Inspection support system, inspection support method, and program

Abstract

This inspection assistance system has an image sensor and a control unit. The control unit acquires two or more first images from the image sensor in response to the rotation of a rotating body. The control unit adds observation information indicating that observation is necessary to at least one first image among the two or more first images. The control unit outputs a control signal to a turning tool in order for the insertion part to capture, in the field of view, an object appearing in the at least one first image. After the turning tool rotates the rotating body, the control unit acquires at least one second image from the image sensor.

Description

[Technical Field]

[0001] The present invention relates to an inspection support system, an inspection support method, and a program. This application claims priority based on Japanese Patent Application No. 2023-065387, filed on April 13, 2023, the contents of which are incorporated herein by reference. [Background technology]

[0002] Industrial endoscopy systems are used to inspect the interior of industrial equipment, such as boilers, turbines, engines, and pipes, for defects (such as scratches and corrosion). A variety of subjects are subject to inspection using industrial endoscopy systems. Industrial endoscopy systems are particularly useful in inspecting turbines used in aircraft and power generation equipment.

[0003] Turbines are used in aircraft engines or generators. The rotor blades of turbines are the primary target of inspection using industrial endoscopes. Hereinafter, the rotor blades will be referred to as blades. A turbine has a compressor section and a turbine section. Within each of the compressor section and turbine section, two or more stages are arranged along the axis of rotation within the turbine. Within each stage, two or more blades are arranged around the circumference of a disk.

[0004] Generally, in blade inspection, the blade is rotated and abnormalities on the blade are searched for. The inspection is completed when all blades arranged around the circumference have been observed. This inspection is performed at each stage.

[0005] Since the inspection is performed at so many positions, the inspection takes time. To improve the efficiency of the inspection, a turning tool that rotates the blade efficiently and smoothly may be used.

[0006] For example, Patent Document 1 discloses a method for sequentially inspecting blades arranged on a rotating body. According to this method, an endoscope controller calculates the amount of movement (amount of rotation) required to observe each blade based on the total number of blades. The controller then causes the turning tool to rotate the rotating body according to the calculated amount of rotation. When each blade is positioned at the center of the image, the controller causes the turning tool to stop rotating the rotating body. The user observes the image and inspects that blade. After inspecting that blade, the controller then causes the turning tool to rotate the rotating body to inspect the next blade. The above process is repeated until the rotating body has rotated once and all blades have been inspected. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-209460 Summary of the Invention [Problem to be solved by the invention]

[0008] During blade inspection, if a fatal abnormality is found in one blade, it may be determined that the entire turbine or a specific section needs to be repaired or replaced, even if all the remaining blades are sound. With the method disclosed in Patent Document 1, if a serious abnormality is found just before the rotor makes one rotation, the time required for inspection to discover the abnormality is wasted.

[0009] An object of the present invention is to provide an inspection support system, an inspection support method, and a program that can improve the efficiency of inspections. [Means for solving the problem]

[0010] According to a first aspect of the present invention, an inspection support system supports the inspection of an object having a rotating body with two or more objects disposed therein. The inspection support system includes an image sensor and a control unit. The image sensor generates an image based on an optical image of an object captured within a field of view of an insertion unit inserted into the object. The control unit acquires two or more first images from the image sensor in response to rotation of the rotating body. The control unit adds observation information indicating that observation is required to at least one of the two or more first images. After the observation information has been added to the at least one first image, the control unit outputs a control signal to a turning tool that rotates the rotating body based on the control signal so that the insertion unit captures the object shown in the at least one first image within the field of view. After the turning tool rotates the rotating body, the control unit acquires at least one second image from the image sensor. The control unit adds status information indicating the status of an object appearing in the two or more first images to the two or more first images, or adds status information indicating the status of an object appearing in the at least one second image to the at least one second image.

[0011] According to a second aspect of the present invention, in the first aspect, the control unit may output the control signal to the turning tool before acquiring each of the two or more first images.

[0012] According to a third aspect of the present invention, in the second aspect, when the turning tool rotates the rotating body, the control unit may acquire rotation information indicating the amount of rotation of the rotating body from the turning tool. The control unit may add the rotation information to each of the two or more first images. The control unit may output the control signal to the turning tool, which is generated based on the rotation information added to the at least one first image.

[0015] According to a fourth aspect of the present invention, in the first aspect, the image sensor may be disposed at the tip of the insertion section. The control unit may set a first imaging condition before the image sensor generates the two or more first images. The control unit may set a second imaging condition different from the first imaging condition before the image sensor generates the at least one second image. The first imaging condition and the second imaging condition may be one or more of the position of the image sensor, the attitude of the image sensor, the relative position of the image sensor with respect to an object captured in the field of view, the relative attitude of the image sensor with respect to the object captured in the field of view, imaging parameters of the image sensor, the state of illumination light irradiated inside the subject, parameters of image processing performed on the image generated by the image sensor, and the state of a lens disposed in the insertion section.

[0016] According to a fifth aspect of the present invention, in the fourth aspect, before the image sensor generates the at least one second image, the control unit may control one or more of a bending portion of the insertion portion, an insertion device that moves the insertion portion in the longitudinal direction of the insertion portion inside the subject or twists the insertion portion inside the subject, the turning tool, the image sensor, a light source that generates the illumination light, an image processing circuit that performs the image processing, and the lens so that the second shooting condition is different from the first shooting condition.

[0017] According to a sixth aspect of the present invention, in the first aspect, the control unit may acquire a reference image pre-recorded on a recording medium. At least one of the two or more objects may appear in the reference image. The control unit may output the control signal to the turning tool based on a composition of the object appearing in the reference image.

[0018] According to a seventh aspect of the present invention, in the first aspect, the control unit may acquire a reference image pre-recorded on a recording medium. An abnormality may be captured in the reference image. The control unit may add the observation information to the at least one first image based on a result of comparing a first image included in the at least one first image with the reference image.

[0019] According to an eighth aspect of the present invention, in the first aspect, the control unit may acquire feature information pre-recorded on a recording medium. The feature information may be generated based on features of an image in which at least one of the two or more objects is captured. The control unit may add the observation information to the at least one first image based on the feature information.

[0020] According to the 9th aspect of the present invention, in the 1st aspect, the control unit may add the observation information to at least two first images of the two or more first images, and may acquire at least two second images including the at least one second image from the image sensor.

[0021] According to a tenth aspect of the present invention, in the first aspect, the two or more first images may include at least two first images in which the same object is captured.

[0022] According to an eleventh aspect of the present invention, in the first aspect, the turning tool may rotate the rotating body and then stop the rotating body, and when the rotating body is stationary, the control unit may acquire the at least one second image from the image sensor.

[0023] According to a twelfth aspect of the present invention, in the first aspect, the control unit may display the at least one first image and the observation information on a display.

[0024] According to a thirteenth aspect of the present invention, in the first aspect, the inspection support system may further include an imaging device having the image sensor and the control unit.

[0025] According to a 14th aspect of the present invention, the inspection support system of the first aspect may further include an imaging device having the image sensor, and the control unit may be included in a device different from the imaging device.

[0026] According to a fifteenth aspect of the present invention, in the first aspect, the object may be a turbine, and the two or more objects may be blades.

[0027] According to a 16th aspect of the present invention, in the first aspect, the inspection support system may include a storage medium that stores inspection management information associated with each of the two or more objects.

[0028] According to the 17th aspect of the present invention, in the 16th aspect, the control unit may compare the inspection management information with predetermined judgment criteria, and may output the result of the comparison between the inspection management information and the judgment criteria.

[0029] According to an 18th aspect of the present invention, in the 17th aspect, the control unit may measure a size of an object shown in the at least one first image by using the at least one first image. The inspection management information may include a result of the size measurement. The judgment criterion may relate to the size.

[0030] According to a 19th aspect of the present invention, in the 17th aspect, the control unit may measure a size of an object shown in the at least one second image by using the at least one second image. The inspection management information may include a result of the size measurement. The judgment criterion may relate to the size.

[0031] According to a twentieth aspect of the present invention, an inspection support method supports the inspection of an object having a rotating body with two or more objects disposed therein. The inspection support method performs the following steps: a control unit acquires two or more first images in accordance with the rotation of the rotating body from an image sensor that generates images based on optical images of objects captured within a field of view of an insertion unit inserted inside the object; the control unit adds observation information indicating that observation is required to at least one of the two or more first images; after the observation information has been added to the at least one first image, the control unit outputs a control signal to a turning tool that rotates the rotating body based on the control signal, so that the insertion unit captures the objects shown in the at least one first image within its field of view; and after the turning tool rotates the rotating body, the control unit acquires at least one second image from the image sensor.

[0032] According to a 21st aspect of the present invention, a program causes a computer to perform the following: acquire two or more first images from an image sensor that generates images based on optical images of objects captured within a field of view of an insertion part inserted into a subject having a rotating body with two or more objects disposed therein, in accordance with the rotation of the rotating body; add observation information indicating that observation is required to at least one of the two or more first images; after the observation information has been added to the at least one first image, output a control signal to a turning tool that rotates the rotating body based on the control signal, so that the insertion part captures the objects shown in the at least one first image within the field of view; and after the turning tool rotates the rotating body, acquire at least one second image from the image sensor. [Effects of the Invention]

[0033] According to the present invention, the inspection support system, inspection support method, and program can improve the efficiency of inspection. [Brief explanation of the drawings]

[0034] [Figure 1] 1 is a block diagram showing a configuration of an examination support system according to a first embodiment of the present invention. [Figure 2] FIG. 1 is a diagram schematically showing an arrangement of rotor blades and stator blades in a turbine according to a first embodiment of the present invention. [Figure 3] FIG. 2 is a diagram schematically showing the arrangement of rotor blades in a turbine according to the first embodiment of the present invention. [Figure 4] 5 is a flowchart showing the procedure of processing executed by the endoscope device according to the first embodiment of the present invention. [Figure 5] 3A to 3C are diagrams showing examples of information displayed on a display unit included in the endoscope apparatus according to the first embodiment of the present invention. [Figure 6] 3A to 3C are diagrams showing examples of information displayed on a display unit included in the endoscope apparatus according to the first embodiment of the present invention. [Figure 7] FIG. 3 is a diagram showing an example of examination management information according to the first embodiment of the present invention. [Figure 8] 3A to 3C are diagrams showing examples of information displayed on a display unit included in the endoscope apparatus according to the first embodiment of the present invention. [Figure 9] 3A to 3C are diagrams showing examples of information displayed on a display unit included in the endoscope apparatus according to the first embodiment of the present invention. [Figure 10] FIG. 10 is a perspective view of the distal end of the insertion section and a stereo optical adapter in an endoscope apparatus according to a second embodiment of the present invention. [Figure 11] 10 is a cross-sectional view of the distal end of an insertion section and a stereo optical adapter in an endoscope apparatus according to a second embodiment of the present invention. FIG. [Figure 12] FIG. 10 is a diagram illustrating a method for calculating three-dimensional coordinates of a point of interest in the second embodiment of the present invention. [Figure 13] 10 is a flowchart showing the procedure of processing executed by an endoscope apparatus according to a second embodiment of the present invention. [Figure 14] 10A and 10B are diagrams showing examples of information displayed on a display unit included in an endoscope apparatus according to a second embodiment of the present invention. [Figure 15]10A and 10B are diagrams showing examples of information displayed on a display unit included in an endoscope apparatus according to a second embodiment of the present invention. [Figure 16] FIG. 10 is a cross-sectional view of the distal end of the insertion portion and the stereo optical adapter in the endoscope device according to a modified example of the second embodiment of the present invention. [Figure 17A] FIG. 10 is a diagram showing an observation position of a blade in a third embodiment of the present invention. [Figure 17B] FIG. 10 is a diagram showing an observation position of a blade in a third embodiment of the present invention. [Figure 18] 10 is a flowchart showing the procedure of processing executed by an endoscope apparatus according to a third embodiment of the present invention. [Figure 19] 10A and 10B are diagrams showing changes in the position of the field of view of an insertion section of an endoscope device according to a third embodiment of the present invention. [Figure 20] 10A and 10B are diagrams showing examples of information displayed on a display unit included in an endoscope apparatus according to a third embodiment of the present invention. [Figure 21] 10 is a flowchart showing the procedure of processing executed by an endoscope apparatus according to a fourth embodiment of the present invention. [Figure 22] 10 is a flowchart showing the procedure of processing executed by an endoscope apparatus according to a fourth embodiment of the present invention. [Figure 23] FIG. 10 is a diagram showing an image of a blade in the fourth embodiment of the present invention. [Figure 24] 10A and 10B are diagrams showing examples of information displayed on a display unit included in an endoscope apparatus according to a fourth embodiment of the present invention. [Figure 25] 10A and 10B are diagrams showing examples of information displayed on a display unit included in an endoscope apparatus according to a fourth embodiment of the present invention. [Figure 26] 10A and 10B are diagrams showing examples of information displayed on a display unit included in an endoscope apparatus according to a fourth embodiment of the present invention. [Figure 27] FIG. 10 is a diagram showing the configuration of an examination support system according to a fifth embodiment of the present invention. [Figure 28] FIG. 10 is a block diagram showing a configuration of an external device according to a fifth embodiment of the present invention. [Figure 29]13 is a flowchart showing a procedure of a process executed by an external device according to a fifth embodiment of the present invention. [Figure 30] 10 is a flowchart showing the procedure of processing executed by an endoscope apparatus according to a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0035] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this specification, an abnormal area on a blade will simply be referred to as an abnormality.

[0036] (First embodiment) A first embodiment of the present invention will be described. FIG. 1 shows the configuration of an inspection support system 10. The inspection support system 10 supports the inspection of a turbine TB10, which is an object to be inspected. The inspection support system 10 has an endoscope device 1 and a turning tool 4. The turbine TB10 has a disk DS10 and two or more blades BL arranged on the circumference of the disk DS10. The disk DS10 and the two or more blades BL rotate around a rotation axis RA10.

