Tubular structure investigation support device, tubular structure investigation support system, tubular structure image display method, and program

Abstract

To provide a tubular structure investigation support device and the like which enable scrolling in the vertical direction of a development image and facilitates confirmation of continuation of a development position.SOLUTION: In a tubular structure investigation support system 1, a tubular structure investigation support device 5 acquires a development image 71 of an inner wall of a tubular structure 10 like water and sewage pipes, and displays the image with the transverse axis as a duct direction and the vertical axis as a peripheral direction of a tube 10 on a display unit 55. A control unit 51 of the tubular structure investigation support device 5 receives a scroll operation in the vertical axis direction of the development image 71, scroll-displays the development image in the vertical axis direction according to the scroll operation, and can switch the development image between a state where the development image is made to be the 360° display and a state where the development image is made to be the lap display in which the same region is displayed on an upper portion A and a lower portion B of the development image.SELECTED DRAWING: Figure 8

Description

[Technical Field]

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

[0002] Inspections are conducted to check for damage and the condition of tubular structures such as water supply and sewerage pipes, cable pipes, tunnels, etc. In these inspections, a camera that travels inside the pipe is used to photograph the inner wall surface along the pipe, and image data of the photographed inner wall surface is used to create an expanded image on a computer.The expanded image is then visually inspected by workers to determine damage and prepare an inspection report.

[0003] For example, Patent Document 1 describes an intra-pipe work device monitoring system that is composed of an intra-pipe work device that can move within a pipeline and a ground device equipped with a monitor, in which the ground device displays an image showing the current position of the intra-pipe work device on an expanded image created based on image data of the inner wall of the pipeline.

[0004] Patent Document 2 also describes a pipe wall image development system that creates an unfolded image based on all-sky image data of the inside of a tubular object captured while moving along the inside of the tubular object. The pipe wall image development system of Patent Document 2 holds cables, wires, etc. connected to an image capture means running inside the pipe so that they do not slacken, detects the position of the image capture means from the amount of cable, wire, etc. that is fed out, obtains position information Sp, and inserts the position information Sp into the image data Sv as a digital signal when image data Sv is input from the image capture means, thereby generating an unfolded image without distortion.

[0005] Furthermore, Non-Patent Document 1 describes a sewerage report creation system for creating a sewerage pipe inspection report in a predetermined format. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Publication No. 2010-066070 [Patent Document 2] Publication No. 2008-090782 [Non-patent literature]

[0007] [Non-Patent Document 1] Nozawa Electronics Co., Ltd., "Sewerage Report Creation System," [online], searched on August 3, 2021, Internet,<URL:http: / / nozawa-densi.sakura.ne.jp / CCP004.html> Summary of the Invention [Problem to be solved by the invention]

[0008] However, the unfolded image is usually unfolded (cut) based on the apex or bottom of the tube, which means that if the area you want to observe straddles the unfolded (cut) position, it can be difficult to confirm.

[0009] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a tubular structure inspection support device, etc., which enables scrolling of the unfolded image in the vertical axis direction, making it easy to confirm the continuation of the unfolded position (cutting position). [Means for solving the problem]

[0010] A first invention for solving the above-mentioned problems comprises a display means for displaying an expanded image of an inner wall of a tubular structure, with the horizontal axis being the pipe line direction and the vertical axis being the pipe circumferential direction, and an operation means for scrolling the expanded image displayed by the display means in the vertical axis direction, and the display means scrolls the expanded image in the vertical axis direction in accordance with an operation by the operation means. The display means displays the same area overlappingly at the top and bottom of the expanded image.The present invention is a tubular structure inspection support device characterized by the above.

[0011] According to the tubular structure inspection support device of the first invention, the unfolded image of the inside of the tubular structure can be scrolled in the vertical axis direction, making it easy to check for damage that exists across the unfolded position of the unfolded image. Moreover, by providing overlapping display areas and enabling scrolling in the vertical direction, it is possible to display large damage in a manner that makes it easy to observe.

[0012] A second invention is a display device that displays an expanded image of an inner wall of a tubular structure, with a horizontal axis representing the pipeline direction and a vertical axis representing the circumferential direction of the pipe, and an operation device that scrolls the expanded image displayed by the display device in the vertical axis direction, wherein the display device scrolls and displays the expanded image in the vertical axis direction in accordance with an operation by the operation device, and displaying the unfolded image so that the upper and lower ends of the unfolded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displaying the same area overlapping at the top and bottom of the unfolded image, The tubular structure inspection support device further comprises a damage input means for displaying a damage input screen for inputting damage information when an arbitrary position on the unfolded image is designated. According to the tubular structure inspection support device of the second invention, the unfolded image of the inside of the tubular structure can be scrolled in the vertical axis direction, making it easy to check for damage that exists across the unfolded position of the unfolded image. In addition, damage information can be input while scrolling the image in the vertical axis direction. In the second aspect of the present invention, the damage input means may specify the position as a range, thereby making it possible to input damage as a range, thereby improving work efficiency.

[0013] A third invention is a display device that displays an expanded image of an inner wall of a tubular structure, with a horizontal axis representing the pipeline direction and a vertical axis representing the circumferential direction of the pipe, and an operation device that scrolls the expanded image displayed by the display device in the vertical axis direction, wherein the display device scrolls and displays the expanded image in the vertical axis direction in accordance with an operation by the operation device, and displaying the unfolded image so that the upper and lower ends of the unfolded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displaying the same area overlapping at the top and bottom of the unfolded image, The display means displays the direct-view image that is the basis of the unfolded image alongside the unfolded image, displays a line at a predetermined position in the vertical axis direction of the displayed unfolded image, and is a tubular structure inspection support device characterized by further comprising a predetermined position display means for displaying a mark at a position on the direct-view image that corresponds to the predetermined position. According to the tubular structure inspection support device of the third invention, the unfolded image of the inside of the tubular structure can be scrolled in the vertical axis direction, making it easy to check for damage that exists across the unfolded positions of the unfolded image. Furthermore, even when scrolling in the vertical axis direction, it is possible to check the corresponding positions in the unfolded image and the direct view image without losing track of which position is the pipe top position (or pipe bottom, position of interest, etc.).

