JP5073384B2 - Endoscope device for measurement - Google Patents

Description

  The present invention relates to a measurement endoscope apparatus that performs measurement processing of a measurement object based on an image captured using an electronic endoscope.

In a gas turbine mainly used for an aircraft, the edge of a turbine blade or a compressor blade may be damaged due to entry of foreign matter or the like. The defect size of the blade is one of the conditions for judging the replacement of the blade, and its inspection is extremely important. In such a situation, in the conventional measuring endoscope, the defect edge of the turbine blade or the compressor blade is approximated by a virtual curve and a virtual point, and the defect size is measured based on the approximation (for example, Patent Document 1).
JP-A-2005-204724

  However, in the conventional method, since the missing edge is approximated by a parametric curve, it is necessary to designate at least three reference points in order to calculate one virtual curve, and manually calculate the calculated virtual curve. There is a problem in that the operation becomes complicated because it is necessary to adjust the shape of the edge by adjusting the position. In addition, with respect to the defect formed at the corner of the measurement object including the vertex of the corner, the edge of the corner defect is approximated by one virtual curve and a virtual point on the curve. In this case, there is a problem that the operation becomes complicated.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a measurement endoscope apparatus that can reduce the burden of operation and improve operability.

The present invention has been made in order to solve the above-described problems. An electronic endoscope that images a measurement object and generates an imaging signal, an image processing unit that generates a video signal based on the imaging signal, In a measurement endoscope apparatus comprising measurement processing means for performing measurement processing of the measurement object based on the video signal, the measurement processing means is a reference for designating two reference points on the measurement object Based on the point designating means, the missing component point calculating means for calculating the missing component points constituting the outline of the defect formed on the measurement object, and the missing component point calculating means based on the reference point the shape of the defect contour constituted by line segments connecting the defect composing points, and twisted shape detection means for a part of the line segment that constitute the defect contour to detect whether a shape which intersects the By twist shape detection means , When it is detected that the shape of the missing contour line is a shape in which some line segments constituting the missing contour line intersect with each other, a missing constituent point correcting means for correcting the missing constituent point; An endoscope apparatus for measurement, comprising: a defect measurement unit that measures the size of the defect based on the defect component point corrected by the defect component point correction unit .

The present invention also provides an electronic endoscope that images a measurement object and generates an imaging signal, an image processing unit that generates a video signal based on the imaging signal, a display unit that displays the video signal, In a measurement endoscope apparatus comprising measurement processing means for performing measurement processing of the measurement object based on a video signal, the measurement processing means is a reference point for designating two reference points on the measurement object Based on the reference point, a missing component point calculating unit that calculates a missing component point that forms a contour of the defect formed on the measurement object, and the defect calculated by the missing component point calculating unit A twist shape detecting means for detecting whether or not a shape of a defect contour line constituted by line segments connecting constituent points is a shape in which some line segments constituting the defect contour line intersect with each other; and the twist By shape detection means When it is detected that the shape of the missing contour line is a shape in which some line segments constituting the missing contour line intersect, information for prompting the user to respecify the reference point is displayed on the display unit. And a control means for displaying on the measuring endoscope apparatus .

  In addition, the measurement endoscope apparatus of the present invention further includes a contour approximation line calculation unit that calculates a contour approximation line that approximates a contour of the measurement object based on the reference point, and the missing component point calculation unit. Is characterized in that the missing constituent points are calculated based on the reference point and the contour approximation line.

  In the measuring endoscope apparatus according to the present invention, the contour approximate line calculation means calculates the contour approximate line in which the distortion of the imaging optical system installed at the tip of the electronic endoscope is corrected. And

  In addition, the measurement endoscope apparatus according to the present invention further includes a defect type determination unit that determines the type of the defect according to an angle formed by the two contour approximate lines corresponding to the two reference points. It is characterized by that.

  Moreover, in the endoscope apparatus for measurement according to the present invention, the defect measuring means calculates the parameter corresponding to the type of defect as a parameter indicating the size of the defect.

  In the measurement endoscope apparatus of the present invention, the missing component point calculating means calculates an intersection of the two contour approximation lines corresponding to the two reference points as one of the missing component points. It is characterized by.

  In the measurement endoscope apparatus according to the present invention, the defect measurement means calculates at least two types of parameters as parameters indicating the size of the defect.

  In the measurement endoscope apparatus according to the present invention, the contour approximate line calculation means calculates at least two feature points on the contour line of the measurement object around one reference point, and the at least 2 The contour reference line is calculated based on two feature points.

In the measurement endoscope apparatus according to the present invention, the reference point designating unit may use, as the reference point, an end point at a position where the outline of the measurement object around the defect intersects the outline of the defect. It is characterized by specifying.
Further, in the measuring endoscope apparatus according to the present invention, the torsional shape detecting means calculates a reference line passing through the two reference points, and the defect constituent point is present in both of the two regions divided by the reference line. Is present, it is detected that the shape of the defective contour line is a shape in which some line segments constituting the defective contour line intersect each other.
Further, in the measuring endoscope apparatus according to the present invention, the torsional shape detecting means calculates a reference line passing through the two reference points, and the defect constituent point is present in both of the two regions divided by the reference line. Is present, it is detected that the shape of the missing contour line is a shape in which some line segments constituting the missing contour line intersect each other, and the missing constituent point correcting means The defect constituent point existing in any one of the regions is corrected.
In the measurement endoscope apparatus according to the present invention, the defect constituent point correcting means may be an area of a region formed by the defect constituent point belonging to one of the two regions and the reference line. An area is calculated, a second area that is an area of a region formed by the deficient constituent point belonging to the other of the two regions and the reference line is calculated, and the first area and the second area are calculated. Based on the comparison result, the missing component point existing in either one of the two regions is corrected.
Moreover, in the endoscope apparatus for measurement according to the present invention, the defect constituent point correcting means is present in one of the two regions based on a comparison result between the first area and the second area. The length of a perpendicular line from the missing constituent point to the reference line is calculated, and when the length of the perpendicular is a predetermined value or less, the missing constituent point is corrected.
In the measurement endoscope apparatus according to the present invention, the defect component point correcting means may cause the defect component point existing in one of the two regions to be placed on the other of the two regions or on the reference line. It corrects so that it may be located.
In the measurement endoscope apparatus of the present invention, the torsional shape detecting means assigns a number to the missing constituent point in the order calculated, and a line segment connecting the adjacent defective constituent points based on the number. Is detected to have a shape that intersects with a line segment that connects the other adjacent missing component points.

  According to the present invention, since it is possible to measure the defect size by designating two reference points, it is possible to reduce the inconvenience of the operation and improve the operability.

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

[First Embodiment]
First, a first embodiment of the present invention will be described. FIG. 1 shows a configuration of a measuring endoscope apparatus according to the present embodiment. As shown in FIG. 1, the endoscope apparatus for measurement according to the present embodiment includes an endoscope 2, a control unit 3, a remote controller 4, a liquid crystal monitor 5, a face mount display (FMD) 6, and an FMD. The adapter 6a, optical adapters 7a, 7b, and 7c, an endoscope unit 8, a camera control unit 9, and a control unit 10 are configured.

  An endoscope 2 (electronic endoscope) that captures an image of a measurement object and generates an imaging signal includes an elongated insertion unit 20. The insertion portion 20 is configured by connecting, in order from the distal end side, a rigid distal end portion 21, a bending portion 22 that can be bent vertically and horizontally, and a flexible tube portion 23 having flexibility. A proximal end portion of the insertion portion 20 is connected to the endoscope unit 8. The distal end portion 21 is configured such that various optical adapters such as stereo optical adapters 7a and 7b having two observation fields or a normal observation optical adapter 7c having only one observation field can be attached and detached by, for example, screwing. Yes.

  The control unit 3 includes an endoscope unit 8, a camera control unit (hereinafter referred to as CCU) 9 that is an image processing unit, and a control unit 10 that is a control device. The endoscope unit 8 includes a light source device that supplies illumination light necessary for observation, and a bending device that bends the bending portion 22 that constitutes the insertion portion 20. The CCU 9 receives an imaging signal output from the solid-state imaging device 2 a built in the distal end portion 21 of the insertion unit 20, converts this into a video signal such as an NTSC signal, and supplies the video signal to the control unit 10.

  The control unit 10 includes an audio signal processing circuit 11, a video signal processing circuit 12, a ROM 13, a RAM 14, a PC card interface (hereinafter referred to as PC card I / F) 15, and a USB interface (hereinafter referred to as USB). (Described as I / F) 16, an RS-232C interface (hereinafter referred to as RS-232C I / F) 17, and a measurement processing unit 18.

  An audio signal collected by the microphone 34, an audio signal obtained by reproducing a recording medium such as a memory card, or an audio signal generated by the measurement processing unit 18 is supplied to the audio signal processing circuit 11. The video signal processing circuit 12 generates a video signal from the CCU 9 under the control of the measurement processing unit 18 in order to display a composite image obtained by synthesizing the endoscopic image supplied from the CCU 9 and the graphic operation menu. A process of combining with a display signal for an operation menu is performed. In addition, the video signal processing circuit 12 performs a predetermined process on the combined video signal and supplies it to the liquid crystal monitor 5 in order to display the video on the screen of the liquid crystal monitor 5.

  The PC card I / F 15 can freely attach and detach a memory card (recording medium) such as the PCMCIA memory card 32 and the flash memory card 33. By mounting the memory card, the control processing information and image information stored in the memory card are taken in, or the control processing information and image information are recorded on the memory card according to the control of the measurement processing unit 18. be able to.

  The USB I / F 16 is an interface for electrically connecting the control unit 3 and the personal computer 31. By electrically connecting the control unit 3 and the personal computer 31 via the USB I / F 16, various control instructions such as an instruction to display an endoscopic image on the personal computer 31 side and image processing at the time of measurement are performed. Can be performed. Also, various processing information and data can be input / output between the control unit 3 and the personal computer 31.

  The RS-232C I / F 17 is connected to the CCU 9 and the endoscope unit 8, and is connected to the remote controller 4 for controlling and operating the CCU 9 and the endoscope unit 8. When the user operates the remote controller 4, communication necessary for controlling the operation of the CCU 9 and the endoscope unit 8 is performed based on the operation content.

  FIG. 2 shows the configuration of the measurement processing unit 18. As shown in FIG. 2, the measurement processing unit 18 includes a control unit 18a, a reference point specifying unit 18b, a reference curve calculating unit 18c, a missing component point calculating unit 18d, a defect type determining unit 18e, and a defect size calculating unit. 18f and a storage unit 18g.

  The control unit 18a (control means) controls each unit in the measurement processing unit 18. The control unit 18 a also has a function of generating a display signal for displaying a measurement result, an operation menu, and the like on the liquid crystal monitor 5 or the face mount display 6 (display unit) and outputting the display signal to the video signal processing circuit 12. Yes.

  The reference point specifying unit 18b (reference point specifying means) specifies a reference point (details of the reference point will be described later) on the measurement object based on a signal input from the remote controller 4 or the PC 31. When the user inputs two desired reference points while looking at the image of the measurement object displayed on the liquid crystal monitor 5 or the face mount display 6, the coordinates are calculated by the reference point designating unit 18b.

  The reference curve calculation unit 18c (contour approximate line calculation means) is based on the reference point designated by the reference point designation unit 18b, and the reference curve corresponding to the contour approximation line that approximates the contour of the measurement object (details of the reference curve) Is calculated later). The missing component point calculating unit 18d (missing component point calculating means) is configured to construct a defect outline (edge) formed on the measurement object based on the reference point and the reference curve. (To be described later).

  The defect type discriminating unit 18e (defect type discriminating means) calculates an angle formed by two reference curves corresponding to the two reference points designated by the reference point designating unit 18b, and determines the type of the defect according to the angle. Determine. The defect size calculation unit 18f (defect measurement means) measures the size of the defect based on the defect constituent points. The storage unit 18g stores various types of information processed in the measurement processing unit 18. Information stored in the storage unit 18g is appropriately read out by the control unit 18a and output to each unit.

  Next, the contents of terms used in the present embodiment will be described. First, a reference point, a reference curve, and a reference point area will be described with reference to FIG. The reference points 301 and 302 are points that the user actually designates on the displayed measurement screen, and are points on the edge that are located on both sides of the defect 300 and do not have a defect as shown in FIG.

