JPH0754803Y2 - Shooting position detection device for television shooting mechanism in television - Google Patents

Description

[Detailed Description of the Invention] "Industrial field of application" The present invention is applied to the case where a seam welded portion of a pipe such as a gas pipe, a petroleum pipe, or a water pipe buried in the ground is photographed by a TV camera and is monitored on the ground. In addition, the present invention relates to a photographing position detecting device in a television photographing mechanism in a tube capable of accurately confirming a position photographed by a television camera.

"Prior Art" Conventionally, when inspecting a seam welded portion of a pipe such as a gas pipe, a petroleum pipe, or a water pipe buried on the ground, as shown in FIG. The camera carriage 3 equipped with the TV camera 2 is inserted into the pipe 1 through the cutout opening 1a, the camera carriage 3 is run in the pipe 1, and the camera carriage 3 is joined at the seam welding portion 4 of the pipe 1. On the other hand, the television camera 2 is rotated to photograph the seam welded portion 4 over the entire circumference. The image taken by the TV camera 2 is displayed on the monitor TV 6 installed on the ground by the cable 5, and the state of the seam welded portion 4 of the pipe 1 is inspected from the image of the monitor TV 6.

[Problems to be solved by the invention] However, in the above-mentioned conventional method, the image taken by the TV camera 2 is simply sent to the monitor TV 6 on the ground by the cable 5 to be displayed, and there is a welding defect. At present, it is not possible to accurately grasp at what position in the seam welded portion 4 a defect has occurred.
In other words, when it is found that there is a defective portion in a part of the entire circumference of the seam welded portion 4, it is necessary to accurately grasp the defective position when repairing the defective portion in order to improve workability. is necessary. However, especially 300 mm
When trying to inspect a small diameter pipe, it is necessary to reduce the size and weight so as to be commensurate with it. In addition to the straight pipe portion, there are many curved pipe portions in the pipe 1, and when traveling through the curved pipe portion, , Rolling or rolling while moving in the direction of travel. Therefore, when the seam welded portion 4 is photographed by the TV camera 2, the camera carriage 3 is stopped, but the stop position of the camera carriage 3 is a predetermined position in the gravity direction as shown by the solid line in FIG. It rarely stops, rolling to the left or right as shown by the broken line in Fig. 13 and stopping at random angle positions. For this reason,
Even if the television camera 2 is rotated with respect to the camera carriage 3 while recognizing an accurate angle, the shooting position cannot be accurately detected because the rolling angle of the camera carriage 3 cannot be grasped. In order to accurately grasp the shooting position, both the rotation angle of the TV camera 2 and the rolling angle of the camera carriage 3 must be accurately detected. It is possible to detect the rotation angle of the television camera 2 with respect to the former camera carriage 3 without requiring high-level technology, but to detect the rolling angle, high-level technology is required. Although a gyroscope and encoder can be used as a device for detecting the rolling angle of, it is extremely expensive, and due to its large size, it cannot be practically applied as a device inserted in a small diameter tube of about 300 mm. is there.

Therefore, in view of the above circumstances, the present invention is capable of accurately recognizing the shooting position even if the camera dolly sways due to the presence of a curved pipe portion buried in the ground, and is inexpensive even for small diameter pipes. Another object of the present invention is to provide a photographing position detection device in a television photographing mechanism for a television which can easily and simply detect the photographing position.
In addition, the rotation angle of the TV camera with respect to the camera carriage is also received by the monitor device, and the detection position of the TV camera constantly grasps the shooting position in the tube by the TV camera accurately, stops, and the reference position for the movement of the next position is set. An object of the present invention is to provide a photographing position detection device that can be reliably set.

