Visual inspection device

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Technical field to which the invention belongs]

The present invention relates to a visual inspection apparatus.

【0002】

[Conventional technology]

When inspecting the internal structure of a reactor pressure vessel, the waterway wall of an intake channel and drainage channel of a thermal power plant, the surface of a ship's propulsion device, etc., which are located underwater, by remote operation Requires a device that moves in water on its own and photographs the object to be inspected.

【0003】

FIGS. 3 to 6 are examples of appearance inspection devices that have been proposed in recent years, and these appearance inspection devices include a hollow structure device body 6, an endless seal skirt 7, a thrust fan 8, a fan drive mechanism 9, and a traveling wheel. It is equipped with a self-propelled mechanism 61 including a driven wheel 11, a traveling drive mechanism 12, and a tool mounting portion 13, and a camera 62 mounted on the tool mounting portion 13.

【0004】

The apparatus main body 6 includes a frame body 14, a ventral end plate 16 bolted to one side (ventral side) of the frame body 14 and having an opening 15 in the central portion, and the other side (dorsal side) of the frame body 14. It is composed of a dorsal end plate 18 which is bolted to and has discharge ports 17 on the left and right sides in the vicinity of the front end.

【0005】

An ultra-short cylindrical guard ring 20 to which the net 19 is attached is coaxially attached to the discharge port 17 on the surface of the dorsal end plate 18 on the opposite side of the frame.

【0006】

The frame body 14 is integrally formed of a polymer material such as polyacetatar, and the ventral end plate 16, the dorsal end plate 18, the net 19, and the guard ring 20 are formed of a metal material such as stainless steel. There is.

【0007】

The seal skirt 7 has a flange portion 21 protruding inward in the radial direction at an end portion closer to the ventral end plate, and is arranged on the side surface of the anti-device main body of the ventral end plate 16 so that the opening 15 is located inward. The endless skirt 22, the holding ring 23 that abuts on the flange portion 21 of the skirt 22 from the antiventral end plate side and is bolted to the ventral end plate 16, and the antiventral end of the skirt 22. It is composed of an annular shoe 24 that is coaxially attached to the end near the plate and slides on the surface 5 to be inspected.

【0008】

The skirt 22 is made of flexible synthetic rubber or the like.

【0009】

Further, a chamfered portion 25 is provided on the peripheral edge of the portion of the shoe 24 near the end plate on the opposite side so that the shoe 24 can easily get over the oxide adhering to the surface 5 to be inspected.

【0010】

The thrust fan 8 has a turning radius corresponding to the inner diameter of the discharge port 17, and is arranged inside each discharge port 17.

【0011】

The fan drive mechanism 9 is a rotation transmission system that penetrates the motors 26 arranged on the left and right sides of the inner back side portion of the device main body 6 and the partition wall 27 inside the device main body 6 and transmits the rotation of the motor 26 to the thrust fan 8. It is composed of 28 and.

【0012】

The traveling wheel 10 is coaxially supported on the left and right outside the watertight casing 29 installed inside the device main body 6 so as to be able to roll on the surface 5 to be inspected, and the casing 29 provides the inside of the device main body 6. The watertightness of the place where the motor 26 of the above is arranged is maintained.

【0013】

The driven wheel 11 is pivotally supported by a bracket 30 attached to the rear end of the apparatus main body 6 so as to be able to turn via a support seat 31.

【0014】

The traveling drive mechanism 12 is arranged on the left and right inside the casing 29 so as to face the width direction of the device main body 6, and the drive shaft 32 protrudes to the outside of the casing 29. It is composed of pulleys 34,35 mounted coaxially and a belt 36 wound around both pulleys 34,35.

【0015】

Further, in the casing 29, a seal (not shown) for maintaining watertightness is provided at a portion through which the drive shaft 32 penetrates.

【0016】

The tool mounting portion 13 is composed of a guide rail 37 provided outside the front end of the apparatus main body 6 and extending in the width direction thereof, and a width direction moving bracket 38 movably attached to the guide rail 37 by a linear bearing.

【0017】

The tool mounting portion 13 is moved in the width direction of the apparatus main body 6 by the tool moving mechanism 42.