[0037] The endoscope device 1 captures an image of each blade and generates an image. The turning tool 4 rotates the two or more blades BL by rotating the disk DS10 around a rotation axis RA10.

[0038] The endoscope device 1 has an insertion section 2 and a main body section 3. The insertion section 2 is inserted into the turbine TB10. The insertion section 2 is a long, thin tube that is bendable from the tip 20 to the base end. The insertion section 2 has a field of view and acquires an optical image of an object within the field of view. The object is, for example, a blade BL. The insertion section 2 generates an image based on the optical image and outputs the image to the main body section 3. An optical adapter is attached to the tip 20. For example, a monocular optical adapter is attached to the tip 20.

[0039] The insertion section 2 has a lens section 21, an imaging element 22, and a bending section 23. The lens section 21, the imaging element 22, and the bending section 23 are disposed at the tip 20.

[0040] The lens unit 21 is an observation optical system. The lens unit 21 has one or more lenses. The lens unit 21 captures the optical image formed by the optical adapter.

[0041] The imaging element 22 is an image sensor such as a CCD (Charge-Coupled Device) sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) sensor. The imaging element 22 photoelectrically converts the optical image captured by the lens unit 21 and generates an image. For example, the imaging element 22 continuously generates two or more images (live images). The two or more images constitute a video. The lens unit 21 and the imaging element 22 constitute a monocular camera with one viewpoint.

[0042] The bending portion 23 bends the insertion portion 2 upward, downward, leftward, or rightward.

[0043] The main body 3 is a control device including a storage section for storing the insertion section 2. The main body 3 has an image processing section 30, an imaging control section 31, a bending control section 32, a light source section 33, a light source control section 34, a rotation control section 35, an operation section 36, a memory section 37, a display section 38, and a control section 39.

[0044] The image processing unit 30 performs image processing on the image output from the image sensor 22. For example, the image processing includes color reproduction, tone correction, noise suppression, edge enhancement, etc. The imaging control unit 31 controls the image sensor 22.

[0045] The bending control unit 32 controls the bending state of the insertion unit 2. The bending control unit 32 controls a UD motor and an LR motor, which are not shown in FIG. 1 . The UD motor is connected to a UD bending wire for bending the bending portion 23 upward or downward. The UD motor bends the bending portion 23 upward or downward by pulling the UD bending wire. The LR motor is connected to an LR bending wire for bending the bending portion 23 leftward or rightward. The LR motor bends the bending portion 23 leftward or rightward by pulling the LR bending wire.

[0046] The light source unit 33 has a light source such as an LED (Light-Emitting Diode) and generates illumination light. The illumination light is guided to the tip 20 via a light guide LG arranged in the insertion section 2. The illumination light is irradiated from the tip 20 to the inside of the turbine TB10. The light source control unit 34 controls the light source unit 33.

[0047] The rotation control unit 35 generates a rotation control signal for controlling the turning tool 4 and transmits the rotation control signal to the turning tool 4. The rotation control unit 35 also receives rotation information transmitted from the turning tool 4 and outputs the rotation information to the control unit 39. The rotation information indicates the amount of rotation (rotation angle) of the disk DS10. The amount of rotation is not limited to the rotation angle, and may be any information indicating the degree of rotation. For example, the amount of rotation may be the number of motor steps or the number of blades from a reference blade, which will be described later.

[0048] The operation unit 36 ​​is a user interface. For example, the operation unit 36 ​​is at least one of a button, a switch, a key, a mouse, a joystick, a touchpad, a trackball, and a touch panel. The operation unit 36 ​​accepts operations on the endoscope device 1 from a user. The user can input various information to the endoscope device 1 by operating the operation unit 36.

[0049] The storage unit 37 is a volatile or non-volatile recording medium. For example, the storage unit 37 is at least one of a random access memory (RAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a hard disk drive (HDD), and a solid state drive (SSD). The storage unit 37 stores images and the like. The storage unit 37 may be detachable from the endoscope device 1. The storage unit 37 may be a recording medium included in an external device such as a cloud server.

[0050] The display unit 38 is a monitor (display) such as an LCD (Liquid Crystal Display), etc. The display unit 38 has a display screen, and displays images, operation menus, etc. on the display screen.

[0051] The display unit 38 has a touch panel 38A. The user can input various pieces of information to the endoscope device 1 by touching the touch panel 38A.

[0052] The control unit 39 controls the operation of the endoscope device 1 based on a program stored in the endoscope device 1. The program executed by the control unit 39 may be recorded on a computer-readable recording medium. The program recorded on this recording medium may be read and executed by a computer other than the endoscope device 1.

[0053] At least one of the image processing unit 30, the imaging control unit 31, the bending control unit 32, the light source control unit 34, the rotation control unit 35, and the control unit 39 may be configured with at least one of a processor and a logic circuit. For example, the processor is at least one of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit). For example, the logic circuit is at least one of an ASIC (Application Specific Integrated Circuit) and an FPGA (Field-Programmable Gate Array). At least one of the image processing unit 30, the imaging control unit 31, the bending control unit 32, the light source control unit 34, the rotation control unit 35, and the control unit 39 may include one or more processors. At least one of the image processing unit 30, the imaging control unit 31, the bending control unit 32, the light source control unit 34, the rotation control unit 35, and the control unit 39 may include one or more logic circuits.

[0054] The computer of the endoscope device 1 may load a program and execute the loaded program. The program includes instructions that define the operation of at least one of the image processing unit 30, the imaging control unit 31, the bending control unit 32, the light source control unit 34, the rotation control unit 35, and the control unit 39. In other words, at least one function of the image processing unit 30, the imaging control unit 31, the bending control unit 32, the light source control unit 34, the rotation control unit 35, and the control unit 39 may be realized by software.

[0055] The above program may be provided by a "computer-readable recording medium" such as a flash memory. The program may be transmitted from a computer storing the program to the endoscope device 1 via a transmission medium or by transmission waves in the transmission medium. A "transmission medium" that transmits the program is a medium that has the function of transmitting information. Media that have the function of transmitting information include networks (communication networks) such as the Internet and communication lines (communication lines) such as telephone lines. The above program may realize some of the functions described above. Furthermore, the above program may be a difference file (difference program). The functions described above may be realized by combining a program already recorded on a computer with a difference program.

[0056] The turning tool 4 is connected to the rotation control unit 35 of the main body unit 3 via a cable CB. The turning tool 4 has a rotation unit 40, a drive control unit 41, a communication unit 42, and a storage unit 43.

[0057] The rotating unit 40 has a motor and generates a driving force for rotating the disks DS10 of the turbine TB10. The drive control unit 41 controls the rotating unit 40 in accordance with a rotation control signal transmitted by the rotation control unit 35. The drive control unit 41 also monitors the state of the rotating unit 40 and generates rotation information indicating the amount of rotation (rotation angle) of the disks DS10. The communication unit 42 communicates with the rotation control unit 35 and receives the rotation control signal from the rotation control unit 35. The communication unit 42 also transmits the rotation information to the rotation control unit 35.

[0058] The storage unit 43 is a recording medium such as a memory card. The storage unit 43 may be detachable from the turning tool 4. The storage unit 43 stores object information including the number of blades arranged on the disk DS10. The communication unit 42 reads the object information from the storage unit 43 and transmits the object information to the rotation control unit 35.

[0059] A remote control may be used to control the turning tool 4. A user may control the turning tool 4 by operating the remote control.

[0060] The following describes an example in which the endoscope device 1 controls the turning tool 4. A device different from the endoscope device 1 may communicate with and control the endoscope device 1 and the turning tool 4. Such an example will be described in a fifth embodiment of the present invention.

[0061] The insertion section 2 and the control section 39 constitute an imaging device (camera). The imaging element 22 may be disposed in the main body section 3, and an optical fiber may be disposed in the insertion section 2. Light incident on the lens section 21 may reach the imaging element 22 through the optical fiber. A borescope may be used as a camera.

[0062] Turbines are used in aircraft engines or generators. There are gas turbines and steam turbines. The structure of a gas turbine is explained below. In the following, a gas turbine will be referred to as a turbine.

[0063] A turbine has a compression section, a combustion chamber, and a turbine section. Air is compressed in the compression section. The compressed air is sent to the combustion chamber. Fuel is continuously burned in the combustion chamber, generating high-temperature, high-pressure gases. The gases expand in the turbine section, generating energy. This energy is used to rotate the compressor, and the remaining energy is extracted. In the compression and turbine sections, rotating blades fixed to the engine's rotating shaft and stationary vanes fixed to the casing are arranged alternately.

[0064] Figure 2 shows a schematic diagram of the arrangement of rotor blades and stator vanes in the compression section of turbine TB10. Figure 2 shows a portion of a cross section of turbine TB10 passing through rotation axis RA10. Turbine TB10 has rotor blade RT10, stator vane ST10, rotor blade RT11, stator vane ST11, rotor blade RT12, stator vane ST12, rotor blade RT13, and stator vane ST13 in the compression section. These rotor blades rotate in a direction DR12 around rotation axis RA10.

[0065] Air taken into the turbine TB10 flows in a direction DR11. The rotor blade RT10 is located in the low pressure section where the air is taken in. The rotor blade RT13 is located in the high pressure section where the air is discharged.

[0066] Access port AP10 is formed to enable inspection of the interior of turbine TB10 without disassembling turbine TB10. Turbine TB10 has two or more access ports, one of which is shown in Figure 2 as access port AP10. Access port AP10 is a hole formed in turbine TB10.

[0067] The insertion portion 2 constitutes an endoscope. The insertion portion 2 is inserted into the turbine TB10 through an access port AP10. When the insertion portion 2 is inserted into the turbine TB10, the insertion portion 2 moves in a direction DR10. When the insertion portion 2 is withdrawn from the turbine TB10, the insertion portion 2 moves in a direction opposite to the direction DR10. The direction DR10 is different from the direction DR12. The direction DR10 extends in the longitudinal direction of the insertion portion 2. Illumination light LT10 is emitted from the tip 20 of the insertion portion 2.

[0068] Figure 3 shows a schematic diagram of an arrangement of two or more blades BL viewed in a direction parallel to a rotation axis RA10. In Figure 3, twelve blades BL1 to BL12 are arranged on a disk DS10. The rotation axis RA10 passes through the center of the disk DS10. When the disk DS10 rotates, the blades BL1 to BL12 rotate.

[0069] In reality, several tens to several hundreds of blades are arranged on one disk. The number of blades on one disk depends on the engine model and the number of stages in the region from the low pressure section to the high pressure section.

[0070] The turning tool 4 rotates the disk DS10, or the user manually rotates the disk DS10. The user inspects the blades BL1 to BL12 and determines whether there is an abnormality in each blade. This inspection is one of the main inspection items in turbine inspection.

[0071] The insert 2 is inserted into the turbine TB10 through the access port AP10. The insert 2 acquires an optical image within the field of view VF10 and generates an image. First, to capture a reference blade within the field of view VF10, the turning tool 4 rotates the disk DS10, or the user manually rotates the disk DS10. For example, the reference blade is blade BL1.

[0072] Mark MK10 may be formed near a reference blade. For example, an inspection procedure may stipulate that blade BL1 closest to mark MK10 be set as the reference blade. A user can determine that blade BL1 near mark MK10 is the reference blade. When insertion unit 2 captures the reference blade within field of view VF10, turning tool 4 or the user stops the rotation of disc DS10. The user adjusts the position and attitude of tip 20 to properly observe blade BL1.

[0073] An insertion device may be disposed in the access port AP10. The insertion device moves the insertion portion 2 in a direction DR10 shown in FIG. 2 or in a direction opposite to the direction DR10. In addition, the insertion device can also rotate the insertion portion 2 around an axis extending in the longitudinal direction of the insertion portion 2. In other words, the insertion device can twist the insertion portion 2. A user may input a bending instruction to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The control unit 39 may control the bending control unit 32 in accordance with the bending instruction. The bending control unit 32 may adjust the position and posture of the tip 20 by controlling the bending state of the insertion portion 2 in accordance with processing executed by the control unit 39.

[0074] After the position and orientation of the tip 20 are adjusted, the tip 20 is fixed, and then the inspection begins.

[0075] In an examination using a conventional endoscope device, a turning tool rotates the disk so that the insertion section can acquire an optical image of the blade. When the blade is positioned at the center of the field of view of the insertion section, the turning tool stops the rotation of the disk. The user adjusts the position and attitude of the insertion section, the illumination light condition, the optical system condition, etc. as necessary.

[0076] After these adjustments have been made, the user closely examines the image of the blade produced by the insert and then inspects that blade. The above steps and processes are repeated to inspect two or more blades in turn.

[0077] Meanwhile, in each embodiment of the present invention, the disk DS10 rotates so that the insertion unit 2 can capture the blade within its field of view. After the rotation of the disk DS10 stops, the insertion unit 2 generates a first image of the blade. After the insertion unit 2 generates the first images of all of the two or more blades BL, a simple inspection (screening) of all of the two or more blades BL is performed using the first images. In the screening, it is determined whether or not observation (detailed observation) of each blade is necessary.

[0078] The disk DS10 then rotates so that the blade requiring detailed observation can be captured within the field of view of the insertion unit 2. After the rotation of the disk DS10 stops, the insertion unit 2 generates a second image of the blade. A detailed inspection of the blade is performed using the second image.

[0079] The processing executed by the endoscope device 1 will be described with reference to Fig. 4. Fig. 4 shows the procedure of the processing executed by the endoscope device 1.

[0080] 4, the user completes the tasks required to start the examination. For example, the user opens the access port AP10, inserts the insertion section 2 from the access port AP10 into the turbine TB10, and moves the tip 20 to the destination where the examination will begin.