"Means and Actions for Solving the Problem" The present invention has been made to achieve the above object, and in the claims, there is a camera carriage running in a pipe buried in the ground, and the camera carriage is A television camera equipped with a television camera that can freely rotate the entire circumferential surface of the tube, and the television camera is connected to a monitor device on the ground via a cable. An angle detecting device is mounted, and a TV camera turning angle detecting device described later is provided on a support member protruding in front of the traveling carriage. The rolling angle detecting device is a circular magnetic resistance element, and A rotary shaft is arranged at the circular center of the resistance element, and the rotation axis is arranged so as to face the semicircular portion of the magnetoresistance element.
A pair of rotary non-contact potentiometers that rotate according to the rolling direction in the tube of the camera carriage, which is composed of a semicircular magnet that always holds a fixed position by a weight, is arranged.
The position of one magnetoresistive element and the position of the other magnetoresistive element are arranged so as to have an angle difference of 90 degrees in terms of a rotation angle, and the television camera rotation angle detection device is configured to rotate the television camera. The function of detecting the turning angle by the rotary potentiometer and the stop mechanism for fixing the reference position of the TV camera by the two discs and the three switch mechanisms are provided. The rotation angle of the camera is detected by the reference position provided on the support member to which the television camera is fixed.

[Embodiment] An embodiment of a photographing position detecting device in a television photographing mechanism for a television according to the present invention will be described below with reference to the drawings. First
In the figure, 11 is a camera carriage. The camera dolly 11
A roller (12) is provided so that it can run in the tube (13). The traveling of the camera carriage 11 inside the tube 13 can be performed by any type of traveling, in which the roller 12 is driven to rotate by a motor, or in addition to traveling by being connected to a self-propelled driving vehicle.
The camera carriage 11 rolls, that is, rolls and moves especially when traveling along a curved pipe portion that bends in the vertical and horizontal directions of the pipe 13, so that the curved pipe portion can be easily traveled. The camera carriage 11 has a rolling angle detection device 14 that detects a rolling angle with respect to its rolling. At the front of the camera carriage 11, a pipe-shaped support member 15 is provided so as to project, and a shaft 17 is provided on the support member 15 via a bearing 16.
Is rotatably supported. Furthermore, the shaft 17 has a rotating disk.
Stick 19 A TV camera 20 can be attached to the rotating disk 19. The rotating disk 19 has an internal gear 21, and the internal gear 21 is rotated by a motor 22.
It meshes with 23. The motor 22 is attached to the support member 15 or the camera carriage 11 via a mount 24.
Further, a gear 25 is bolted to the rotating disk 19 so that the gear 25
Is engaged with a gear 27 having an input shaft of the speed reducer 26.
A television camera rotation angle detection device 28 is connected to the output shaft of the speed reducer 26. Reducer 26 and TV camera rotation angle detector 28
Are to be installed on the support member 15. The TV camera 20, the rolling angle detection device 14, and the TV camera rotation angle detection device 28 are connected to a monitor device 30 equipped with a ground monitor TV via a cable 29, and the motor 22 is also connected via a cable 31. And is connected to the control unit 32 on the ground.

In response to a command from the control unit 32, the motor 22 causes the rotating disk 19, as shown in FIG. 3, that is, the TV camera 20 fixed to the rotating disk 19 to rotate 360 degrees in the clockwise and counterclockwise directions and further overrun. It is designed to rotate by an angle including the wrap angle. That is, the stop position of the television camera is set by the limit switch LS ₁ ~LS ₃ shown in Figure 2 to Figure 4. The following operation is performed based on this position. The signals transmitted from these limit switches LS _{1 to} LS ₃ are input to the control unit 32, and the stop position of the rotary disk 19 is controlled. The limit switch LS ₁ is attached to the support member 15 via a mounting plate 33, and the gear 25 is meshed with the gear 35 included in the input shaft of the speed reducer 34 so that the output shaft of the speed reducer 34 has an appropriate reduction ratio. Attach the speed reduction disk 36 to the
The actuator of the limit switch LS ₁ is brought into contact with the cam 37 protruding from the peripheral surface of the. In FIG. 3, the deceleration disk 36 and the rotary disk 19 are drawn concentrically, but even if the deceleration disk 36 is arranged via the deceleration gear 35 as apparent from FIG. Good. The limit switch LS _{1 also} serves as the base point of the control range of the television camera 20 by the motor 22 as shown in FIG.
The limit switches LS ₂ and LS ₃ are attached to the above-mentioned support member 15, and as shown in FIG. 3, the limit switch LS _{1 and the} limit switch LS ₃ are respectively provided with an angle of 135 degrees in the clockwise direction and the counterclockwise direction, That is, the limit switches LS ₂ and LS ₃ are arranged at an angle of 90 ° (45 ° + 45 °). Each of the limit switches LS ₂ and LS ₃ is configured so that each actuator comes into contact with an engaging element 38 that protrudes from the outer circumference of the rotary disk 19. Limit switches LS ₂ and LS ₃ are number 4
As shown in the figure, the motor 22 is
A limit switch LS ₁ is connected in order to switch the rotation range in the positive and negative directions (left and right directions). The control unit 32 is a forward / reverse switching device 39 that specifies the rotation direction,
And a battery 40 for driving the motor 22. The television camera 20, the engaging member 38, and the cam shown in FIG.
Edge of 37, that is, rotation area switching point and limit switch LS
₁ is set in advance so that it can be located at the apex of an isosceles triangle formed with the virtual line connecting the limit switches LS ₂ and LS ₃ as the base.