[0014] A fourth invention is an image display method executed by a computer, which includes the steps of displaying an expanded image of the inner wall of a tubular structure, with the horizontal axis being the pipeline direction and the vertical axis being the circumferential direction of the pipe, accepting an operation to scroll the displayed expanded image in the vertical axis direction, and scrolling the expanded image in the vertical axis direction in accordance with the operation, wherein the displaying step displays the same area overlapping at the top and bottom of the expanded image. According to the fourth aspect of the present invention, the unfolded image of the inside of the tubular structure can be scrolled up and down along the inner wall, making it easy to check for damage that exists across the unfolded position of the unfolded image. In addition, by providing an overlapping display area and enabling scrolling along the vertical axis, large damage can be displayed in a manner that makes it easy to observe.

[0015] A fifth invention is an image display method executed by a computer, comprising the steps of: displaying an unfolded image of an inner wall of a tubular structure with a horizontal axis representing a pipeline direction and a vertical axis representing a circumferential direction of the pipe; receiving an operation for scrolling the displayed unfolded image in the vertical axis direction; and scrolling and displaying the unfolded image in the vertical axis direction in accordance with the operation, the displaying step displays the expanded image so that the top and bottom ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the top and bottom of the expanded image so that they overlap, The image display method for a tubular structure further comprises a step of displaying a damage input screen for inputting damage information when an arbitrary position on the unfolded image is designated. According to the fifth aspect of the present invention, the unfolded image of the inside of the tubular structure can be scrolled up and down along the inner wall, making it easy to check for damage that exists across the unfolded position of the unfolded image. In addition, damage information can be input while scrolling the image in the vertical direction.

[0016] A sixth aspect of the present invention is an image display method executed by a computer, comprising the steps of: displaying an unfolded image of an inner wall of a tubular structure with a horizontal axis representing the pipeline direction and a vertical axis representing the circumferential direction of the pipe; receiving an operation for scrolling the displayed unfolded image in the vertical axis direction; and scrolling and displaying the unfolded image in the vertical axis direction in accordance with the operation, the displaying step displays the expanded image so that the top and bottom ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the top and bottom of the expanded image so that they overlap,The display step is a method for displaying an image of a tubular structure, characterized in that the direct-view image that is the basis of the unfolded image is displayed alongside the unfolded image, a line is displayed at a predetermined position in the vertical axis direction of the displayed unfolded image, and a mark is displayed at a position on the direct-view image that corresponds to the predetermined position. According to the sixth aspect of the present invention, the unfolded image of the inside of the tubular structure can be scrolled up and down along the inner wall, making it easy to check for damage that exists across the unfolded position of the unfolded image. Even when scrolling vertically, it is possible to check the corresponding positions in the unfolded image and the direct view image without losing track of which position is the pipe top position (or pipe bottom, position of interest, etc.).

[0017] A seventh invention is a program that causes a computer to function as a display means for displaying an expanded image of the inner wall of a tubular structure, with the horizontal axis representing the pipe direction and the vertical axis representing the circumferential direction of the pipe, and an operation means for scrolling the expanded image displayed by the display means in the vertical axis direction, and causes the display means to scroll the expanded image in the vertical axis direction in accordance with an operation by the operation means, wherein the display means displays the same area overlappingly at the top and bottom of the expanded image. . According to the seventh aspect of the present invention, a computer can be made to function as the tubular structure inspection support device according to the first aspect of the present invention.

[0018] An eighth invention is a program that causes a computer to function as a display means that displays an expanded image of an inner wall of a tubular structure, with a horizontal axis representing the pipeline direction and a vertical axis representing the circumferential direction of the pipe, and an operation means that scrolls the expanded image displayed by the display means in the vertical axis direction, and causes the display means to scroll the expanded image in the vertical axis direction in accordance with an operation by the operation means, the display means displays the expanded image so that the upper and lower ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the upper and lower parts of the expanded image so as to overlap each other; The program is characterized by further functioning as damage input means for displaying a damage input screen for inputting damage information when an arbitrary position on the unfolded image is designated. According to the eighth aspect of the present invention, a computer can be made to function as the tubular structure inspection support device according to the second aspect of the present invention.

[0019] A ninth aspect of the present invention is a program that causes a computer to function as a display means that displays an expanded image of an inner wall of a tubular structure, with a horizontal axis representing the pipeline direction and a vertical axis representing the circumferential direction of the pipe, and an operation means that scrolls the expanded image displayed by the display means in the vertical axis direction, and causes the display means to scroll the expanded image in the vertical axis direction in accordance with an operation by the operation means, the display means displays the expanded image so that the upper and lower ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the upper and lower parts of the expanded image so as to overlap each other;The display means is a program characterized in that it further functions as a predetermined position display means that displays a direct-view image that is the basis of the unfolded image alongside the unfolded image, displays a line at a predetermined position in the vertical axis direction of the displayed unfolded image, and displays a mark at a position on the direct-view image that corresponds to the predetermined position. According to the ninth aspect of the present invention, a computer can be made to function as the tubular structure inspection support device according to the third aspect of the present invention. [Effects of the Invention]