[0081] 4 is being executed, the image sensor 22 sequentially generates two or more images (live images). The image processing unit 30 performs image processing on each image. The control unit 39 acquires the image processed by the image processing unit 30 and displays the image on the display unit 38. Every time the image sensor 22 generates a new image, the control unit 39 displays the image on the display unit 38.

[0082] After the endoscope device 1 starts the process shown in FIG. 4, the control unit 39 executes the following process to capture the reference blade within the field of view of the insertion unit 2 (step S100).

[0083] The control unit 39 outputs rotation control information for rotating the disk DS10 to the rotation control unit 35. The rotation control unit 35 generates a rotation control signal according to the rotation control information and transmits the rotation control signal to the turning tool 4. The communication unit 42 of the turning tool 4 receives the rotation control signal. The drive control unit 41 controls the rotation unit 40 according to the rotation control signal. The rotation unit 40 rotates the disk DS10.

[0084] After the insertion unit 2 captures the reference blade within the field of view, the rotation unit 40 stops the rotation of the disk DS10. The disk DS10 is stationary. For example, the reference blade is located in the center of the field of view.

[0085] A particular turbine manufacturer may define a reference blade, or a particular type of turbine may have a defined reference blade, which may be marked in the turbine with an easily visible mark so that the user can easily locate the reference blade.

[0086] If a reference blade is not defined, the turbine does not have a clear mark. Therefore, a specific blade with a distinctive pattern on its surface or edge is set as the reference blade. For example, a user sets a specific blade as the reference blade. Alternatively, the image processing unit 30 processes the image generated by the imaging element 22 and detects the distinctive pattern. The control unit 39 sets the blade with that pattern as the reference blade. The control unit 39 also displays information on the display unit 38 indicating that a blade suitable for the reference blade has been found. Any method may be used to set the reference blade.

[0087] When the reference blade is defined, the user observes the image displayed on the display unit 38 and finds the reference blade. At this time, the user operates the operation unit 36 ​​or the touch panel 38A to input an instruction to stop the rotation of the disc DS10 to the endoscope device 1. The control unit 39 outputs rotation control information for stopping the rotation of the disc DS10 to the rotation control unit 35. The same processing as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 stops the rotation of the disc DS10. The disc DS10 comes to a standstill.

[0088] If the reference blade is not defined, the control unit 39 outputs rotation control information to the rotation control unit 35 to stop the rotation of the disc DS10, regardless of instructions from the user. Specifically, the control unit 39 outputs the rotation control information to the rotation control unit 35 at the timing when a characteristic pattern is detected. The same processing as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 stops the rotation of the disc DS10. The disc DS10 comes to a standstill.

[0089] After step S100, the control unit 39 executes the following process to capture the target blade to be observed within the field of view of the insertion unit 2 (step S101).

[0090] The rotation control unit 35 receives the object information transmitted from the turning tool 4 and outputs the object information to the control unit 39. The object information includes the number of blades arranged on the disk DS10. The control unit 39 calculates the angle between two adjacent blades based on that number. The control unit 39 outputs rotation control information for rotating the disk DS10 by that angle to the rotation control unit 35. The same processing as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 rotates the disk DS10 by that angle.

[0091] After the disk DS10 has rotated by an angle between two adjacent blades, the rotation unit 40 stops the rotation of the disk DS10. The disk DS10 remains stationary. The insertion unit 2 captures the target blade within the field of view and acquires an optical image of the target blade. For example, the target blade is located at the center of the field of view. Immediately after step S100 is executed, the target blade is the reference blade, and step S101 is not executed. Therefore, the insertion unit 2 acquires an optical image of the reference blade.

[0092] The user may manually rotate the disc DS10. Alternatively, the user may rotate the disc DS10 by operating a remote control. The user may observe the image displayed on the display unit 38 and stop the rotation of the disc DS10 when the target blade is captured within the field of view of the insertion unit 2.

[0093] The control unit 39 has a counter therein. The initial value of the counter is 0. After step S101, the control unit 39 increments the value of the counter by 1. The value indicates the blade number.

[0094] The storage unit 37 stores examination management information including various information related to the examination. The control unit 39 adds the blade number to the examination management information. Details of the examination management information will be described later with reference to FIG.

[0095] After step S101, the control unit 39 acquires the image processed by the image processing unit 30 and stores the image as a first image in the storage unit 37. The control unit 39 also adds the number (file name) of the first image to the examination management information (step S102).

[0096] Because of a phenomenon called backlash, there is a possibility that the target blade will not stop at the target position. Therefore, the control unit 39 may execute feedback control for fine adjustment of the rotation of the disk DS10, and stop the target blade at the target position.

[0097] The control unit 39 may execute the following feedback control. The control unit 39 extracts the area of ​​the blade in the first image and determines whether the area is located at the center of the first image. If the area is shifted from the center of the first image, the control unit 39 outputs rotation control information to the rotation control unit 35 to slightly rotate the disk DS10. The same process as described above is executed, and the drive control unit 41 controls the rotation unit 40 according to the rotation control signal. The rotation unit 40 rotates the disk DS10 slightly.

[0098] It may take time to accurately stop the target blade at the target position. Therefore, the threshold value set for stopping the rotation of the disk DS10 may have a wide range. When the target blade exceeds the target position, the control unit 39 may also perform control similar to the above-described feedback control.

[0099] After the feedback control is performed, the same process as described above is performed, and the control unit 39 acquires the image processed by the image processing unit 30 as a first image. The control unit 39 stores the first image in the storage unit 37. The feedback control changes the position or posture of the blade relative to the insertion unit 2.

[0100] Before the image sensor 22 generates an image to be acquired as the first image, the control unit 39 sets a first photographing condition. For example, the control unit 39 executes the following process.

[0101] The control unit 39 sets the bending state of the insertion unit 2 as the first imaging condition. Specifically, the control unit 39 outputs bending control information for controlling the bending state of the insertion unit 2 to the bending control unit 32. The bending control unit 32 bends the bending unit 23 in accordance with the bending control information, and sets the position and attitude of the image sensor 22 to a predetermined position and attitude.

[0102] When the insertion device is placed in the access port AP10, the control unit 39 sets the position of the insertion unit 2 as the first imaging condition. Specifically, the control unit 39 outputs control information for controlling the position of the insertion unit 2 to the insertion device. The insertion device moves the insertion unit 2 and sets the position of the insertion unit 2 to a predetermined position. As a result, the insertion device sets the position of the image sensor 22 to a predetermined position.

[0103] Furthermore, when the insertion device is placed in the access port AP10, the control unit 39 sets the attitude of the insertion unit 2 as the first imaging condition. Specifically, the control unit 39 outputs control information to the insertion device for controlling the rotation angle of the insertion unit 2 around an axis extending in the longitudinal direction of the insertion unit 2. The insertion device twists the insertion unit 2 and sets the rotation angle of the insertion unit 2 to a predetermined angle. As a result, the insertion device sets the attitude of the image sensor 22 to a predetermined attitude.

[0104] The control unit 39 sets the position and posture of the blade captured in the field of view of the insertion unit 2 as the first imaging condition. Specifically, the control unit 39 controls the turning tool 4 by executing control similar to the feedback control described above. The turning tool 4 rotates the disc DS10 and sets the position of the blade captured in the field of view of the insertion unit 2 to a predetermined position. In other words, the turning tool 4 sets the relative position of the imaging element 22 with respect to the blade to a predetermined position.

[0105] When the blade rotates, the attitude of the blade changes. The turning tool 4 rotates the disc DS10 and sets the attitude of the blade captured in the field of view of the insertion part 2 to a predetermined attitude. In other words, the turning tool 4 sets the relative attitude of the imaging element 22 with respect to the blade to a predetermined attitude.

[0106] The control unit 39 sets the imaging parameters of the image sensor 22 as the first shooting condition. Specifically, the control unit 39 outputs imaging control information for setting the imaging parameters of the image sensor 22 to the imaging control unit 31. The imaging control unit 31 controls the image sensor 22 in accordance with the imaging control information. For example, the imaging control unit 31 sets the exposure time of the image sensor 22 to a predetermined value, or sets the gain of the image sensor 22 to a predetermined value.

[0107] The control unit 39 sets the state of the illumination light generated by the light source unit 33 as the first shooting condition. Specifically, the control unit 39 outputs light source control information for controlling the state of the illumination light to the light source control unit 34. The light source control unit 34 controls the light source unit 33 in accordance with the light source control information, and sets the brightness of the illumination light to a predetermined brightness.

[0108] The control unit 39 sets, as the first photographing condition, the parameters of the image processing executed by the image processing unit 30. Specifically, the control unit 39 sets the strength of noise suppression or edge enhancement to a predetermined strength.

[0109] Control unit 39 sets the state of lens unit 21 as the first shooting condition. Specifically, control unit 39 sets the zoom state of lens unit 21 to a wide state, or sets the focus state of lens unit 21 to a far point.

[0110] The control unit 39 sets one or more of the position of the imaging element 22, the attitude of the imaging element 22, the relative position of the imaging element 22 with respect to the blade captured in the field of view of the insertion unit 2, the relative attitude of the imaging element 22 with respect to the blade, the imaging parameters of the imaging element 22, the state of the illumination light, the parameters of image processing, and the state of the lens unit 21. The user may input an instruction to set a first imaging condition to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The instruction may be a bending instruction, etc. The control unit 39 may set the first imaging condition in accordance with the instruction. The control unit 39 may add the first imaging condition to the examination management information.

[0111] To set the first imaging condition, the user may manually move the insertion portion 2 in the longitudinal direction (axial direction) of the insertion portion 2. Alternatively, the user may twist the insertion portion 2 by hand.

[0112] The first shooting condition may be fixed while the image sensor 22 generates two or more images that are acquired as the first image.

[0113] After step S102, the control unit 39 acquires the rotation information and stores the rotation information in the storage unit 37 (step S103).

[0114] Step S103 will be described in detail. The control unit 39 outputs control information for acquiring rotation information to the rotation control unit 35. The rotation control unit 35 generates an information acquisition signal according to the control information and transmits the information acquisition signal to the turning tool 4. The communication unit 42 of the turning tool 4 receives the information acquisition signal. The drive control unit 41 generates rotation information indicating the amount of rotation (rotation angle) required to rotate the disc DS10 from the first position to the second position.

[0115] The first position indicates the position of the disc DS10 when the insertion unit 2 acquires the optical image of the reference blade. The second position indicates the position of the disc DS10 after step S101 is executed. That is, the rotation information indicates the angle between the reference blade and the target blade.

[0116] The communication unit 42 transmits the rotation information to the rotation control unit 35. The rotation control unit 35 receives the rotation information and outputs it to the control unit 39. The control unit 39 stores the rotation information in the storage unit 37. At this time, the control unit 39 associates the rotation information with the first image acquired in step S102. By using the rotation information, the endoscope device 1 can rotate the disc DS10 so that the insertion unit 2 can acquire an optical image of the specific blade again.

[0117] The first image may include rotation information. For example, the rotation information may be included in an Exchangeable Image File Format (Exif) area of ​​the first image. The rotation information may be included in a file different from the file containing the first image, and the rotation information and the first image may be associated with each other.

[0118] In the following example, the control unit 39 adds the rotation information to the examination management information, in which the rotation information and the first image are associated with each other.

[0119] After step S103, the control unit 39 determines whether the first images of all the blades have been acquired (step S104).

[0120] Step S104 will be described in detail. The control unit 39 acquires the counter value. As described above, the value indicates the blade number. As described above, the object information includes the number of blades arranged on the disk DS10. The control unit 39 determines whether the number indicated by the object information is the same as the blade number. When the number indicated by the object information is the same as the blade number, the control unit 39 determines that first images of all blades have been acquired. When the number indicated by the object information is greater than the blade number, the control unit 39 determines that first images of some of the blades arranged on the disk DS10 have not been acquired.

[0121] In many cases, the user knows in advance the number of blades arranged on the disk DS10. The user may input this number into the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A.

[0122] When the control unit 39 determines in step S104 that a first image of a part of the blades arranged on the disk DS10 has not been acquired, step S101 is executed. The insertion unit 2 captures within its field of view a blade adjacent to the blade captured within its field of view immediately before step S104 is executed.

[0123] The turbine TB10 has two or more blades BL. Therefore, the memory unit 37 stores two or more first images. Generally, several tens to approximately two hundred blades are arranged on the disk. That is, steps S101 to S104 are repeated more than several tens of times. The endoscope device 1 may acquire two or more first images of the same blade. Therefore, the number of first images and the number of blades are not always the same.

[0124] The control unit 39 may skip acquiring the first image for some of the two or more blades BL.

[0125] In step S104, the control unit 39 may display the blade number on the display unit 38. The user can know which blade is currently being observed.

[0126] When the control unit 39 determines in step S104 that the first images of all blades have been acquired, the control unit 39 displays two or more first images stored in the memory unit 37 on the display unit 38 (step S105).

[0127] 5 shows an example of information displayed on the display unit 38 in step S105. The control unit 39 displays the dialog box DB10 shown in FIG.

[0128] The dialog box DB10 has a first region R1 and a second region R2. A first image IMG10 is displayed in the first region R1. The first image IMG10 is highlighted so that the user can easily view the first image IMG10. For example, the first image IMG10 is enlarged.

[0129] Additional information IF10 is displayed on the first image IMG10. For example, the additional information IF10 includes a blade number. The additional information IF10 may include a file name of the first image IMG10. Alternatively, the additional information IF10 may include coordinates or pixel values ​​(RGB values) of a specific pixel in the first image IMG10.

[0130] The first images IMG1 to IMG4 and blade numbers "01" to "04" are displayed in the second area R2. Each of the first images IMG1 to IMG4 is a thumbnail image of the first image acquired in step S102. A list of the first images IMG1 to IMG4 may be displayed in the second area R2. The blades depicted in each of the first images IMG1 to IMG4 have blade numbers. For example, the blade depicted in the first image IMG1 has blade number "01."