The rolling angle detection device 14 arranged on the camera carriage 11 of the photographing position detection device of the present invention will be described.

As shown in FIG. 6, this rolling angle detecting device 14
The magnetoresistive elements 41a are arranged in a circular shape, and terminals T are connected to both terminals.
₁ , T ₃ is provided and an intermediate tap T ₂ is arranged at the intermediate point of the circular magnetic resistance element 41a, and a rotary shaft is provided at the center position of the circular magnetic resistance element 41a. A rotary contactless potentiometer 14a rotatably provided with a semicircular magnet 42a slightly larger than the size,
The structure is exactly the same as that of the above, and only the magnetoresistive element 41b is constructed as a pair with the above-mentioned magnetoresistive element 41a and a rotary non-contact potentiometer 14b arranged with an angle difference of 90 degrees.

Since the details of this configuration are the same in the two, only one will be described with reference to FIG. 7. In the casing 43 fixed to the camera carriage 11, the semicircular magnet 42a is disposed opposite to the circular magnetoresistive element 41a. Axis 4 that can be freely rotated to the lower half
It is fixed to 4. The shaft 44 is rotatably supported by the casing 43 by a bearing 45, and is shown in FIGS.
As shown in the figure, a weight 46 is vertically provided integrally via a support member 46a. Magnetoresistive elements 41a, 41b is intended resistance value by a change of the magnetic force is changed, the terminal T _1, T ₃ as shown in FIG. 9
Apply the input power from the power supply 47 between the magnets 42a, 42
An output having a value corresponding to the overlap area with b is obtained between the terminal T ₁ and the intermediate tap T ₂ . Each of the rotary non-contact potentiometers 14a and 14b uses only the linear portion of the output characteristic, as will be described later with reference to FIG.

As shown in FIG. 11, the television camera rotation angle detection device 28 has a contact between the mover 48 and the mover 48 which is rotated by the speed reducer 26 at a speed reduction ratio with respect to the rotation angle of the TV camera 20. A rotary potentiometer composed of a resistance element 49 that operates is used.

