Tubular Structure Investigation Support Device, Tubular Structure Investigation Support System, Image Display Method for Tubular Structures, and Program

Abstract

To provide a tubular structure investigation support device and the like which can reduce a work load in the damage determination operation, report creation operation and the like in the investigation of a tubular structure and improve the work efficiency.SOLUTION: In a tubular structure investigation support system 1, an imaging system 2 images the inside of a tubular structure 10 like water and sewage pipes with a wide-angle camera while traveling along a conduit line to obtain a direct-view image. A job site PC 21 takes in the direct-view image to generate a development image. A tubular structure investigation support device 5 acquires the direct-view image 72 and the development image 71, and displays the direct-view image 72, a partial range of the development image 71 and a whole image 73 being the development image 71 over the entire tube side by side on a main screen 7. The position in the tube 10 of the direct-view image 72 that is displayed, the position of a handle 74 on the development image 71 and the position of a handle 76 on the whole image 73 are linked together.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a tubular structure investigation support device, a tubular structure investigation support system, an image display method for a tubular structure, and a program, and more particularly to image display and information processing techniques for supporting the investigation of tubular structures such as sewer pipes.

Background Art

[0002] Regarding tubular structures such as sewer pipes, cable pipes, and tunnels, investigations are being carried out on the presence or absence of damage and the condition. In this investigation, an imaging device that travels inside the pipeline is used to capture the inner wall surface of the pipeline along the pipeline, and a developed image is created by a computer using the captured image data of the inner wall surface. The operator visually checks the created developed image to determine damage and create an investigation report.

[0003] For example, Patent Document 1 describes an in-pipeline work device monitoring system composed of an in-pipeline work device that can move inside a pipeline and a ground device equipped with a monitor. In the ground device, an image indicating the current position of the in-pipeline work device is displayed on a developed image created based on the image data obtained by photographing the inner wall of the pipeline.

[0004] Further, Patent Document 2 describes a pipe inner wall surface image development system that creates a developed image based on all-day image data inside a tubular object captured while moving along the tubular object. In the pipe inner wall surface image development system of Patent Document 2, cables, wires, etc. connected to the image capturing means that travels inside the pipeline are held so as not to slacken, and the position of the image capturing means is detected from the feeding amount of the cables, wires, etc. to obtain position information Sp. When image data Sv is input from the image capturing means, the position information Sp at that time is inserted into the image data Sv as a digital signal to generate a distortion-free developed image.

[0005] In addition, Non-Patent Document 1 describes a sewer report creation system for creating an investigation report of a sewer pipe in a predetermined format.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Non-Patent Documents

[0007]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] However, in the conventional operation of determining damage and creating reports as described above, it has been necessary to manually input detailed information on damage, which has been time-consuming. In addition, it has been necessary to manually identify information such as the joint parts of the pipes and the attached pipes. Furthermore, for damages that are difficult to identify only from the developed images, such as root intrusion, it has been necessary to carefully observe the state while referring not only to the developed images but also to the original captured images (the above-mentioned all-day images). However, there has been room for improvement in the user interface suitable for damage determination and input for this purpose.

[0009]

Means for Solving the Problems

[0010] A first invention for solving the above-described problems is an image acquisition unit that acquires a direct-view image, which is an image captured by a wide-angle camera while traveling along a pipeline inside a tubular structure, and a developed image generated based on the direct-view image, a display unit that displays side by side the direct-view image acquired by the image acquisition unit, a partial range of the developed image, and a whole image that is the developed image over the entire pipe, a playback instruction input means for inputting an instruction operation for playing back the direct-view image as a moving image; comprising The direct-viewed image is recorded as a video, and has an expanded image handle provided on the expanded image and an overall image handle provided on the whole image, and when an instruction to play the direct-viewed image is input by the playback instruction input means, the display means plays the direct-viewed image as a video, moves a display range of the expanded image in conjunction with the direct-viewed image being displayed, and moves the expanded image handle in conjunction with the direct-viewed image being displayed, and moves the overall image handle in conjunction with the direct-viewed image being displayed, thereby indicating a position of the direct-viewed image being played back in the pipeline on the whole image and the expanded image. a tubular structure inspection support device characterized by the above. In the first invention, when the exfoliated image handle is moved by a user, the display means displays the exfoliated image while moving the display range so that the position indicated by the exfoliated image handle is included in the display area of the exfoliated image, and displays the direct-view image taken at the position indicated by the exfoliated image handle, and moves the entire image handle to indicate a position corresponding to the position indicated by the entire image handle and displays it on the entire image, and when the entire image handle is moved by a user, the display means changes the display range of the exfoliated image so that the position indicated by the entire image handle is included, and displays the direct-view image taken at the position indicated by the entire image handle, and moves the exfoliated image handle to indicate a position corresponding to the position indicated by the entire image handle and displays it on the exfoliated image.

[0011] According to the tubular structure inspection support device of the first invention, a direct-view image inside the tubular structure, a partial range of the developed image, and a whole image that is the developed image over the entire pipe are displayed side by side. Thereby, while observing the developed image, it is easy to confirm the position in the entire pipeline of the observation location, and it is possible to immediately confirm the direct-view image taken at that position. Therefore, it is possible to improve the work efficiency in damage determination work and report creation work in the inspection of tubular structures. Since the positions shown on the displayed direct view image, unfolded image, and overall image are linked to each other, it is possible to smoothly and quickly compare and refer to each image, making it easier to identify damage, pipe structures, etc.

[0014] Further, a damage input unit that displays a damage input screen for inputting damage information when an arbitrary position of the developed image is indicated, and a damage recording unit that records the damage information input by the damage input unit in association with the information of the indicated position are further provided. Also, in the damage input unit, the position can be specified by a range. Thereby, the input of damage information can be performed by a simple operation. Also, since damage occurs in a range, the input of the damage range can be performed by a simple instruction operation, and the work efficiency is improved. It is desirable that the designation of the damage position can be freely switched between designation by a range (box) and designation by a point.

[0015] It is also desirable to further include preview display means for reading out the damage information recorded by the damage recording means and displaying it in a list together with the overall image. This allows the recorded damage information to be confirmed in a list while viewing the overall image. Although damage determination is prone to human error, before creating a report, the information on each damage can be output to the screen for easy confirmation.