  The reference curves 311 and 312 are curves that approximate the contour (edge) of the measurement object, and are calculated based on the two reference points 301 and 302. In the present embodiment, in particular, the imaging optical system installed at the distal end of the endoscope 2 (in the distal end portion 21) and the imaging optical system separately attached to the distal end of the endoscope 2 (optical adapters 7a, 7b, 7c). A reference curve is calculated as a distortion correction curve obtained by correcting the distortion.

  The reference point areas 321 and 322 are image ranges for extracting edges around the reference point when the reference curves 311 and 312 are obtained. The sizes of the reference point areas 321 and 322 are preferably set to values suitable for the calculation of the distortion correction curve.

  Next, with reference to FIG. 4 to FIG. 5, types of defects, defect start points / end points / vertices, and defect component points will be described. There are two types of defects to be measured in the present embodiment: edge defects and corner defects. The side defect is a defect formed on the edge of the measurement target edge like the defect 400 in FIG. 4, and the corner defect is the defect formed in the edge of the measurement target edge like the defect 500 in FIG. It is.

  The defect start points 401 and 501 are points that are first recognized as points constituting a defect in the defect calculation described later on the displayed measurement screen. The defect end points 402 and 502 are points that are finally recognized as points constituting the defect. The missing vertex 503 is a point that is recognized as an intersection of the two reference curves 521 and 522 in the corner defect 500. The missing component points 410 and 510 are points that constitute the edge of the defect formed on the measurement object, and include a defect start point, a defect end point, and a defect vertex.

  Next, the defect size will be described with reference to FIGS. The defect size is a parameter representing the size of the detected defect. The defect size calculated in the present embodiment is the width, depth, and area of the defect in the defect of the side, and the width, length, and area of the defect in the defect of the corner. More specifically, the width of the defect is a spatial distance between the defect start point and the defect end point. The depth of the defect is a spatial distance from a predetermined defect constituent point to a straight line connecting the defect start point and the defect end point. The missing edges are the spatial distance between the missing vertex and the missing start point and the spatial distance between the missing vertex and the missing end point. The area of the defect is a spatial area of a region surrounded by all the defect composing points.

  FIG. 6 shows the defect size of the side, and the defect width 600 is calculated as a spatial distance between the defect start point 611 and the defect end point 612 by the defect calculation described later. The defect depth 601 is calculated as a spatial distance from a predetermined defect constituent point 613 to a straight line connecting the defect start point 611 and the defect end point 612. The area of the defect is calculated as a spatial area of a region 620 surrounded by all the defect component points including a defect component point (not shown).

  FIG. 7 shows a corner defect size, and a defect width 700 is calculated as a spatial distance between a defect start point 711 and a defect end point 712 by a defect calculation described later. The missing side 701 is calculated as the spatial distance between the missing vertex 713 and the missing start point 711, and the missing side 702 is calculated as the spatial distance between the missing vertex 713 and the missing end point 712. The area of the defect is calculated as a spatial area of a region 720 surrounded by all the defect component points including a defect component point (not shown).

  Next, measurement points and measurement point areas will be described with reference to FIG. The measurement point 801 is a point on the edge of the measurement object on the displayed measurement screen, and sequentially in the direction (direction T8) from the first reference point 802 to the second reference point 803 in the defect calculation described later. Searched. Furthermore, some of the searched measurement points are recognized as missing constituent points.

  The measurement point area 804 is an image range for extracting an edge around the measurement point when searching for the measurement point 801. The size of the measurement point area 804 is preferably set to a value suitable for edge extraction.

  Next, feature points will be described with reference to FIGS. The feature points 901 and 902 and the feature points 1001 and 1002 are characteristic points on the edge extracted in the reference point area 910 including the reference point 903 and the measurement point area 1010 including the measurement point 1003. The feature points 901 and 902 extracted in the reference point area 910 are used to calculate a reference curve by a defect calculation described later. Also, some of the feature points extracted in the measurement point area 1010 and the like are selected as measurement points in the defect calculation.

  Next, the procedure of defect measurement in this embodiment will be described. Hereinafter, with reference to FIG. 11 to FIG. 12, a procedure of defect measurement and a measurement screen will be described. FIG. 11 shows a procedure for defect measurement, and FIG. 12 shows a measurement screen. In the measurement screen shown in FIG. 12 or the like used for the following description, the operation menu or the like may be omitted if it is not necessary for the description. In FIG. 12, measurement screens 1200, 1210, and 1220 are measurement screens when edge loss is a measurement target, and measurement screens 1230, 1240, and 1250 are measurement screens when corner loss is a measurement target. is there.

  In this embodiment, loss measurement by stereo measurement is performed. In stereo measurement, since the measurement object is imaged with the stereo optical adapter attached to the distal end portion 21 of the endoscope 2, an image of the measurement object is displayed in a pair on the measurement screen.

  In the defect measurement, first, when the user designates two reference points by operating the remote controller 4 or the PC 31 on the measurement screen displayed on the liquid crystal monitor 5 or the face mount display 6, information on the designated reference point is obtained. Input to the measurement processing unit 18 (step SA). At this time, it is desirable for the user to select points on both sides of the defect and on the edge where the defect does not exist as reference points. In FIG. 12, reference points 1201 and 1202 and reference points 1231 and 1232 in the left image are designated.

  Subsequently, based on the coordinates of the designated reference point, the measurement processing unit 18 performs loss calculation (step SB). In the defect calculation, the coordinates of the defect component points and the defect size are calculated, and the defect type is determined. Measurement screens 1210 and 1240 are measurement screens being calculated. Details of the loss calculation will be described later.

  When the defect calculation is completed, the detected defect area is displayed on the measurement screen (step SC) and the defect type and the defect size are displayed (steps SD to SE) according to an instruction from the measurement processing unit 18. As shown in FIG. 12, the missing area is displayed on the left screen 1221 of the measurement screen 1220 and the left screen 1251 on the measurement screen 1250. More specifically, the calculated missing component points are connected by a line and displayed. Furthermore, among the missing component points, the missing start point, the end point, and the vertex are respectively displayed with the cursors ◯, *, and □.

  Further, the type of the detected defect is displayed as an image on the upper part of the result windows 1223 and 1253 on the right screens 1222 and 1252 of the measurement screens 1220 and 1250. Further, the size of the detected defect is displayed in characters at the bottom of the result windows 1223 and 1253 on the right screens 1222 and 1252 of the measurement screens 1220 and 1250.

  Next, with reference to FIG. 13, the procedure of the loss calculation in step SB2 of FIG. 11 will be described. When the position information of the two reference points in the left screen designated by the user is input to the measurement processing unit 18, the reference point designating unit 18b displays the image coordinates of the two reference points (on the liquid crystal monitor 5 or the face mount display 6). The two-dimensional coordinates on the displayed image are calculated (step SB1). Subsequently, the reference curve calculation unit 18c calculates two reference curves based on the image coordinates of the two reference points (step SB2).

  Subsequently, the defect type determination unit 18e calculates an angle formed by the two reference curves, and determines the type of the defect according to the angle (step SB3). Subsequently, the missing component point calculation unit 18d calculates the image coordinates of the missing component point based on the image coordinates of the two reference points (also using the reference curve in the case of a corner defect) (step SB4).

  Subsequently, the missing component point calculation unit 18d calculates the image coordinates of the matching point in the right screen corresponding to each calculated missing component point in the left screen (step SB5), the calculated missing component point and its matching Based on the image coordinates of the points, the spatial coordinates (three-dimensional coordinates in the real space) of each missing component point are calculated (step SB6).

  The method for calculating the spatial coordinates is the same as that described in Japanese Patent Application Laid-Open No. 2004-49638. Finally, the defect size calculation unit 18f calculates the defect size according to the defect type based on the calculated spatial coordinates of the defect component points (step SB7).

  Next, the procedure of the reference curve calculation process in step SB2 of FIG. 12 will be described with reference to FIG. When the image coordinates of the two reference points calculated by the reference point specifying unit 18b are input (step SB21), the reference curve calculating unit 18c is characterized for each reference point based on the input image coordinates of the reference point. Two points are calculated (step SB22).

  Subsequently, the reference curve calculation unit 18c calculates a distortion correction curve obtained by correcting the distortion of the imaging optical system based on the two feature points (step SB23). Since there are two reference points, two distortion correction curves are calculated. Finally, the reference curve calculation unit 18c outputs the distortion correction curve information (the image coordinates of the points constituting the curve or the equation of the curve) to the control unit 18a as the reference curve information (step SB24).

  Hereinafter, the procedure of the feature point calculation process in step SB22 will be described with reference to FIG. The feature point calculation process is performed not only when the reference curve is calculated but also when the missing component points are calculated. The calculation process of the missing constituent points will be described later, but here, the calculation process of the feature points will be described together.

  16 to 17 schematically show the procedure of feature point calculation processing, and FIGS. 16 to 17 are also referred to as appropriate. FIG. 16 shows a procedure for calculating feature points around the reference point, and FIG. 17 shows a procedure for calculating feature points around the measurement point.

  When the image coordinates of the reference point or the image coordinates of the measurement point are input (step SF1), the area within the reference point area or the measurement point area is determined based on the input image coordinates of the reference point or measurement point. An image is extracted (step SF2). As a result, an area image 1601 in the reference point area including the reference point 1600 or an area image 1701 in the measurement point area including the measurement point 1700 is extracted.

  Subsequently, the extracted area image is grayscaled (step SF3), and edge extraction is performed on the grayscaled image (step SF4). Subsequently, an approximated straight line of the extracted edge is calculated (step SF5), and two intersections between the calculated edge approximated line and the area boundary line are calculated (step SF6). As a result, the edge approximate line 1602 or the edge approximate line 1702 is calculated, and the intersection points 1603 and 1604 between the edge approximate line 1602 and the area boundary line or the intersection points 1703 and 1704 between the edge approximate line 1702 and the area boundary line are calculated.

  Finally, the nearest neighbor point between each calculated intersection and the extracted edge is calculated (step SF7), and the two calculated nearest neighbor points are output to the control unit 18a as feature points (step SF8). As a result, the nearest points 1605 and 1606 corresponding to the intersection points 1603 and 1604 or the nearest points 1705 and 1706 corresponding to the intersection points 1703 and 1704 are output as feature points.

  Since the edge approximate straight line is calculated after the edge extraction in step SF4, it is preferable to use a process that generates as little noise as possible in the extracted image. For example, a primary differential filter such as a Sobel / Prewitt / Gradient filter or a secondary differential filter such as a Laplacian filter may be used.

  Alternatively, edge extraction may be performed using a process that combines expansion / contraction / difference processing and a noise reduction filter. At this time, it is necessary to binarize the grayscale image. However, a fixed value may be used as the binarization threshold, and the luminance of the grayscale image may be increased by a P-tile method, a mode method, a discriminant analysis method, or the like. You may use the method of changing a threshold based on this.

  Further, in the calculation of the edge approximate straight line in step SF5, the approximate straight line is calculated using, for example, the least square method based on the edge information extracted in step SF4. In the above description, linear approximation is performed on the shape of the edge, but curve approximation may be performed using a quadratic or higher function. When the edge shape is closer to a curve than a straight line, more accurate feature point calculation is possible by curve approximation.

  Next, the procedure of the distortion correction curve calculation process in step SB23 of FIG. 14 will be described. In the endoscope 2 applied to the measurement endoscope apparatus 1 according to the present embodiment, optical data of an imaging optical system unique to each endoscope 2 is measured. The measured optical data is recorded in the memory card 33, for example. By using this optical data, the measurement image can be converted into a distortion corrected image obtained by correcting the distortion of the imaging optical system.

  Hereinafter, a method for calculating a distortion correction curve will be described with reference to FIG. The original image 1800 is an image of the measurement object, and points P1 and P2 are the two feature points calculated in step SB22 in FIG. When the original image 1800 is converted using the optical data, a distortion corrected image 1801 is obtained. Points P1 'and P2' are points after conversion of points P1 and P2, respectively.

  When a straight line connecting the points P1 ′ and P2 ′ on the distortion corrected image 1801 is defined as a straight line L and each pixel point on the straight line L is inversely converted using optical data, the straight line L is converted into a curve L ′ on the original image 1802. Is converted to Information on the curve L 'is output to the control unit 18a as information on a distortion curve passing through the points P1 and P2. The contents of the optical data, the creation method thereof, and the distortion correction method are the same as those described in Japanese Patent Application Laid-Open No. 2004-49638.