Next, the operation of the photographing position detecting device in the in-tube television photographing mechanism having the above-mentioned structure will be described. As shown in FIG.
Insert the camera dolly 11 into 13 and run it. Camera trolley
11 travels while rolling or rolling when traveling not only on the straight pipe portion of the pipe 13 but also on the curved pipe portion. Then, when it is located at the seam welded portion 13a of the pipe 13, the television camera 20 is rotated to photograph the entire circumference of the seam welded portion 13a. The TV camera 20 is positioned at a predetermined position with respect to the camera carriage 11 and inserted into the tube 13. That is, first the control unit
When the forward / reverse switch 39 of 32 is set to forward rotation (clockwise) as shown by the solid line in FIG. 4, the motor 22 is energized via the parallel circuit of the limit switch LS ₂ and the diode Re ₁ and the limit switch LS _3. Then, the rotary disk 19 is rotated, and at this time, the limit switch LS ₁ is switched from negative (counterclockwise) to positive (clockwise). The rotating disk 19 is, as shown in FIG.
Engager 38 turns OFF limit switch LS ₂ after rotating 135 degrees
However, the electric current is supplied from the battery 40 to the motor 22 through the diode Re ₁ and the limit switch LS ₁ to continue the rotation. When the rotation angle becomes +225 degrees, the engaging element 38 actuates the limit switch LS ₃ to turn it off, the power supply to the motor 22 is cut off, the rotation disk 19, that is, the TV camera 20 stops rotating, and this position is maintained. Is inserted into the tube 13. When shooting the seam welded portion 13a in this state, the forward / reverse switch 39
Although it cannot be started by setting clockwise, if set counterclockwise (negative direction) as shown by the broken line in Fig. 4, motor 22, diode Re ₂ , and limit switch LS ₁ and limit switch LS _The rotating disk 19 is rotated counterclockwise by being energized through a parallel circuit with ₂ . While the rotary disk 19 rotates to -90 degrees to the base point position of the limit switch LS ₁ is the limit switch LS ₂ a OFF, is still right region clogging limit switch LS ₁ positive area shown in FIG. 3 Therefore, the limit switch LS ₁ is set to the positive side, the motor 22 continues to be energized, and the rotating disk 19 continues to rotate. Further, the rotary disk 19 rotates, the cam 37 contacts the limit switch LS ₁ and switches to the negative region side in FIG. 4, but it continues to rotate because the limit switch LS ₂ is ON. . Even if the rotary disk 19 rotates -360 degrees and the limit switch LS ₃ turns off the engaging element 38, the battery 40 continues to rotate by energizing the diode Re ₂ , the limit switch LS ₂ , and the battery 40. Rotary disk 19 has been rotated -450 degrees, and OFF contact engaging elements 38 and the limit switch LS _2, to stop the rotation by deenergized motor 22. In this state, when the camera carriage 11 travels in the pipe 13 and reaches the next seam welded portion 13a to take an image of this portion, the forward / reverse selector 39 is positioned counterclockwise and the motor 22 is energized. but not, if set in the clockwise direction (positive direction) as indicated by a solid line Seigyakusetsu exchanger 39 in Figure 4, the diode from the battery 40 Re _1, the limit switch L
The rotating disk 19 rotates in the forward direction (clockwise) by being energized to reach the battery 40 via the parallel circuit of S ₁ and the limit switch LS ₂ , and the motor 22. Rotating disk 19 is clockwise 90
Even if the engagement switch 38 turns the limit switch LS ₃ OFF after rotating by one degree, the rotary disk 19 continues to rotate because the limit switch LS ₁ is located on the negative side. Rotating disk 19 rotates and cams
After 37 further switches the limit switch LS ₁ to the positive side, when it further rotates and reaches the position of 450 degrees, the engaging element 38 turns off the limit switch LS ₃ to cut off the electric conduction to the motor 22 and rotate. Stop. Therefore, the rotating disk 19, that is, the television camera 20 is rotated by 450 degrees while overlapping by 90 degrees in either the clockwise or counterclockwise direction. If the above operation is schematically illustrated, it is as shown in FIG. In the above embodiment, the limit switch for the center of rotation of the rotating disk 19
Although LS ₂ and LS ₃ are arranged with an angle difference of 90 degrees, the present invention is not limited to this, and an appropriate overlap angle can be set. In the speed reducer 34, the rotating disk 19 is rotated in the positive and negative directions as described above.
Even if it is rotated 0 degrees, it is operated only once at a predetermined position.

As described above, the rotating disk 19 or the television 20 is rotated by 450 degrees with respect to the camera carriage 11, and the mover 48 of the television camera rotation angle detecting device 28 also rotates in response to this as shown in FIG. The mover 48 is provided with a reducer 26 with respect to the rotation of the rotating disk 19.
Since the rotary disk 19 is rotated by 450 degrees in the positive and negative directions, the resistance element 49
It rotates within the range of both end pipes. The mover 48 divides the voltage across the terminals of the resistance element 49 in proportion to the rotation angle of the rotating disk 19.
The divided voltage of the resistance element 49 is transmitted to the monitor device 30 via the cable 29, and is superimposed on the image of the monitor TV displaying the seam welded portion 13a as a superimpose to display the rotation angle with respect to the camera carriage 11. .