[0131] The first image IMG10 in the first region R1 corresponds to the first image IMG1 in the second region R2. The frame of the first image IMG1 is highlighted to inform the user that the first image IMG10 corresponds to the first image IMG1.

[0132] The first images IMG2 to IMG4 are not displayed in the first region R1. In addition to the first image IMG10 displayed in the first region R1, the user can view the first images IMG2 to IMG4 that are not displayed in the first region R1.

[0133] The user can select one of the first images IMG1 to IMG4 by operating the operation unit 36 ​​or the touch panel 38A. When one first image is selected, that first image is displayed in the first region R1.

[0134] When many first images are acquired, part of the second region R2 is displayed within the dialog box DB10. The second region R2 outside the dialog box DB10 is not displayed. The user can move the scroll bar SB10 by operating the operation unit 36 ​​or the touch panel 38A. When the scroll bar SB10 is moved, the second region R2 outside the dialog box DB10 moves into the dialog box DB10 and is displayed.

[0135] The scroll bar SB10 may be used to change the first image displayed in the first region R1. For example, when a user moves the scroll bar SB10, the first image IMG2 may be displayed in the first region R1 instead of the first image IMG10.

[0136] The control unit 39 may store a moving image including two or more images generated by the imaging element 22 as a first image in the storage unit 37. The control unit 39 may display a specific image (frame) included in the moving image on the display unit 38 in step S105.

[0137] The user observes two or more first images displayed on the display unit 38. The user determines the status of the blades shown in each of the first images. The user inputs the result of the determination to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The control unit 39 generates status information according to the result of the determination. The status information indicates the status of the blades shown in each of the first images. The status information includes observation information indicating whether detailed observation of each blade is required. The control unit 39 adds the status information to the first images (step S106).

[0138] Typically, the type of abnormality and the conditions for passing or failing the inspection are described in the inspection manual. For example, the conditions relate to the size of the abnormality. The user judges the condition of the blade shown in each first image according to the contents of the inspection manual. When the user finds an area that may be abnormal, he or she determines that further observation is necessary.

[0139] The first image may include status information. For example, the status information may be included in an Exif area of ​​the first image. The status information may be included in a file different from the file containing the first image, and the status information and the first image may be associated with each other.

[0140] In the following example, the control unit 39 adds the status information to the examination management information, in which the status information and the first image are associated with each other.

[0141] The status information may include information indicating OK or NG in addition to the observation information. When the user determines that there is no abnormality in the blade shown in the first image, the user may input information indicating OK to the endoscope device 1, and the status information may include information indicating OK. The status information may include observation information indicating that detailed observation is not necessary. When the user determines that there is an abnormality in the blade shown in the first image, the user may input information indicating NG to the endoscope device 1, and the status information may include information indicating NG. The status information may include observation information indicating that detailed observation is necessary.

[0142] When a user finds an acceptable abnormality, the user may input information indicating that an abnormality exists and that follow-up observation is required into the endoscope device 1, and the status information may include such information. When a user finds an acceptable abnormality, the user may input information indicating that an abnormality exists and that the degree of severity is low into the endoscope device 1, and the status information may include such information. The status information regarding an acceptable abnormality may include observation information indicating that further observation is not required.

[0143] Observation information, or information indicating OK or NG, may be expressed as a value indicating reliability or severity (for example, a percentage) instead of a binary value indicating true or false (Boolean value).

[0144] The user operates the operation unit 36 ​​or the touch panel 38A to tap one of the first images IMG1 to IMG4 and the first image IMG10 displayed in the dialog box DB10 shown in Fig. 5. At this time, the control unit 39 selects the tapped first image and displays a dialog box different from the dialog box DB10 on the display unit 38. Two or more candidates for status information are displayed in the dialog box.

[0145] The user operates the operation unit 36 ​​or the touch panel 38A to input an instruction to the endoscope device 1 to select one of two or more candidates. The control unit 39 adds status information corresponding to the candidate indicated by the instruction to the tapped first image. Thereafter, the control unit 39 displays the dialog box DB10 shown in FIG. 5 again. The user can add status information to all of the two or more first images displayed on the display unit 38 by repeating the above steps.

[0146] To shorten the inspection time, the user may determine the status of only some of the two or more blades BL. The control unit 39 may determine that the blades whose status is not selected by the user are healthy (OK).

[0147] After the status information is added to the first image, the user may operate the operation unit 36 ​​or the touch panel 38A to input an instruction to change the status information to the endoscope device 1. The control unit 39 may change the status information based on the instruction.

[0148] In the above example, the user determines the state of the blade. As will be described later, the control unit 39 may process the first image to determine the state of the blade.

[0149] After step S106, the control unit 39 displays the status information on the display unit 38 (step S107).

[0150] Fig. 6 shows an example of information displayed on the display unit 38 in step S107. The control unit 39 displays the dialog box DB11 shown in Fig. 6 on the display unit 38. Explanation of the same parts as those shown in Fig. 5 will be omitted.

[0151] The status information SI10 is displayed on the first image IMG 10. The status information SI10 is attached to the first image IMG 10.

[0152] Status information SI1 to SI4 are displayed in the second region R2. One of the status information SI1 to SI4 is attached to one of the first images IMG1 to IMG4. For example, status information SI1 is attached to the first image IMG1. The first image IMG10 in the first region R1 corresponds to the first image IMG1 in the second region R2. Therefore, the status information SI10 attached to the first image IMG10 corresponds to the status information SI1 attached to the first image IMG1.

[0153] For example, the status information SI10 and the status information SI1 to SI4 are displayed in colors corresponding to the status of the blade. For example, the status information SI10, SI1, and SI4 indicate that there is no abnormality in the blades shown in the first images IMG10, IMG1, and IMG4. For example, the status information SI2 indicates that the blade shown in the first image IMG2 requires closer observation. For example, the status information SI3 indicates that the blade shown in the first image IMG3 is in a high severity state.

[0154] The status information SI10 and the status information SI1 to SI4 may be displayed as characters indicating the status of the blade. The status information SI10 and the status information SI1 to SI4 may be displayed as a graphic having a shape corresponding to the status of the blade. The blade number may be displayed in a color corresponding to the status of the blade. Any method may be used to display the status information SI10 and the status information SI1 to SI4 as long as the user can recognize the status of the blade.

[0155] A button BT10 is displayed in the first region R1. The user can press the button BT10 by operating the operation unit 36 ​​or the touch panel 38A. When the user presses the button BT10, the control unit 39 may process each of the two or more first images displayed on the display unit 38 and determine the status of the blades shown in each of the first images. The control unit 39 may generate status information according to the result of the determination and may add the status information to each of the first images.

[0156] The control unit 39 may generate the status information by using the first image in step S106. Details of this process will be described below. A first example and a second example will be described below. In these examples, the control unit 39 does not need to display the first image on the display unit 38 in step S105.

[0157] A first example will be described. The memory unit 37 stores a reference image showing an abnormality in advance. The control unit 39 acquires the reference image from the memory unit 37 and compares the reference image with the first image. Specifically, the control unit 39 executes a matching process to determine whether the blade shown in the first image contains an area similar to the abnormality shown in the reference image. When the control unit 39 determines that the blade contains the area, the control unit 39 generates status information including observation information indicating that detailed observation of the blade is required. When the control unit 39 determines that the blade does not contain the area, the control unit 39 generates status information including observation information indicating that detailed observation of the blade is not required.

[0158] A second example will be described. The memory unit 37 pre-stores feature information indicating features of the abnormality. The feature information is generated by using images acquired in a previous inspection. For example, the feature information indicates features such as the color, size, and shape of the abnormality. The control unit 39 determines whether the features of the blade shown in the first image are similar to the features of the abnormality indicated by the feature information. When the control unit 39 determines that the features of the blade are similar to the features of the abnormality indicated by the feature information, the control unit 39 generates status information including observation information indicating that detailed observation of the blade is required. When the control unit 39 determines that the features of the blade are not similar to the features of the abnormality indicated by the feature information, the control unit 39 generates status information including observation information indicating that detailed observation of the blade is not required.

[0159] In the second example, machine learning may be used. For example, deep learning may be used as machine learning. For example, a user observes an image acquired in a previous examination and determines whether an area shown in the image is abnormal or normal. The control unit 39 analyzes the features of the image by using the image and correct answer data (teacher data) indicating the result of the user's judgment, and generates a trained model. The trained model corresponds to the feature information. The memory unit 37 stores the trained model.

[0160] After the first image is acquired, the control unit 39 inputs the first image into the trained model and obtains, as output, information indicating whether the area in the first image is abnormal or normal. Based on the information, the control unit 39 generates status information including observation information.

[0161] The blades shown in the images used to generate the feature information need not be the same as the blades shown in the first image: the feature information may be generated from images showing blades of a turbine different from the turbine whose blades are shown in the first image.

[0162] The control unit 39 may calculate a value indicating the reliability or severity by using the reference image or feature information. The control unit 39 may determine whether the blade shown in the first image is abnormal based on the calculated value and generate status information. The range of the reliability or severity value corresponding to the abnormality may be changeable depending on the purpose of the inspection.

[0163] After step S107, the control unit 39 determines whether or not detailed observation of one or more blades is required (step S108).

[0164] The details of step S108 will be explained. The control unit 39 acquires the status information added to each first image from the storage unit 37. The control unit 39 refers to the observation information included in the status information. When the observation information indicates that detailed observation is necessary, the control unit 39 determines that detailed observation of the blade shown in that first image is necessary. When the observation information indicates that detailed observation is not necessary, the control unit 39 determines that detailed observation of the blade shown in that first image is not necessary. The control unit 39 performs the above process for all first images to which status information is added.

[0165] If there is no image with observation information added indicating that detailed observation is necessary, the control unit 39 determines that detailed observation is unnecessary. If there is an image with observation information added indicating that detailed observation is necessary, the control unit 39 determines that detailed observation is necessary.

[0166] When the control unit 39 determines in step S108 that detailed observation is not required, the processing shown in Fig. 4 ends. When the control unit 39 determines in step S108 that detailed observation is required, the control unit 39 selects all first images to which observation information indicating that detailed observation is required is added, and determines the order of detailed observation of the blades shown in the first images (step S109).

[0167] Step S109 will be described in detail. If the status information includes a value indicating reliability or severity, the control unit 39 determines the order of detailed observation based on that value. For example, the blades are observed in descending order of severity according to that order. Alternatively, the control unit 39 determines the order of detailed observation based on the position of the blade requiring detailed observation. For example, the blades are observed clockwise or counterclockwise from the reference blade according to that order. The user may input information indicating the order of detailed observation into the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. Any method may be used to determine the order of detailed observation.

[0168] If observation information indicating that detailed observation is required is added to only one first image, the control unit 39 determines to perform detailed observation of only the blade shown in that first image. The control unit 39 adds information indicating the order of detailed observation to the inspection management information.

[0169] In the example shown in FIG. 6, status information SI2 indicates that detailed observation of the blade shown in the first image IMG2 is required. The blade number of that blade is 2. Status information other than status information SI2 indicates that detailed observation of the blade shown in the first image to which that status information is attached is not required. Therefore, detailed observation of only the blade shown in the first image IMG2 is performed. The number "1" indicating the order of detailed observation of that blade is displayed on the first image IMG2 (not shown).

[0170] Fig. 7 shows an example of the inspection management information stored in the storage unit 37. The inspection management information MNG10 shown in Fig. 7 includes the blade number, image number, status information, reliability, type of abnormality, severity, rotation information, and order of detailed observation, which are all associated with each other.

[0171] In step S101, the control unit 39 adds the blade number to the examination management information. In step S102, the control unit 39 adds the image number to the examination management information. Two or more first images of the same blade may be acquired. In the example shown in FIG. 7, the control unit 39 acquires two first images of the blade with blade number "003" and two first images of the blade with blade number "006."

[0172] In step S103, the control unit 39 adds the rotation information to the inspection management information. In the example shown in Fig. 7, the rotation information is shown as the position of each blade. In step S106, the control unit 39 adds the status information, reliability, type of abnormality, and severity to the inspection management information. In step S109, the control unit 39 adds the order of detailed observation to the inspection management information.

[0173] The status information of the blade with blade number "003" and the status information of the blade with blade number "007" indicate that detailed observation is required. The order of detailed observation indicates that the blade with blade number "003" and the blade with blade number "007" will be observed in this order.

[0174] After step S109, the control unit 39 executes the following process to capture the blade that requires detailed observation within the view of the insertion unit 2 (step S110).

[0175] The control unit 39 selects the target blade in accordance with the order determined in step S109. The control unit 39 acquires, from the storage unit 37, the rotation information added to the first image in which the selected target blade is shown. In the example shown in FIG. 7, the control unit 39 acquires the rotation information associated with the blade number of the target blade from the inspection management information.

[0176] The control unit 39 calculates the rotation amount (rotation angle) of the disk DS10 necessary to capture the target blade within the view of the insertion unit 2. When the current rotation amount of the disk DS10 is 0 degrees, the reference blade is captured within the view of the insertion unit 2. For example, the current rotation amount of the disk DS10 is N (0 < N < 360) degrees. For example, when the angle indicated by the rotation information is 120 degrees, in order to capture the target blade within the view of the insertion unit 2, it is necessary to rotate the disk DS10 by (120 - N) degrees.

[0177] The control unit 39 outputs rotation control information for rotating the disk DS10 by the above-mentioned angle to the rotation control unit 35. The same process as the above-described process is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 rotates the disk DS10 by that angle. After the disk DS10 has rotated by that angle, the rotation unit 40 stops the rotation of the disk DS10. The disk DS10 stops. The insertion unit 2 captures the target blade within the view and acquires the optical image of the target blade.