  Next, with reference to FIG. 19, the procedure of the defect type determination process in step SB3 of FIG. 13 will be described. When information on two reference curves is input from the control unit 18a (step SB31), the defect type determination unit 18e calculates an angle formed by the two reference curves (step SB32). Subsequently, the defect type determination unit 18e determines whether or not the angle formed by the two reference curves is within a predetermined range (step SB33).

  When the angle formed by the two reference curves is within a predetermined range (for example, when the angle is a value close to 180 °), the defect type determination unit 18e determines that the defect is an edge defect, and determines the defect. The result is output to the control unit 18a. The control unit 18a stores the defect determination result in the storage unit 18g (step SB34). In addition, when the angle formed by the two reference curves is not within a predetermined range (for example, when the angle is a value close to 90 °), the defect type determination unit 18e determines that the defect is an angular defect, Is output to the control unit 18a. The control unit 18a stores the defect determination result in the storage unit 18g (step SB35).

  Next, the procedure of the missing component point calculation process in step SB4 in FIG. 13 will be described. The calculation process of the missing component point includes a missing vertex calculation process, a missing start point calculation process, two types of measurement point calculation processes, and a missing end point calculation process. First, the procedure of the missing vertex calculation process will be described with reference to FIG.

  When a defect determination result is input from the control unit 18a (step SB411a), the defect component point calculation unit 18d determines the type of defect based on the determination result (step SB411b). When the type of defect is a corner defect, information on two reference curves is input from the control unit 18a (step SB411c).

  The missing component point calculation unit 18d calculates the intersection of the two reference curves based on the input information (step SB411d), and outputs the calculated image coordinates of the intersection to the control unit 18a. The control unit 18a stores the image coordinates of the intersection of the two reference curves in the storage unit 18g as the image coordinates of the missing component point (missing vertex) (step SB411e). Subsequently, the process proceeds to a first measurement point calculation process illustrated in FIG. If the type of defect is an edge defect, the process moves to the first measurement point calculation process shown in FIG. 21 following step SB411b.

  Next, the procedure of the first measurement point calculation process will be described with reference to FIG. FIG. 22 schematically shows the procedure of the first measurement point calculation process, and FIG. 22 is also referred to as appropriate. When the image coordinates of the first reference point specified first among the two reference points specified by the user are input from the control unit 18a (step SB412a), the missing component point calculation unit 18d is shown in FIG. The feature point calculation process is executed, and two feature points are calculated (step SB412b). As a result, two feature points 2201 and 2202 corresponding to the first reference point 2200 are calculated.

  Subsequently, the image coordinates of the second reference point are input from the control unit 18a (step SB412c). The missing component point calculation unit 18d calculates the two-dimensional distance between the two feature points and the second reference point, and sets the one closer to the second reference point out of the two feature points as the next measurement point (step SB412d). . When the direction in which the second reference point exists is the direction T22 in FIG. 22, the feature point 2202 of the feature points 2201 and 2202 becomes the next measurement point 2203.

  Subsequently, the missing component point calculation unit 18d outputs the calculated image coordinates of the measurement points to the control unit 18a. The control unit 18a stores the image coordinates of the measurement point in the storage unit 18g (step SB412e). Subsequently, the processing shifts to the missing start point calculation processing shown in FIG.

  Next, with reference to FIG. 23, the procedure of the missing start point calculation process will be described. FIG. 24 schematically shows the procedure of the missing start point calculation process, and FIG. 24 is also referred to as appropriate. First, the image coordinates of the measurement point obtained last time are input from the control unit 18a (step SB413a), and information on the first reference curve calculated from the first reference point of the two reference curves is received from the control unit 18a. Input (step SB413b).

  Subsequently, the missing component point calculation unit 18d calculates a two-dimensional distance between the first reference curve and the measurement point (step SB413c), and determines whether or not the calculated two-dimensional distance is a predetermined value or more (step SB413d). ). If the calculated two-dimensional distance is greater than or equal to the predetermined value, the missing component point calculation unit 18d calculates an edge approximate line that is a straight line that approximates the edge of the measurement target (step SB413e). For example, as shown in FIG. 24, when the two-dimensional distance D24 between the first reference curve 2410 calculated from the first reference point 2401 and the measurement point 2402 is greater than or equal to a predetermined value, an edge approximate straight line 2411 is calculated. .

  Subsequently, the missing component point calculation unit 18d calculates the intersection of the first reference curve and the edge approximate straight line (step SB413f). Thereby, the intersection 2403 of the first reference curve 2410 and the edge approximate straight line 2411 is calculated.

  Subsequently, the missing component point calculation unit 18d outputs the calculated image coordinates of the intersection to the control unit 18a. The control unit 18a stores the image coordinates of the intersection in the storage unit 18g as the image coordinates of the missing component point (missing start point) (step SB413g). Subsequently, the process proceeds to the second measurement point calculation process illustrated in FIG. If the two-dimensional distance calculated in step SB413c is less than the predetermined value, the process proceeds to the second measurement point calculation process shown in FIG. 25 following step SB413d.

  Next, the procedure of the second measurement point calculation process will be described with reference to FIG. FIG. 26 schematically shows the procedure of the second measurement point calculation process, and FIG. 26 is also referred to as appropriate. When the image coordinates of the measurement point obtained last time are input from the control unit 18a (step SB414a), the missing component point calculation unit 18d executes the feature point calculation process shown in FIG. 15 and calculates two feature points. (Step SB414b). As a result, two feature points 2601 and 2602 corresponding to the measurement point 2600 are calculated.

  Subsequently, the missing component point calculation unit 18d calculates a two-dimensional distance between the previously obtained measurement point and each of the two feature points, and the next of the two feature points that is far from the previously obtained measurement point is the next. A measurement point is set (step SB414c). When the direction in which the previously obtained measurement point is the direction T26 in FIG. 26, the feature point 2602 of the feature points 2601 and 2602 becomes the next measurement point 2603.

  Subsequently, the missing component point calculation unit 18d determines whether or not the image coordinates of the missing start point are already stored in the storage unit 18g (step SB414d). When the image coordinates of the defect start point are already stored in the storage unit 18g, the defect component point calculation unit 18d outputs the calculated image coordinates of the measurement point to the control unit 18a. The control unit 18a stores the image coordinates of the measurement point in the storage unit 18g as the image coordinates of the missing component point (step SB414e). Subsequently, the processing shifts to the missing end point calculation processing shown in FIG. Further, when the image coordinates of the missing start point are not yet stored in the storage unit 18g, the process shifts again to the missing start point calculation process illustrated in FIG.

  Next, with reference to FIG. 27, the procedure of the missing end point calculation process will be described. FIG. 28 schematically shows the procedure of the defect end point calculation process, and FIG. 28 is also referred to as appropriate. First, the image coordinates of the measurement point obtained last time are input from the control unit 18a (step SB415a), and information on the second reference curve calculated from the second reference point of the two reference curves is received from the control unit 18a. Input (step SB415b).

  Subsequently, the missing component point calculation unit 18d calculates a two-dimensional distance between the second reference curve and the measurement point (step SB415c), and determines whether the calculated two-dimensional distance is equal to or less than a predetermined value (step SB415d). ). When the calculated two-dimensional distance is equal to or smaller than the predetermined value, the missing component point calculation unit 18d calculates an edge approximate line that is a straight line that approximates the edge of the measurement target (step SB415e). For example, as shown in FIG. 28, when the two-dimensional distance D28 between the second reference curve 2810 calculated from the second reference point 2800 and the measurement point 2801 is equal to or smaller than a predetermined value, an edge approximate straight line 2811 is calculated. .

  Subsequently, the missing component point calculation unit 18d calculates the intersection of the second reference curve and the edge approximate straight line (step SB415f). As a result, the intersection 2803 of the second reference curve 2810 and the edge approximate straight line 2811 is calculated.

  Subsequently, the missing component point calculation unit 18d outputs the calculated image coordinates of the intersection to the control unit 18a. The control unit 18a stores the image coordinates of the intersection in the storage unit 18g as the image coordinates of the missing component point (missing end point) (step SB415g). With this process, the entire calculation process of the missing component point described above is completed. If the two-dimensional distance calculated in step SB415c exceeds a predetermined value, the process shifts again to the second measurement point calculation process shown in FIG. 25 following step SB415d.

  Next, with reference to FIG. 29, the procedure of the edge approximate straight line calculation process in step SB413e in FIG. 23 and step SB415e in FIG. 27 will be described. When the image coordinates of the measurement point are input (step SG1), the missing component point calculation unit 18d extracts an area image in the measurement point area based on the input image coordinates of the measurement point (step SG2).

  Subsequently, the missing component point calculation unit 18d grayscales the extracted area image (step SG3), and performs edge extraction on the grayscaled image (step SG4). Subsequently, the missing component point calculation unit 18d calculates an approximated straight line of the extracted edge (step SG5), and outputs information on the calculated edge approximated line to the control unit 18a (step SG6). The processing in steps SG1 to SG5 is the same as the processing in steps SF1 to SF5 in FIG.

  Next, a method for calculating a matching point in step SB5 in FIG. 13 will be described. The missing component point calculation unit 18d executes pattern matching processing based on the missing component points calculated by the above-described defect calculation, and calculates matching points that are corresponding points of the left and right two images. The pattern matching processing method is the same as that described in Japanese Patent Application Laid-Open No. 2004-49638.

  However, if the type of defect is a corner defect, the missing vertex is located in the background of the measurement object, and there is no characteristic pattern such as an edge on the image. Therefore, the matching point may not be calculated. Therefore, in the present embodiment, when the type of defect is a corner defect, the calculation of the matching point of the missing vertex is performed as follows.

  As shown in FIG. 30A, first, matching points 3021 and 3022 of the right image 3020 corresponding to the reference points 3001 and 3002 of the left image 3000 are calculated. Subsequently, reference curves 3010 and 3011 passing through the reference points 3001 and 3002 and reference curves 3030 and 3031 passing through the matching points 3021 and 3022 are calculated.

  Subsequently, as shown in FIG. 30B, the intersection 3003 of the reference curves 3010 and 3011 of the left image 3000 is calculated as a missing vertex. Further, an intersection 3023 of the reference curves 3030 and 3031 of the right image 3020 is calculated and regarded as a matching point of the missing vertex.

  Next, with reference to FIG. 31, the procedure of the defect size calculation process in step SB7 of FIG. 13 will be described. When the spatial coordinates (three-dimensional coordinates) of the missing constituent points and the discrimination result of the missing are input from the control unit 18a (step SB71), the missing size calculating unit 18f displays the width of the missing (space distance between the missing start point and the missing end point). Is calculated (step SB72).

  Subsequently, the defect size calculation unit 18f determines the type of defect based on the defect determination result (step SB73). When the type of defect is an edge defect, the defect size calculation unit 18f calculates the defect depth (a spatial distance from a predetermined defect component point to a straight line connecting the defect start point and the defect end point) (step SB74). ). Further, the defect size calculation unit 18f calculates the area of the defect (the space area of the region surrounded by all the defect component points) (step SB75).

  Subsequently, the defect size calculation unit 18f outputs the calculated defect size to the control unit 18a. The control unit 18a stores the missing size in the storage unit 18g (step SB76). Further, when the type of defect is a corner defect, the defect size calculation unit 18f calculates a defect edge (a spatial distance between the defect vertex and the defect start point and a spatial distance between the defect vertex and the defect end point) ( Step SB77). Following this, the processing moves to step SB75.

  Next, a method for displaying measurement results in the present embodiment will be described. FIG. 32 shows a measurement screen before starting the defect measurement. As measurement information, a left image of the measurement object is displayed on the left screen 3200, and a right image of the measurement object is displayed on the right screen 3210. Further, in the area on the measurement screen excluding the left screen 3200 and the right screen 3210, as other measurement information, optical adapter name information 3220, time information 3221, message information 3222, icons 3223a, 3223b, 3223c, 3223d, 3223e, and A zoom window 3224 is displayed.

  Both the optical adapter name information 3220 and the time information 3221 are information indicating measurement conditions. The optical adapter name information 3220 is character information indicating the name of the optical adapter currently used. The time information 3221 is character information indicating the current date and time. The message information 3222 includes character information indicating an operation instruction to the user and character information indicating the coordinates of a reference point which is one of the measurement conditions.