[0022] The present invention can provide a tubular structure inspection support device and the like that allows vertical scrolling of the unfolded image and makes it easy to check the continuation of the unfolded position. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram showing an example of the overall configuration of a tubular structure inspection support system 1. [Figure 2] A block diagram showing the functional configuration of the imaging system 2 and the tubular structure inspection support device 5. [Figure 3] Flowchart showing the overall flow of the investigation process [Figure 4] Flowchart showing the flow of display processing [Figure 5] FIG. 10 is a diagram showing an example of a main screen 7. [Figure 6] A continuation of the flowchart in Figure 4. [Figure 7] An example of a grid display [Figure 8] FIG. 10 shows an example of a wrap display in which the same area is displayed overlappingly at the top A and bottom B of the unfolded image 71. [Figure 9] A diagram showing an example of displaying objects 971 and 972 indicating pipe structures (joints) [Figure 10] Flowchart showing the flow of damage input processing [Figure 11] A diagram showing an example of specifying points for damaged areas [Figure 12] An example of specifying a box (range) for a damaged area [Figure 13] Flowchart showing the preview process [Figure 14] FIG. 1 shows an example of a preview screen 15. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0025] FIG. 1 is a diagram showing the overall configuration of a tubular structure inspection support system 1 according to the present invention. In the following description, as an example, a tubular structure inspection support system 1 will be described in which an imaging system 2, a storage 3, and a tubular structure inspection support device (hereinafter, inspection support device) 5 are communicably connected via a network 4, as shown in FIG. 1. Note that the system configuration example shown in FIG. 1 is merely an example, and the present invention is not limited to this. For example, the storage 3 may be omitted, and the imaging system 2 and inspection support device 5 may be connected via the network 4, or the imaging system 2 and inspection support device 5 may not be communicatively connected via the network 4, and image data and the like may be exchanged via a recording medium or the like.

[0026] The photography system 2 includes a photography device 22 that photographs the interior of a tubular structure 10 (such as a water supply and sewerage pipe, an intake and exhaust pipe, a cable pipe, or a tunnel; hereinafter, referred to as "pipe 10") to be inspected using a wide-angle camera 22A while traveling along the pipe. The photography device 22 is a traveling vehicle equipped with a wide-angle camera 22A and an encoder. 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 site PC 21 includes an interface for acquiring images (hereinafter, "direct-view images 72") captured by the photography device 22 and the distance measured by the encoder, a communication interface for connecting to the network 4, a control unit (CPU, ROM, RAM), a memory unit, an input unit, a display unit, and the like. The site PC 21 preferably has a function for generating an unfolded image 71 based on the direct-view images 72 acquired from the photography device 22; however, the unfolded image 71 may be generated by a separate computer terminal.

[0027] The unfolded image 71 is an image obtained by cutting open a moving image (direct-view image 72) captured inside the pipe 10 in the pipeline direction and unfolding it into a flat image. A method for creating the unfolded image 71 is known, and is described, for example, in Japanese Patent Application Laid-Open No. 2010-066070. The imaging system 2 can also be configured using the work equipment and ground equipment described in the above-mentioned patent document, or similar known imaging systems. The on-site PC 21 records distance information (the distance from the pipe entrance to the wide-angle camera 22A) acquired by the encoder as position information (position in the pipeline direction) in the captured image (direct-view image 72) and the unfolded image 71.

[0028] The on-site PC 21 stores the captured direct-view image 72 in the storage 3 via the network 4. When the on-site PC 21 generates the unfolded image 71, the generated unfolded image 71 is linked to the direct-view image 72 and stored in the storage 3. Alternatively, the on-site PC 21 may transmit the direct-view image 72 and the unfolded image 71 to the investigation support device 5 via the network 4. Alternatively, the on-site PC 21 may record the direct-view image 72 and the unfolded image 71 on a recording medium.

[0029] The storage 3 is a storage server accessible via the network 4, and has a memory area for saving the direct-view images 72, unfolded images 71, construction information, etc. sent from the site PC 21. When the storage 3 receives an image acquisition request from the investigation support device 5, it sends the corresponding direct-view images 72 or unfolded images 71 in response to the request.

[0030] Next, the investigation support device 5 will be described. As shown in Fig. 2, the investigation support device 5 is configured by a computer in which a control unit 51, a memory unit 52, a communication unit 53, an input unit 54, a display unit 55, 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. The configuration of the investigation support device 5 can be changed as appropriate. A tubular structure investigation support program is installed in the investigation support device 5, and the control unit 51 executes processing in accordance with the tubular structure investigation support program to realize each of the functions described below.

[0031] The control unit 51 is composed of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc. The CPU loads programs stored in the memory unit 52, ROM, etc. into a work memory area on the RAM and executes them, driving and controlling each unit (memory unit 52, communication unit 53, input unit 54, display unit 55, peripheral device I / F unit 56) connected via a bus. The ROM permanently stores programs such as a boot program and BIOS, data, etc. The RAM temporarily stores loaded programs and data and also provides a work area used by the control unit 51 to perform various processes.

[0032] The storage unit 52 is a storage device such as a flash memory or a hard disk, and stores acquired image data, input damage information, input pipe structure information, etc. The storage unit 52 also stores processing programs (collectively referred to as "tubular structure inspection support programs" or "apps") related to the functions described below.

[0033] The communication unit 53 has a WiFi antenna, a communication port for a wireless communication unit such as Bluetooth, or a wired communication unit such as a LAN, and a communication control device, and is an interface that mediates communication with external devices.

[0034] The input unit 54 includes, for example, a touch panel, a keyboard, a pointing device such as a mouse, an input device such as a numeric keypad, and the like, and inputs input data to the control unit 51.

[0035] The display unit 55 is composed of 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 causes the display to display display data input under the control of the control unit 51. 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.

[0036] 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 the peripheral devices via the peripheral device I / F unit 56. The peripheral device I / F unit 56 is configured by a USB (Universal Serial Bus) or the like. The connection with the peripheral devices may be wired or wireless.

[0037] Next, the functional configuration of the research support device 5 will be described with reference to FIG. The investigation support device 5 has, as functional units, an image acquisition unit 511, a display processing unit 513, a vertical scrolling operation unit 517, a tubular structure input unit 514, a damage input unit 515, and a preview display unit 516. The investigation support device 5 may also include an unfolded image generation unit 512 that generates an unfolded image 71. These functional units are realized by the CPU of the control unit 51 reading a processing program (tubular structure investigation support program) stored in the storage unit 52, calling it up into a work memory area on the RAM, and executing it.

[0038] The image acquisition unit 511 acquires the direct-view image 72 captured by the imaging system 2 and the generated unfolded image 71 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 72 and the unfolded image 71 stored in a storage medium, or the communication unit 53 may acquire the direct-view image 72 and the unfolded image 71 stored in another computer or the direct-view image 72 and the unfolded image 71 stored in the storage 3 via the network 4 such as a LAN or the Internet, and take them into the control unit 51.

