JPH07286964A - Steel pipe monitoring device - Google Patents

Abstract

(57) [Summary] [Purpose] It is possible to monitor arbitrary positions in a steel pipe from multiple fields of view. [Structure] A trolley that is self-propelled in the tube axis direction, a turning mechanism that is mounted on the trolley and that can rotate in the tube circumferential direction, a fixed zoom attached to the tip of the turning axis, a plurality of cameras with focus lenses, and a monitor Steel pipe monitoring device. [Effects] Arbitrary positions in the steel pipe can be monitored from multiple types of field of view.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steel pipe monitoring device.

[0002]

2. Description of the Related Art In recent years, in order to secure safety conditions for dangerous work such as power distribution work at high places and nuclear power work, or in the so-called 3K work of danger, tightness, dirt of various industries, a serious labor shortage is caused. With the goal of improving working conditions, automation and remote control from an operating room with a good environment are being researched. In particular, remote operation can be applied to various works and changes in work conditions by making the most of human experience and delicate operations, and its application development is active. For such remote control,
It is important that the visual system presenting to the remote operator to grasp the situation that the working equipment such as a robot placed remotely and the work target change from moment to moment is particularly important as a source of information, especially both the global view and the local view. If you want to do something that requires you, you need to somehow convey both visual information to the pilot.

As a method of transmitting information on both the global field of view and the local field of view in remote control to the operator, a photographing device with an electric zoom lens is installed,
There are some devices that bring an imaging device with an autofocus function closer to or farther from the target. (JP-A-3-11
8451 publication).

[0004]

In the conventional visual apparatus, since a driving device such as a motor is used for adjusting the electric zoom lens and the autofocus function,
A power supply and control device for the drive equipment is also required. for that reason,
Adjustment of ancillary equipment is indispensable, such as complicated and sophisticated software.

Further, the size of the apparatus is larger than that of the lens alone because of the driving equipment. As a result,
For example, the vergence angle and the interocular distance are usually adjusted in order to see a stereoscopic image, but the interocular distance cannot be reduced in order to reduce the subject distance, which makes it difficult to make the apparatus compact. That is, as shown in FIG. 4, an electric zoom is applied to the photographing devices 11 and 12,
Since the focus adjusting drive devices 13 and 14 are provided, there is an inconvenience that the inter-eye distance B ₁ for stereoscopic viewing cannot be reduced because the drive device interferes.

[0006]

DISCLOSURE OF THE INVENTION The present invention is to solve the above-mentioned problems of the prior art, and its gist is to provide a bogie that can be self-propelled in the pipe axis direction and a pipe circumference mounted on the bogie. It is a monitoring device in a steel pipe which comprises a turning mechanism rotatable in a direction and a plurality of photographing devices with fixed zoom / focus lenses attached to the tip of the turning mechanism.

[0007]

[Function] A plurality of types of fixed zoom by a plurality of photographing devices,
Since the focus can be set, the zoom function of the imaging device is unnecessary, and since it is possible to monitor all points in the axial direction by the dolly and the pipe circumferential direction by the turning mechanism, you can view multiple positions at any position in the steel pipe. Can be monitored with.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a schematic view showing an example of the function of the present invention, FIG. 2 is an overall view showing a specific example of the device of the present invention, and FIG. 3 is an outline showing an example of compactification of a stereoscopic device according to the present invention. It is a figure.

In FIGS. 1 and 2, reference numerals 1 and 2 denote photographing devices (cameras), 1 denotes a lens having a small focal length, and 2
A lens with a large focal length is attached to. This 2
When two cameras are arranged and the object 5 is photographed at almost the same photographing distance, the image 3 on the monitor of the photographing apparatus 1 is a wide range of the entire image, and the image 4 of the monitor of the photographing apparatus 2 is a partial detailed image of a narrow range. You can get a nice video. That is, by using the two photographing devices 1 and 2, the same ability as that of the photographing device having the zoom function can be obtained.

The two photographing devices 1 and 2 are provided with a turning mechanism 7
Mounted on the swivel axis of the truck 6 and rotatable in the circumferential direction of the pipe, and the swivel mechanism 7 has a bogie 6 which is self-propelled in the axial direction of the pipe.
Mounted on. Therefore, every point in the pipe can be monitored.

In FIG. 3, compared with the eye distance B ₁ in FIG.
The shortest inter-eye distance B ₂ when performing stereoscopic vision with the imaging devices 15 and 16 is small, and the stereoscopic device can be made compact.

[0012]

As described above, according to the present invention, the use of a plurality of photographing devices eliminates the need for adjusting the zoom and autofocus functions, which simplifies the mechanism and eliminates the need for a drive device for adjustment. Of course, the control device for the drive equipment is also unnecessary. Therefore, it is unnecessary to manage the control information, adjust software, and the like. Further, the size of the device can be made compact.

In addition, since the structure of the device is simple, there are few failures. Further, since it becomes possible to monitor all points in the axial direction by the carriage and in the pipe circumferential direction by the turning mechanism, it becomes possible to monitor a steel pipe or the like of a size that cannot be entered by a human. In addition, the inside of the steel pipe can be monitored by remote control.

[Brief description of drawings]

FIG. 1 is a schematic view showing an example of a mechanism of the present invention.

FIG. 2 is an explanatory diagram showing a specific example of the device of the present invention.

FIG. 3 is a diagram showing one example of making the stereoscopic device compact according to the present invention.
Schematic diagram showing an example.

FIG. 4 is a schematic diagram of a conventional monitoring device.

[Explanation of symbols]

1 Image-capturing device (using a lens with a small focal length) 2 Image-capturing device (using a lens with a large focal length) 3 Image of image-capturing device 1 (wide view can be widely observed) 4 Image of image-capturing device 2 (part of narrow-field view) You can magnify and observe.) 5 Object to be photographed 6 Bogie (self-propellable in axial direction) 7 Turning mechanism (rotatable in pipe circumferential direction) 8 Steel pipe 11 Photographing device 12 Photographing device 13 Electric zoom, focus adjustment drive Equipment 14 Motorized drive device for zoom and focus adjustment 15 Imaging device 16 Imaging device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Seiichi Marumoto 20-1 Shintomi, Futtsu City, Chiba Prefecture Nippon Steel Co., Ltd. Technical Development Division (72) Inventor Hiroshi Fukuchi 20-1 Shintomi, Futtsu City, Chiba Prefecture Nippon Steel Co., Ltd.

Claims (1)

[Claims] 1. A trolley that is self-propelled in the tube axis direction, a slewing mechanism that is mounted on the trolley and that can rotate in the circumferential direction of the stub, and a plurality of fixed zoom / focus lens attached photographing devices attached to the tip of the slewing mechanism. A monitoring device inside the steel pipe.