【0018】

The tool moving mechanism 42 is wound around the driven pulleys 43,44 pivotally supported on the left and right sides of the front end of the device body 6, the drive pulley 45 pivotally supported on the center of the front end of the device body 6, and the pulleys 43,44,45. The endless belt 46 in which the widthwise moving bracket 38 is locked at a predetermined position, the tension applying pulleys 47 and 48 pivotally supported near the center of the front end of the device body 6 so as to be external to the endless belt 46, and the device body 6 It is composed of a motor 49 arranged in the center of the inner back side portion of the motor 49 and a rotation transmission system 50 that penetrates the front end portion of the apparatus main body 6 and transmits the rotation of the motor 49 to the drive pulley 45, and is composed of a rotation direction of the motor 49. The tool mounting portion 13 moves in the width direction of the apparatus main body 6 according to the above.

【0019】

Further, a planimeter 58 having a measuring wheel 57 for measuring the moving distance of the device main body 6 is attached to a portion closer to the ventral side inside the device main body 6.

【0020】

In addition to this, the power supply to the motors 26, 33, 49 of the fan drive mechanism 9, the traveling drive mechanism 12, and the tool moving mechanism 42, and the application of air pressure to the inside of the casing 29 were connected to the rear end of the device main body 6. It is designed to be performed via a multi-core cable 59.

【0021】

The camera 62 is attached to the widthwise moving bracket 38 of the tool mounting portion 13 described above so that the surface 5 to be inspected can be photographed.

【0022】

A CCD camera is used for this camera 62, and the video signal output by the camera 62 is transmitted to an image display device (not shown) on the ground via a multi-core cable 59.

【0023】

The operation of the visual inspection apparatus shown in FIGS. 3 to 6 will be described below.

【0024】

When visually observing the inspection target surface 5 existing in the water, the appearance inspection device is suspended in the water by the multi-core cable 59 so that the front end of the device main body 6 faces downward.

【0025】

Next, when both thrust fans 8 are rotated forward by the fan drive mechanism 9, a water flow ejected from the ventral side to the dorsal side of the device main body 6 is generated, and the visual inspection device moves with the ventral side of the device main body 6 as the front end in the traveling direction. To do.

【0026】

Further, when both thrust fans 8 are rotated in the reverse direction, a water flow ejected from the dorsal side to the ventral side of the apparatus main body 6 is generated, and the visual inspection apparatus moves with the dorsal side of the apparatus main body 6 as the front end in the traveling direction.

【0027】

Further, when one thrust fan 8 is rotated forward and the other thrust fan 8 is rotated in the reverse direction, the visual inspection device is centered on the multi-core cable 59 due to the difference in the direction of the water flow caused by each thrust fan 8. Turn.

【0028】

When the shoe 24 of the seal skirt 7 comes into contact with the surface 5 to be inspected while both thrust fans 8 are rotating in the forward direction, the inside of the seal skirt 7 is depressurized by the rotation of the thrust fan 8 and the visual inspection device is inspected. A force is generated to attract the surface 5 to the surface 5, so that the traveling wheel 10 and the driven wheel 11 are pressed against the surface 5 to be inspected, and even if the multi-core cable 59 is extended, the visual inspection device can be displayed from the surface 5 to be inspected. The camera 62 faces the surface 5 to be inspected without falling off.

【0029】

When both traveling wheels 10 are rotated in the forward direction by the traveling drive mechanism 12 while the appearance inspection device is adsorbed on the inspection target surface 5, the appearance inspection device inspects the tool moving mechanism 42 mounting end of the device main body 6 as the front end in the traveling direction. Move the target surface 5.

【0030】

Further, when both traveling wheels 10 are rotated in the reverse direction, the visual inspection device moves the inspection target surface 5 with the driven wheel 11 supporting end of the apparatus main body 6 as the front end in the traveling direction.

【0031】

Further, when one traveling wheel 10 is rotated forward and the other traveling wheel 10 is rotated in the reverse direction, the visual inspection device makes an intermediate point between the two traveling wheels 10 due to the difference in the rotation directions of the two traveling wheels 10. It turns while being attracted to the surface to be inspected 5 as the center.

【0032】

As described above, in the visual inspection device shown in FIGS. 3 to 6, since the endless seal skirt 7 is attached to the entire circumference of the ventral edge of the device main body 6, the visual inspection device can be used only with the thrust fan 8. It becomes possible to adsorb it to the upright inspection target surface 5, and the inspection target surface 5 can be photographed by the camera 62.

【0033】

[Problems to be Solved by the Invention]

However, in the visual inspection apparatus shown in FIGS. 3 to 6, when the inspection target surface 5 is inspected in detail over the entire surface, the camera 62 is moved by the tool moving mechanism 42 to the width of the apparatus main body 6 with the apparatus main body 6 stopped. It was necessary to repeatedly scan the surface to be inspected 5 by reciprocating in the direction, and the work could not proceed efficiently.