[0016] It further includes zoom operation input means for inputting an operation to enlarge the direct-view image, and when an operation is performed by the zoom operation input means, the display means enlarges and displays the direct-view image. This makes it possible to display the direct-view image in a size that is easy to observe with a simple operation.

[0017] It is desirable to further include grid display switching means for displaying / hiding a grid on the developed image. This makes it easier to determine the actual size of damage and the like on the developed image.

[0018] A second invention includes a photographing device that photographs the inside of a tubular structure along a pipeline while advancing with a wide-angle camera, a developed image generation device that generates a developed image of the tubular structure based on a direct-view image that is an image photographed by the photographing device, and a tubular structure investigation support device that is communicatively connected to the photographing device and the developed image generation device. The tubular structure investigation support device includes image acquisition means for acquiring the direct-view image and the developed image, and display means for arranging and displaying the direct-view image acquired by the image acquisition means, a partial range of the developed image, and an overall image that is the developed image over the entire pipe. a playback instruction input means for inputting an instruction operation for playing back the direct-view image as a moving image; Comprising The direct-viewed image is recorded as a video, and has an expanded image handle provided on the expanded image and an overall image handle provided on the whole image, and when an instruction to play the direct-viewed image is input by the play instruction input means, the display means plays the direct-viewed image as a video, moves a display range of the expanded image in conjunction with the direct-viewed image being displayed, and moves the expanded image handle in conjunction with the direct-viewed image being displayed, and moves the overall image handle in conjunction with the direct-viewed image being displayed, thereby indicating a position of the direct-viewed image being played back in the pipeline on the whole image and the expanded image. A tubular structure investigation support system characterized by the above. In a second invention, when the exfoliated image handle is moved by a user, the display means displays the exfoliated image while moving the display range so that the position indicated by the exfoliated image handle is included in the display area of the exfoliated image, and displays the direct-view image taken at the position indicated by the exfoliated image handle, and moves the entire image handle to indicate a position corresponding to the position indicated by the entire image handle and displays it on the entire image, and when the entire image handle is moved by a user, the display means changes the display range of the exfoliated image so that the position indicated by the entire image handle is included, and displays the direct-view image taken at the position indicated by the entire image handle, and moves the exfoliated image handle to display it on the exfoliated image so that it indicates a position corresponding to the position indicated by the entire image handle.

[0019] According to the tubular structure investigation support system of the second invention, a photographing device photographs a direct-view image inside the tubular structure, a developed image generation device generates a developed image, and a tubular structure investigation support device acquires the direct-view image and the developed image, and can display the direct-view image, a partial range of the developed image, and an overall image that is the developed image over the entire pipe side by side. Thereby, while observing the developed image, it is easy to confirm the position of the observation point in the entire pipeline, and the direct-view image taken at that position can be immediately confirmed. Therefore, the work efficiency in damage determination work and report creation work in the investigation of tubular structures can be improved. Since the positions shown on the displayed direct view image, unfolded image, and overall image are linked to each other, it is possible to smoothly and quickly compare and refer to each image, making it easier to identify damage, pipe structures, etc. Note that the developed image generation device and the tubular structure investigation support device may be integrated or separately configured.

[0020] The third invention is a computer An image display method performed by acquiring a direct-view image that is an image photographed with a wide-angle camera while moving along a pipeline inside a tubular structure, and a developed image generated based on the direct-view image, and displaying the acquired direct-view image, a partial range of the developed image, and an overall image that is the developed image over the entire pipe side by side, inputting an instruction operation for playing back the direct-view image as a video; including the direct-viewed image is recorded as a video, and has an expanded image handle provided on the expanded image and an overall image handle provided on the whole image, and the displaying step plays the direct-viewed image as a video when an instruction to play the direct-viewed image is input, moves a display range of the expanded image in conjunction with the direct-viewed image being displayed, and moves the expanded image handle in conjunction with the direct-viewed image being displayed, and moves the overall image handle in conjunction with the direct-viewed image being displayed, thereby indicating a position of the direct-viewed image being played back in the pipeline on the overall image and the expanded image. a method for displaying an image of a tubular structure, characterized in that. In a third invention, when the exfoliated image handle is moved by the user, the displaying step displays the exfoliated image while moving the display range so that the position indicated by the exfoliated image handle is included in the display area of the exfoliated image, displays the direct-view image taken at the position indicated by the exfoliated image handle, and moves the entire image handle to indicate a position corresponding to the position indicated by the entire image handle and displays it on the entire image, and when the entire image handle is moved by the user, the displaying step can also change the display range of the exfoliated image so that the position indicated by the entire image handle is included, displays the direct-view image taken at the position indicated by the entire image handle, and moves the exfoliated image handle to indicate a position corresponding to the position indicated by the entire image handle and displays it on the exfoliated image.

[0021] According to the third invention, a computer can acquire a direct-view image and a developed image, and display the direct-view image, a partial range of the developed image, and an overall image that is the developed image over the entire pipe side by side. Thereby, damage determination work and report creation work in the investigation of tubular structures can be performed using a computer. Also, while observing the developed image, it is easy to confirm the position of the observation point in the entire pipeline, and the direct-view image taken at that position can be immediately confirmed. Therefore, the work efficiency in damage determination work and report creation work in the investigation of tubular structures can be improved. Since the positions shown on the displayed direct view image, unfolded image, and overall image are linked to each other, it is possible to smoothly and quickly compare and refer to each image, making it easier to identify damage, pipe structures, etc.