  Icons 3223a to 3223e constitute an operation menu for the user to input an operation instruction such as switching of a measurement mode or clearing of a measurement result. When the user operates the remote controller 4 or the PC 31 and moves a cursor (not shown) onto any of the icons 3223a to 3223e and performs an operation such as a click, a signal corresponding to the operation is input to the measurement processing unit 18 Is done. The control unit 18a recognizes an operation instruction from the user based on the signal and controls the measurement process. In the zoom window 3224, an enlarged image of the measurement object is displayed.

  FIG. 33 shows a measurement screen when the missing measurement result is displayed. The result window 3300 for displaying the measurement result is displayed so as to be superimposed on the captured image and various pieces of information of the measurement object shown in FIG. It is hidden behind. This state (first display state) is suitable for ensuring the space necessary for displaying the measurement result and improving the visibility of the measurement result.

  When the user operates the remote controller 4 or the PC 31 to move a cursor (not shown) onto the result window 3300 and performs an operation such as clicking, the measurement screen is displayed as shown in FIG. 34 under the control of the control unit 18a. Switch to In FIG. 34, the result window 3400 is in a transparent state and the measurement result is not displayed, so that the captured image, character information, and the like of the right screen hidden in the result window 3300 of FIG. The result window 3400 is a state in which only a frame is displayed.

  This state (second display state) is suitable for ensuring the space necessary for displaying measurement information such as a captured image and improving the visibility of the measurement information. Thereby, for example, the matching state of the missing component points in the left and right screens can be confirmed. In the state of FIG. 34, when the user operates the remote controller 4 or the PC 31 and performs an operation such as clicking, the measurement screen is switched again to the measurement screen shown in FIG. 33 under the control of the control unit 18a.

  When the user instructs switching of the measurement screen in the display state shown in FIG. 33, the measurement screen may be switched to the measurement screen shown in FIG. A result window 3500 shown in FIG. 35 is obtained by minimizing the result window and moving the display position to a position that does not interfere with the display of other information. The display state shown in FIG. 35 is also suitable for ensuring the space necessary for displaying measurement information such as a captured image and improving the visibility of the measurement information. If it does not interfere with the display of other information, it is not necessary to change both the size and the display position of the result window, and only one of them may be changed.

  As described above, according to the present embodiment, if two reference points are specified, the defect size can be measured. Compared to the conventional case where three or four or more reference points are specified. Thus, the troublesome operation can be reduced and the operability can be improved. Further, by calculating a distortion correction curve obtained by correcting the distortion of the imaging optical system installed at the tip of the electronic endoscope as a reference curve, it is possible to improve the measurement accuracy of the defect size.

  Also, by determining the type of defect according to the angle formed by the two reference curves corresponding to the two reference points, it is possible to perform automatic measurement according to the type of defect, which is cumbersome to operate. Therefore, the operability can be improved. In particular, by automatically selecting and calculating a parameter according to the type of defect as a parameter indicating the size of the defect, it is possible to perform optimum automatic measurement even if the user is not particularly aware of the type of defect. Therefore, it is possible to reduce the troublesome operation and improve the operability.

  Further, in the conventional measuring endoscope apparatus, the edge of the missing corner formed at the corner of the measurement object including the vertex of the corner is approximated by one virtual curve and the virtual point on the curve. However, since the selection of the virtual point corresponding to the apex of the corner defect is performed manually, there is a problem that the measurement accuracy of the defect size may be lowered. On the other hand, as in this embodiment, by calculating the intersection of two reference curves corresponding to two reference points as one of the missing component points (missing vertex), the measurement accuracy of the missing size is improved. can do.

  Further, by calculating at least two kinds of parameters as parameters indicating the size of the defect, the size of the defect can be known in detail.

  In addition, by calculating at least two feature points on the edge of the measurement object for one reference point, and calculating a reference curve based on those feature points, the calculation accuracy of the reference curve is improved, and consequently the defect size The measurement accuracy can be improved.

  Moreover, according to this embodiment, the following effects can also be acquired. In conventional measuring endoscopes, the size of the display device is limited and the size of the screen of the display device is limited in order to facilitate the movement of the device at the site where the measurement is performed. For this reason, in the conventional endoscope apparatus for measurement, there is a possibility that the visibility may be deteriorated because a sufficient display space for displaying the captured image of the measurement object and the measurement result cannot be secured.

  On the other hand, in the first display state and the first display state in which the measurement results are displayed so as to overlap at least a part of the measurement information including the captured image of the measurement object as in the present embodiment. By switching the display state between the second display state in which the measurement information on which the measurement results overlapped can be visualized, it is possible to secure the necessary display space for each of the measurement information and the measurement results. Become. Thereby, the visibility of measurement information and a measurement result can be improved. In addition to the captured image of the measurement target, the display device screen also displays character information indicating measurement conditions, character information indicating an operation instruction to the user, an operation menu used for inputting operation details, and the like. However, visibility can be improved by securing these display spaces.

(First modification)
Next, a modification of this embodiment will be described. First, a first modification will be described. In the above description, one reference curve is calculated from two feature points. A method of calculating one reference curve from three feature points will be described below.

  As shown in FIG. 36, first, in the original image 3600, two feature points P1 and P2 are calculated based on the positions of the reference point 3601 and the reference point area 3602. Further, the nearest point between the reference point 3601 and the edge of the measurement object is calculated as the third feature point P3. Note that the feature point P <b> 3 is omitted from the original image 3600 for convenience of drawing.

  When the original image 3600 is converted using the optical data, a distortion corrected image 3610 is obtained. Points P1 ', P2' and P3 'are points after conversion of points P1, P2 and P3, respectively. When a straight line calculated using, for example, the least square method based on the points P1 ′, P2 ′, and P3 ′ is set as an approximate straight line L, and each pixel point on the approximate straight line L is inversely converted using optical data, the approximate straight line L Is converted into a curve L ′ on the original image 3620. This curve L 'is a distortion correction curve that passes through the points P1, P2, and P3.

  As described above, the calculation accuracy of the reference curve can be improved by calculating the reference curve using the three feature points. In the above description, the number of feature points is three. However, four or more feature points may be calculated, and the reference curve may be calculated based on the feature points by the same method as described above. Further, in the above, linear approximation is performed based on the feature points after distortion correction, but curve approximation may be performed using a quadratic or higher function. When the shape of the edge after distortion correction is closer to a curve than a straight line, the accuracy of feature point calculation is improved by performing curve approximation.

(Second modification)
Next, a second modification will be described. In the above description with reference to FIG. 30, when calculating the spatial coordinates (three-dimensional coordinates) of the missing vertex, a matching point between two reference points is obtained on the right image, and the right image is calculated based on the matching point. These two reference curves are calculated, their intersections are regarded as missing vertex matching points, and the spatial coordinates of the missing vertices are calculated from the image coordinates of the matching points. In the following, a method for calculating two three-dimensional lines based on feature points calculated from two reference points and calculating the intersection of the two three-dimensional lines as the spatial coordinates of the missing vertex will be described.

  37, first, feature points are calculated based on two reference points designated by the user. The feature points P1 and P2 are feature points calculated from the reference point 3700, and the points P3 and P4 are feature points calculated from the reference point 3701. Subsequently, the matching points P1 'to P4' of the points P1 to P4 are obtained, and the spatial coordinates of these feature points P1 to P4 and feature points P1 'to P4' are calculated. Here, the spatial coordinates of the feature points P1 and P2 are (Plx, Ply) and (Clx, Cly), respectively, and the spatial coordinates of the feature points P3 and P4 are (Prx, Pry) and (Crx, Cry), respectively. The expression of the three-dimensional straight line L passing through the feature points P1 and P2 and the expression of the three-dimensional straight line R passing through the feature points P3 and P4 are respectively expressed by the following expressions (1) and (2).

  Subsequently, the intersection of the two three-dimensional straight lines L and R is calculated. Actually, since the three-dimensional straight lines L and R rarely intersect, in this modification, the position at which the two straight lines reapproach is regarded as the intersection of the two straight lines. Searching for a position where two straight lines are closest is the same as searching for a position where the normals of the two straight lines match. That is, as shown in FIG. 38, the straight line N connecting the closest point Ql on the straight line L and the closest point Qr on the straight line R is orthogonal to the straight lines L and R. For this reason, the inner product of the direction vector of the straight lines L and R and the direction vector of the straight line N is zero. These are represented by the following formulas (3) and (4), respectively.

  Since the closest points Ql and Qr are on the straight lines L and R, respectively, the following expressions (5) and (6) are established using the expressions (1) and (2) and the constants s and t. .

  Subsequently, the spatial coordinates of the closest points Ql and Qr are obtained using the above equations (1) to (6). First, constants tmp1, tmp2, tmp3, tmp4, tmp5, and tmp6 are defined as in the following expressions (7) and (8).

  When the expressions (3) and (4) are rewritten using the constants tmp1 to tmp6, the following expressions (3a) and (4a) are obtained.

  Further, when the equations (5) and (6) are rewritten using the constants tmp1 to tmp6, the following equations (5a) and (6a) are obtained.

  Subsequently, when the equations (3a) and (4a) are rewritten using the equations (5a) and (6a), the following equations (3b) and (4b) are obtained.

  Furthermore, when the expressions (3b) and (4b) are expanded, the following expressions (3c) and (4c) are obtained.

  Further, constants al, bl, cl, ar, br, cr are defined as in the following expressions (9) to (14).

  When the expressions (3c) and (4c) are arranged using the expressions (9) to (14), the following expressions (3d) and (4d) are obtained.

  From the expressions (3d) and (4d), the following expressions (15) and (16) are established.

  On the other hand, using the equations (5) to (8), the coordinates of the closest points Ql and Qr are expressed by the following equations (17) and (18). By substituting the equations (7) to (8), (9) to (14), and (15) to (16) into the equations (17) and (18), the closest point Ql, The coordinates of Qr are obtained.

  Finally, by regarding the midpoint of the closest points Ql and Qr as the intersection of the straight lines L and R, the spatial coordinates of the missing vertex are expressed by the following equation (19). In the same manner as described above, the spatial coordinates of the missing vertex in the right image can be obtained from the spatial coordinates of the feature points P1 'to P4'.

(Third Modification)
Next, a third modification will be described. In the above description, it is assumed that points on both sides of the defect and on the edge where the defect does not exist are selected as the reference points. However, the defect is captured toward the edge of the captured image. In such a case, it may be difficult to select a point on the edge where no defect exists as a reference point. In the following, a method for performing defect measurement using a defect end point as a reference point will be described.

  As shown in FIG. 39, the user designates the two end points of the defect as reference points 3900 and 3901. The reference point 3900 is a point at which the edge 3910 of the measurement object and the edge 3911 of the defect intersect in the vicinity of the defect. The reference point 3901 is a point at the position where the edge 3912 of the measurement object and the edge 3913 of the defect intersect around the defect.

  In the defect calculation, feature points used to calculate the reference curve are searched from the reference point 3900 toward the direction T39a and from the reference point 3901 toward the direction T39b. Further, the measurement points used for calculating the missing component points are searched from the reference point 3900 toward the direction T39c and from the reference point 3901 toward the direction T39d. The directions T39a, T39b, T39c, and T39d can be identified from the positional relationship between the reference points 3900 and 3901 and points that become feature points or measurement points.

  The feature point calculation process ends when a necessary number of feature points are calculated. Regarding the measurement point calculation process, the search of the measurement point is started from each of the reference point 3900 and the reference point 3901, and the measurement point searched from the reference point 3900 side and the measurement point searched from the reference point 3901 side. When the two-dimensional distance is less than or equal to the predetermined value, the measurement point calculation process ends. In the above description, the defect calculation method for the edge defect has been described. However, for the corner defect, the defect calculation can be similarly performed using the endpoint of the defect as a reference point.

  As described above, by making it possible to designate an end point of a defect as a reference point, the defect measurement can be performed regardless of the position of the defect in the captured image as long as the entire defect is imaged. it can. In addition, since it is not necessary to change the imaging position and perform imaging again for designating the reference point, it is possible to reduce the troublesomeness of the operation and improve the operability.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. In the measurement endoscope apparatus according to the first embodiment, the following problems may occur. For example, in a side defect as shown in FIG. 40 (a), the user is not a point on the edge of the defect or an intersection of the edges, but points 4000, 4010 inside the edge (inside the measurement object). Is designated as a reference point, the missing component points (including reference points 4000 and 4010 and measurement points) shown in FIG. 40B are recognized.