【0034】

Further, if the range that can be photographed in the field of view of the camera 62 is expanded by moving the camera 62 away from the inspection target surface 5, the image quality deteriorates and the inspection accuracy deteriorates.

【0035】

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a visual inspection apparatus capable of efficiently performing work without deteriorating image quality.

【0036】

[Means for solving problems]

In order to achieve the above object, in the visual inspection apparatus according to claim 1 of the present invention, each camera is based on an imaging means in which a plurality of cameras are assembled so that the viewing edges overlap each other and an image signal from each camera. An image processing means that creates individual image data for each and synthesizes the individual image data into a series of collective image data corresponding to the arrangement of cameras, and a video display means that visualizes the collective image data obtained by the image processing means. And a self-propelled mechanism that moves the imaging means along the surface to be inspected.

【0037】

Further, the visual inspection apparatus according to claim 2 of the present invention has a photographing means in which a plurality of cameras are arranged in a row.

【0038】

In addition to this, in the visual inspection apparatus according to claim 3 of the present invention, the photographing means is attached to the self-propelled mechanism so as to be displaceable in the direction of the camera arrangement.

【0039】

In the visual inspection apparatus according to claim 4 of the present invention, the self-propelled mechanism has a self-position detecting function, and the image processing apparatus synthesizes the position information obtained from the self-propelled mechanism into the collective image data as position display data. Is equipped with.

【0040】

Further, the visual inspection apparatus according to claim 5 of the present invention has a storage medium capable of holding collective image data.

【0041】

In any of the visual inspection devices according to claims 1 to 5, the inspection capable of photographing while maintaining the image quality of the image obtained by each camera by the photographing means in which a plurality of cameras are assembled. Expand the range of the target surface.

【0042】

In the visual inspection apparatus according to claim 2 of the present invention, an imaging means composed of a plurality of cameras arranged in a row is moved by a self-propelled mechanism in a direction intersecting the camera arrangement direction to display an inspection target surface. Scan.

【0043】

In the visual inspection apparatus according to claim 3 of the present invention, the photographing means is moved in the direction of the camera arrangement with respect to the self-propelled mechanism, and the scanning width of the inspection target surface is expanded.

【0044】

In the visual inspection apparatus according to claim 4 of the present invention, the position information obtained from the self-propelled mechanism is combined with the group image data as position display data by an image processing means, and the visual inspection of the imaged group image data is performed. Make it easier.

【0045】

In the visual inspection apparatus according to claim 5 of the present invention, the collective image data obtained by the image processing means is stored in a storage medium, and it is possible to observe the change with time of the surface to be inspected.

【0046】

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the illustrated examples.

【0047】

1 and 2 are examples of embodiments of the visual inspection apparatus of the present invention, and in the drawings, the parts with the same reference numerals as those in FIGS. 3 and 4 represent the same objects.

【0048】

This visual inspection device includes a self-propelled mechanism 61, a photographing means 63, an image processing means 64, a video display means 65, and a storage medium 66.

【0049】

The photographing means 63 is an assembly of a plurality of cameras 62 in a row in the width direction of the self-propelled mechanism 61 so that the visual field edges 67 overlap each other so that each camera 62 can face the inspection target surface 5. It is attached to the tool mounting part 13.

【0050】

A CCD camera is used as the camera 62, and the video signal 68 output by the camera 62 is transmitted to the image processing means 64 via a multi-core cable (not shown).

【0051】

The image processing means 64 is composed of a CPU (personal computer) 71 in which the basic software 69 and the dedicated software 70 are set, and an input device 72 such as a keyboard and a mouse attached to the CPU 71 as a command means to the software 69 and 70. There is.

【0052】

The dedicated software 70 has a function of creating individual image data (image capture) 73 for each camera 62 based on the video signal 68 of each camera 62, and arranges the cameras 62 based on the overlapping portion of the individual image data 73. A function of synthesizing a series of collective image data 74 according to the situation, a function of synthesizing a position display data 76 based on a position signal 75 obtained from the planimator 58 of the self-propelled mechanism 61 with the collective image data 74, and a function according to a command from the input device 72 It has a function to send and receive each data 73, 74, 76 to and from the storage medium 66.

【0053】

A cathode line tube display or a liquid crystal display is used as the image display means 65, and the individual image data 73, the collective image data 74, and the position display data 76 obtained by the image processing means 64 are visualized in a visible state. It has become like.

【0054】

A hard disk or a magneto-optical disk is used as the storage medium 66, and the data 73,74,76 obtained by the image processing means 64 can be held.