[0022] The fourth invention is a program that causes a computer to function as an image acquisition means for acquiring a direct-view image that is an image captured by a wide-angle camera while traveling along a pipeline inside a tubular structure, and a developed image generated based on the direct-view image, and a display means for arranging and displaying the direct-view image acquired by the image acquisition means, a partial range of the developed image, and an entire image that is the developed image over the entire pipe. A reproduction instruction input means for inputting an instruction operation for reproducing the direct-view image as a moving image. function as A program for, wherein the endoscopic image is recorded as a video, and has a developed image handle provided on the developed image and an overall image handle provided on the overall image, and when a reproduction instruction for the endoscopic image is input by the reproduction instruction input means, the display means reproduces the endoscopic image as a video, moves the display range of the developed image in conjunction with the displayed endoscopic image, and moves the developed image handle in conjunction with the displayed endoscopic image, and moves the overall image handle in conjunction with the displayed endoscopic image, thereby indicating the position of the pipeline of the endoscopic image being reproduced on the overall image and the developed image. a program. In the fourth invention, when the developed image handle is moved by the user, the display means displays the developed image while moving the display range so that the position indicated by the developed image handle is included in the display area of the developed image, displays the endoscopic image taken at the position indicated by the developed image handle, and moves the overall image handle to display it on the overall image so as to indicate the position corresponding to the position indicated by the developed image handle. When the overall image handle is moved by the user, the display means can also change the display range of the developed image so that the position indicated by the overall image handle is included, display the endoscopic image taken at the position indicated by the overall image handle, and move the developed image handle to display it on the developed image so as to indicate the position corresponding to the position indicated by the overall image handle.

[0023] According to the fourth invention, a computer can be made to function as the tubular structure investigation support device in the first invention.

Effect of the Invention

[0024] According to the present invention, it is possible to provide a tubular structure investigation support device or the like that can reduce the work burden in damage determination work and report creation work in the investigation of tubular structures and improve work efficiency.

Brief Description of the Drawings

[0025]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0026] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0027] FIG. 1 is a diagram showing the overall configuration of a tubular structure investigation support system 1 according to the present invention. In the following description, as an example, as shown in FIG. 1, a tubular structure investigation support system 1 in which a photographing system 2, a storage 3, and a tubular structure investigation support device (hereinafter referred to as an investigation support device) 5 are communicably connected via a network 4 will be described. Note that the system configuration example in FIG. 1 is an example, and the present invention is not limited thereto. For example, the storage 3 may be omitted, and the photographing system 2 and the investigation support device 5 may be connected via the network 4, or the photographing system 2 and the investigation support device 5 may not perform communication connection via the network 4, and exchange of image data and the like may be performed via a recording medium or the like.

[0028] The imaging system 2 includes an imaging device 22 that captures images with a wide-angle camera 22A while traveling along a pipeline inside a tubular structure 10 (such as a water supply and drainage pipe, an intake and exhaust pipe, a cable pipe, a tunnel, etc.; hereinafter referred to as the pipe 10), and a field PC 21 which is a computer terminal used at the investigation site. The imaging device 22 is mounted on a traveling vehicle with a wide-angle camera 22A and an encoder or the like. The encoder is a cable or the like for measuring the distance from the entrance of the pipe to the wide-angle camera 22A. The field PC 21 includes an interface for acquiring the images captured by the imaging device 22 (hereinafter referred to as direct-view images) and the distances measured by the encoder, a communication interface for communicating and connecting to the network 4, a control unit (CPU, ROM, RAM), a storage unit, an input unit, a display unit, etc. It is desirable that the field PC 21 has a function of generating a developed image based on the direct-view images acquired from the imaging device 22, but the generation of the developed image may also be performed on another computer terminal.

[0029] The developed image is an image obtained by cutting open and flattening in a planar shape the image captured inside the pipe 10 in the pipeline direction. The method for creating the developed image is well-known and is described, for example, in Japanese Patent Application Laid-Open No. 2010-066070 and the like. Also, the imaging system 2 can be configured using the working device and the ground device shown in the above patent document, or a known similar imaging system. Note that the field PC 21 records the distance information (the distance from the entrance of the pipe to the wide-angle camera 22A) acquired by the encoder as position information (position in the pipeline direction) in the captured images (direct-view images) and the developed images.

[0030] The field PC 21 stores the captured direct-view images in the storage 3 via the network 4. When the field PC 21 generates a developed image, it stores the generated developed image in the storage 3 in association with the direct-view images. Alternatively, the field PC 21 may transmit the direct-view images and the developed images to the investigation support device 5 via the network 4. Or, the field PC 21 may record the direct-view images and the developed images on a recording medium.

[0031] Storage 3 is a tracer server that can be accessed via network 4 and has a storage area for storing direct-view images, developed images, construction information, etc. transmitted from on-site PC 21. When storage 3 receives an image acquisition request from investigation support device 5, it transmits the corresponding direct-view image and developed image in response to the request.

[0032] Next, investigation support device 5 will be described. As shown in FIG. 2, investigation support device 5 is composed of a computer in which a control unit 51, a storage unit 52, a communication unit 53, an input unit 54, a display unit 55, and a peripheral device I / F (interface) unit 56, etc. are connected via a bus, and a PC, a tablet, a smartphone, etc. can be used. Note that the configuration of investigation support device 5 can be changed as appropriate. A tubular structure investigation support program is installed in investigation support device 5, and by executing processing according to the tubular structure investigation support program by control unit 51, each function described later is realized.

[0033] Control unit 51 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The CPU calls the programs stored in storage unit 52, ROM, etc. to the work memory area on the RAM and executes them, and drives and controls each unit (storage unit 52, communication unit 53, input unit 54, display unit 55, peripheral device I / F unit 56) connected via the bus. The ROM permanently holds programs such as a boot program and BIOS, and data. The RAM temporarily holds the loaded programs and data, and also provides a work area used for control unit 51 to perform various processes.

[0034] Storage unit 52 is a storage device such as a flash memory or a hard disk, and stores the acquired image data, the input damage information, the input pipe structure information, etc. Further, storage unit 52 stores processing programs related to each function described later (collectively referred to as the "tubular structure investigation support program" or "app").

[0035] The communication unit 53 has a communication port of a wireless communication unit such as a WiFi antenna or Bluetooth, or a wired communication unit such as a LAN, and a communication control device, and is an interface that mediates communication with an external device.

[0036] The input unit 54 includes, for example, a touch panel, a pointing device such as a keyboard or a mouse, an input device such as a numeric keypad, etc., and inputs the input data to the control unit 51.