[0039] The unfolded image generating unit 512 generates an unfolded image 71 of the inner wall of the tubular structure 10 based on the direct-view image 72 acquired by the image acquiring unit 511, and stores the unfolded image 71 in the storage unit 52. Note that the unfolded image 71 may be generated in real time while the direct-view image 72 is being captured, or immediately after the direct-view image 72 is captured, at the inspection site, and it may be confirmed at the inspection site whether the conversion was appropriate. In this case, the unfolded image 71 is generated by the on-site PC 21 or the like.

[0040] The display processing unit 513 executes display processing to display the direct-view image 72 acquired by the image acquisition unit 511, a partial range of the unfolded image 71, and an overall image 73, which is the unfolded image 71 covering the entire pipe 10, side by side on the display unit 55 (see FIG. 5). The unfolded image 71 and the overall image 73 are displayed with the horizontal axis representing the pipe direction and the vertical axis representing the circumferential direction of the pipe. In the display processing, the display processing unit 513 displays the position of the direct-view image 72 to be displayed on the pipe 10 in conjunction with the display range of the unfolded image 71, and indicates this position on the overall image 73 and the unfolded image 71. Details of the display processing and examples of display screens will be described later.

[0041] In this embodiment, the display processing unit 513 may display the unfolded image 71 so that its upper and lower ends are continuous (360° display) (see FIG. 5), or may perform a wrap display (see FIG. 8) in which the same area is overlapped in a predetermined range A at the top and a predetermined range B at the bottom of the unfolded image 71. The horizontal axis X of the unfolded image 71 represents the position x in the pipe path direction, and the vertical axis Y represents the angle θ in the circumferential direction of the pipe 10. In the case of a 360° display, the unfolded image 71 is displayed for exactly one revolution, with the top of the unfolded image 71 at 0° (pipe top), the center in the vertical direction at 180° (pipe bottom), and the bottom at 360° (=0°). This is the case of "upper unfolded" in which the pipe top (0°) is the unfolded position. However, when the pipe bottom (180°) is the unfolded position, the unfolded image 71 is displayed so that its top is 180° (pipe bottom), the center in the vertical direction at 0° (pipe top), and the bottom is 180°. The display position can be changed using the "upward display" switch on the main screen 7. The lap display is a display format in which more than one lap (360°+α°, 0<α<180°) is displayed in an overlapping manner. A vertical display switch 94 may also be provided, allowing the user to switch between the 360° display and the lap display.

[0042] The vertical scroll operation unit 517 accepts an operation for scrolling the unfolded image 71 displayed on the display unit 55 in the vertical axis direction. Any method for vertical scrolling may be used, but a suitable example is, for example, a "spacebar + drag-and-drop" operation. When a vertical scroll operation is performed, the display processing unit 513 scrolls the unfolded image 71 in the vertical axis direction in accordance with the operation. For example, if the unfolded image 71 is displayed so that its top end is 0° (the top of the pipe), its vertical center is 180° (the bottom of the pipe), and its bottom end is 360° (=0°), when a vertical scroll operation is performed upward, the unfolded image 71 is shifted by +β° (β is an arbitrary value) and displayed. At this time, an image corresponding to the shifted β° is inserted so as to connect to the bottom end. Similarly, when a vertical scroll operation is performed downward, the unfolded image 71 is shifted by -β° and displayed. An image corresponding to the shifted β° is inserted so as to connect to the top end. In other words, the top or bottom end of the unfolded image 71 can be continuously displayed by the vertical scroll operation. Therefore, for example, damage such as a crack that is displayed separately at the top and bottom of the expanded image 71 can be viewed as a continuous image by vertical scrolling.

[0043] The pipe structure input unit 514 receives input of information about 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. 9). The pipe structure input unit 514 also adds identification information to each of the structures (joints, attachment pipes, etc.), links it to positional information on the pipe 10, and records it as pipe structure information.

[0044] When a user designates an arbitrary position on the unfolded image 71, the damage input unit 515 displays a damage information input field 111 for inputting damage information (see FIGS. 11 and 12) and accepts the input of the damage information. The damage information input into the damage information input field 111 is recorded in association with the position designated by the user (position on the pipe 10). The damage position can be designated by a point (dot) or a box (range). Details of the processing by the damage input unit 515 and examples of display screens will be described later.

[0045] The preview display section 516 displays a damage list 150, which is a list of recorded damage information, together with the entire image 73 (see FIG. 14). Details of the preview display process and examples of the display screen will be described later.

[0046] Next, we will explain the flow of tubular structure inspection using the tubular structure inspection support system 1. First, we will explain the overall flow of the inspection with reference to the flowchart in FIG.

[0047] The worker carries the imaging system 2 to the inspection site and uses the imaging device 22 to capture video of the inside of the pipe 10 (step S101). The captured video (images) are sequentially imported into the on-site PC 21 as direct-view images 72. The on-site PC 21 executes an unfolded image generation process and generates an unfolded image 71 based on the imported direct-view images 72 (step S102).

[0048] If the generation of the exfoliated image 71 is to be redone (step S103; No), the process returns to step S101. If the generation of the exfoliated image 71 is successful (step S103; Yes), the direct-view image 72 and the exfoliated image 71 are stored (step S104).

[0049] When the processing of steps S101 to S104 is completed, the work at the investigation site is finished and the worker moves to the office (step S105). In the office, the worker performs work using the investigation support device 5.

[0050] When the application (tubular structure investigation support processing program) is launched (step S106), the control unit 51 of the investigation support device 5 executes tubular structure investigation support processing. The control unit 51 acquires direct-view images 72 and unfolded images 71 from the storage 3 or the like in accordance with the operator's operation (step S107), and performs display processing (step S108), tubular structure input processing (step S109), damage input processing (step S110), preview display processing (step S111), and report creation processing (step S112), etc. The order of the processing in steps S107 to S112 may be changed or some may be omitted depending on the work content and the operator. The processing in each step will be described below.