  In this case, from the reference point 4000 toward the reference point 4010, the shape of the defect outline 4020 (including the line segment connecting the reference points 4000 and 4010) formed by connecting the defect component points in the order of extraction. Becomes a twisted shape. The twisted shape here means a shape in which some line segments constituting the defect outline intersect. As shown in FIG. 40 (b), the line segments constituting the defect outline 4020 intersect at regions 4030 and 4040, so the defect outline 4020 has a twisted shape. When the shape of the defect outline becomes a twisted shape, a result window 4050 indicating that the measurement result is an error is displayed on the measurement screen, as shown in FIG.

  The reason why the area of the defect cannot be calculated when the shape of the defect outline becomes a twisted shape is as follows. The endoscope apparatus for measurement according to the first embodiment and the present embodiment calculates the defect area by the following method. That is, as shown in FIG. 41 (a), the defect region surrounded by the defect component points is divided into a plurality of triangles having the defect component points as vertices, and the sum of the three-dimensional areas of these triangles is determined as the defect area. And However, as shown in FIG. 41 (b), when the region surrounded by the defect outline is constituted by a plurality of closed areas instead of one closed area, the shape of the defect outline is a twisted shape. In this case, since there is no defect constituent point at the position 4100 where the defect outlines intersect, a triangle cannot be defined and the area of the defect cannot be calculated.

  Similar problems may occur with respect to missing corners. For example, as shown in FIG. 42 (a), the user does not use points 4200, 4210 inside the edge (inside of the measurement object) as the reference point, not the point on the edge of the defect or the intersection of the edges. When designated, the missing component points (including the reference points 4200 and 4210, the missing vertex 4220, and the measurement points) shown in FIG. 42B are recognized.

  In this case, from the reference point 4200 toward the reference point 4210, a defect outline 4230 (line segment connecting the reference point 4200 and the defect vertex 4220 and the reference point) formed by connecting the defect component points in the extracted order. (Including a line segment connecting 4210 and the missing vertex 4220) is a twisted shape. This is because, as shown in FIG. 42 (b), the line segments constituting the defect outline 4230 intersect at regions 4240 and 4250. When the shape of the defect outline becomes a twisted shape, a result window 4260 indicating that the measurement result is an error is displayed on the measurement screen, as shown in FIG.

  Further, even if there is no problem in the position of the reference point designated by the user, as shown in FIG. 43 (a), if the shape of the defect is thin and complex, the area of the defect cannot be calculated. There is. For example, as shown in FIG. 43A, when the user designates the reference points 4300 and 4310, the missing component points (including the reference points 4300 and 4310 and the measurement points) shown in FIG. 43B are recognized. .

  In this case, from the reference point 4300 toward the reference point 4310, the shape of the defect outline 4320 (including the line connecting the reference points 4300 and 4310) composed of the line segments connecting the defect component points in the order of extraction. Becomes a twisted shape. This is because, as shown in FIG. 43 (b), line segments constituting the defect outline 4320 intersect with each other in a region 4330. When the shape of the defect outline becomes a twisted shape, a result window 4340 indicating that the measurement result is an error is displayed on the measurement screen as shown in FIG.

  The shape of the defect outline 4320 is a twisted shape when a plurality of edges are detected in the measurement point area around the previously extracted measurement point when searching for a measurement point that is a defect constituent point. This is because it is recognized that there is an edge at a position different from the original edge. Hereinafter, the reason why the shape of the defect outline having the shape shown in FIG. 43A is a twisted shape will be described in detail.

  As shown in FIG. 44 (a), when the user designates the reference points 4400 and 4401, the measurement points are sequentially searched along the direction of the arrow 4410 shown in FIG. 44 (b). As shown in FIG. 44C, when searching for the next measurement point after the measurement point 4420, an image in the measurement point area 4420a around the measurement point 4420 is extracted.

  FIG. 45 shows a procedure for searching for the next measurement point in the measurement point area 4420a. First, edges 4500 and 4501 are extracted from an image in which the measurement point area 4420a is grayscaled. Subsequently, an edge approximate line 4510 that approximates the extracted edges 4500 and 4501 is calculated, and intersection points 4520 and 4521 between the edge approximate line 4510 and the area boundary line are calculated. Further, nearest points 4530 and 4531 between the calculated intersections and the edges 4500 and 4501 are calculated.

  Of the two nearest neighbor points 4530 and 4531, the nearest neighbor point 4531 farther from the measurement point obtained immediately before the measurement point 4420 becomes the next measurement point 4430. The measurement point 4420 is located on the edge 4500, whereas the measurement point 4430 is located on an edge 4501 different from the edge 4500. As described above, when two or more edges are extracted in one measurement point area, two measurement points detected in succession may not be located on the same edge, and are located on the same edge. There are cases where a desired measurement point cannot be extracted.

  After the measurement point 4430 is extracted as shown in FIG. 44 (d), the search for the measurement point is continued in the direction of the arrow 4440 shown in FIG. 44 (e). As shown in FIG. 44F, when searching for the next measurement point after the measurement point 4450, an image in the measurement point area 4450a around the measurement point 4450 is extracted.

  FIG. 46 shows a procedure for searching for the next measurement point in the measurement point area 4450a. First, edges 4600 and 4601 are extracted from an image in which the measurement point area 4450a is grayscaled. Subsequently, an edge approximate line 4610 that approximates the extracted edges 4600 and 4601 is calculated, and intersection points 4620 and 4621 between the edge approximate line 4610 and the area boundary line are calculated. Further, nearest points 4630 and 4631 between the calculated intersections and the edges 4600 and 4601 are calculated.

  Of the two nearest neighbor points 4630 and 4631, the nearest neighbor point 4630 farther from the measurement point obtained immediately before the measurement point 4450 becomes the next measurement point 4460. The measurement point 4450 is located on the edge 4600, whereas the measurement point 4460 is located on the edge 4601 different from the edge 4600.

  After the measurement point 4460 is extracted as shown in FIG. 44 (g), the search for the measurement point is continued in the direction of the arrow 4470 shown in FIG. 44 (h). As shown in FIG. 44 (i), when a measurement point 4480 whose two-dimensional distance to the reference point 4401 is equal to or smaller than a predetermined value is extracted, the search of the measurement point is completed, and the obtained measurement point is used as a missing component point. be registered. Since the line segments constituting the defect outline 4480 constituted by the line segments connecting the defect component points intersect in the region 4490, the shape of the defect outline 4480 is a twisted shape.

  As described above, the measurement endoscope apparatus according to the first embodiment has a problem that when the shape of the defect outline becomes a twisted shape, the defect size, in particular, the defect area cannot be calculated. If such a problem occurs very rarely, there is no problem in the operation of the stereo measurement function, but the user does not always specify the reference point with caution, and the shape of the missing edge is complicated. Since there are many cases, it can be considered that the above problem occurs at a frequency that cannot be ignored. Therefore, in the measurement endoscope apparatus according to the present embodiment, it is possible to detect that the shape of the defect outline is a twisted shape, and to correct the defect configuration point so that the twisted shape is eliminated.

  FIG. 47 shows a configuration of the measurement processing unit 18 according to the present embodiment. Compared with the measurement processing unit 18 illustrated in FIG. 2, a twist shape detection unit 18 h (twist shape detection unit) and a missing component point correction unit 18 i (defective component point correction unit) are newly provided. The twist shape detection unit 18 h performs a twist shape detection process for detecting whether or not the shape of the defect outline is a twist shape. The missing component point correcting unit 18i corrects the image coordinates of the missing component point so that the twisted shape is eliminated when the twisted shape detecting unit 18h detects that the shape of the missing contour line is a twisted shape. Other configurations are as described in the first embodiment.

  Next, the procedure of defect measurement in this embodiment will be described. FIG. 48 shows the entire procedure for defect measurement. The processing in steps SB1 to SB4 is the same as the processing in steps SB1 to SB4 in FIG. Subsequent to step SB4, the twist shape detection unit 18h determines whether the shape of the defect outline is a twist shape based on the image coordinates of the defect component point calculated by the defect component point calculation unit 18d in step SB4. To detect. When it is detected that the shape of the defect outline is a twisted shape, the defect component point correcting unit 18i corrects the image coordinates of the defect component point so that the twist shape is eliminated (step SB8). The processing of steps SB5 to SB7 following step SB8 is the same as the processing of steps SB5 to SB7 in FIG.

(First operation example)
Details of the twist shape detection process in step SB8 of FIG. 48 will be described below. First, a first operation example will be described with reference to FIG. The first operation example is an operation example regarding a missing edge. FIG. 50 schematically shows the procedure of the twist shape detection process, and FIG. 50 is also referred to as appropriate. When information such as image coordinates of the missing component point (including two reference points) calculated in step SB4 is input from the control unit 18a, the twist shape detection unit 18h is a reference that is a straight line passing through the two reference points. A line is calculated (step SB801). For example, as shown in FIG. 50A, a reference line 5010 passing through the reference points 5000 and 5001 is calculated.

  Subsequently, the twisted shape detection unit 18h divides the image area into two areas with the calculated reference line as a boundary (the two areas are set as categories 1 and 2) (step SB802). For example, as shown in FIG. 50B, the area on the right side of the reference line 5010 is category 1, and the area on the left side is category 2. Subsequently, the torsional shape detection unit 18h checks whether each missing constituent point belongs to category 1 or 2 based on the image coordinates of each missing constituent point (step SB803), and all the missing constituent points (however, It is determined whether or not (except for two reference points on the reference line) belongs to one category (step SB804).

  When all the missing component points belong to one category, the twist shape is not detected. In this case, the twist shape detection process ends, and the process proceeds to step SB5 in FIG. If there are both missing component points belonging to category 1 and missing component points belonging to category 2, a twisted shape has been detected, and the following processing is performed. In the example shown in FIG. 50B, since there are missing constituent points in both categories 1 and 2, a twisted shape is detected.

  When a twisted shape is detected, information such as coordinates of a missing constituent point and a reference line is input from the twisted shape detecting unit 18h to the missing constituent point correcting unit 18i via the control unit 18a. The missing component point correcting unit 18i calculates the area of the region formed by the missing component points belonging to category 1 and the reference line (referred to as the area of category 1) (step SB805). Similarly, the missing component point correcting unit 18i calculates the area of the region formed by the missing component points belonging to category 2 and the reference line (referred to as the area of category 2) (step SB806). In FIG. 50C, the area of the region 5020 formed by the missing constituent points belonging to category 1 and the reference line is calculated in step SB805, and the regions 5021a and 5021b formed by the missing constituent points belonging to category 2 and the reference line are calculated. Is calculated in step SB806.

  The areas of categories 1 and 2 in this embodiment are defined as follows. As shown in FIG. 51, the area of category 1 is the sum of the lengths of perpendicular lines 5100 a drawn from the missing component point 5100 belonging to category 1 to the reference line 5110. The area of category 2 is the sum of the lengths of the perpendicular lines 5101 a drawn from the missing component points 5101 belonging to category 2 to the reference line 5110.

  Subsequent to step SB806, the missing component point correcting unit 18i compares the areas of categories 1 and 2 (step SB807). If the area of category 1> the area of category 2, the missing component point correction unit 18 i determines whether or not all the lengths of the perpendiculars drawn from the missing component points belonging to category 2 to the reference line are equal to or less than a predetermined value. Determination is made (step SB808). If the length of the perpendicular drawn from one of the missing constituent points belonging to category 2 to the reference line exceeds a predetermined value, the twist shape detection process ends with the twist shape remaining unresolved, and step SB5 in FIG. The process moves to.

  If the lengths of all the perpendiculars are equal to or smaller than the predetermined value, the missing component point correcting unit 18i shifts the missing component points belonging to category 2 to the category 1 side (step SB809). At this time, the image coordinates of the missing constituent point are corrected so that the missing constituent point is on the reference line or on the category 1 side of the reference line. For example, the positions of missing component points 5030 and 5031 belonging to category 2 shown in FIG. 50C are corrected so as to belong to category 1 (FIG. 50D). The twist shape detection process is thus completed, and the process proceeds to step SB5 in FIG.