[0037] The display unit 55 is composed of, for example, a display such as a liquid crystal panel and a logic circuit (such as a video adapter) for executing display processing in cooperation with the display, and displays the input display data on the display under the control of the control unit 51. Note that the display unit 55 may be a touch panel display in which an input device (input unit 54) such as a touch panel is integrally provided on the display screen.

[0038] The peripheral device I / F unit 56 is a port for connecting peripheral devices, and the control unit 51 transmits and receives data to and from peripheral devices via the peripheral device I / F unit 56. The peripheral device I / F unit 56 is constituted by USB (Universal Serial Bus) or the like. The connection form with peripheral devices may be wired or wireless.

[0039] Next, the functional configuration of the investigation support device 5 will be described with reference to FIG. 2. The investigation support device 5 has, as functional units, an image acquisition unit 511, a display processing unit 513, a pipe structure input unit 514, a damage input unit 515, a preview display unit 516, etc. Further, the investigation support device 5 may include a developed image generation unit 512 for generating a developed image. These functional units are realized by the CPU of the control unit 51 reading a processing program (pipe structure investigation support program) stored in the storage unit 52 and calling it to the work memory area on the RAM for execution.

[0040] The image acquisition unit 511 acquires the direct-view image photographed by the imaging system 2 and the developed image generated by the imaging system 2 via the communication unit 53 or the peripheral device I / F unit 56. Alternatively, the image acquisition unit 511 may read and acquire the direct-view image and the developed image stored in a storage medium, or the communication unit 53 may acquire the direct-view image and the developed image stored in another computer or the direct-view image and the developed image stored in the storage 3 via the network 4 such as a LAN or the Internet, and take them into the control unit 51.

[0041] The unfolded image generating unit 512 generates an unfolded image based on the direct-view image acquired by the image acquiring unit 511, and stores the unfolded image in the storage unit 52. Note that the unfolded image may be generated in real time while the direct-view image is being captured, or immediately after the direct-view image is captured, at the investigation site, and it may be confirmed at the investigation site whether the conversion was appropriate. In this case, the unfolded image is generated by the on-site PC 21, etc.

[0042] The display processing unit 513 executes a display process, and displays the direct-view image 72 acquired by the image acquisition unit 511, a partial range of the unfolded image 71, and an entire image 73 which is the unfolded image 71 covering the entire tube 10 side by side on the display unit 55 (see FIG. 5). In the display process, the display processing unit 513 displays the position of the direct-view image 72 to be displayed on the tube 10 in conjunction with the display range of the unfolded image 71, and indicates the above position on the entire image 73 and the unfolded image 71. Details of the display process and examples of display screens will be described later.

[0043] The pipe structure input unit 514 accepts input of information on structures such as joints and attachment pipes of the pipe 10 for images (mainly the unfolded image 71) acquired by the image acquisition unit 511. Then, objects 971, 972 indicating the structures (joints and attachment pipes) are displayed on the unfolded image 71 or the overall image 73 (see FIG. 7). In addition, the pipe structure input unit 514 adds identification information to each of the structures (joints, attachment pipes, etc.), links them to positional information on the pipe 10, and records them as pipe structure information.

[0044] When any position of the developed image 71 is indicated by the user, the damage input unit 515 displays a damage information input field 111 for inputting damage information (see FIGS. 9 and 10), and accepts the input of damage information. Further, the damage information input into the damage information input field 111 is recorded in association with the position (the position in the pipe 10) indicated by the user. Note that the damage position can be specified by a point or a box (range). Details of the processing of the damage input unit 515 and an example of a display screen will be described later.

[0045] The preview display unit 516 displays a damage list 150, which is a list of the recorded damage information, together with the overall image 73 (see FIG. 12). Details of the preview display processing and an example of a display screen will be described later.

[0046] Next, the flow of the pipe structure inspection using the pipe structure inspection support system 1 will be described. First, with reference to the flowchart of FIG. 3, the overall flow of the inspection will be described.

[0047] The operator transports the imaging system 2 to the inspection site and captures a moving image of the inside of the pipe 10 using the imaging device 22 (step S101). The captured moving image (video) is sequentially captured by the on-site PC 21 as a direct-view image 72. The on-site PC 21 executes a developed image generation process and generates a developed image 71 based on the captured direct-view image 72 (step S102).

[0048] When re-generating the developed image 71 (step S103; No), the process returns to step S101. When the generation of the developed image 71 is successful (step S103; Yes), the direct-view image 72 and the developed image 71 are stored (step S104).

[0049] When the processing from step S101 to step S104 is completed, the work at the inspection site is completed and the operator moves to the office (step S105). At the office, the operator performs work using the inspection support device 5.

[0050] When the control unit 51 of the investigation support device 5 starts the application (tubular structure investigation support processing program) (step S106), it executes the tubular structure investigation support processing. The control unit 51 acquires the direct view image 72 and the developed image 71 from the storage 3 or the like according to the operator's operation (step S107), and performs display processing (step S108), pipe structure input processing (step S109), damage input processing (step S110), preview display processing (step S111), and report creation processing (step S112), etc. Note that the processing in steps S107 to S112 may be changed in order or partially omitted depending on the work content and the operator. Hereinafter, the processing of each step will be described.

[0051] First, the display processing in step S108 will be described with reference to FIG. 4. The control unit 51 of the investigation support device 5 displays the main screen 7, which is the main display screen, on the display unit 55, and displays the developed image 71, the direct view image 72, and the overall image 73 acquired in step S107 in the respective display areas provided in the main screen 7 (step S301).

[0052] FIG. 5 is a diagram showing a display example of the main screen 7. In the example of FIG. 5, the display area of the developed image 71 is provided horizontally at the upper part of the screen, the display area of the direct view image 72 is provided at the lower left side of the screen, and the display area of the overall image 73 is provided at the lower right side of the screen. However, the layout and size of each display area are not limited to this.