[0051] First, the display process of step S108 will be described with reference to Fig. 4. The control unit 51 of the research support device 5 displays the main screen 7 (Fig. 5), which is the main display screen, on the display unit 55, and displays the unfolded image 71, direct-view image 72, and full image 73 acquired in step S107 in each display area provided within 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 for the unfolded image 71 is provided horizontally at the top of the screen, the display area for the direct-view image 72 is provided at the bottom left of the screen, and the display area for the whole image 73 is provided at the bottom right of the screen, but the layout and size of each display area are not limited to this.

[0053] The unfolded image 71 is displayed with the pipeline direction of the pipe 10 as the horizontal axis and the circumferential direction of the pipe as the vertical axis. In FIG. 5, the vertical display switch 94 is used to set the display to 360°, with the center of the vertical axis of the unfolded image 71 corresponding to the bottom of the pipe 10 (180°), and the upper and lower ends of the unfolded image 71 corresponding to the top of the pipe 10 (0°, 360°). The unfolded image 71 is also provided with a scale 79 indicating the pipeline direction position of the pipe 10, an unfolded image handle 74, and buttons 77a and 77b for horizontally scrolling the display range of the unfolded image 71. The unfolded image handle 74 is an operation unit (first position designation means) that can be moved left and right by a user's operation, and the user can designate any position (pipeline direction position) on the unfolded image 71 by moving the unfolded image handle 74. The pipeline direction position indicated by the scale 79 is the distance from the entrance of the pipe to the camera 22A.

[0054] The direct-view image 72 is a direct-view image 72 captured at a position specified by the expanded image handle 74 (or the entire image handle 76) among the direct-view images 72 captured as a series of moving images. That is, among the frames of the moving image, the frame captured at the position specified by the expanded image handle 74 (or the entire image handle 76) is displayed. It is desirable that position information (the distance from the entrance of the pipe to the camera 22A), a joint number (identification information of the joint), etc. be displayed on the direct-view image 72. A play button 75 (playback instruction input means) is provided near the direct-view image 72. When the play button 75 is operated to input an instruction to play the moving image of the direct-view image 72, the control unit 51 plays the direct-view image 72 in the forward direction (from the start point (start point of shooting) of the pipe 10 to the end point (end point of shooting)). The control unit 51 also moves the entire display range of the expanded image 71 in conjunction with the direct-view image 72 being displayed. The control unit 51 moves the expanded image handle 74 in conjunction with the direct-view image 72 being displayed, and also moves the whole image handle 76 in conjunction with the direct-view image 72. That is, the position of the direct-view image 72 being played back is indicated on the whole image 73 and the expanded image 71. In addition to the play button 75, a reverse play button for reverse playback, buttons for fast-forwarding and fast-rewinding operations, and buttons for moving to the start point and end point may also be provided. If the play button 75 is operated again during video playback, the control unit 51 stops playback.

[0055] The entire image 73 is a reduced version of the unfolded image 71, which displays the entire pipeline, and is displayed with the pipeline direction of the pipe 10 as the horizontal axis and the circumferential direction of the pipe as the vertical axis. As with the unfolded image 71, the vertical center of the entire image 73 corresponds to the bottom of the pipe 10, and the upper and lower ends of the entire image 73 correspond to the top of the pipe 10. The entire image 73 is also provided with an entire image handle 76, and movement buttons 78a, 78b, etc. for moving the position of the entire image handle 76. The entire image handle 76 is an operation unit (second position designation means) that can be moved left and right by a user's operation, and the user can designate any position (pipeline direction position) on the entire image 73 by moving the entire image handle 76. The display position of the entire image handle 76 is moved left and right in conjunction with the position in the pipeline displayed by the direct-view image 72 and the position of the unfolded image handle 74.

[0056] The main screen 7 displays an unfolded image 71, a direct view image 72, an overall image 73, etc., as well as function buttons 81 to 85 for executing various functions. Function button 81 is a button operated when manually inputting the position of the joint (joint) of pipe 10, function button 82 is a button operated when specifying the damaged position with a point (dot), function button 83 is a button operated when specifying the damaged position with a box (range), function button 84 is a button operated when manually inputting the position of the attached pipe, and function button 85 is a button operated when moving the display position of unfolded image 71. In addition, there are provided a display size (enlargement / reduction rate) change field 86 that is operated when changing (enlarging / reducing) the display range of the expanded image 71, a reset button 87 that is operated when returning the display size (enlargement / reduction rate) to its original state, a grid display / hide switching operation unit 88, a pipe information display field 89 that displays various information about the pipe 10 displayed on the main screen 7 (route number, manhole number, pipe length, total length, etc.), pipe change buttons 90 and 91 that are operated when changing the pipe 10 displayed on the main screen 7, a preview button 92 that is operated when displaying a preview of damage information, and a vertical display switch 94 for switching the display of the expanded image 71 between a 360° display and a 360° + α° wrap display.

[0057] Returning to the explanation of Figure 4. When the playback button 75 of the direct-view image 72 is operated on the main screen 7 (step S302; Yes), the control unit 51 dynamically plays back the direct-view image 72 and synchronizes the display range of the unfolded image 71 with the direct-view image 72 (step S303). The control unit 51 also moves and displays the positions of the unfolded image handle 74 and the whole image handle 76 so as to indicate positions corresponding to the direct-view image 72 being displayed (step S304).

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

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

[0060] Let us move on to the flowchart in Figure 6. When the grid display / hide switching operation unit 88 on the main screen 7 is operated (step S311; Yes), the control unit 51 switches between displaying and hiding the grid 95 on the unfolded image 71, as shown in Fig. 7 (step S312). The display color of the grid 95 can be selected as white or black, and the grid width can also be changed to 10 [mm], 50 [mm], 100 [mm], etc. Displaying the grid 95 on the unfolded image 71 makes it easier to recognize the position and size of damage and structures.