  In this way, the twisted shape can be eliminated by shifting the missing constituent points belonging to category 2 to the category 1 side. The reason why the areas of categories 1 and 2 are compared in step SB807 is to determine which category to which the missing component points are to be shifted. The reason why the missing component points belonging to the category with the smaller area are shifted is to minimize the change in the shape and area of the defect due to the shift of the missing component points. In addition, as a result of the determination in step SB808, when it is found that the length of the perpendicular drawn from one of the missing constituent points belonging to category 2 to the reference line exceeds a predetermined value, the twisted shape has not been resolved. The twisted shape detection process is terminated as it is because if the defect constituent points are shifted in this case, the shape or area of the defect is greatly changed, which may affect the measurement accuracy.

  On the other hand, if the result of determination in step SB807 is that the area of category 1 ≦ the area of category 2, the missing component point correcting unit 18i has a length of a perpendicular line dropped from the missing component point belonging to category 1 to the reference line. It is determined whether or not all are equal to or less than a predetermined value (step SB810). If the length of the perpendicular line drawn from one of the missing constituent points belonging to category 1 to the reference line exceeds the predetermined value, the twist shape detection process ends with the twist shape remaining unresolved, and step SB5 in FIG. The process moves to.

  Further, when the lengths of all the perpendiculars are equal to or less than the predetermined value, the missing constituent point correcting unit 18i shifts the missing constituent points belonging to category 1 to the category 2 side (step SB811). At this time, the image coordinates of the missing constituent point are corrected so that the missing constituent point is on the reference line or on the category 2 side of the reference line. The twist shape detection process is thus completed, and the process proceeds to step SB5 in FIG.

  The twist shape detection process described above eliminates the twist shape in the side defect, and the area of the defect can be calculated. In steps SB808 and SB810 of the torsional shape detection processing described above, determination is performed based on the result of comparing the length of each perpendicular line drawn from the missing component point belonging to category 1 or category 2 to the reference line with a predetermined value. However, the determination may be made based on the result of comparing the area of each category, which is the sum of the perpendicular lines for each missing constituent point belonging to each category, with a predetermined value. Alternatively, the determination may be made based on the result of comparing the ratio of the area of category 1 and the area of category 2 with a predetermined value.

  In addition, when it is determined as a result of the determination in steps SB808 and SB810 that the length of the perpendicular drawn from one of the missing constituent points to the reference line exceeds a predetermined value, the twisted shape remains unresolved. The twisted shape detection process ends, but this may be modified as follows. For example, if a defect measurement error is allowed, the information of the missing component points belonging to category 2 may not be used when calculating the defect area. Alternatively, the three-dimensional areas of categories 1 and 2 may be calculated individually based on the image coordinates of the missing component points and the reference line information, and the sum of these may be used as the missing area.

(Second operation example)
Next, a second operation example will be described with reference to FIGS. The second operation example is an operation example for missing corners. FIG. 54 schematically shows the procedure of the twist shape detection process, and FIG. 54 is also referred to as appropriate. In order to eliminate the twist shape, in the first operation example, one reference line is set and the missing component point is shifted. In the second operation example, two reference lines are set, and each reference line is set. Shift missing component points. When information such as image coordinates of the missing component points (including two reference points and missing vertices) calculated in step SB4 in FIG. 48 is input from the control unit 18a, the torsional shape detection unit 18h has two reference points. A first reference line which is a straight line passing through one of the two and the missing vertex is calculated (step SB821). For example, as shown in FIG. 54A, a first reference line 5410 passing through the reference point 5400 and the missing vertex 5402 is calculated.

  Subsequently, the torsional shape detection unit 18h divides the image area into two areas with the calculated first reference line as a boundary (the two areas are classified into categories 1 and 2) (step SB822). For example, as shown in FIG. 54B, the area on the right side of the first reference line 5410 is category 1, and the area on the left side is category 2. Subsequently, the torsional shape detection unit 18h checks whether each missing constituent point belongs to category 1 or 2 based on the image coordinates of each missing constituent point (step SB823), and all the missing constituent points (however, It is determined whether or not the reference point and the missing vertex on the first reference line belong to one category (step SB824).

  When all the missing component points belong to one category, the twist shape is not detected. In this case, the process proceeds to step SB832 in FIG. If there are both missing component points belonging to category 1 and missing component points belonging to category 2, a twisted shape has been detected, and the following processing is performed. In the example shown in FIG. 54 (b), since there are missing constituent points in both categories 1 and 2, a twisted shape is detected.

  When the twisted shape is detected, information such as the coordinates of the missing constituent point and the first reference line is input from the twisted shape detecting unit 18h to the missing constituent point correcting unit 18i via the control unit 18a. The missing component point correction unit 18i calculates the area of the region formed by the missing component points belonging to category 1 and the first reference line (referred to as the area of category 1) (step SB825). Similarly, the missing component point correction unit 18i calculates the area of the region formed by the missing component points belonging to category 2 and the first reference line (referred to as the area of category 2) (step SB826). Similar to the first operation example, the areas of categories 1 and 2 are calculated as the sum of the lengths of perpendiculars drawn from the missing constituent points belonging to each category to the first reference line. In FIG. 54C, the area of the region 5420 formed by the missing constituent point belonging to category 1 and the first reference line is calculated in step SB825, and formed by the missing constituent point belonging to category 2 and the first reference line. The area of the area 5421 to be calculated is calculated in step SB826.

  Subsequently, the missing component point correcting unit 18i compares the areas of categories 1 and 2 (step SB827). If the area of category 1> the area of category 2, the missing component point correction unit 18i determines whether the lengths of the perpendiculars drawn from the missing component points belonging to category 2 to the first reference line are all equal to or less than a predetermined value. It is determined whether or not (step SB828). If the length of the perpendicular drawn from any missing constituent point belonging to category 2 to the first reference line exceeds a predetermined value, the twisted shape remains unresolved and the process proceeds to step SB832 in FIG. To do.

  If the lengths of all the perpendiculars are equal to or less than the predetermined value, the missing component point correcting unit 18i shifts the missing component points belonging to category 2 to the category 1 side (step SB829). At this time, the image coordinates of the missing constituent point are corrected so that the missing constituent point is on the first reference line or closer to the category 1 side than the first reference line. For example, the position of the missing component point 5430 belonging to category 2 shown in FIG. 54C is corrected so as to belong to category 1 (FIG. 54D). Subsequently, the process proceeds to step SB832 in FIG.

  On the other hand, if the result of determination in step SB827 is that the area of category 1 is equal to or less than the area of category 2, the missing component point correcting unit 18i uses the perpendicular line drawn from the missing component point belonging to category 1 to the first reference line. It is determined whether or not all the lengths are equal to or less than a predetermined value (step SB830). If the length of the perpendicular drawn from any missing constituent point belonging to category 1 to the first reference line exceeds a predetermined value, the twisted shape remains unresolved and the process proceeds to step SB832 in FIG. To do.

  If the lengths of all the perpendiculars are equal to or less than the predetermined value, the missing component point correcting unit 18i shifts the missing component points belonging to category 1 to the category 2 side (step SB831). At this time, the image coordinates of the missing constituent point are corrected so that the missing constituent point is on the first reference line or closer to the category 2 side than the first reference line. Subsequently, the process proceeds to step SB832 in FIG.

  When the process related to the first reference line is completed, the twist shape detection unit 18h calculates a second reference line that is a straight line passing through the other of the two reference points and the missing vertex (step SB832). For example, as shown in FIG. 54E, a second reference line 5411 passing through the reference point 5401 and the missing vertex 5402 is calculated.

  Subsequently, the torsional shape detection unit 18h divides the image area into two areas with the calculated second reference line as a boundary (the two areas are set as categories 1 and 2) (step SB833). For example, as shown in FIG. 54F, the left area of the second reference line 5411 is category 1, and the right area is category 2. Subsequently, the torsional shape detection unit 18h checks whether each missing constituent point belongs to category 1 or 2 based on the image coordinates of each missing constituent point (step SB834), and all the missing constituent points (however, It is determined whether or not the reference point and the missing vertex on the second reference line belong to one category (step SB835).

  When all the missing component points belong to one category, the twist shape is not detected. In this case, the twist shape detection process ends, and the process proceeds to step SB5 in FIG. If there are both missing component points belonging to category 1 and missing component points belonging to category 2, a twisted shape has been detected, and the following processing is performed. In the example shown in FIG. 54 (f), since there are missing constituent points in both categories 1 and 2, a twisted shape is detected.

  When the twisted shape is detected, information such as the coordinates of the missing component point and the second reference line is input from the twisted shape detecting unit 18h to the missing component point correcting unit 18i via the control unit 18a. The missing component point correction unit 18i calculates the area of the region formed by the missing component point belonging to category 1 and the second reference line (referred to as the area of category 1) (step SB836). Similarly, the missing component point correcting unit 18i calculates the area of the region formed by the missing component points belonging to category 2 and the second reference line (referred to as the area of category 2) (step SB837). In FIG. 54 (g), the area of the region 5422 formed by the missing constituent point belonging to category 1 and the second reference line is calculated in step SB836 and formed by the missing constituent point belonging to category 2 and the second reference line. In step SB837, the area of the region 5423 to be processed is calculated.

  Subsequently, the missing component point correcting unit 18i compares the areas of categories 1 and 2 (step SB838). If the area of category 1> the area of category 2, the missing component point correction unit 18i determines whether the lengths of the perpendiculars drawn from the missing component points belonging to category 2 to the second reference line are all equal to or less than a predetermined value. It is determined whether or not (step SB839). When the length of the perpendicular line drawn from any missing constituent point belonging to category 2 to the second reference line exceeds a predetermined value, the twisted shape detection process ends with the twisted shape remaining unresolved, and FIG. The process proceeds to step SB5.

  Further, when the lengths of all the perpendiculars are equal to or less than the predetermined value, the missing constituent point correcting unit 18i shifts the missing constituent points belonging to category 2 to the category 1 side (step SB840). At this time, the image coordinates of the missing constituent point are corrected so that the missing constituent point is on the second reference line or closer to the category 1 side than the second reference line. For example, the position of the missing component point 5431 belonging to category 2 shown in FIG. 54 (g) is corrected so as to belong to category 1 (FIG. 54 (i)). The twist shape detection process is thus completed, and the process proceeds to step SB5 in FIG.

  On the other hand, if the result of determination in step SB838 is that the area of category 1 is equal to or less than the area of category 2, the missing component point correcting unit 18i uses the perpendicular line drawn from the missing component point belonging to category 1 to the second reference line. It is determined whether or not all the lengths are equal to or less than a predetermined value (step SB841). If the length of the perpendicular line drawn from any missing constituent point belonging to category 1 to the second reference line exceeds a predetermined value, the twist shape detection process is terminated while the twist shape remains unresolved, and FIG. The process proceeds to step SB5.

  Further, when the lengths of all the perpendiculars are equal to or less than the predetermined value, the missing constituent point correction unit 18i shifts the missing constituent points belonging to category 1 to the category 2 side (step SB842). At this time, the image coordinates of the missing constituent point are corrected so that the missing constituent point is on the second reference line or closer to the category 2 side than the second reference line. The twist shape detection process is thus completed, and the process proceeds to step SB5 in FIG.

  The twist shape detection process described above eliminates the twist shape in the corner defect, and the defect area can be calculated. In the twist shape detection process described above, the same modification as in the first operation example may be performed.

(Third operation example)
Next, a third operation example will be described. The third operation example is an operation example for a defect having a thin and complicated shape as shown in FIG. FIG. 55 shows details of the twist shape detection processing in step SB8 of FIG. When information such as image coordinates of the missing component points (including two reference points) calculated in step SB4 is input from the control unit 18a, the twist shape detection unit 18h creates a label table of the missing component points ( Step SB851).

  FIG. 56A shows the contents of the label table in the initial state. The label table includes a different label number for each missing component point, an image coordinate value of the missing component point, and two adjacent label numbers indicating which missing component point each missing component point is adjacent to. . FIG. 57 schematically shows positions of missing constituent points on the image corresponding to the label table shown in FIG. A line segment connecting each defect constituent point is a defect outline. Moreover, the number described in the vicinity of each missing component point is a label number included in the label table.