[0053] The developed image 71 is displayed with the pipeline direction of the pipe 10 horizontal. The center in the vertical direction of the developed image 71 corresponds to the bottom of the pipe 10, and the upper and lower ends of the developed image 71 correspond to the top of the pipe 10. In addition, on the developed image 71, there are provided a scale 79 indicating the position in the pipeline direction in the pipe 10, a developed image handle 74, and buttons 77a, 77b for scrolling the display range of the developed image 71. The developed image handle 74 is an operation unit (first position designating means) that can be moved left and right by the user's operation, and the user can move the developed image handle 74 to specify an arbitrary position (pipeline direction position) on the developed image 71. Note that the pipeline direction position indicated by the scale 79 is the distance from the inlet of the pipe to the camera 22A.

[0054] The direct-view image 72 displays the direct-view image 72 captured at the position specified by the developed-image handle 74 (or the overall-image handle 76) among the direct-view images 72 captured as a series of videos. That is, among the frames of the video, the frame captured at the position specified by the developed-image handle 74 (or the overall-image handle 76) is displayed. It is desirable that the direct-view image 72 displays position information (the distance from the inlet of the tube to the camera 22A), joint numbers (identification information of the joint part), and the like. A playback button 75 (playback instruction input means) is provided near the direct-view image 72. When the playback button 75 is operated and a video playback instruction for the direct-view image 72 is input, the control unit 51 plays back the direct-view image 72 in the forward direction (the direction from the start point (the start point of shooting) to the end point (the end point of shooting) of the tube 10). Further, the control unit 51 moves the entire display range of the developed image 71 in conjunction with the displayed direct-view image 72. The control unit 51 moves the developed-image handle 74 in conjunction with the displayed direct-view image 72 and also moves the overall-image handle 76 in conjunction with the direct-view image 72. That is, it indicates the position of the direct-view image 72 being played back on the overall image 73 and the developed image 71. In addition to the playback button 75, a reverse-playback button for performing reverse playback, buttons for performing fast-forward and rewind operations, and movement buttons to the start point and end point may be provided. When the playback button 75 is operated again during video playback, the control unit 51 stops the playback.

[0055] The overall image 73 is a developed image obtained by shrinking the developed image 71 and displaying it across the entire pipeline. The pipeline direction of the pipe 10 is displayed horizontally. Similar to the developed image 71, the center in the vertical direction of the overall image 73 corresponds to the bottom of the pipe 10, and the upper and lower ends of the overall image 73 correspond to the top of the pipe 10. Also, on the overall image 73, an overall image handle 76, movement buttons 78a, 78b, etc. for moving the position of the overall image handle 76 are provided. The overall image handle 76 is an operation part (second position specifying means) that can be moved left and right by a user's operation. The user can move the overall image handle 76 to specify an arbitrary position (pipeline direction position) on the overall image 73. Also, the display position of the overall image handle 76 is moved left and right in conjunction with the position in the pipeline shown in the direct-view image 72 and the position of the developed image handle 74.

[0056] On the main screen 7, in addition to the developed image 71, the direct-view image 72, the overall image 73, etc., function buttons 81 to 85 for executing various functions are displayed. The function button 81 is a button operated when manually inputting the position of the joint part (connection part) of the pipe 10. The function button 82 is a button operated when specifying the damage position by a point. The function button 83 is a button operated when specifying the damage position by a box (range). The function button 84 is a button operated when manually inputting the position of the attachment pipe. The function button 85 is a button operated when moving the display position of the developed image 71. Also, a display size (magnification / reduction rate) change column 86 operated when changing (enlarging / reducing) the display range of the developed image 71, a reset button 87 operated when restoring the display size (magnification / reduction rate) to its original state, a grid display / non-display switching operation part 88, a pipe information display column 89 where various information (route number, manhole number, pipe length, total extension, etc.) about the pipe 10 displayed on the main screen 7 is displayed, pipe change buttons 90, 91 operated when changing the pipe 10 to be displayed on the main screen 7, a preview button 92 operated when performing a preview display of the damage information, etc. are provided.

[0057] Return to the description of FIG. 4. On the main screen 7, when the playback button 75 of the direct-view image 72 is operated (step S302; Yes), the control unit 51 plays back the direct-view image 72 and makes the display range of the unfolded image 71 linked to the direct-view image 72 (step S303). Also, the control unit 51 moves and displays the positions of the unfolded image handle 74 and the overall image handle 76 so as to indicate the position corresponding to the currently displayed direct-view image 72 (step S304).

[0058] Also, when the unfolded image handle 74 is operated (step S302; No → step S305; Yes), the control unit 51 displays the unfolded image 71 while moving the display range so that the position of the unfolded image handle 74 is always included in the display area, and displays the direct-view image 72 corresponding to the position of the unfolded image handle 74 (step S306). Also, it indicates the position corresponding to the position of the unfolded image handle 74 on the overall image 73 (moves the display position of the overall image handle 76; step S307).

[0059] When the overall image handle 76 is operated (step S305; No → step S308; Yes), the control unit 51 changes the display range of the unfolded image 71 so that the position indicated by the overall image handle 76 is included, and displays the direct-view image 72 corresponding to the position of the overall image handle 76 (step S309). Also, it indicates the position corresponding to the position of the overall image handle 76 on the unfolded image 71 (moves the display position of the unfolded image handle 74; step S310).

[0060] On the main screen 7, when other operations are input (step S308; No → step S311; Yes), the control unit 51 executes processing according to the operation (step S312). For example, when the grid display / non-display switching operation unit 88 on the main screen 7 is operated, the control unit 51 switches the display / non-display of the grid on the developed image 71 as shown in FIG. 6. The display color of the grid can be selected as white or black, and the grid width can also be changed such as 10 [mm], 50 [mm], 100 [mm], etc. By displaying the grid on the developed image 71, it becomes easier to recognize damage, the position and size of the structure. Also, when an operation such as a right click of the mouse is input on the direct-view image 72, the control unit 51 enlarges and displays the direct-view image 72. Also, after the function button 85 is selected and the developed image 71 is dragged with the mouse, the control unit 51 changes the display position of the developed image 71. Also, when an arbitrary magnification or reduction ratio is input in the display size (magnification / reduction ratio) change field 86, the control unit 51 displays the developed image 71 at the specified magnification or reduction ratio. When the reset button 87 is operated, the control unit 51 returns to the original magnification or reduction ratio (or a predetermined size set initially) and displays the developed image 71.