On the other hand, the rolling angle detection device 14 detects the rolling angle of the camera carriage 11 and superimposes it on the image of the seam welded portion 13a and displays it as a superimpose on the monitor TV of the monitor device 30. That is, the camera carriage 11 travels while rolling in the pipe 13, and the position where the seam welded portion 13a is stopped to be photographed by the TV camera 20 has a random roll angle without being specified. Even in this situation 1
Since the weights 46, 46 of the pair of rotary contactless potentiometers 14a, 14b are always oriented in the direction of gravity, the respective magnets
42a, 42b are in a fixed position. On the other hand, the magnetoresistive elements 41a and 41b are magnets 42a and 42b depending on the rolling angle of the camera carriage 11.
It rolls and the angular position changes. Consequently magnetoresistive element 41a, 41b, a region to the intermediate tap T ₂ bordering Ra,
The range facing Rb changes, and an output value is obtained according to this change, and the rolling angle can be detected from this output value. However, each rotary non-contact potentiometer 14a, 14
The range that can be counted by b is the camera carriage 1 as shown in Fig. 10.
Output characteristic shows a linear region for rolling of 1 90
Only in the range of degrees. In the output characteristics shown in Fig. 10,
The top (valley) of the sine wave has little change in the output voltage and cannot be expected in terms of accuracy in detecting an accurate rolling angle. Therefore, the pair of rotary non-contact potentiometers 14a, 14b have a magnetoresistive element 41a, 41b with an angle difference of 90 degrees,
The measurement is performed by using the straight line portions of the respective output characteristics (solid line output characteristics in FIG. 10 and broken line output characteristics in FIG. 10). Rotary non-contact potentiometer 14a,
The peak portion of one of the output characteristics of 14b was set to be counted by the linear portion of the other rotary non-contact potentiometer. That is, the rotary non-contact potentiometer 14a measures the rolling angle range of ± 45 degrees as in the state A of FIG. 10, and the rotary non-contact potentiometer 14b measures the rolling angle of 45 degrees as in the state of B of FIG. Detects the range of 135 degrees. Further, when the camera carriage 11 rolls at 135 degrees or more with respect to the direction of gravity, the rotary non-contact potentiometer 14a reverses from A state to A'state, and in this state, 135 degrees to 225 degrees.
When the other rotary non-contact potentiometer 14b rolls 225 degrees or more, the state is reversed from B to B'and the range of 225 degrees to 315 degrees is measured.
As a result, each rotary contactless potentiometer 14a, 14b
It can measure a rolling angle of 60 degrees. When inserting the camera carriage 11 into the pipe 13, the positional relationship between the television cameras 20 and the weights 46, 46 that are fixed to the shafts 44, 44 and hung down is adjusted in advance to set the position of 0 degree in advance. Of course, the rolling angle is based on this 0 degree position. The rolling angle measured by the rolling angle detection device 14 is displayed as a superimpose on a monitor TV projecting the seam welded portion 13a.

Therefore, on the monitor TV of the monitor device 30, the rolling angle of the camera carriage 11 detected by the rolling angle detection device 14 and the TV camera rotation angle detection device 28 on the image of the seam welding portion 13a taken by the TV camera 20. The detected rotation angle of the television camera 20 is displayed as a superimpose. For example, the rolling angle of the camera carriage 11 detected by the rolling angle detection device 14 is +40 degrees, and the rotation angle of the camera 20 by the TV camera rotation angle detection device 28 is clockwise (forward direction) with the limit switch LS ₁ as the base point. ), A welding defect is found at a position of 100 degrees, it means that there is a welding defect at a position rotated by 140 degrees clockwise from the highest point of the entire circumference of the pipe 13. In order to repair this welding defect or to apply paint, etc., in addition to the TV camera 20, in addition to the TV camera 20, a welding machine, a painting machine, etc. may be installed. Based on the measurement value by the angle detection device 28, it is possible to determine the portion to be repaired and perform the construction.

The rolling angle detection device 14 uses two rotary non-contact potentiometers 14a and 14b, each of which measures 90 degrees, and cooperates with each other. However, four of them use 45 degrees each. It is also possible to let it be measured.
Further, the rotary non-contact potentiometers 14a, 14b can be used as they are for measuring the vertical inclination angle of the tube 13.