[0061] When a vertical scroll operation is performed on the exfoliated image 71 (step S313; Yes), the control unit 51 scrolls the exfoliated image 71 in the vertical axis direction in accordance with the operation (step S314). For example, if the exfoliated image 71 is displayed with 0° (pipe apex) at the top, 180° (pipe bottom) at the vertical center, and 360° (=0°) at the bottom, when a vertical scroll operation is performed upward, the control unit 51 shifts the exfoliated image 71 by +β° (β is an arbitrary number). When a vertical scroll operation is performed downward, the control unit 51 shifts the exfoliated image 71 by -β°. In addition, in conjunction with the vertical scroll display, the control unit 51 displays a line 93 at the position of the pipe apex on the exfoliated image 71 and a mark 96 at a position (angle θ) indicating the pipe apex on the direct-view image 72 (step S315). In the example of FIG. 7, the line 93 and the mark 96 are both represented by the same "☆" mark. This allows the user to immediately identify the location of the pipe apex even if the position of the pipe apex on the exfoliated image 71 is moved up or down by vertical scrolling. Although it is preferable that the mark 96 and the line 93 are at the pipe apex position, the mark 96 and the line 93 can also be displayed at a predetermined position, such as the pipe bottom position or a designated area of interest. Alternatively, the control unit 51 may display on the direct-view image 72 the angle (θ) of the pipe 10 to which the vertical center of the unfolded image 71 corresponds. In this case, the line 93 is displayed at the pipe apex position in the unfolded image 71, and the mark 96 is displayed at the angle θ on the direct-view image 72.

[0062] If any other operation is input (step S308; No → step S316; Yes), the control unit 51 executes processing according to the operation (step S317). For example, when the vertical display switch 94 is operated, the display of the unfolded image 71 is switched from "360° display" to "wrapped display". Fig. 8 shows the unfolded image 71 in a wrapped display state. That is, the vertical axis of the unfolded image 71 displays the range of 0° to 360° + α° of the pipe 10. A line 93 indicates the pipe apex position.

[0063] Here, an example of implementing vertical scrolling display will be described. In the vertical scrolling display in step S314, the control unit 51 generates an unfolded image 71 cut open from, for example, the top of the pipe (0°), and when displaying the unfolded image 71, it copies and combines the upper half (0° (top of the pipe) to 180° (bottom of the pipe)) to create an image covering 1.5 revolutions (0° to 360° + 180°), and performs vertical scrolling display within this image.

[0064] When generating the unfolded image 71, the control unit 51 performs a coordinate conversion process to convert position information (x, θ) on the inner wall of the pipe 10 (x is the distance from the entrance of the pipe 10, and θ is the angle in the circumferential direction of the pipe 10) to coordinates (X, Y) on the unfolded image 71 (X is the horizontal axis, Y is the vertical axis). When switching between a wrap display (360°+α° display) and a non-wrap display (360° display), the relationship between θ and Y in this coordinate conversion process is changed. When performing vertical scrolling display in the wrap display, the control unit 51 may move both the 0° to 360° portion of the unfolded image 71 and the overlapping portion (+α° portion) by the scroll amount (β°). Note that this is just an example, and the present invention is not limited to this example.

[0065] Returning to the explanation of FIG. 6, when an operation such as a right click of the mouse is input on the direct-view image 72 as another operation (step S316) on the main screen 7, the control unit 51 enlarges and displays the direct-view image 72. Furthermore, when the function button 85 is selected and then the unfolded image 71 is dragged with the mouse, the control unit 51 changes the display position of the unfolded image 71. Furthermore, when an arbitrary enlargement or reduction ratio is input in the display size (enlargement / reduction ratio) change field 86, the control unit 51 displays the unfolded image 71 at the specified enlargement or reduction ratio. When the reset button 87 is operated, the control unit 51 returns to the original enlargement or reduction ratio (or a predetermined size that is initially set) and displays the unfolded image 71.

[0066] In the processing of steps S316 to S317, processing is performed according to the operation of the above-mentioned function buttons 81 to 85, full preview button 92, change of magnification ratio, etc. If no operation is input (step S316; No), the process returns to step S302 and waits for an operation.

[0067] Next, the piping structure input process (step S109 in FIG. 3) will be described. Function button 81 on the main screen 7 is a button for specifying a pipe joint. When function button 81 is selected and an arbitrary position (pipe line direction position) on the unfolded image is specified by clicking or other operation, the control unit 51 of the inspection support device 5 displays objects 971, 972, ... indicating the joint at the specified position, superimposed on the object. Function button 84 is a button for specifying an attached pipe. When function button 84 is selected and an arbitrary position (pipe line direction position) on the unfolded image is specified by clicking or other operation, the control unit 51 of the inspection support device 5 displays objects indicating the attached pipe at the specified position, superimposed on the object. For example, as shown in FIG. 9, straight line objects 971, 972, ... are displayed superimposed on the joint position. Although not shown, for example, a circular object is displayed superimposed on the position of the attached pipe. The control unit 51 also acquires position information of these pipe structures (distance position in the pipe 10) from the unfolded 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 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", etc. is added to the joints. The control unit 51 associates the identification information and position information of each pipe structure with each other and stores them in the storage unit 52 as pipe structure information.

[0068] 9, objects 971 and 972 are displayed at the joints in the unfolded image 71, and identification information 971a "J1" and 972a "J2" are displayed above the objects 971 and 972. In addition, pipe structure information 98 such as "pipe mouth" is displayed at the start and end points of the pipe 10.

[0069] Next, the damage input process (step S110 in FIG. 3) will be described with reference to the flowchart in FIG. On the main screen 7, when the function button 82 is operated to switch to point input (step S501; point), and then an arbitrary position (point) on the unfolded picture 71 is clicked (step S502), the control unit 51 displays a point mark 110 at the clicked position (step S503) and acquires position information of the clicked position in the pipe 10 (step S504). The control unit 51 displays a damage information input field 111 (step S505).