  The first and last label numbers are given to the two reference points. In the example shown in FIG. 57A, label number 1 is assigned to the first reference point, and label number 11 is assigned to the second reference point. Other missing component points are assigned label numbers that increase by one in the order of extraction. Further, it is possible to know a missing constituent point adjacent to each missing constituent point from two adjacent label numbers. For example, the missing constituent point adjacent to the missing constituent point (first reference point) with label number 1 is the missing constituent point (second reference point) with label number 11 and the missing constituent point with label number 2.

  Subsequent to step SB851, the twist shape detection unit 18h examines the shape of the defect outline based on the image coordinates of the defect component point (step SB852). In order to examine the shape of the missing contour line, the positional relationship between line segments connecting adjacent missing constituent points based on the adjacent label numbers in the label table may be examined. This makes it possible to check whether or not the shape of the defect outline is a twisted shape. To check for the presence of a twisted shape, whether or not the line segments connecting adjacent missing constituent points based on adjacent label numbers in the label table intersect (whether there are two line segments intersecting each other) Should be examined. In the example shown in FIG. 57B, the line segment 5700 connecting the missing constituent points with the label numbers 4 and 5 and the line segment 5710 connecting the defective constituent points with the label numbers 7 and 8 intersect with each other. It can be seen that the line has a twisted shape.

  Based on the processing result of step SB852, the twist shape detection unit 18h determines whether or not the shape of the defect outline is a twist shape (step SB853). If the shape of the defect outline is not a twisted shape, the twisted shape detection process ends, and the process proceeds to step SB5 in FIG.

  When the shape of the defect outline is a twisted shape, information such as a label table is input from the twist shape detecting unit 18h to the missing component point correcting unit 18i via the control unit 18a. The missing component point correcting unit 18i calculates a circumscribed rectangle of the four missing component points related to the twist shape (step SB854). For example, a circumscribed rectangle 5720 shown in FIG. 57 (c) is calculated in step SB854. The circumscribed rectangle is a figure that serves as a guideline for determining whether or not to eliminate the twisted shape, and does not have to be a circumscribed rectangle.

  Subsequently, the missing component point correcting unit 18i calculates a size based on the vertical size and the horizontal size of the circumscribed rectangle (step SB855). The vertical size is the length of the circumscribed rectangle 5720 shown in FIG. 57C in the vertical direction, and the horizontal size is the length of the circumscribed rectangle 5720 in the horizontal direction. The size of the circumscribed rectangle may be, for example, the product of the vertical size and the horizontal size. The missing component point correcting unit 18i calculates whether or not the size of the circumscribed rectangle calculated in step SB855 is equal to or smaller than a predetermined value (step SB856).

  If the size of the circumscribed rectangle exceeds the predetermined value, the twist shape detection process ends with the twist shape remaining unresolved, and the process proceeds to step SB5 in FIG. In addition, when the size of the circumscribed rectangle is equal to or smaller than the predetermined value, the missing component point correcting unit 18i passes two different line segments that pass through any two of the four missing component points related to the twisted shape. From these combinations, a combination of two line segments that do not intersect each other is obtained (step SB857).

  For example, among the missing component points shown in FIG. 57, the four missing component points labeled 4, 5, 7, and 8 are related to the twisted shape. Of the combinations of two line segments that pass through two of these four missing component points, in the two combinations shown in FIGS. 58 (a) and 58 (b), the two line segments do not intersect. Such combinations are referred to as groups A and B, respectively. In the example of FIG. 58, the combination of line segments shown in FIG. 58A is group A, and the combination of line segments shown in FIG.

  Subsequently, the missing component point correcting unit 18i rewrites the adjacent label number of the label table based on the information of the line segment constituting the group A (step SB858). This process is a process for correcting the missing contour line so as to include the line segment constituting the group A. For example, when the defect outline is corrected so as to include the line segment constituting the group A shown in FIG. 58 (a), the result is as shown in FIG. 59 (a). In this case, in the label table in the initial state shown in FIG. 56A, the adjacent label number of the missing constituent point with label number 4 is changed from 5 to 8, and the adjacent label number of the missing constituent point with label number 5 is changed from 4. 7, the adjacent label number of the missing constituent point with label number 7 needs to be changed from 8 to 5, and the adjacent label number of the missing constituent point with label number 8 needs to be changed from 7 to 4. FIG. 56B shows the contents of the label table after the change.

  Subsequently, the missing component point correction unit 18i searches for the missing component point based on the rewritten label table in order from the missing component point assigned the first label number (step SB859), and finds all the missing component points. It is determined whether or not it has passed (step SB860). The reason for searching for the missing component point is to check whether or not the missing contour line is divided into two parts by rewriting the label table.

  The search for missing constituent points based on the label table shown in FIG. 56 (b) is performed as follows. First, the missing constituent point with label number 1 is selected and its adjacent label number is referenced. Although the adjacent label numbers are 11 and 2, it is assumed that 2 is selected. Subsequently, the missing constituent point of label number 2 is selected, and its adjacent label number is referenced. Although the adjacent label numbers are 1 and 3, an adjacent label number different from the label number of the missing component point searched immediately before is selected. That is, 3 is selected.

  By repeating the same processing, the missing constituent points with label numbers 1, 2, 3, 4, 8, 9, 10, and 11 are searched in order (FIG. 59B). In addition, when an adjacent label number that is the same as the label number of the missing constituent point for which the search has been started is found, the search for the missing constituent point ends. The adjacent label numbers of the missing constituent point with label number 11 are 10 and 1, but since the search started from the missing constituent point with label number 1, the search ends when the missing constituent point with label number 11 is searched. To do. When the number of missing constituent points recorded in the label table (= 11) and the number of searched missing constituent points (= 8) were compared, some of the missing constituent points were not searched because they were different. I understand that.

  As a result of the determination in step SB860, if it is found that all missing component points have been searched, a desired missing contour line has been obtained. In this case, the process proceeds to step SB863. If it is determined as a result of the determination in step SB860 that some missing component points have not been searched, the missing component point correcting unit 18i performs the same processing as described above for the line segments constituting the group B. I do.

  In other words, the missing component point correcting unit 18i rewrites the adjacent label number of the label table based on the information of the line segments that constitute the group B (step SB861). For example, when the defect outline is corrected so as to include the line segment constituting the group B shown in FIG. 58 (b), the result is as shown in FIG. 59 (c). In this case, in the label table in the initial state shown in FIG. 56A, the adjacent label number of the missing constituent point with label number 4 is changed from 5 to 7, and the adjacent label number of the missing constituent point with label number 5 is changed from 4. It is necessary to change to 8, change the adjacent label number of the missing constituent point of label number 7 from 8 to 4, and change the adjacent label number of the missing constituent point of label number 8 from 7 to 5. FIG. 56C shows the contents of the label table after the change.

  Subsequently, the missing component point correcting unit 18i searches for the missing component point based on the rewritten label table in order from the missing component point assigned the first label number (step SB862). In the case of the missing constituent points shown in FIG. 59 (c), it can be seen that all the missing constituent points pass through the sequential search as shown in FIG. 59 (d). Therefore, it can be seen that the twisted shape is eliminated in the defect outline shown in FIG.

  Subsequent to step SB862, the missing component point correcting unit 18i rewrites the image coordinate values of the label table so that the search order of the missing component points searched in step SB862 matches the order of the label numbers, and adjacent to the label table. The label number is rewritten so as to be in the same state as the initial state (step SB863). In the search shown in FIG. 59 (c), missing component points are searched in the order of label numbers 1, 2, 3, 4, 7, 6, 5, 8, 9, 10, and 11, For missing component points, the label number and search order are different. Therefore, in step SB863, a process of replacing the image coordinate value of the missing constituent point with label number 5 and the image coordinate value of the missing constituent point with label number 7 is performed.

  By this replacement, the positions of the missing constituent points with the label numbers 5 and 7 are switched as shown in FIG. Further, the adjacent label number is rewritten so as to be in the same state as in FIG. FIG. 56 (d) shows the contents of the label table after the change. The process of step SB863 may be omitted if not necessary. Following step SB863, the process returns to step SB852.

  By the twist shape detection process described above, the twist shape in the defect having a thin and complicated shape is eliminated, and the area of the defect can be calculated. As a result of the determination in step SB856 of the torsional shape detection process described above, when it is found that the size of the outer rectangle exceeds the predetermined value, the torsional shape detection process is terminated with the twisted shape remaining unresolved. This is because eliminating the twisted shape of the defect in this case may greatly change the shape and area of the defect and affect the measurement accuracy.

  For example, when the shape of the defect outline is the shape shown in FIG. 60A, the defect constituent points of the label numbers 4, 5, 6, and 7 are related to the twist shape as shown in FIG. You can see that As shown in FIG. 60C, since the size of the circumscribed rectangle 6000 adjacent to these four defect constituent points is large, the shape of the defect contour line (FIG. 60D) when the twisted shape is eliminated is shown in FIG. It is greatly different from the shape shown in 60 (a). Therefore, in such a case, the twist shape detection process is terminated while the twist shape remains unresolved. However, the twisted shape may be eliminated if an error in defect measurement is allowed. Further, the torsional shape detection process in the fourth operation example described above may be applied to a side defect or a corner defect.

(Fourth operation example)
Next, a fourth operation example will be described. In the first to third operation examples, a defect generated at the edge of the turbine blade or the compressor blade is the main measurement target. However, in the fourth operation example, burning (burning) or paint peeling occurred on the blade surface. Defects such as rust generated inside the pipe are the main measurement targets.

  For example, as shown in FIG. 61A, a defect 6110 is formed on the edge of the compressor blade 6100, and a burning 6120 is formed on the surface. FIG. 61 (b) is an enlarged view of the defect 6110, and FIG. 61 (c) is an enlarged view of the burning 6120. FIG. The defect 6110 has an edge only on one side with respect to the straight line 6113 connecting the end points 6111 and 6112, whereas the burning 6120 is a straight line connecting any two points 6121 and 6122 on the contour line (edge) around the burning. There are edges on both sides with reference to 6123.

  Hereinafter, a method for performing defect measurement on a measurement object having edges on both sides of a straight line connecting two arbitrary points on the measurement object will be described with reference to FIG. For the burning 6200 shown in FIG. 62A, the user first designates any two reference points 6210 and 6211 on the edge. Subsequently, as described in the first embodiment, the points on the edge located between the two designated reference points are sequentially searched and extracted as missing component points (measurement points). At this time, as shown in FIG. 62B, the missing component points are searched in the two directions indicated by the arrows 6220 and 6221 from the reference point 6210 toward the reference point 6211. Further, in the fourth modification, the reference curve calculation process is not performed, and the reference points 4110 and 4111 are directly used as the defect start point and the defect end point, respectively.

  When the two-dimensional distance between the searched missing constituent point and the reference point 6211 is equal to or smaller than a predetermined value, the search for the missing constituent point ends. FIG. 62 (c) shows a state in which the search for missing constituent points has been completed. Subsequently, matching points of the extracted missing component points and spatial coordinates of each point are calculated, and the size of the burning 6200 is calculated based on the calculated spatial coordinates of each point. The size of the burning 6200 calculated is a width 6230, 6231, a perimeter length 6232, and an area of the burning 6200, as shown in FIG.

  A width 6230 is a spatial distance between the reference points 6210 and 6211, and a width 6231 is a spatial distance between the missing constituent points 6212 and 6213 farthest from the straight line connecting the reference points 6210 and 6211 in the left-right direction. The perimeter length 6232 is the sum of the spatial distances between two adjacent missing constituent points. The area is a space area of a region surrounded by all missing constituent points. When the size of the burning 6200 is calculated, a result window 6240 indicating the measurement result is displayed on the measurement screen as shown in FIG. As described above, the defect measurement can be performed for the burning.

  Even in the measurement object handled in the fourth operation example, the shape of the defect outline may be a twisted shape. For example, in the burning 6300 shown in FIG. 63A, a part of the edge is thin and has a complicated shape. When the reference points 6310 and 6311 are designated, the points on the edge located between the two designated reference points are sequentially searched as shown in FIGS. It is extracted as a point (measurement point). At this time, the missing component points are searched in the two directions indicated by the arrows 6320 and 6321.

  FIG. 63 (d) shows a state where the search for missing constituent points has been completed. Two line segments constituting the defect outline intersect with each other in the region 6330, and a part of the defect outline is twisted. Therefore, as shown in FIG. 63E, a result window 6340 indicating that the measurement result is an error is displayed on the measurement screen.