[0061] In steps S311 to S312, processing according to operations such as the above-described function buttons 81 to 85, the overall preview button 92, and magnification ratio change is performed. When no operation is input (step S311; No), the process returns to step S302 and waits for an operation.

[0062] Next, the pipe structure input process (step S109 in FIG. 3) will be described. The function button 81 on the main screen 7 is a button for specifying the joint part of the pipe. When an arbitrary position (pipe direction position) on the developed image is specified by an operation such as clicking while the function button 81 is selected, the control unit 51 of the investigation support device 5 overlays and displays objects 971, 972, … indicating the joint part at the specified position. Further, the function button 84 is a button for specifying the attachment pipe. When an arbitrary position (pipe direction position) on the developed image is specified by an operation such as clicking while the function button 84 is selected, the control unit 51 of the investigation support device 5 overlays and displays an object indicating the attachment pipe at the specified position.

[0063] For example, as shown in FIG. 7, linear objects 971, 972, … are overlaid and displayed at the position of the joint part. Although not shown, for example, a circular object is overlaid and displayed at the position of the attachment pipe. Further, the control unit 51 acquires the position information (distance position in the pipe 10) of these pipe structures from the developed image 71 and adds identification information to each pipe structure. It is desirable to add the identification information as a combination of an alphabet indicating the type of the pipe structure and a numerical value indicating the order from the start point of the pipe 10. For example, identification information such as "J1", "J2", … is added to the joint part. The control unit 51 associates the identification information and the position information of each pipe structure and stores them in the storage unit 52 as pipe structure information.

[0064] As shown in FIG. 7, objects 971, 972 are respectively displayed at the joint part on the developed image 71, and identification information 971a "J1", 972a "J2" is displayed above each object 971, 972. Further, pipe structure information 98 such as "pipe orifice" is displayed at the start point and the end point of the pipe 10.

[0065] Next, the damage input process (step S110 in FIG. 3) will be described with reference to the flowchart of FIG. 8. On the main screen 7, when the function button 82 is operated and switched to point input (step S501; point), and when an arbitrary position (point) on the developed image is clicked after that (step S502), the control unit 51 displays a point mark 110 at the click position (step S503) and acquires the position information of the pipe 10 at the click position (step S504). The control unit 51 displays the damage information input field 111 (step S505).

[0066] FIG. 9 is a diagram showing an example of a screen on which the damage information input field 111 in point designation is displayed. As shown in FIG. 9, a point mark 110 is displayed at the position specified by the user on the developed image 71, and a damage information display field 110a is displayed in the vicinity thereof. In the damage information display field 110a, damage information including the position information of the damage (pipe direction position), the identification number of the joint part, the mounting direction, the part, the content, etc. is displayed. Also, a damage information input field 111 is displayed at the lower part of the screen. In the damage information input field 111, a content data tab 111a and a photo tab 111b are provided, and FIG. 9 shows a state in which the content data tab 111a is selected. In the content data tab 111a, a distance input field 113, a part input field 114, a joint number display field 112, a remarks field 115, a damage number 116, a damage type input field 117, and a degree input field 118 are provided. In the distance input field 113, the position information (pipe direction position) of the specified point is reflected and displayed based on the position information added to the developed image 71. In the part input field 114, the part of the damage can be selected and input in the form of a drop-down list. In the joint number display field 112, when the pipe structure information has been input, the corresponding joint number is reflected and displayed. In the remarks field 115, arbitrary characters, numerical values, etc. can be input. In the damage type input field 117 and the degree input field 118, the type and degree of the damage can be input in the form of a drop-down list. The damage number 116 indicates the identification information of each damage. Note that since there may be multiple damages at the same location, it is desirable to provide a plurality of damage type input fields 117 and degree input fields 118.

[0067] On the photo tab 111b, a direct-view image 72 corresponding to a specified position, an enlarged photo of damage, etc. can be pasted (input). When the cancel button 111c is operated by the operator, the control unit 51 erases the damage information input field 111 and returns to the main screen 7. When information is input into the damage information input field 111 by the operator (step S506) and the decision button 111d is operated, the control unit 51 stores the information and image input into the damage information input field 111 as damage information in the storage unit 52 (step S507).

[0068] On the other hand, on the main screen 7, when the function button 83 is operated and after switching to box input (step S501; box), when an arbitrary range of the developed image is specified by a mouse operation or the like (step S508), the control unit 51 displays a box mark 120 in the specified range (step S509) and acquires the position information of the pipe 10 in the specified range (step S510). The control unit 51 displays the damage information input field 111 (step S505).

[0069] FIG. 10 is a diagram showing an example of a screen on which the damage information input field 111 in box designation is displayed. As shown in FIG. 10, a box mark 120 is displayed in the range specified by the user on the developed image 71, and a damage information display column 120a is displayed in the vicinity thereof. In the damage information display column 120a, damage information including damage range information (range of pipe direction position), location of joint parts, mounting direction, part, content, etc. is displayed. In addition, the damage information input field 111 is displayed at the lower part of the screen. In the damage information input field 111, similar to FIG. 9, a content data tab 111a and a photo tab 111b are provided, and FIG. 9 shows a state where the content data tab 111a is selected. In the content data tab 111a, a distance input field 113, a part input field 114, a joint number display column 112, a remarks column 115, a damage number 116, a damage type input field 117, and a degree input field 118 are provided. The position information of the range specified by box is reflected in the distance input field 113 and is displayed as "〇〇m to △△m" or the like. The others are the same as each part of the damage information input field 111 in FIG. 9. The same applies to the photo tab 111b.

[0070] When an operator inputs information into the damage information input field 111 (step S506) and operates the decision button 111d, the control unit 51 stores the information and images input into the damage information input field 111 as damage information in the storage unit 52 (step S507).

[0071] Next, the preview display process (step S111 in FIG. 3) will be described with reference to the flowchart of FIG. 11. When the preview button 92 is operated on the main screen 7 (step S601; Yes), the control unit 51 of the investigation support device 5 displays the preview screen 15 on the display unit 55 (step S602).