【0055】

When performing a visual inspection, the self-propelled mechanism 61 is installed so as to be able to move along the inspection target surface 5, and when the photographing means 63, the image processing means 64, and the image display means 65 are operated, each camera is operated. The video signal 68 of the inspection target surface 5 predetermined location taken by 62 and the position signal 75 of the self-propelled mechanism 61 detected by the planimeter 58 are transmitted to the CPU 71 of the image processing means 64.

【0056】

The CPU 71 creates individual image data 73 for each camera 62 based on the video signal 68 by the various functions of the dedicated software 70, and sets a series according to the arrangement of the cameras 62 based on the overlapping portion of the individual image data 73. The image data 74 is combined, and the position display data 76 based on the position signal 75 obtained from the planimeter 58 is combined with the collective image data 74.

【0057】

The image display means 65 visualizes the collective image data 74 in which the position display data 76 is combined into a visible state, and the images taken by each camera 62 are connected and inspected so as to correspond to the arrangement of the cameras 62. It is displayed in a form including the position display of the target surface 5.

【0058】

Further, when the input device 72 instructs the dedicated software 70 to retain the data, the individual image data 73, the collective image data 74, and the position display data 76 are retained in the storage medium 66.

【0059】

When the imaging of the predetermined portion of the inspection target surface 5 is completed, each camera 62 is subjected to the inspection target surface 5 by the traveling operation of the self-propelled mechanism 61 or the traversing operation of the tool mounting portion 13 in the width direction of the self-propelled mechanism 61. After moving the photographing means 63 so as to face the unphotographed portion of the above, the individual image data 73, the collective image data 74, and the position display data 76 are held in the storage medium 66 by the procedure as described above.

【0060】

As described above, in the visual inspection apparatus shown in FIGS. 1 and 2, since the photographing means 63 in which a plurality of cameras 62 are assembled is attached to the self-propelled mechanism 61, the image quality of the image obtained by each camera 62 is maintained. At the same time, the range of the inspection target surface 5 that can be photographed can be expanded, thereby improving work efficiency.

【0061】

Further, the scanning width is expanded by causing the photographing means 63 to traverse in the width direction of the self-propelled mechanism 61 at the tool mounting portion 13.

【0062】

Further, since the collective image data 74 obtained by synthesizing the position display data 76 is visualized by the image display means 65, the visual inspection of the inspection target surface 5 can be easily and accurately performed.

【0063】

In addition to this, the individual image data 73, the collective image data 74, and the position display data 76 obtained by the image processing means 64 are stored in the storage medium 66, so that the time-dependent change of the inspection target surface 5 can be observed.

【0064】

The visual inspection apparatus of the present invention is not limited to the above-described embodiment, and it goes without saying that changes can be made without departing from the gist of the present invention.

【0065】

[Effect of the invention]

As described above, according to the visual inspection apparatus of the present invention, various excellent effects as described below can be obtained.

【0066】

(1) Since a shooting means that combines multiple cameras is attached to the self-propelled mechanism, it is possible to expand the range of inspection target surfaces that can be shot while maintaining the image quality of the images obtained by each camera. Work efficiency is improved.

【0067】

(2) Since the position information obtained from the self-propelled mechanism is combined with the collective image data as position display data by the image processing means, the visual inspection of the inspection target surface can be easily and accurately performed.

【0068】

(3) Since the collective image data obtained by the image processing means is stored in the storage medium, it is possible to observe the change over time of the surface to be inspected.

[Simple explanation of drawings]

[Figure 1]

It is a conceptual diagram which shows an example of embodiment of the visual inspection apparatus of this invention.

[Figure 2]

It is a conceptual diagram which shows the overlap of the visual field edge part of the camera of the visual inspection apparatus which concerns on FIG.

[Fig. 3]

It is a partial cut side view which shows an example of the conventional visual inspection apparatus.

[Fig. 4]

It is a partial cut plan view of the visual inspection apparatus related to FIG.

[Fig. 5]

FIG. 3 is a partial cross-sectional view of a seal skirt of a visual inspection device related to FIG.

[Fig. 6]

It is a front conceptual view of the tool moving mechanism of the visual inspection apparatus related to FIG.

[Explanation of symbols]

58 Planimeter (self-position detection function) 61 Self-propelled mechanism 62 camera 63 Shooting means 64 Image processing means 65 Video display means 66 Storage medium 67 Field edge 68 Video signal 73 Individual image data 74 Collective image data 75 Position signal (location information) 76 Position display data