[0070] FIG. 11 is a diagram showing an example of a screen displaying a damage information input field 111 for point specification. As shown in FIG. 11, a point mark 110 is displayed at a position specified by the user on the unfolded image 71, and a damage information display field 110a is displayed nearby. The damage information display field 110a displays damage information including the location information of the damage (pipe direction position), the joint identification number, the installation direction, the location, and the details. A damage information input field 111 is also displayed at the bottom of the screen. The damage information input field 111 is provided with a details data tab 111a and a photo tab 111b. FIG. 11 shows the state in which the details data tab 111a is selected. The details data tab 111a is provided with a distance input field 113, a location 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 damage extent input field 118. The distance input field 113 reflects and displays the position information (pipe direction position) of the specified point based on the position information added to the unfolded image 71. The part input field 114 allows the user to select and input the damage part in the form of a drop-down list. The joint number display field 112 reflects and displays the corresponding joint number when pipe structure information has already been input. The remarks field 115 allows the user to input any characters, numbers, etc. The damage type input field 117 and the damage degree input field 118 allow the user to input the type and degree of damage in the form of a drop-down list. The damage number 116 indicates the identification information for each damage. Note that since there may be multiple damages in the same location, it is desirable to provide multiple damage type input fields 117 and degree input fields 118.

[0071] In the photo tab 111b, a direct view image 72 corresponding to a specified position, a magnified photo of the damage, or the like can be pasted (input). When the worker operates the cancel button 111c, the control unit 51 erases the damage information input field 111 and returns to the main screen 7. When the worker inputs information into the damage information input field 111 (step S506) and operates the enter button 111d, 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).

[0072] On the other hand, when the function button 83 is operated on the main screen 7 to switch to box input (step S501; box), and then an arbitrary range of the unfolded image 71 is designated by operating the mouse or the like (step S508), the control unit 51 displays a box mark 120 in the designated range (step S509) and acquires position information of the designated range in the pipe 10 (step S510). The control unit 51 displays the damage information input field 111 (step S505).

[0073] FIG. 12 is a diagram showing an example of a screen displaying a damage information input field 111 by box specification. As shown in FIG. 12, a box mark 120 is displayed in the range specified by the user on the unfolded image 71, and a damage information display field 120a is displayed nearby. The damage information display field 120a displays damage information including damage range information (range of pipe direction position), joint location, installation direction, part, and content. A damage information input field 111 is also displayed at the bottom of the screen. Similar to FIG. 11, the damage information input field 111 is provided with a content data tab 111a and a photo tab 111b. FIG. 12 shows a state in which the content data tab 111a is selected. The content data tab 111a is provided with 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 damage degree input field 118. The distance input field 113 reflects the location information of the box-specified range and displays it as "XXX m to △△ m" or the like. The rest is the same as each part of the damage information input field 111 in Fig. 11. The same applies to the photo tab 111b.

[0074] When the worker 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 memory unit 52 (step S507).

[0075] Next, the preview display process (step S111 in FIG. 3) will be described with reference to the flowchart in FIG. When the preview button 92 is operated on the main screen 7 (step S601; Yes), the control unit 51 of the research support device 5 displays the preview screen 15 on the display unit 55 (step S602).

[0076] The control unit 51 acquires the damage information and pipe structure information stored in the memory unit 52, and also acquires images linked to the damage information (direct view image 72, unfolded image 71, etc.) (step S603), and displays the damage information reflecting the pipe structure information in a list on the preview screen 15 (step S604).

[0077] FIG. 14 is a diagram showing a display example of the preview screen 15. As shown in FIG. 14, the preview screen 15 displays a damage list 150, an entire image 73, and pipe information 89a. In the entire image 73, a dot mark 110 or a box mark 120 is displayed at the location of damage recorded as damage information. In the damage list 150, damage information 151, 152, ... and images 72, 71a, 71b, ... linked to each damage information 151, 152, ... are displayed in order of damage number. The damage information 151, 152, ... corresponds to the information input in the damage information input field 111 in FIG. 11 or FIG. 12, and displays position information, site information, joint number, remarks, damage type, degree (rank), etc. In addition, each damage information 151, 152, ... is provided with a correction button 151a, 152a, ... so that the content can be corrected.

[0078] When the edit button 151a, 152a, ... is operated (step S605; Yes), the control unit 51 accepts the edit of the damage information 151, 152, .... When the edit is input by the worker (step S606), the control unit 51 updates and stores the damage information reflecting the edit in the storage unit 52 (step S607). The control unit 51 stores the date and time of the edit, the edit content, information about the person who edited, etc. as edit history information in the storage unit 52 (step S608). When the edit button 151a, 152a, ... is not operated (step S605; No), the preview process ends.

[0079] 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 construction information, pipe information, damage information, images, etc. from the storage unit 52, and generates a report in which the construction 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. Furthermore, in accordance with instructions from the worker, the control unit 51 prints out the report, stores and transmits the report data, etc.

[0080] As explained above, in the tubular structure inspection support system 1, the tubular structure inspection support device 5 can perform vertical scrolling display of the unfolded image 71. This makes it easy to check damage that exists across the unfolded position, and also makes it possible to input the entire damage by specifying a box (specifying a range).

[0081] Although preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to these examples. For example, the layout of each screen, the display size of each image, and the arrangement of function buttons, operation buttons, display fields, input fields, etc. are merely examples, and other layouts, sizes, and arrangements may be adopted. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the technical ideas disclosed herein, and it is understood that these also naturally fall within the technical scope of the present invention. [Explanation of symbols]

[0082] 1. Tubular structure inspection support system 2. Imaging system 21...On-site PC 22. Imaging device 22A Wide-angle camera 3. Storage 4. Network 5. Tubular structure inspection support device (computer) 51 Control unit 511 Image acquisition unit 512....Expanded image generation unit 513 Display processing unit 514 Pipe structure input section 515 Damage input section 516 Preview display area 517 Vertical scroll operation section 7. Main screen 71...Expanded image (partial range) 72 Direct View Image 73...Full image 74: Developed image handle (first position designation means) 75·····Play button 76 Whole image handle (second positioning means) 79. Scale showing location information 81~85 Function buttons 86 Display size change field 88 Grid display / hide switching operation section 92 Preview button 93...Line indicating the top of the pipe 94 Vertical display switch 95····Grid 96.....Pipe top mark 98...Pipe structure information 971, 972... Linear object (joint part) 110···· dot mark 120...Box mark 111····Damage information entry field 15 Preview screen 10...Tubular structure (pipe)