  Even in such a case, the twist shape detection process described in the third operation example is effective. As shown in FIG. 63 (f), even if the shape of the defect outline is a twisted shape as shown in FIG. 63 (d), the twisted shape detection process described in the third operation example is applied. The twisted shape can be eliminated.

  As described above, according to the present embodiment, it is possible to calculate the area of the defect by detecting whether or not the shape of the defect outline is a twisted shape. For example, when it is detected that the shape of the defect outline is a twisted shape, in the first operation example and the second operation example, by prompting the user to respecify the reference point, It is possible to prevent the shape from being twisted and calculate the area of the defect. Further, when it is detected that the shape of the defect outline is a twisted shape, the defect area can be calculated by correcting the defect constituent points so that the twisted shape is eliminated.

  As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to the above-described embodiments, and includes design changes and the like without departing from the gist of the present invention. .

It is a block diagram which shows the structure of the endoscope apparatus for measurement by the 1st Embodiment of this invention. It is a block diagram which shows the structure of the measurement process part with which the endoscope apparatus for measurement by the 1st Embodiment of this invention is provided. It is a reference figure showing a reference point, a reference curve, and a reference point area in the first embodiment of the present invention. FIG. 6 is a reference diagram illustrating a defect start point / end point and a defect component point of an edge defect in the first embodiment of the present invention. FIG. 5 is a reference diagram showing a missing start point / end point / vertex of a corner defect and a missing component point according to the first embodiment of the present invention. It is a reference figure which shows the width | variety of the defect | deletion of the edge | side in the 1st Embodiment of this invention, depth, and an area. It is a reference diagram showing the width of the corner defect, the length of the side, and the area in the first embodiment of the present invention. It is a reference diagram showing a measurement point and a measurement point area in the first embodiment of the present invention. It is a reference figure showing the feature point in a 1st embodiment of the present invention. It is a reference figure showing the feature point in a 1st embodiment of the present invention. It is a flowchart which shows the procedure of the defect | deletion measurement in the 1st Embodiment of this invention. It is a reference figure which shows the measurement screen displayed at the time of the defect | deletion measurement in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the defect | deletion calculation in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the reference | standard curve calculation process in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the feature point calculation process in the 1st Embodiment of this invention. It is a reference diagram showing the procedure of the feature point calculation processing in the first embodiment of the present invention. It is a reference diagram showing the procedure of the feature point calculation processing in the first embodiment of the present invention. It is a reference figure which shows the calculation method of the distortion correction curve in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the defect | deletion kind discrimination | determination process in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the missing vertex calculation process in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the 1st measurement point calculation process in the 1st Embodiment of this invention. It is a reference figure which shows the procedure of the 1st measurement point calculation process in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the defect | deletion start point calculation process in the 1st Embodiment of this invention. It is a reference figure which shows the procedure of the defect | deletion start point calculation process in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the 2nd measurement point calculation process in the 1st Embodiment of this invention. It is a reference diagram showing the procedure of the second measurement point calculation process in the first embodiment of the present invention. It is a flowchart which shows the procedure of the defect | deletion end point calculation process in the 1st Embodiment of this invention. It is a reference figure which shows the procedure of the defect | deletion end point calculation process in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the edge approximation straight line calculation process in the 1st Embodiment of this invention. It is a reference figure which shows the calculation method of the matching point in the 1st Embodiment of this invention. It is a flowchart which shows the procedure of the defect | deletion size calculation process in the 1st Embodiment of this invention. It is a reference figure which shows the measurement screen (before defect measurement start) in the 1st Embodiment of this invention. It is a reference figure which shows the measurement screen (at the time of the display of a defect measurement result) in the 1st Embodiment of this invention. It is a reference figure which shows the measurement screen (at the time of the display of a defect measurement result) in the 1st Embodiment of this invention. It is a reference figure which shows the measurement screen (at the time of the display of a defect measurement result) in the 1st Embodiment of this invention. It is a reference figure showing other calculation methods of a distortion correction curve in a 1st embodiment of the present invention. It is a reference drawing which shows the other calculation method of the missing vertex in the 1st Embodiment of this invention. It is a reference drawing which shows the other calculation method of the missing vertex in the 1st Embodiment of this invention. It is a reference figure showing other specification methods of a reference point in a 1st embodiment of the present invention. It is a reference figure for demonstrating the problem in the 1st Embodiment of this invention. It is a reference figure for demonstrating the problem in the 1st Embodiment of this invention. It is a reference figure for demonstrating the problem in the 1st Embodiment of this invention. It is a reference figure for demonstrating the problem in the 1st Embodiment of this invention. It is a reference figure for demonstrating the problem in the 1st Embodiment of this invention. It is a reference figure for demonstrating the problem in the 1st Embodiment of this invention. It is a reference figure for demonstrating the problem in the 1st Embodiment of this invention. It is a block diagram which shows the structure of the measurement process part with which the endoscope apparatus for measurement by the 2nd Embodiment of this invention is provided. It is a flowchart which shows the procedure of the defect | deletion measurement in the 2nd Embodiment of this invention. It is a flowchart which shows the procedure of the twist shape detection process in the 2nd Embodiment (1st operation example) of this invention. It is a reference figure showing the procedure of the twist shape detection processing in the 2nd embodiment (the 1st example of operation) of the present invention. FIG. 10 is a reference diagram for explaining a method for calculating the areas of categories 1 and 2 used in the twist shape detection process in the second embodiment (first operation example) of the present invention. It is a flowchart which shows the procedure of the twist shape detection process in the 2nd Embodiment (2nd operation example) of this invention. It is a flowchart which shows the procedure of the twist shape detection process in the 2nd Embodiment (2nd operation example) of this invention. It is a reference figure showing the procedure of the twist shape detection processing in the 2nd embodiment (the 2nd example of operation) of the present invention. It is a flowchart which shows the procedure of the twist shape detection process in the 2nd Embodiment (3rd operation example) of this invention. It is a reference figure which shows the content of the label table | surface used for the twist shape detection process in the 2nd Embodiment (3rd operation example) of this invention. It is a reference figure which shows the defect | deletion composing point used for the twist shape detection process in the 2nd Embodiment (3rd operation example) of this invention. It is a reference figure which shows the line segment of the groups A and B used for the twist shape detection process in the 2nd Embodiment (3rd operation example) of this invention. It is a reference figure which shows the defect | deletion composing point used for the twist shape detection process in the 2nd Embodiment (3rd operation example) of this invention. It is a reference figure which shows the defect | deletion composing point used for the twist shape detection process in the 2nd Embodiment (3rd operation example) of this invention. It is a reference figure which shows the measurement target object in the 2nd Embodiment (4th operation example) of this invention. It is a reference figure showing the procedure of loss measurement in the 2nd embodiment (the 4th example of operation) of the present invention. It is a reference diagram showing the procedure of the twist shape detection process in the second embodiment (fourth operation example) of the present invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Measurement endoscope apparatus, 18 ... Measurement processing part, 18a ... Control part, 18b ... Reference point designation | designated part, 18c ... Reference curve calculation part, 18d ... Defect structure Point calculation unit, 18e ... defect type determination unit, 18f ... defect size calculation unit, 18g ... storage unit, 18h ... torsion shape detection unit, 18e ... defect component point correction unit

Claims (16)

An electronic endoscope that images a measurement object and generates an imaging signal, an image processing unit that generates a video signal based on the imaging signal, and a measurement process that performs measurement processing of the measurement object based on the video signal In an endoscope apparatus for measurement comprising means,
The measurement processing means includes
Reference point designating means for designating two reference points on the measurement object;
Based on the reference point, a missing component point calculating means for calculating a missing component point that constitutes the outline of the defect formed in the measurement object;
Whether or not the shape of the missing outline composed of the line connecting the missing constituent points calculated by the missing constituent point calculating means is a shape in which some line segments constituting the missing outline intersect. A twist shape detecting means for detecting whether or not
A defect that corrects the defect component point when the twisted shape detection means detects that the shape of the defect contour line is a shape in which some line segments constituting the defect contour line intersect each other. Composition point correction means;
A defect measuring means for measuring the size of the defect based on the missing constituent point corrected by the missing constituent point correcting means ;
An endoscope apparatus for measurement, comprising: An electronic endoscope that images a measurement object and generates an imaging signal, an image processing unit that generates a video signal based on the imaging signal, a display unit that displays the video signal, and the video signal based on the video signal In a measurement endoscope apparatus provided with a measurement processing means for performing measurement processing of a measurement object,
The measurement processing means includes
Reference point designating means for designating two reference points on the measurement object;
Based on the reference point, a missing component point calculating means for calculating a missing component point that constitutes the outline of the defect formed in the measurement object;
Whether or not the shape of the missing outline composed of the line connecting the missing constituent points calculated by the missing constituent point calculating means is a shape in which some line segments constituting the missing outline intersect. A twist shape detecting means for detecting whether or not
When the twisted shape detecting means detects that the shape of the missing contour line is a shape in which some line segments constituting the missing contour line intersect each other, the redesignation of the reference point is performed by the user. Control means for causing the display means to display information prompting the user,
An endoscope apparatus for measurement, comprising: A contour approximate line calculating means for calculating a contour approximate line that approximates the contour of the measurement object based on the reference point;
The measurement endoscope apparatus according to claim 1, wherein the missing component point calculating unit calculates the missing component point based on the reference point and the contour approximation line.   4. The measuring endoscope according to claim 3, wherein the contour approximate line calculation means calculates the contour approximate line in which distortion of an imaging optical system installed at a tip of the electronic endoscope is corrected. apparatus.   The defect type discriminating means for discriminating the type of the defect according to an angle formed by the two contour approximate lines corresponding to the two reference points is further provided. The endoscope apparatus for measurement as described.   The measurement endoscope apparatus according to claim 5, wherein the defect measurement unit calculates the parameter corresponding to the defect type as a parameter indicating the size of the defect.   The said missing component point calculation means calculates the intersection of the two said outline approximate lines corresponding to the said two reference points as one of the said missing component points. An endoscope apparatus for measurement according to any one of the above.   The measurement endoscope apparatus according to any one of claims 3 to 7, wherein the defect measurement unit calculates at least two types of parameters as parameters indicating the size of the defect.   The contour approximate line calculation means calculates at least two feature points on the contour line of the measurement object around the one reference point, and calculates the contour approximate line based on the at least two feature points. The measuring endoscope apparatus according to any one of claims 3 to 8, wherein the measuring endoscope apparatus is characterized in that:   The said reference point designation | designated means designates the end point in the position where the outline of the said measurement target object of the periphery of the said defect | deletion and the outline of the said defect | deletion intersect as said reference | standard point. The measuring endoscope apparatus according to any one of 9. The twist shape detecting means is
Calculating a reference line passing through the two reference points;
When the missing component point exists in both of the two regions divided by the reference line, the shape of the missing contour line is a shape in which some line segments constituting the missing contour line intersect each other. Detect something
The endoscope apparatus for measurement according to claim 1 or 2, wherein The twist shape detecting means is
Calculating a reference line passing through the two reference points;
When the missing component point exists in both of the two regions divided by the reference line, the shape of the missing contour line is a shape in which some line segments constituting the missing contour line intersect each other. Detect that there is
The missing component point correcting means is
Correct the missing component point that exists in one of the two regions
The endoscope apparatus for measurement according to claim 1. The missing component point correcting means is
Calculating a first area that is an area of a region formed by the defect constituent point belonging to one of the two regions and the reference line;
Calculating a second area which is an area of a region formed by the missing constituent point belonging to the other of the two regions and the reference line;
Based on the comparison result between the first area and the second area, the missing component point existing in one of the two regions is corrected.
The measuring endoscope apparatus according to claim 12. The missing component point correcting means is
Based on the comparison result between the first area and the second area, the length of the perpendicular from the missing component point existing in one of the two regions to the reference line is calculated,
When the length of the perpendicular is equal to or less than a predetermined value, the missing constituent point is corrected.
The measuring endoscope apparatus according to claim 13. The missing component point correcting means is
The defect constituent point existing in one of the two regions is corrected so as to be located on the other of the two regions or on the reference line.
The measurement endoscope apparatus according to any one of claims 12 to 14, wherein The twist shape detecting means is
Number the missing component points in the order calculated,
Based on the number, it is detected that a line segment that connects the adjacent missing component points intersects with another line segment that connects the adjacent missing component points.
The endoscope apparatus for measurement according to claim 1 or 2, wherein

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