types of pipeline position image data created from three orthographic image data, but in reality, the same part is photographed 10 to 20 times and converted to orthographic projection. The road position image data is superimposed to improve the accuracy of position measurement.

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

FIG. 16A shows a case where the camera is not rotating, and the horizontal change in that case is plotted. On the other hand, FIG. 16B shows a case where the camera is rotated by an angle θ and tilted, and the change in the horizontal direction in the same state is a diagram in which the camera is displaced by an angle θ. Since the camera and the IMU rotate at the same angle because they are mounted on the same instrument and move, the angle θ can be obtained by the IMU, and the distances A to C are corrected by the obtained angle θ. Then, the same figure as the figure drawn in (a) in the figure can be drawn.

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

FIG. 17A is pipeline position image data created by using the pipeline position confirmation device in this 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 indicates the start point of the pipeline position, and the point B'in the figure indicates the end point of the pipeline position. The start point A'point and the end point B'point of the pipeline position by this actual measurement are, for example, one manhole when confirming the pipeline position arranged between the basement of one manhole and 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 another manhole is measured to be the ending point B'point of the pipeline position.

Then, as shown in FIG. 17 (c), the start point A point and the end point B point of the pipeline in the pipeline position image data are shown (a), and the start point A'point and the end point B'point of the pipeline position actually measured are shown. (B) indicates that the start point A and the start point A'are at the same position, but the end point B and the end point B'appear at different positions. The start point A and the start point A', and the end point B and the end point B'must be originally at the same position.

Therefore, as shown in FIG. 17D, the end point B'point of the pipeline position measured by the analysis means or the manual is used to determine the end point B'point of the pipeline in the pipeline position image data and the start point A'point. When the rotation is moved around the center, the actual measurement correction pipeline position image data by correcting the actual measurement value is completed. Of course, the same applies when the rotation correction pipeline 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 gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, as well as in the scope of the invention described in the claims and the equivalent scope thereof.

A ………… Pipeline position confirmation device B, b1, b2, b3 ………… Position display device 10, 10a, 10b, 10c ………… Circular frame 12 …… Connecting string 12a, 12b …… Cross connecting string T ……… Pipeline 13 …… Imaging device (camera)
14 …… IMU (Inertial Measurement Unit)
C ………… 1st equipment 15 …… Computer 16 …… Encoder D ………… 2nd equipment 17 …… Battery E ………… 3rd equipment F ………… Power cable G ………… Tow tool H ………… Support Parts c1, c2, c3 ... Optical ring 2A ... Pipeline position confirmation device 2b ... Position display device 20 ... Frame body 18 ... Spring material 18a ... Frame body contact side 18b ... Pipeline contact side 3A ... Pipe Road position confirmation device 3b …… Position display device 21 …… Frame body 19 …… Light irradiation device 19a …… Power cord Ta …… Pipeline s1 …… Imaging position 30 …… Actual image data 31a, 31b, 31c, 31d, 31e ...... Optical ring of real image data 30p ... Center 32a, 32b, 32c, 32d, 32e ... Position of position display device p ......... Position of shooting device 34a, 34b, 34c, 34d, 34e ... Toward the shooting position Light 35a, 35b, 35c, 35d, 35e ... Virtual light ring 36a, 36b, 36c, 36d, 36e ... Center position of light ring s2 ... Imaging position 36a1, 36b1, 36c1, 36d1, 36e1 ... Light Ring center position Tb …… Pipeline s3 …… Imaging position 40 …… Real image data 41a, 41b, 41c, 41d, 41e …… Real image data optical ring 40p1, 40p2, 40p3, 40p4, 40p5… Center 42a, 42b, 42c, 42d, 42e ... Position of position display device p ......... Position of imaging device 44a, 44b, 44c, 44d, 44e ... Straight line 45a, 45b, 45c, 45d, 45e connecting the imaging position to the diameter position ...... Virtual optical ring 46a, 46b, 46c, 46d, 46e ... Center position of optical ring s4 ... Imaging position 46a1, 46b1, 46c1, 46d1, 46e1 ... Center position of optical ring

Claims (7)

Multiple position display devices that are connected at predetermined intervals and display positions in the pipeline,
Photographing that is connected to the frontmost or rearmost position display devices of the plurality of position display devices at predetermined intervals and creates actual 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 composed of a frame having a circular light emitting function.
A pipeline position confirmation device, characterized in that the imaging device and the frame are connected to each other by a flexible connecting string. The imaging device is accompanied by an inertial measurement unit that rotates in a driven manner with the rotation of the imaging device about the axial direction of the pipeline.
It is characterized by being equipped with an analysis means for creating rotation-corrected pipeline position image data in which an error in the pipeline position image data that occurs when the photographing device rotates about the axial direction of the pipeline is corrected by the inertial measurement unit. The pipeline position confirmation device according to claim 1. The light emitting function of the frame is a light reflection type.
The pipeline position confirmation device according to claim 1 or 2, wherein the photographing device includes a light irradiation function for irradiating the frame body with light. The light emitting function of the frame is a light reflection type.
The pipeline position confirmation device according to any one of claims 1 to 3, further comprising a light irradiation device that irradiates the frame body with light. The pipeline position confirmation device according to claim 1 or 2, wherein the light emitting function of the frame is a self-luminous type. The claim is characterized in that the frame is provided with a cushioning member on the outer periphery thereof, which is in contact with the inner peripheral surface of the pipeline and does not prevent the frame from moving in the longitudinal direction of the pipe in the pipe. The pipeline position confirmation device according to any one of 1 to 5. The pipeline position confirmation device according to any one of claims 1 to 6, wherein the connecting string includes one or a plurality of crossed strings in which a plurality of intersecting strings are a set.

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