[0072] The control unit 51 acquires the damage information and pipe structure information stored in the storage unit 52, and also acquires the images (such as the direct viewing image 72 and the developed image 71, etc.) associated with the damage information (step S603), and list-displays the damage information reflecting the pipe structure information on the preview screen 15 (step S604).

[0073] FIG. 12 is a diagram showing an example of the display of the preview screen 15. As shown in FIG. 12, on the preview screen 15, a damage list 150, an overall image 73, and pipe information 89a are displayed. On the overall image 73, a dot mark 110 or a box mark 120 is displayed at the position of the damage recorded as damage information. In the damage list 150, the damage information 151, 152,... and the images 72, 71a, 71b,... associated with the respective damage information 151, 152,... are list-displayed in the order of damage numbers. The damage information 151, 152,... corresponds to the input information in the damage information input field 111 of FIGS. 9 and 10, and position information, part information, joint number, remarks, type of damage, and degree (rank), etc. are displayed. In addition, each damage information 151, 152,... is provided with a correction button 151a, 152a,... and the content can be corrected.

[0074] When the correction buttons 151a, 152a, … are operated (step S605; Yes), the control unit 51 accepts the correction of the damage information 151, 152, …. When the correction is input by the operator (step S606), the control unit 51 updates and stores the damage information reflecting the correction in the storage unit 52 (step S607). The control unit 51 stores the date and time of the correction, the correction content, the corrector information, etc. in the storage unit 52 as correction history information (step S608). If the correction buttons 151a, 152a, … are not operated (step S605; No), the preview process is terminated.

[0075] Next, the control unit 51 executes a report creation process (step S112 in FIG. 3). In the report creation process, the control unit 51 reads out the work information, pipe information, damage information, images, etc. from the storage unit 25, and generates a report in which the work information, pipe information, damage information, images, etc. are entered according to a predetermined format defined for each local government. The control unit 51 displays the generated report on the display unit 55. Also, in accordance with the instruction operation by the operator, printing output of the report, storage of report data, transmission, etc. are executed.

[0076] As described above, in the tubular structure investigation support system 1, the tubular structure investigation support device 5 acquires the direct-view image 72 photographed by the photographing system 2 and the developed image 71 generated by the on-site PC 21 or the tubular structure investigation support device 5, and arranges and displays the direct-view image 72, a partial range of the developed image 71, and the overall image 73 which is the developed image 71 covering the entire pipe on the main screen 7. The position of the pipe 10 in the displayed direct-view image 72, the position of the handle 74 on the developed image 71, and the position of the handle 76 on the overall image 73 can be linked. Also, a damaged portion can be specified by a point or a box on the developed image 71, and position information (position information of a point or a range) can be automatically calculated from the specified portion and reflected in the damage information. Further, an object indicating a pipe structure (such as a joint part or an attachment pipe) can be input and numbered in the developed image and recorded as pipe structure information. Also, the pipe structure information can be reflected in the damage information. Furthermore, a preview screen 15 can be displayed which shows a list display of the recorded damage information together with the overall image 73. Therefore, it becomes possible to efficiently perform the determination work of the damage information and the work of creating a report.

[0077] As described above, the preferred embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to such examples. For example, the layout of each screen, the display size of each image, the arrangement of function buttons, operation buttons, display columns, input columns, etc. are just examples, and other layouts, sizes, and arrangements may be adopted. In addition, it is obvious that those skilled in the art can come up with various modification examples or correction examples within the scope of the technical idea disclosed in the present application, and it is naturally understood that those also belong to the technical scope of the present invention.

Explanation of Reference Numerals

[0078] 1 ······ Tubular structure investigation support system 2 ······ Photographing system 21 ····· On-site PC 22 ····· Photographing device 3 ······ Storage 4 ······ Network 5 ······ Tubular structure investigation support device (computer) 51 ····· Control Unit 511 ····· Image Acquisition Unit 512 ····· Expanded Image Generation Unit 513 ····· Display Processing Unit 514 ····· Pipe Structure Input Unit 515 ····· Damage Input Unit 516 ····· Preview Display Unit 7 ······ Main Screen 71 ······ Expanded Image (Partial Range) 72 ······ Direct View Image 73 ······ Whole Image 74 ······ Expanded Image Handle (First Position Designation Means) 75 ······ Play Button 76 ······ Whole Image Handle (Second Position Designation Means) 79 ······ Scale Indicating Position Information 81 - 85 · Function Buttons 86 ······ Display Size Change Column 88 ······ Grid Display / Non - display Toggle Operation Unit 92 ······ Preview Button 971, 972 ··· Straight Line Object (Joint Part) 110 ······ Dot Mark 120 ······ Box Mark 111 ······ Damage Information Input Column 15 ······ Preview Screen 10 ······ Tubular Structure (Pipe)

Claims

1. Image acquisition means for acquiring a direct view image, which is an image captured by a wide-angle camera while moving inside a tubular structure along a pipeline, and a developed image generated based on the direct view image; Display means for arranging and displaying the direct view image acquired by the image acquisition means, a partial range of the developed image, and an overall image that is the developed image over the entire pipe; Playback instruction input means for inputting an instruction operation for playing back the direct view image as a video; Comprising: The direct view image is recorded as a video; Having a developed image handle provided on the developed image and an overall image handle provided on the overall image; When a playback instruction for the direct view image is input by the playback instruction input means, the display means plays back the direct view image as a video, moves the display range of the developed image in conjunction with the displayed direct view image, and moves the developed image handle in conjunction with the displayed direct view image, and also moves the overall image handle in conjunction with the displayed direct view image, thereby indicating the position of the pipeline of the direct view image being played back on the overall image and the developed image. A tubular structure investigation support device characterized by the above.

2. When the developed image handle is moved by the user, The display means displays the developed image while moving the display range so that the position indicated by the developed image handle is included in the display area of the developed image, displays the direct view image taken at the position indicated by the developed image handle, and moves the overall image handle to display it on the overall image so as to indicate the position corresponding to the position indicated by the developed image handle. When the overall image handle is moved by the user, The display means changes the display range of the developed image so that the position indicated by the overall image handle is included, displays the direct view image taken at the position indicated by the overall image handle, and moves the developed image handle to display it on the developed image so as to indicate the position corresponding to the position indicated by the overall image handle. The tubular structure investigation support device according to Claim 1, characterized by the above.