[0178] In step S110, the control unit 39 may display, on the display unit 38, the number of all blades that require detailed observation and the number of blades for which the detailed observation has ended. For example, when detailed observation of five blades is required and detailed observation of two blades has ended, the control unit 39 displays "2 / 5" on the display unit 38.

[0179] After step S110, the control unit 39 acquires the image processed by the image processing unit 30 as a second image, and stores the second image in the storage unit 37 (step S111).

[0180] As described above, the control unit 39 displays two or more live images generated by the image sensor 22 on the display unit 38. The live images include the second image.

[0181] Before the image capturing element 22 generates an image to be acquired as the second image, the control unit 39 sets second imaging conditions. Similar to the first imaging conditions, the second imaging conditions are one or more of the position of the image capturing element 22, the attitude of the image capturing element 22, the relative position of the image capturing element 22 with respect to the blade captured in the field of view of the insertion unit 2, the relative attitude of the image capturing element 22 with respect to the blade, imaging parameters of the image capturing element 22, the state of the illumination light, the parameters of image processing, and the state of the lens unit 21.

[0182] Generally, in blade inspection, the user must determine whether the blade condition is OK or NG. Therefore, the user determines whether the blade condition is OK or NG in detailed observation. If the second imaging conditions are the same as the first imaging conditions, the condition of the blade captured in the second image will be similar to the condition of the blade captured in the first image. In such a case, it is difficult for the user to determine that the blade condition is different from the condition that requires detailed observation.

[0183] Therefore, the second photographing condition needs to be different from the first photographing condition. For example, the control unit 39 executes the following process to make the second photographing condition different from the first photographing condition.

[0184] The control unit 39 sets the curved state of the insertion unit 2 as the second imaging condition. The control unit 39 executes the same process as the process for setting the first imaging condition, and sets the position and attitude of the image sensor 22 to a predetermined position and attitude. The position of the image sensor 22 set as the second imaging condition is different from the position of the image sensor 22 set as the first imaging condition. The attitude of the image sensor 22 set as the second imaging condition is different from the attitude of the image sensor 22 set as the first imaging condition.

[0185] When the insertion device is placed in the access port AP10, the control unit 39 sets the position of the insertion unit 2 as the second imaging condition. The control unit 39 executes a process similar to the process for setting the first imaging condition, and sets the position of the image sensor 22 to a predetermined position. The position of the image sensor 22 set as the second imaging condition is different from the position of the image sensor 22 set as the first imaging condition.

[0186] Furthermore, when the insertion device is placed in the access port AP10, the control unit 39 sets the attitude of the insertion unit 2 as the second imaging condition. The control unit 39 executes a process similar to the process for setting the first imaging condition, and sets the attitude of the image sensor 22 to a predetermined attitude. The attitude of the image sensor 22 set as the second imaging condition is different from the attitude of the image sensor 22 set as the first imaging condition.

[0187] The control unit 39 sets the position and posture of the blade captured in the field of view of the insertion unit 2 as the second imaging condition. The control unit 39 executes a process similar to the process for setting the first imaging condition, and sets the position of the blade to a predetermined position. In other words, the control unit 39 sets the relative position of the image sensor 22 with respect to the blade to a predetermined position. The relative position of the image sensor 22 set as the second imaging condition is different from the relative position of the image sensor 22 set as the first imaging condition.

[0188] Furthermore, the control unit 39 executes a process similar to the process for setting the first imaging condition, and sets the attitude of the blade captured in the field of view of the insertion unit 2 to a predetermined attitude. That is, the control unit 39 sets the relative attitude of the image sensor 22 with respect to the blade to a predetermined attitude. The relative attitude of the image sensor 22 set as the second imaging condition is different from the relative attitude of the image sensor 22 set as the first imaging condition.

[0189] The control unit 39 sets the imaging parameters of the image sensor 22 as the second imaging condition. The control unit 39 executes a process similar to the process for setting the first imaging condition, and sets the exposure time of the image sensor 22 to a predetermined value. For example, the exposure time set as the second imaging condition is longer than the exposure time set as the first imaging condition. Alternatively, the control unit 39 sets the gain of the image sensor 22 to a predetermined value. For example, the gain set as the second imaging condition is greater than the gain set as the first imaging condition.

[0190] The control unit 39 sets the state of the illumination light emitted by the light source unit 33 as the second photographing condition. The control unit 39 executes a process similar to the process for setting the first photographing condition, and sets the brightness of the illumination light to a predetermined brightness. For example, the illumination light in the second photographing condition is brighter than the illumination light in the first photographing condition.

[0191] The control unit 39 sets the parameters of the image processing executed by the image processing unit 30 as the second shooting conditions. Specifically, the control unit 39 sets the strength of noise suppression or edge enhancement to a predetermined strength. For example, the control unit 39 sets the strength of noise suppression so that noise in the second image is suppressed more strongly than noise in the first image. For example, the control unit 39 sets the strength of edge enhancement so that the edges of regions in the second image are enhanced more strongly than the edges of regions in the first image.

[0192] The control unit 39 sets the state of the lens unit 21 as the second shooting condition. Specifically, the control unit 39 sets the zoom state of the lens unit 21 to a telephoto state, or sets the focus state of the lens unit 21 to a near point.

[0193] The control unit 39 sets one or more of the position of the imaging element 22, the attitude of the imaging element 22, the relative position of the imaging element 22 with respect to the blade captured in the field of view of the insertion unit 2, the relative attitude of the imaging element 22 with respect to the blade, the imaging parameters of the imaging element 22, the state of the illumination light, the parameters of image processing, and the state of the lens unit 21. The user may input an instruction to set a second imaging condition to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The instruction may be a bending instruction, etc. The control unit 39 may set the second imaging condition in accordance with the instruction.

[0194] To set the second imaging condition, the user may manually move the insertion portion 2 in the longitudinal direction (axial direction) of the insertion portion 2. Alternatively, the user may manually twist the insertion portion 2.

[0195] Every time the target blade is changed, the user may input an instruction to change the second imaging condition to the endoscope device 1. The control unit 39 may change the second imaging condition in accordance with the instruction.

[0196] The control unit 39 may automatically set second imaging conditions different from the first imaging conditions included in the examination management information. The control unit 39 may change the second imaging conditions every time the target blade is changed.

[0197] The user observes the image displayed on the display unit 38. The shooting conditions for that image are the same as the second shooting conditions for the second image. The user determines the status of the blade shown in the image displayed on the display unit 38. The user inputs the result of that determination to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The control unit 39 generates status information according to the result of that determination. The status information indicates the status of the blade shown in the second image. The status information indicates whether the blade is OK or NG. The control unit 39 adds the status information to the second image (step S112).

[0198] The second image serves as evidence of the inspection and may be attached to the inspection report.

[0199] The second image may include status information. For example, the status information may be included in an Exif area of ​​the second image. The status information may be included in a file different from the file containing the second image, and the status information and the second image may be associated with each other. The control unit 39 may add the status information to the examination management information and associate the status information and the second image with each other in the examination management information.

[0200] The status information may include the severity of the blade abnormality, which may be one of three ranks: low, medium, or high.

[0201] 8 shows an example of information displayed on the display unit 38 in steps S111 and S112. The control unit 39 displays the dialog box DB12 shown in FIG.

[0202] A live image IMG11 is displayed in a dialog box DB12. The live image IMG11 is updated every time the imaging device 22 generates an image.

[0203] A first image IMG2, blade number "02", and status information SI2 are displayed in the dialog box DB12. The blade shown in the first image IMG2 has blade number "02". The status information SI2 is attached to the first image IMG2. The status information SI2 indicates that the blade shown in the first image IMG2 requires closer observation. The blade shown in the live image IMG11 is the same as the blade shown in the first image IMG2.

[0204] The second shooting conditions are different from the first shooting conditions. Therefore, the composition of live image IMG11 is different from the composition of the first image IMG2. The base of the blade with blade number "02" is captured in live image IMG11. The user observes live image IMG11 and determines whether the blade is healthy. When an abnormality is found in the blade, the user determines whether the abnormality is serious.

[0205] A button BT11 is displayed in the dialog box DB12. The user can press the button BT11 by operating the operation unit 36 ​​or the touch panel 38A. When the user presses the button BT11, the control unit 39 acquires a second image and stores the second image in the storage unit 37.

[0206] The control unit 39 displays a dialog box for the user to specify the status of the blade on the display unit 38. Two or more candidates for status information are displayed in the dialog box.

[0207] The user operates the operation unit 36 ​​or the touch panel 38A to input an instruction to select one of two or more candidates to the endoscope device 1. The control unit 39 adds status information corresponding to the candidate indicated by the instruction to the second image.

[0208] Status information SI11 is displayed on the live image IMG11. The status information SI11 is added to the second image. The status information SI11 indicates that there is no abnormality in the blade shown in the second image. The status information SI11 is different from the status information SI2.

[0209] In the above example, the user determines the state of the blade. The control unit 39 may process the second image and determine the state of the blade. In such a case, the control unit 39 does not need to display the second image on the display unit 38.

[0210] After step S112, the control unit 39 determines whether or not second images of all blades that require detailed observation have been acquired (step S113).

[0211] When the control unit 39 determines in step S113 that second images of some of the blades that require detailed observation have not been acquired, step S110 is executed. When the control unit 39 determines in step S113 that second images of all of the blades that require detailed observation have been acquired, the process shown in FIG. 4 ends.

[0212] Fig. 9 shows an example of information displayed on the display unit 38 after second images of all blades requiring detailed observation have been acquired. The control unit 39 displays the dialog box DB13 shown in Fig. 9 on the display unit 38. Explanation of the same parts as those shown in Fig. 6 will be omitted.

[0213] The first image IMG2 shown in Fig. 6 is changed to a second image IMG2a. The status information SI2 shown in Fig. 6 is changed to status information SI2a. The status information SI2a indicates that there is no abnormality in the blade shown in the second image IMG2a.

[0214] The end information IF11 is displayed in the second region R2. The end information IF11 indicates that the contents of all status information indicating that detailed observation is required have been changed. The user may decide to end the examination based on the end information IF11.

[0215] 6 is not displayed in the dialog box DB13. The user may input an instruction to switch between the second image IMG2a and the first image IMG2 to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. When the instruction is input, the control unit 39 may display the first image IMG2 in the dialog box DB13. The control unit 39 may simultaneously display the second image IMG2a and the first image IMG2 in the dialog box DB13.

[0216] After the disk DS10 stops in step S110, the control unit 39 may execute control to slightly rotate the disk DS10 in step S111. This changes the positional relationship between the tip 20 and the blade, and changes the angle of the illumination light irradiated onto the blade. This changes the state of the blade shown in the second image, which may allow the user to accurately determine the abnormal state.

[0217] There are cases where it is required to acquire a second image captured with the same composition as the reference image. For example, the reference image may be an image captured in a previous examination or an image included in an examination instruction sheet. A method for acquiring a second image captured with the same composition as the reference image is described below.

[0218] The storage unit 37 stores a reference image in advance. The reference image is an image of a blade arranged in a turbine of the same model as the turbine TB10.

[0219] After the disc DS10 stops in step S110, the user inputs a bending instruction to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The endoscope device 1 adjusts the position and posture of the tip 20 in accordance with the bending instruction. The user may manually move the insertion portion 2 in the longitudinal direction (axial direction) of the insertion portion 2, or may manually twist the insertion portion 2. The user may input instructions to the endoscope device 1 to adjust various states of the endoscope device 1, and the endoscope device 1 may adjust the states in accordance with the instructions. The states include the imaging parameters of the image sensor 22, the illumination light state, the image processing parameters, and the state of the lens unit 21. The user performs the above operations to adjust the imaging conditions other than the amount of rotation of the disc DS10.

[0220] After the user has performed the above operations, the control unit 39 outputs rotation control information for rotating the disc DS10 to the rotation control unit 35. The same processing as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 rotates the disc DS10.

[0221] While the disk DS10 is rotating, the control unit 39 acquires a reference image from the storage unit 37 and compares the image generated by the imaging element 22 with the reference image. When the position of the blade captured in the image generated by the imaging element 22 becomes substantially the same as the position of the blade captured in the reference image, the control unit 39 outputs rotation control information to the rotation control unit 35 to stop the rotation of the disk DS10. For example, the control unit 39 calculates a first center of gravity of the blade captured in the image generated by the imaging element 22 and calculates a second center of gravity of the blade captured in the reference image. When the distance between the first center of gravity and the second center of gravity is smaller than a predetermined value, the control unit 39 outputs rotation control information to the rotation control unit 35 to stop the rotation of the disk DS10.

[0222] The same process as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 stops the rotation of the disk DS10. The disk DS10 stands still. After the rotation of the disk DS10 has stopped, the imaging element 22 can generate a second image of the target blade with the same composition as the reference image.

[0223] In step S102 or step S111, the position of the tip 20 may be displaced due to the influence of an external force, so the control unit 39 may execute feedback control to maintain the positional relationship between the tip 20 and the blade.

[0224] The control unit 39 may execute the following process in step S110 to capture a blade requiring detailed observation within the field of view of the insertion unit 2. As described above, the control unit 39 selects the target blade. The control unit 39 outputs rotation control information for rotating the disk DS10 to the rotation control unit 35. The same process as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 rotates the disk DS10.

[0225] While the disk DS10 is rotating, the control unit 39 compares the image generated by the imaging element 22 with the first image of the target blade. Specifically, the control unit 39 executes a matching process to determine whether the blade shown in the image generated by the imaging element 22 is similar to the target blade.

[0226] When the control unit 39 determines that the blade is similar to the target blade, the control unit 39 outputs rotation control information to the rotation control unit 35 to stop the rotation of the disk DS10. The same processing as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control signal. The rotation unit 40 stops the rotation of the disk DS10. The disk DS10 comes to a standstill. The insertion unit 2 captures the target blade within its field of view and acquires an optical image of the target blade.