Claims

1. a display means for displaying a developed image of the inner wall of the tubular structure, with the horizontal axis being the pipe direction and the vertical axis being the circumferential direction of the pipe; an operation means for scrolling the expanded image displayed by the display means in a vertical axis direction, the display means scrolls and displays the expanded image in a vertical axis direction in accordance with an operation by the operation means; The display means The same area is displayed overlappingly at the top and bottom of the expanded image. A tubular structure inspection support device characterized by:

2. a display means for displaying a developed image of the inner wall of the tubular structure, with the horizontal axis being the pipe direction and the vertical axis being the circumferential direction of the pipe; an operation means for scrolling the expanded image displayed by the display means in a vertical axis direction, the display means scrolls and displays the expanded image in a vertical axis direction in accordance with an operation by the operation means, and displays the expanded image so that an upper end and a lower end of the expanded image in the vertical axis direction are continuous during the scrolling display in the vertical axis direction, or displays the same area at the top and bottom of the expanded image so as to overlap each other; a damage input unit that displays a damage input screen for inputting damage information when an arbitrary position on the unfolded image is designated; A tubular structure inspection support device characterized by:

3. 3. The tubular structure inspection support device according to claim 2, wherein the damage input means allows the position to be designated within a range.

4. a display means for displaying a developed image of the inner wall of the tubular structure, with the horizontal axis being the pipe direction and the vertical axis being the circumferential direction of the pipe; an operation means for scrolling the expanded image displayed by the display means in a vertical axis direction, the display means scrolls and displays the expanded image in a vertical axis direction in accordance with an operation by the operation means, and displays the expanded image so that an upper end and a lower end of the expanded image in the vertical axis direction are continuous during the scrolling display in the vertical axis direction, or displays the same area at the top and bottom of the expanded image so as to overlap each other; The display means a direct-view image that is the basis of the unfolded image is displayed alongside the unfolded image; The present invention further includes a predetermined position display means for displaying a line at a predetermined position in the vertical axis direction of the displayed unfolded image and displaying a mark at a position on the direct-view image corresponding to the predetermined position. A tubular structure inspection support device characterized by:

5. 1. A computer-implemented method for displaying images, comprising: displaying a developed image of the inner wall of the tubular structure with the horizontal axis representing the pipe line direction and the vertical axis representing the circumferential direction of the pipe; receiving an operation for scrolling the displayed expanded image in the vertical axis direction; scrolling and displaying the expanded image in the vertical axis direction in accordance with the operation; Including, The displaying step includes: The same area is displayed overlappingly at the top and bottom of the expanded image. A method for displaying an image of a tubular structure, comprising:

6. 1. A computer-implemented method for displaying images, comprising: displaying a developed image of the inner wall of the tubular structure with the horizontal axis representing the pipe line direction and the vertical axis representing the circumferential direction of the pipe; receiving an operation for scrolling the displayed expanded image in the vertical axis direction; scrolling and displaying the expanded image in the vertical axis direction in accordance with the operation; Including, the displaying step displays the expanded image so that the top and bottom ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the top and bottom of the expanded image so that they overlap, The method further includes a step of displaying a damage input screen for inputting damage information when an arbitrary position on the expanded image is designated. A method for displaying an image of a tubular structure, comprising:

7. 1. A computer-implemented method for displaying images, comprising: displaying a developed image of the inner wall of the tubular structure with the horizontal axis representing the pipe line direction and the vertical axis representing the circumferential direction of the pipe; receiving an operation for scrolling the displayed expanded image in the vertical axis direction; scrolling and displaying the expanded image in the vertical axis direction in accordance with the operation; Including, the displaying step displays the expanded image so that the top and bottom ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the top and bottom of the expanded image so that they overlap, The displaying step includes: a direct-view image that is the basis of the unfolded image is displayed alongside the unfolded image; A line is displayed at a predetermined position in the vertical axis direction of the displayed unfolded image, and a mark is displayed at a position on the direct-view image corresponding to the predetermined position. A method for displaying an image of a tubular structure, comprising:

8. Computer, a display means for displaying a developed image of the inner wall of the tubular structure, with the horizontal axis being the pipe line direction and the vertical axis being the circumferential direction of the pipe; functioning as an operation means for scrolling the expanded image displayed by the display means in the vertical axis direction; a program for causing a computer to function so that the display means scrolls the expanded image in a vertical axis direction in accordance with an operation by the operation means, The display means The same area is displayed overlappingly at the top and bottom of the expanded image. A program characterized by:

9. Computer, a display means for displaying a developed image of the inner wall of the tubular structure, with the horizontal axis being the pipe direction and the vertical axis being the circumferential direction of the pipe; functioning as an operation means for scrolling the expanded image displayed by the display means in the vertical axis direction; a program for causing a computer to function so that the display means scrolls the expanded image in a vertical axis direction in accordance with an operation by the operation means, the display means displays the expanded image so that the upper and lower ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the upper and lower parts of the expanded image so as to overlap each other; and a damage input means for displaying a damage input screen for inputting damage information when an arbitrary position on the unfolded image is designated. A program characterized by:

10. Computer, a display means for displaying a developed image of the inner wall of the tubular structure, with the horizontal axis being the pipe line direction and the vertical axis being the circumferential direction of the pipe; functioning as an operation means for scrolling the expanded image displayed by the display means in the vertical axis direction; a program for causing a computer to function so that the display means scrolls the expanded image in a vertical axis direction in accordance with an operation by the operation means, the display means displays the expanded image so that the upper and lower ends of the expanded image in the vertical axis direction are continuous during scrolling display in the vertical axis direction, or displays the same area at the upper and lower parts of the expanded image so as to overlap each other; The display means a direct-view image that is the basis of the unfolded image is displayed alongside the unfolded image; and a predetermined position display means for displaying a line at a predetermined position in the vertical axis direction of the displayed expanded image and displaying a mark at a position on the direct-view image corresponding to the predetermined position. A program characterized by:

Images