3. Damage input means for displaying a damage input screen for inputting damage information when an arbitrary position of the developed image is indicated; Damage recording means for recording the damage information input by the damage input means in association with the information of the indicated position. The tubular structure inspection support device according to claim 1 or claim 2, further comprising

4. The tubular structure inspection support device according to claim 3, wherein in the damage input means, the position can be specified within a range.

5. The tubular structure inspection support device according to claim 3 or claim 4, further comprising preview display means for reading out damage information recorded in the damage recording means and displaying it in a list together with the overall image.

6. Further comprising zoom operation input means for inputting an operation for enlarging and displaying the direct-view image, The tubular structure inspection support device according to any one of claims 1 to 5, wherein when an operation is performed by the zoom operation input means, the display means enlarges and displays the direct-view image.

7. The tubular structure inspection support device according to any one of claims 1 to 6, further comprising grid display switching means for displaying / hiding a grid on the developed image.

8. An imaging device that takes images with a wide-angle camera while advancing along a pipeline inside a tubular structure, A developed image generation device that generates a developed image of the tubular structure based on a direct-view image that is an image taken by the imaging device, A tubular structure inspection support device communicatively connected to the imaging device and the developed image generation device, and The tubular structure inspection support device is Image acquisition means for acquiring the direct-view image and the developed image, Display means for arranging and displaying the direct-view image acquired by the image acquisition means, a partial range of the developed image, and the overall image that is the developed image over the entire pipe, Playback instruction input means for inputting an instruction operation for playing back the direct-view image as a video, Comprising The direct-view image is recorded as a video, Having a developed image handle provided on the developed image and an overall image handle provided on the overall image, When a playback instruction for the direct-view image is input by the playback instruction input means, the display means plays back the direct-view image as a video, moves the display range of the developed image in conjunction with the displayed direct-view image, and moves the developed image handle in conjunction with the displayed direct-view image, and at the same time moves the overall image handle in conjunction with the displayed direct-view image, thereby indicating the position of the pipeline of the direct-view image being played back on the overall image and the developed image. A tubular structure inspection support system characterized by this. [

9. ] When the expanded image handle is moved by the user, the display means displays the expanded image while moving the display range so that the position indicated by the expanded image handle is included in the display area of the expanded image, and displays the direct-view image taken at the position indicated by the expanded image handle, and moves the entire image handle so as to indicate the position corresponding to the position indicated by the expanded image handle and displays it on the entire image. [

10. ] When the entire image handle is moved by the user, the display means changes the display range of the expanded image so that the position indicated by the entire image handle is included, displays the direct-view image taken at the position indicated by the entire image handle, and moves the expanded image handle so as to indicate the position corresponding to the position indicated by the entire image handle and displays it on the expanded image. The tubular structure inspection support system according to claim 8, characterized by the above. [

10. ] An image display method executed by a computer, obtaining a direct-view image, which is an image taken with a wide-angle camera while moving inside a tubular structure along a pipeline, and an expanded image generated based on the direct-view image; displaying the obtained direct-view image, a partial range of the expanded image, and the entire image, which is the expanded image over the entire pipe, side by side; inputting an instruction operation for video-playing the direct-view image; including the direct-view image is recorded as a video, having an expanded image handle provided on the expanded image and an entire image handle provided on the entire image, the displaying step video-plays the direct-view image when a reproduction instruction for the direct-view image is input, moves the display range of the expanded image in conjunction with the displayed direct-view image, moves the expanded image handle in conjunction with the displayed direct-view image, and moves the entire image handle in conjunction with the displayed direct-view image, thereby indicating the position of the pipeline of the direct-view image being reproduced on the entire image and the expanded image. An image display method for a tubular structure, characterized by the above. [

11. ] When the expanded image handle is moved by the user, The display step includes displaying the expanded image while moving a display range so that the position indicated by the expanded image handle is included in a display area of the expanded image, displaying the direct-view image captured at the position indicated by the expanded image handle, and moving the whole image handle so as to indicate a position corresponding to the position indicated by the expanded image handle and displaying it on the whole image; When the whole image handle is moved by the user, The image display method for a tubular structure as described in claim 10, characterized in that the display step changes the display range of the unfolded image so as to include the position indicated by the overall image handle, displays the direct-view image taken at the position indicated by the overall image handle, and moves the unfolded image handle to indicate a position corresponding to the position indicated by the overall image handle and displays it on the unfolded image.

12. Computer, an image acquisition means for acquiring a direct-view image, which is an image captured by a wide-angle camera while proceeding along the inside of the tubular structure, and a development image generated based on the direct-view image; a display means for displaying the direct-view image acquired by the image acquisition means, a partial range of the developed image, and a whole image which is the developed image covering the entire pipe, side by side; A reproduction instruction input means for inputting an instruction operation for reproducing the direct-view image as a moving image. A program for causing the device to function as a The direct-view image is recorded as a video; A development image handle provided on the development image and an entire image handle provided on the entire image, When a playback instruction for the direct-viewed image is input by the playback instruction input means, the display means plays back the direct-viewed image as a moving image, moves the display range of the unfolded image in conjunction with the direct-viewed image being displayed, moves the unfolded image handle in conjunction with the direct-viewed image being displayed, and moves the whole image handle in conjunction with the direct-viewed image being displayed, thereby indicating the position of the direct-viewed image being displayed in the pipeline on the whole image and the unfolded image. A program characterized by:

13. When the expanded image handle is moved by a user, The display means displays the developed image while moving the display range so that the position indicated by the developed image handle is included in the display area of the developed image, and also displays the direct-view image taken at the position indicated by the developed image handle. The overall image handle is moved and displayed on the overall image so as to indicate the position corresponding to the position indicated by the developed image handle. When the overall image handle is moved by a user operation, the display means changes the display range of the developed image so that the position indicated by the overall image handle is included, displays the direct-view image taken at the position indicated by the overall image handle, and moves the developed image handle and displays it on the developed image so as to indicate the position corresponding to the position indicated by the overall image handle. The program according to claim 12, characterized in that.

Images