[0227] In the above example, the control unit 39 does not need to use the rotation information to generate the rotation control information, and therefore does not need to acquire the rotation information in step S103.

[0228] The inspection support system 10 according to each embodiment of the present invention supports the inspection of a turbine TB10 (subject) having a disk DS10 (rotating body) therein on which two or more blades BL are arranged. The inspection support system 10 includes an imaging element 22 (image sensor), a control unit 39, and a rotation control unit 35. The imaging element 22 generates an image based on an optical image of the blade captured within the field of view of an insertion unit 2 inserted inside the turbine TB10. The control unit 39 acquires two or more first images from the imaging element 22 as the disk DS10 rotates. The control unit 39 adds observation information indicating that observation is required to at least one of the two or more first images. After the observation information has been added to the at least one first image, the rotation control unit 35 outputs a control signal to a turning tool 4 that rotates the disk DS10 based on the control signal, so that the insertion unit 2 captures the blades shown in the at least one first image within its field of view. After the turning tool 4 rotates the disc DS10, the control unit 39 acquires at least one second image from the imaging element 22.

[0229] The inspection support method according to each aspect of the present invention includes first to fourth steps. In a first step (step S102), the control unit 39 acquires two or more first images from the imaging element 22 in accordance with the rotation of the disk DS10. In a second step (step S106), the control unit 39 adds observation information to at least one of the two or more first images. After the observation information has been added to the at least one first image, in a third step (step S110), the rotation control unit 35 outputs a control signal to the turning tool 4 so that the insertion unit 2 captures the blade shown in the at least one first image within its field of view. After the turning tool 4 rotates the disk DS10, the control unit 39 acquires at least one second image from the imaging element 22 in a fourth step (step S111).

[0230] The program according to each aspect of the present invention causes a computer to execute the first to fourth steps described above.

[0231] Each aspect of the present invention may include the following modifications: The rotation control unit 35 outputs a control signal to the turning tool 4 before each of the two or more first images is acquired.

[0232] Each aspect of the present invention may include the following modifications. When the turning tool 4 rotates the disk DS10 (rotating body), the control unit 39 acquires rotation information indicating the amount of rotation of the disk DS10 from the turning tool 4. The control unit 39 adds the rotation information to each of two or more first images. The rotation control unit 35 outputs a control signal to the turning tool 4, which is generated based on the added rotation information associated with at least one first image.

[0233] Each aspect of the present invention may include the following modifications: The control unit 39 adds status information indicating the status of the blade shown in the at least one second image to the at least one second image.

[0234] Each aspect of the present invention may include the following modifications: The control unit 39 adds status information indicating the status of the blade shown in the two or more first images to the two or more first images.

[0235] Each aspect of the present invention may include the following modifications. The imaging element 22 (image sensor) is disposed at the tip 20 of the insertion section 2. The control unit 39 sets a first imaging condition before the imaging element 22 generates two or more first images. The control unit 39 sets a second imaging condition different from the first imaging condition before the imaging element 22 generates at least one second image. The first imaging condition and the second imaging condition are one or more of the position of the imaging element 22, the attitude of the imaging element 22, the relative position of the imaging element 22 with respect to the blade captured in the field of view of the insertion section 2, the relative attitude of the imaging element 22 with respect to the blade captured in the field of view of the insertion section 2, imaging parameters of the imaging element 22, the state of the illumination light irradiated inside the turbine TB10 (subject), parameters of image processing performed on the image generated by the imaging element 22, and the state of the lens unit 21 disposed in the insertion section 2.

[0236] Each aspect of the present invention may include the following modifications: Before the imaging element 22 (image sensor) generates at least one second image, the control unit 39 controls one or more of the bending portion 23 of the insertion portion 2, the insertion device that moves the insertion portion 2 in the longitudinal direction of the insertion portion 2 inside the turbine TB10 (subject) or twists the insertion portion 2 inside the turbine TB10, the turning tool 4, the imaging element 22, the light source unit 33 that generates illumination light, the image processing unit 30 (image processing circuit) that performs image processing, and the lens unit 21, so that the second imaging conditions are different from the first imaging conditions.

[0237] Each aspect of the present invention may include the following modifications. The control unit 39 acquires a reference image pre-recorded in the storage unit 37 (recording medium). At least one blade is captured in the reference image. The rotation control unit 35 outputs a control signal to the turning tool 4 based on the composition of the blade captured in the reference image.

[0238] Each aspect of the present invention may include the following modifications: The control unit 39 acquires a reference image pre-recorded in the storage unit 37 (recording medium). An abnormality is captured in the reference image. The control unit 39 adds observation information to at least one first image based on a result of comparing the first image and the reference image contained in the at least one first image.

[0239] Each aspect of the present invention may include the following modifications. The control unit 39 acquires feature information pre-recorded in the storage unit 37 (recording medium). The feature information is generated based on the features of an image that shows at least one of the two or more blades BL. The control unit 39 adds observation information to at least one first image based on the feature information.

[0240] Each aspect of the present invention may include the following modifications: The control unit 39 adds observation information to at least two of the two or more first images. The control unit 39 acquires at least two second images including the at least one second image described above from the imaging element 22 (image sensor).

[0241] Each aspect of the present invention may include the following variations: The two or more first images include at least two first images in which the same blade is shown.

[0242] Each aspect of the present invention may include the following modifications: The turning tool 4 rotates the disk DS10 (rotating body) and then stops the disk DS10. When the disk DS10 is stationary, the control unit 39 acquires at least one second image from the imaging element 22 (image sensor).

[0243] Each aspect of the present invention may include the following modifications: The control unit 39 displays at least one first image and observation information on the display unit 38 (display).

[0244] Each aspect of the present invention may include the following modifications: The examination support system 10 has an imaging device. The imaging device has an imaging element 22 (image sensor), a control unit 39, and a rotation control unit .

[0245] In the first embodiment, the endoscope device 1 acquires two or more first images to perform screening and adds observation information to at least one of the two or more first images. The endoscope device 1 acquires a second image of the blade that appears in the first image to which the observation information has been added to perform detailed observation. This allows the endoscope device 1 to improve the efficiency of the inspection.

[0246] The endoscope device 1 can suppress variations in examination quality that occur depending on the user's level of proficiency, and can also shorten the examination time.

[0247] (Second embodiment) A second embodiment of the present invention will now be described. In the second embodiment, the endoscope device 1 has a function for displaying a structural diagram of a specific stage of the turbine TB10, and a function for associating blade numbers and images with the structural diagram. By performing these functions, the endoscope device 1 assists the user in checking the status of the blades.

[0248] The user operates the operation unit 36 ​​or the touch panel 38A to input the number of blades in a specific stage to the endoscope device 1. For example, the user inputs the number of blades (Y) in the Xth stage in the high compression section or the number of blades (Z) in the Xth stage in the high pressure turbine section to the endoscope device 1.

[0249] The control unit 39 generates a structural drawing according to the input number. The structural drawing does not need to reproduce the exact size or shape of each blade. The control unit 39 may generate the structural drawing based on CAD (Computer-Aided Design) data, which is engine design data. The control unit 39 may generate 3D data as the structural drawing by performing 3D reconstruction using images or videos acquired in a previous inspection. A conventional technique called "Structure from Motion" may be applied to the 3D reconstruction. The control unit 39 stores the structural drawing in the memory unit 37.

[0250] In addition, in the second embodiment, the endoscope device 1 has a function of measuring the size of a specific area of ​​the blade. In the second embodiment, the endoscope device 1 uses a monocular optical adapter and a measurement optical adapter. The monocular optical adapter is used for normal observation of the subject. The measurement optical adapter is used to measure the size of the area of ​​the subject. A stereo optical adapter with two fields of view is used as the measurement optical adapter.

[0251] The endoscope device 1 uses a stereo optical adapter 5 shown in Figures 10 and 11. Figures 10 and 11 show the configuration of the distal end 20 of the insertion section 2 and the stereo optical adapter 5. Figure 10 shows the appearance of the distal end 20 and the stereo optical adapter 5. Figure 11 shows a cross section of the distal end 20 and the stereo optical adapter 5. A first illumination optical system 51, a second illumination optical system 52, a first objective optical system 53, and a second objective optical system 54 are arranged at the distal end of the stereo optical adapter 5. Figure 11 shows a cross section passing through the first objective optical system 53 and the second objective optical system 54.

[0252] The stereo optical adapter 5 is attached to the tip 20 of the insertion section 2. The stereo optical adapter 5 has a fixing ring 50 on which a female thread 50a is formed. A male thread 20a is formed on the tip 20 of the insertion section 2. The stereo optical adapter 5 is fixed to the tip 20 by being threadedly engaged with the male thread 20a via the female thread 50a.

[0253] An imaging element 22 is disposed within the tip 20. A first objective optical system 53 and a second objective optical system 54 form two optical images on the imaging element 22. The imaging element 22 converts the two optical images into an image. A signal line 2b is connected to the imaging element 22. The image generated by the imaging element 22 is output to the main body 3 via the signal line 2b.

[0254] The first objective optical system 53 forms a first optical image of the subject viewed from a first viewpoint. The second objective optical system 54 forms a second optical image of the subject viewed from a second viewpoint different from the first viewpoint. The image sensor 22 has an effective area in which the first optical image and the second optical image are formed. For example, the first optical image is formed in the left area of ​​the effective area, and the second optical image is formed in the right area of ​​the effective area.

[0255] The image sensor 22 generates a stereo image corresponding to the first optical image and the second optical image. The stereo image includes a pair of images, i.e., an image of the object seen from a first viewpoint and an image of the object seen from a second viewpoint.

[0256] A method for calculating the three-dimensional coordinates (3D coordinates) of a point of interest in stereo measurement will be described with reference to Fig. 12. The midpoint of the line segment connecting the left optical center (first optical center 63) and the right optical center (second optical center 64) is defined as the origin O. Also, the x-axis, y-axis, and z-axis shown in Fig. 12 are defined.

[0257] An image containing an object image is used. The object image is obtained via the left optical system and the right optical system. As shown in the following equations (1) to (3), the 3D coordinates (X, Y, Z) of the attention point 60 are calculated by using the principle of triangulation. The two-dimensional coordinates (2D coordinates) of the attention points 61 and 62 are respectively (X, Y, Z). L ,Y L ), (X R ,Y R ) Point of interest 61 is in the rectified left image plane. Point of interest 62 is in the rectified right image plane.

[0258] The origin of point 61 is the intersection point O L The origin of the point of interest 62 is the intersection point O R Intersection point O L is the point where the optical axis of the left optical system intersects with the image plane. R is located at the intersection of the optical axis of the right optical system and the image plane. The distance between the first optical center 63 and the second optical center 64 is D. The parameter F indicates the focal length. The parameter t is calculated by the function D / (X R -X L ) X=t×X R +D / 2 (1) Y=-t×Y R (2) Z=t×F (3)

[0259] When the coordinates of each of the attention points 61 and 62 are determined as described above, the control unit 39 can calculate the 3D coordinates of the attention point 60 by using the parameters D and F. The parameters D and F are calculated when the stereo optical adapter 5 is shipped from the factory. Alternatively, the parameters D and F are calculated during a process such as setting up the endoscope device 1 before an examination is performed.

[0260] The control unit 39 can realize various measurement functions by calculating the 3D coordinates of two or more points. For example, the control unit 39 can measure the distance between two points, the distance between a line and a point, the area of ​​an area, and the depth of a reference plane. The line connects two points. The area is surrounded by lines connecting multiple points.

[0261] The user can select the desired measurement function from a variety of measurement functions. The control unit 39 can also calculate the distance from the first optical center 63 or the second optical center 64 to the subject (object distance). Optical data is required to perform the above stereo measurement. The optical data indicates the characteristics of the optical system including the tip 20 of the insertion unit 2 and the stereo optical adapter 5.

[0262] In the second embodiment, the endoscope device 1 generates a first image for screening by using a monocular optical adapter that has better observation performance than the stereo optical adapter 5. Then, the endoscope device 1 generates a second image for detailed observation by using the stereo optical adapter 5.

[0263] The processing executed by the endoscope device 1 will be described using Fig. 13. Fig. 13 shows the procedure of the processing executed by the endoscope device 1. The description of the same processing as that shown in Fig. 4 will be omitted.

[0264] 13, the control unit 39 generates a message instructing the user to attach the monocular optical adapter to the distal end 20. The control unit 39 displays the message on the display unit 38 (step S120).

[0265] The user follows the message displayed on the display unit 38 to attach the monocular optical adapter to the distal end 20. The user then inserts the insertion section 2 with the monocular optical adapter attached into the turbine TB10.

[0266] After the tip 20 reaches a position where an optical image of the blade can be acquired, the user operates the operation unit 36 ​​or the touch panel 38A to input information indicating the start of observation into the endoscope device 1. The control unit 39 executes step S100 in accordance with the information. The control unit 39 may monitor the state of the tip 20, or may detect that the monocular optical adapter has been attached to the tip 20.

[0267] When the control unit 39 determines in step S104 that the first images of all blades have been acquired, the control unit 39 acquires a structural diagram of a specific stage from the storage unit 37. For example, the user inputs information about the stage to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The control unit 39 acquires a structural diagram of the stage indicated by the information from the storage unit 37. The control unit 39 displays the structural diagram on the display unit 38 (step S121). After step S121, step S105 is executed.

[0268] Fig. 14 shows an example of information displayed on the display unit 38 in step S121 and steps S105 to S107. The control unit 39 displays the dialog box DB14 shown in Fig. 14 on the display unit 38. Explanation of the same parts as those shown in Fig. 6 will be omitted.

[0269] The tabs TAB10 and TAB11 are displayed in the dialog box DB 14. The user can set the tab TAB10 or TAB11 to be valid by operating the operation unit 36 ​​or the touch panel 38A.