[Advantage of the Invention] As described above, according to the photographing position detecting device in the television photographing mechanism in the pipe according to the present invention, the pipes such as the gas pipe and the water pipe buried in the ground are bent, No matter how the camera truck travels while rolling, the rolling angle is detected based on the direction of gravity and sent to the ground monitor device, and the rotation angle of the TV camera relative to the camera carriage is also received by the monitor device. Both detection values enable the television camera to always accurately grasp the imaging position in the tube, and the work tool can be positioned with respect to the defective portion during the next repair. It is also convenient in terms of mechanism and structure for promoting miniaturization and can be applied to a small-diameter pipe.

[Brief description of drawings]

FIG. 1 is a block diagram of a traveling state in a pipe showing an embodiment of a photographing position detecting device in a television photographing mechanism in a pipe according to the present invention,
2 is a configuration diagram of a main part showing a mechanism for rotating the television camera, FIG. 3 is a layout diagram of limit switches for controlling the rotation of the television camera, and FIG. 4 is a circuit diagram for controlling the rotation of the television camera. 5, FIG. 5 is an explanatory view for controlling the rotation of the television camera, FIG. 6 is a configuration view of a rolling angle detection device, FIG. 7 is a structural view of a rotary non-contact potentiometer, and FIG.
FIG. 10 is a side view of the rotary non-contact potentiometer shown in FIG. 9, and FIG. 9 is a circuit diagram of the rotary non-contact potentiometer shown in FIG.
Fig. 11 is the output characteristic diagram of the rolling angle detector of Fig. 6, Fig. 11
FIG. 12 is a configuration diagram of a television camera rotation angle detection device, FIG. 12 is an explanatory diagram showing a traveling state of a conventional in-tube television photographing mechanism, and FIG.
The figure is an explanatory view showing a state in which the camera carriage of FIG. 12 is rolling. 11 …… Camera dolly, 13 …… Tube 14 …… Rolling angle detection device 14a, 14b …… Rotation non-contact potentiometer 19 …… Rotating disk, 20 …… TV camera 28 …… TV camera rotation angle detection device 30… … Monitor device, 32… Control unit 41a, 41b …… Magnetoresistive element 42a, 41b …… Magnet 46 …… Weight, 48 …… Mover 49 …… Resistor element

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Creator Kazuyoshi Watanabe 4150-1, Akuwa-cho, Seya-ku, Yokohama, Kanagawa No. 108 Maison Mukaihara (72) Creator Masatoshi Kodera 2-65, Yoshinodai, Kawagoe-shi, Saitama Den-yo Saitama Factory Co., Ltd. (56) Reference JP-A 64-54234 (JP, A) JP-A 58-154603 (JP, A) JP-A 1-237401 (JP, A) JP-B 4-74651 ( JP, B2) Japanese Patent Publication 2-25242 (JP, B2)

Claims (1)

[Scope of utility model registration request] 1. A camera trolley that runs inside a pipe buried in the ground, and a television camera that can freely rotate the entire circumferential surface of the pipe is mounted on the camera trolley. A cable is connected to the television camera. In the in-tube TV photographing mechanism connected to a monitor device on the ground, a rolling angle detection device described later is mounted on the traveling portion of the camera carriage, and a television camera rotation angle described below is mounted on a support member protruding in front of the traveling carriage. The rolling angle detection device comprises a magnetoresistive element arranged in a circular shape, and a rotating shaft arranged at the circular center of the magnetoresistive element, and facing the semicircular portion of the magnetoresistive element. A pair of rotary non-contact potentiometers arranged according to the rolling direction in the tube of the camera carriage, which is composed of a semi-circular magnet that is always held at a fixed position by a weight, is arranged. The position of the anti-resistance element and the position of the other magnetoresistive element are arranged with an angle difference of 90 degrees in terms of rotation angle, and the TV camera rotation angle detection device rotates the rotation angle of the TV camera. Equipped with a function to detect the rotation angle with a rotary potentiometer and a stop mechanism that determines the reference position of the TV camera with two discs and three switch mechanisms, and the rolling angle detected by these detection devices and the rotation of the TV camera. A photographing position detecting device in a television photographing mechanism in a tube, wherein the detection of the moving angle is calculated based on a reference position provided on a support member to which the television camera is fixed.