[0270] When tab TAB10 is enabled, thumbnail images of two or more first images are displayed in second area R2, similar to dialog box DB11 shown in Fig. 6. Alternatively, a list of two or more first images is displayed in second area R2.

[0271] When tab TAB11 is enabled, structural drawing DG10 is displayed in the second area R2. Twelve blades and their blade numbers are shown in structural drawing DG10. Reference blade RB10 has blade number "01". Reference blade RB10 is highlighted.

[0272] The user operates the operation unit 36 ​​or the touch panel 38A to input an instruction to select a specific blade to the endoscope device 1. The control unit 39 selects the blade number of the blade indicated by the instruction.

[0273] 14 shows an example in which the user selects a blade with blade number "04." A cursor CS10 is displayed in a dialog box DB14. The user selects the blade by using the cursor CS10. The control unit 39 selects blade number "04."

[0274] The control unit 39 acquires a first image of the blade having the blade number "04" from the storage unit 37. As described above, each first image and each blade number are associated with each other in the examination management information stored in the storage unit 37. The control unit 39 acquires the first image associated with the blade number "04". In step S105, the control unit 39 displays the acquired first image as a first image IMG10 in the first region R1. Additional information IF10 indicating the blade number "04" is displayed on the first image IMG10.

[0275] The user determines the status of the blade shown in the first image IMG10. The user inputs the result of the determination into the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The control unit 39 generates status information according to the result of the determination. The control unit 39 adds the status information to the first image IMG10.

[0276] The status information added to the first image IMG10 is displayed on the first image IMG10 as status information SI10. The status information SI10 indicates that there is no abnormality in the blade shown in the first image IMG10. Status information SI4 corresponding to the status information SI10 is displayed near the blade with blade number "04" on the structural drawing DG10.

[0277] By repeating the above steps, the user can add status information to the first images of all 12 blades.

[0278] The status information in the second region R2 may be displayed as text indicating the status of the blade. The status information may be displayed as a graphic having a shape corresponding to the status of the blade. The blade or blade number may be displayed in a color corresponding to the status of the blade. Any method may be used to display the status information as long as the user can recognize the status of the blade.

[0279] When the updated status information is added to the second image in step S112, the status information may be displayed in the second region R2 of the dialog box DB14.

[0280] When the control unit 39 determines in step S108 that detailed observation is necessary, the control unit 39 generates a message instructing the user to attach the stereo optical adapter 5 to the tip 20. The control unit 39 displays the message on the display unit 38 (step S122). After step S122, step S109 is executed.

[0281] The user returns the insertion section 2 that was inserted into the turbine TB10 to the outside of the turbine TB10. The user replaces the monocular optical adapter with the stereo optical adapter 5 according to the message displayed on the display unit 38. The user inserts the insertion section 2 with the stereo optical adapter 5 attached into the turbine TB10.

[0282] After the tip 20 reaches a position where an optical image of the blade can be acquired, the user operates the operation unit 36 ​​or the touch panel 38A to input information indicating the start of observation into the endoscope device 1. The control unit 39 executes step S109 in accordance with the information. The control unit 39 may monitor the state of the tip 20, or may detect that the stereo optical adapter 5 has been attached to the tip 20.

[0283] The second image acquired in step S111 is a stereo image. After step S111, the control unit 39 uses the second image to measure the size of the blade area shown in the second image (step S123). After step S123, step S112 is executed.

[0284] Step S123 will be described in detail. For example, the user operates the operation unit 36 ​​or the touch panel 38A to input an instruction to select two or more measurement positions in the region to the endoscope device 1. Alternatively, the control unit 39 processes the second image and detects two or more measurement positions in the region.

[0285] The control unit 39 calculates the 3D coordinates of each of the two or more measurement positions according to the method described above, and measures the size by using the calculated 3D coordinates. The control unit 39 may measure the distance between two measurement positions. The control unit 39 may measure the area of ​​a region defined by three or more measurement positions. The control unit 39 may measure the distance between one measurement position and a line defined by two measurement positions. The control unit 39 may measure the distance between one measurement position and a plane defined by three measurement positions.

[0286] FIG. 15 shows an example of information displayed on the display unit 38 after second images of all blades requiring detailed observation have been acquired. The control unit 39 displays a dialog box DB15 shown in FIG. 15 on the display unit 38. Explanations of parts that are the same as those shown in FIG. 9 will be omitted. The measurement result MR10 is displayed on the first image IMG10. The measurement result MR10 includes information on two measurement positions and information on the distance between the two measurement positions.

[0287] 6 is changed to a second image IMG3a. The first image IMG10 in the first region R1 corresponds to the second image IMG3a in the second region R2. The frame of the second image IMG3a is highlighted to notify the user that the first image IMG10 corresponds to the second image IMG3a.

[0288] The control unit 39 may reconstruct the three-dimensional shape (3D shape) of the blade by using two or more first images. The control unit 39 may reconstruct the 3D shape of the blade by using one or more second images. The 3D shape may be displayed in the first area R1 instead of the first image IMG10. The first image IMG10 and the 3D shape may be switched in the first area R1 according to an instruction from the user.

[0289] In the second embodiment, the endoscope device 1 displays a structural diagram and displays status information on the structural diagram, allowing the user to easily grasp the position of each blade and its status information.

[0290] In the second embodiment, the endoscope device 1 quantifies the size of the abnormality by measuring the size of a specific area of ​​the blade. The user can easily determine the severity of the abnormality based on the measurement results. The user can accurately and quickly determine the condition of the blade during detailed observation.

[0291] (Modification of the second embodiment) A modified example of the second embodiment of the present invention will be described. In the modified example of the second embodiment, a stereo optical adapter 5a shown in Figure 16 is used. In the modified example of the second embodiment, it is not necessary to use a monocular optical adapter.

[0292] In the second embodiment described above, the first objective optical system 53 and the second objective optical system 54 simultaneously form two optical images in the effective area of ​​the image sensor 22. On the other hand, in a modification of the second embodiment, one of the first objective optical system 53 and the second objective optical system 54 forms an optical image over the entire effective area, and then the other of the first objective optical system 53 and the second objective optical system 54 forms an optical image over the entire effective area. In the modification of the second embodiment, the endoscope device 1 acquires left and right images in a time-division manner.

[0293] 16 shows the configuration of the distal end 20 of the insertion section 2 and the stereo optical adapter 5a. A lens unit 21 and an image sensor 22 are disposed at the distal end 20. The image sensor 22 has an effective area 22a. The stereo optical adapter 5a has a first objective optical system 53, a second objective optical system 54, and an optical path setting unit 55.

[0294] For example, the first objective optical system 53 and the second objective optical system 54 are a combination of a concave lens and a convex lens. The second objective optical system 54 is disposed so as to have parallax relative to the first objective optical system 53. That is, the first objective optical system 53 and the second objective optical system 54 are spaced apart in the parallax direction. The parallax direction is the direction of a straight line passing through the optical centers of the first objective optical system 53 and the second objective optical system 54. Light incident on the first objective optical system 53 travels along a first optical path L1. Light incident on the second objective optical system 54 travels along a second optical path L2 different from the first optical path L1. The first objective optical system 53 forms a first optical image of the subject, and the second objective optical system 54 forms a second optical image of the subject.

[0295] The optical path setting unit 55 switches the optical path between the first optical path L1 and the second optical path L2 so that only one of the first optical image and the second optical image is formed in the effective area 22a of the image sensor 22. In this way, the optical path setting unit 55 sets either the first optical path L1 or the second optical path L2 as the imaging optical path. The optical path setting unit 55 is configured to transmit only light that passes through either the first optical path L1 or the second optical path L2, and to block light that passes through the other of the first optical path L1 and the second optical path L2.

[0296] For example, the optical path setting unit 55 includes a shutter that is inserted in only one of the first optical path L1 and the second optical path L2. When the optical path setting unit 55 transmits light in the first optical path L1, the shutter is inserted in the second optical path L2 and blocks the light in the second optical path L2. When the optical path setting unit 55 transmits light in the second optical path L2, the shutter is inserted in the first optical path L1 and blocks the light in the first optical path L1. The control unit 39 controls the operation of the optical path setting unit 55. The lens unit 21 forms an object image in the effective area 22a of the image sensor 22 based on either the light that has passed through the first optical path L1 or the light that has passed through the second optical path L2.

[0297] The image sensor 22 has an effective area 22a in which a first optical image of light that has passed through the first optical path L1 and a second optical image of light that has passed through the second optical path L2 are formed. The image sensor 22 converts the first optical image into a left image at a first timing and converts the second optical image into a right image at a second timing different from the first timing. The left image and the right image form a stereo image.

[0298] The endoscope device 1 executes the same processing as that shown in Fig. 13. Below, processing that differs from the processing shown in Fig. 13 will be described.

[0299] In step S120, the control unit 39 generates a message instructing the user to attach the stereo optical adapter 5a to the distal end 20. The control unit 39 displays the message on the display unit .

[0300] After the stereo optical adapter 5a is attached to the tip 20, the user does not need to replace the stereo optical adapter 5a with another optical adapter. Therefore, the control unit 39 does not need to execute step S122.

[0301] The first image acquired in step S102 is a stereo image. After step S102, the control unit 39 may use the first image to measure the size of the area of ​​the blade shown in the first image. The control unit 39 may perform size measurement of all blades. Alternatively, the control unit 39 may select only blades having areas that may be abnormal and perform size measurement of those areas.

[0302] The second photographing conditions for generating the second image are expected to be more suitable for measurement than the first photographing conditions for generating the first image. After performing the size measurement using the first image, the control unit 39 may measure the size of the blade area shown in the second image in step S123.

[0303] (Third embodiment) A third embodiment of the present invention will now be described. In the third embodiment, an inspection of a large blade is performed. Only a portion of the blade is in the field of view of the insertion part 2. In this inspection, the position of the tip 20 is changed and images of the blade are taken two or more times. The turning tool 4 rotates the disc DS10 two or more times.

[0304] 17A and 17B show the observation positions of the blade BL. First, the tip 20 is fixed at the position shown in FIG. 17A. At this time, the illumination light LT20 is irradiated onto an area of ​​the blade BL close to the base. In this state, the disk DS10 makes one rotation. At this time, the disk DS10 rotates approximately 360 degrees.

[0305] After the disk DS10 has rotated once, the turning tool 4 stops the rotation of the disk DS10. The position of the tip 20 is changed and the tip 20 is fixed at the position shown in FIG. 17B. At this time, the illumination light LT20 is irradiated onto an area of ​​the blade BL close to the tip. In this state, the disk DS10 rotates once.

[0306] The processing executed by the endoscope device 1 will be described using Fig. 18. Fig. 18 shows the procedure of the processing executed by the endoscope device 1. The description of the same processing as that shown in Fig. 4 will be omitted.

[0307] In the following, an example will be described in which the insertion device is disposed in the access port AP10. After step S100, the control unit 39 controls the insertion device to move the tip 20 to the position shown in Fig. 17A (step S130). At this time, the insertion unit 2 acquires an optical image of a region of the reference blade close to the base.

[0308] After step S130, the control unit 39 generates observation position information indicating the relative position of the tip 20 with respect to the blade. The control unit 39 adds the observation position information to the examination management information (step S131). The observation position information indicates that the tip 20 is in the position shown in FIG. 17A or 17B. After step S131, step S101 is executed.

[0309] For example, the user observes a live image displayed on the display unit 38 and determines the position of the tip 20. The user operates the operation unit 36 ​​or the touch panel 38A to input observation position information to the endoscope device 1. The control unit 39 may analyze the live image to determine the position of the tip 20, and may generate observation position information indicating that position.

[0310] An acceleration sensor or a gyro sensor may be disposed on the tip 20. The control unit 39 may calculate the position of the tip 20 based on information acquired by the acceleration sensor or the gyro sensor, and may generate observation position information indicating the position.

[0311] The inspection support system 10 may include a sensor that calculates an insertion length indicating the length of the portion of the insertion section 2 inserted into the turbine TB 10. The control unit 39 may calculate the position of the tip 20 based on the insertion length and may generate observation position information indicating that position. Any method may be used to calculate the position of the tip 20.

[0312] In step S104, the control unit 39 determines whether or not the first images of all blades have been acquired. Before the disk DS10 rotates once, the control unit 39 acquires a first image of an area near the root in step S102. Steps S101 to S104 are repeated until the control unit 39 determines in step S104 that the first images of all blades have been acquired.

[0313] When the control unit 39 determines in step S104 that the first images of all the blades have been acquired, the control unit 39 determines whether the first images of all the regions of the blades have been acquired (step S132).

[0314] When the disk DS10 has made one rotation, acquisition of the first image of the area near the base is completed. At this time, the control unit 39 has not yet acquired the first image of the area near the tip of the blade. Therefore, the control unit 39 determines that the first image of a part of the blade area has not been acquired.

[0315] When the control unit 39 determines in step S132 that a first image of a partial region of the blade has not been acquired, the control unit 39 controls the insertion device in step S130 to move the tip 20 to the position shown in FIG. 17B. At this time, the insertion unit 2 acquires an optical image of a region of the blade close to the tip. The control unit 39 acquires a first image of that region in step S102.

[0316] When the disk DS10 rotates once again, acquisition of the first image of the area near the tip is completed. Therefore, the control unit 39 determines in step S132 that first images of the entire area of ​​the blade have been acquired. In this case, step S105 is executed.

[0317] The control unit 39 may execute the following process in step S132. The control unit 39 analyzes the live image generated by the image sensor 22 and calculates the amount of movement of the area in the direction perpendicular to the circumference of the disc DS10 (radial direction). If the amount of movement is greater than a predetermined amount, the control unit 39 adds the amount of movement calculated this time to the amount of movement calculated previously. In this way, the control unit 39 calculates the total amount of movement.

[0318] If the total is equal to or less than a predetermined amount, the control unit 39 determines that a first image of a partial area of ​​the blade has not been acquired. If the total is greater than a predetermined amount, the control unit 39 determines that a first image of the entire area of ​​the blade has been acquired.

[0319] An encoder may be disposed in the access port AP10. The encoder calculates the amount of movement of the insertion section 2 in the longitudinal direction (axial direction) of the insertion section 2. The control section 39 may use this amount of movement instead of the above-mentioned amount of movement.

[0320] In the above example, two revolutions of the disc DS10 are required to acquire the first image of the entire two or more blades BL. If the blades are very large, the turning tool 4 may rotate the disc DS10 three or more times to acquire the first image of the entire blade.

[0321] To avoid failing to acquire the first image of a portion of the blade, the first range and the second range may overlap. The first range is the range of the blade that comes into the field of view of the insert 2 in the first rotation. The second range is the range of the blade that comes into the field of view of the insert 2 in the second rotation. Therefore, the turning tool 4 may rotate the disc DS10 three or more times to acquire the first image of the entire blade.

[0322] The flow of the inspection will be explained using Figure 19. Figure 19 shows the change in the position of the field of view of the insertion section 2. Twelve blades are arranged on a disk DS10. The blade with blade number "01" is the reference blade.

[0323] Line LN10 shows the change in the position of the field of view of the insertion unit 2 during the first rotation. The insertion unit 2 acquires an optical image of an area close to the base of each blade. Line LN11 shows the change in the position of the field of view of the insertion unit 2 during the second rotation. The insertion unit 2 acquires an optical image of an area close to the tip of each blade.

[0324] When the second rotation is completed, acquisition of the first images of all regions of all blades is completed. In step S105, the control unit 39 displays two or more first images stored in the memory unit 37 on the display unit 38.

[0325] 20 shows an example of information displayed on the display unit 38 in steps S105 to S107. The control unit 39 displays the dialog box DB16 shown in FIG.

[0326] The first images IMG1R to IMG6R and the first images IMG1T to IMG6T are displayed in the dialog box DB16. Each of these first images is a thumbnail image of the first image acquired in step S102. An area near the base of each blade is captured in each of the first images IMG1R to IMG6R. An area near the tip of each blade is captured in each of the first images IMG1T to IMG6T. The first images from the blade with blade number "01" (reference blade) to the blade with blade number "06" are displayed in the dialog box DB16.

[0327] Observation position information is displayed on each first image. For example, observation position information OP10 is displayed on first image IMG1R, and observation position information OP11 is displayed on first image IMG1T. Observation position information OP10 indicates that the insertion unit 2 has captured an area close to the base of each blade within its field of view. Observation position information OP11 indicates that the insertion unit 2 has captured an area close to the tip of each blade within its field of view.

[0328] The blade number and status information are displayed in a dialog box DB16. For example, the blade shown in the first image IMG1R and the first image IMG1T has the blade number "01." Status information SI20 is attached to the first image IMG1R and the first image IMG1T.

[0329] Button BT12 is displayed in dialog box DB16. The user can press button BT12 by operating operation unit 36 ​​or touch panel 38A. When the user presses button BT12, first images of blades with blade number "07" to blade number "12" are displayed in dialog box DB16.

[0330] The blade shown in the first image IMG2T has an abnormal area AB10. That blade has blade number "02." The blade shown in the first image IMG6R has an abnormal area AB11. That blade has blade number "06."

[0331] The user determines that a closer observation of the blade with blade number "02" and a closer observation of the blade with blade number "06" are required. Status information SI21 is added to the first image IMG2T, and status information SI22 is added to the first image IMG6R. The status information SI21 and the status information SI22 indicate that a closer observation of the blades shown in the first image IMG2T and the first image IMG6R is required.

[0332] Order information OI10 is displayed on the first image IMG6R, and order information OI11 is displayed on the first image IMG2T. Order information OI10 and order information OI11 indicate the order of detailed observation.

[0333] In step S110, the control unit 39 selects a target blade and executes the necessary processing to capture the target blade within the field of view of the insertion unit 2. The same processing as described above is executed, and the rotation unit 40 rotates the disk DS10. Thereafter, the rotation unit 40 stops the rotation of the disk DS10. The insertion unit 2 captures the target blade within the field of view and acquires an optical image of the target blade. The insertion unit 2 acquires an optical image of the abnormal region AB10 or the abnormal region AB11.

[0334] By executing step S110, the control unit 39 can control the rotational position of the disk DS10. In order for the insertion unit 2 to capture a predetermined area near the tip or root of the target blade within the field of view, the user or the control unit 39 needs to adjust the position of the insertion unit 2 in the radial direction of the disk DS10.

[0335] The user may manually move the insertion portion 2 in the longitudinal direction (axial direction) of the insertion portion 2. The user may input a bending instruction to the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The endoscope device 1 may adjust the position and attitude of the tip 20 in accordance with the bending instruction.

[0336] The control unit 39 may determine the position of a predetermined area on the target blade based on the observation position information added to the first image. The control unit 39 may control the insertion device so that the insertion unit 2 can capture the predetermined area within its field of view. Alternatively, the control unit 39 may adjust the position and attitude of the tip 20 so that the insertion unit 2 can capture the predetermined area within its field of view.

[0337] The control unit 39 may execute a navigation process to prompt the user to perform an operation to change the position and attitude of the tip 20.

[0338] In the third embodiment, even when a large blade is inspected, the endoscope device 1 can increase the efficiency of the inspection.

[0339] (Fourth embodiment) A fourth embodiment of the present invention will now be described. Similar to the second embodiment, the endoscope device 1 of the fourth embodiment has the function of displaying a structural diagram of a specific stage of the turbine TB10 and the function of associating a blade number and an image with the structural diagram. In the fourth embodiment, a stereo optical adapter 5a shown in FIG. 16 is used.

[0340] In turbine inspections using endoscopes, the inspection may be judged as pass or fail for each anomaly found. Also, the inspection result (PASS or FAIL) for a particular stage may be judged depending on the number of anomalies that meet certain criteria. For example, length within X mm or length within Y mm 2If the number of anomalies with an area within this range is Z or less, the inspection result for a particular stage is judged to be PASS. In some cases, the clearance between the blade and the shroud is measured. The shroud is the container that houses the blade. In such cases, the measurement function is used.

[0341] 21 and 22 will be used to explain the processing executed by the endoscope device 1. Figures 21 and 22 show the procedure of the processing executed by the endoscope device 1. Explanation of the same processing as that shown in Figure 13 will be omitted.

[0342] Immediately after the start of inspection of a specific stage, the user refers to the turbine inspection manual or the like to check the pass / fail conditions set for the stage to be inspected. The user inputs the pass / fail conditions into the endoscope device 1 by operating the operation unit 36 ​​or the touch panel 38A. The control unit 39 stores the pass / fail conditions in the memory unit 37 (step S150). This registers the pass / fail conditions. After step S150, step S120 is executed. Step S150 may be executed at any timing before step S153, which will be described later, is executed.

[0343] After step S102, the control unit 39 uses the first image acquired in step S102 to measure the size of the area of ​​the blade appearing in the first image (step S151).

[0344] Step S151 will be described in detail. For example, the user operates the operation unit 36 ​​or the touch panel 38A to input an instruction to the endoscope device 1 to select two or more measurement positions in the region. Alternatively, the control unit 39 processes the first image and detects two or more measurement positions in the region. The control unit 39 calculates the 3D coordinates of each of the two or more measurement positions according to the method described above, and measures the size using the calculated 3D coordinates. The control unit 39 adds the measurement result, which is the measured size, to the examination management information. In the examination management information, the measurement result, the blade number, and the first image are associated with each other.

[0345] After step S151, the control unit 39 displays the measurement results on the display unit 38 (step S152). After step S152, step S103 is executed. Steps S151 and S152 are executed for all blades arranged on a specific stage.

[0346] In step S107, the control unit 39 displays the status information on the display unit 38. As described above, the status information indicates that there is no abnormality in the blade shown in the specific first image. Alternatively, as described above, the status information indicates that detailed observation of the blade shown in the specific first image is required. Alternatively, as described above, the status information indicates that the severity of the blade shown in the specific first image is high.

[0347] The status information may indicate a result of a comprehensive judgment based on the reliability of the measurement and the proximity of the measurement result to the pass / fail criteria. For example, the image may be dark or very bright. Alternatively, the subject or tip 20 may move while the image is being acquired. Alternatively, the subject may have little or no pattern. Various factors such as these may change the reliability of the measurement. The control unit 39 may take these various factors into consideration and generate one or more indicators related to the reliability of the measurement. The status information may include the one or more indicators.

[0348] The control unit 39 may use these indices to determine whether or not to perform detailed observation. For example, when an image is dark, the reliability of the measurement is likely to decrease. By performing the measurement again using a bright image, it is highly likely that a correct measurement result will be obtained. Therefore, the control unit 39 may determine that detailed observation is necessary.

[0349] The status information may include measurement results as observation information. The measurement results are included in the inspection management information. In step S108, the control unit 39 may compare the measurement results of each blade with the pass / fail conditions registered in the memory unit 37 to determine whether the inspection passed or failed. Due to the influence of measurement errors, an error may occur in determining whether the measurement results exceed the judgment criteria (threshold) defined by the pass / fail conditions registered in the memory unit 37. Therefore, if the measurement results of a specific blade are close to the judgment criteria, the control unit 39 may determine that detailed observation of that blade is necessary. If the measurement results of a specific blade exceed the judgment criteria, the control unit 39 may determine that the inspection result is FAIL and terminate the inspection. If the inspection result is FAIL, the control unit 39 may display the inspection result on the display unit 38.

[0350] As described above, in step S123, the control unit 39 uses the second image to measure the size of the blade area shown in the second image. The control unit 39 adds the measurement result, which is the measured size, to the inspection management information. In the inspection management information, the result of the measurement performed using the first image, the result of the measurement performed using the second image, the blade number, and the first image are associated with each other. The inspection management information may include the image number of the second image in addition to the image number of the first image.

[0351] When the control unit 39 determines in step S113 that second images have been acquired for all blades that require detailed observation, the control unit 39 compares the measurement results acquired in step S123 with the pass / fail conditions registered in the storage unit 37 and determines whether the inspection passed or failed (step S153). Step S153 is the same as the process in step S108 in which the pass / fail of the inspection is determined based on the measurement results and the pass / fail conditions.

[0352] After step S153, the control unit 39 displays the result of the determination made in step S153 on the display unit 38 (step S154). When step S154 is executed, the processing shown in Figs. 21 and 22 ends.

[0353] An overview of measuring the clearance between the blade tip and the shroud will be explained using Figure 23. Blade BL10, blade BL11, and shroud SH10 are shown in image IMG10 in Figure 23. Curve BE indicates the tip of blade BL10. A first measurement point P10 is on curve BE. A second measurement point P11 is the intersection of the shroud SH10 and a line that is perpendicular to the surface of the shroud SH10 and passes through the first measurement point P10.

[0354] In measuring the clearance, the distance between the first measurement point P10 and the second measurement point P11 is measured. The above measurement may be performed at two or more measurement points on the curve BE for some or all of the blades arranged on a specific stage. A statistical value (such as a minimum, maximum, or average value) of the distance between the first measurement point P10 and the second measurement point P11 may be calculated.

[0355] An example of the test will be described with reference to Figures 24 to 26. In step S150, the control unit 39 displays a dialog box DB17 shown in Figure 24 on the display unit .

[0356] A condition setting area CR1, a condition setting area CR2, and an input box T1 are displayed in the dialog box DB17. The condition setting area CR1 includes an input box I1, an input box C1, and an input box N1. The condition setting area CR2 includes an input box I2, an input box C2, and an input box N2. The user sets the pass / fail conditions by operating the operation unit 36 ​​or the touch panel 38A to input information into each input box.

[0357] An evaluation index such as length or area is entered in input box I1 and input box I2. Xmm or Ymm 2 Judgment criteria (thresholds) such as the above are entered into input boxes C1 and C2. The number of blades required to determine whether the inspection result is PASS or FAIL is entered into input boxes N1 and N2. For example, if more blades than the number entered in input box N1 contain an abnormality of X mm or more, the inspection result is determined to be FAIL.

[0358] Information indicating a logical sum or logical product is entered into input box T1. The control unit 39 obtains the final pass / fail condition by performing a logical sum or logical product between the pass / fail condition set in condition setting area CR1 and the pass / fail condition set in condition setting area CR2. Other conditions not shown in FIG. 24 may also be set.

[0359] Since the turbine has two or more stages, the control unit 39 may set the pass / fail conditions for each stage by using the dialog box DB 17. The control unit 39 may set the pass / fail conditions for each stage by using information in a table format.

[0360] In step S121, the control unit 39 displays the dialog box DB14 shown in Fig. 14 on the display unit 38. The measurement result MR10 shown in Fig. 25 is displayed in the tab TAB10 of the dialog box DB14. The structural diagram DG10 shown in Fig. 14 may be changed to the measurement result MR10 shown in Fig. 25. Alternatively, in addition to the structural diagram DG10 shown in Fig. 14, the measurement result MR10 shown in Fig. 25 may be displayed in the tab TAB10.

[0361] The measurement result MR10 includes the measurement results of the clearances of seven blades. The measurement result MR10 includes a minimum value MRmin, a maximum value MRmax, and an average value MRave. The control unit 39 measures the clearance between the blade tips and the shroud one or more times in step S151. Step S151 is executed for each blade. The minimum value MRmin indicates the minimum value of the clearance measured for each blade. The maximum value MRmax indicates the maximum value of the clearance measured for each blade. The average value MRave indicates the average value of the clearance measured for each blade. The measurement result MR10 may include measurement results at each of two or more different measurement positions.

[0362] The control unit 39 may extract measurement results that meet specific conditions by using a filter function or a sort function. The measurement results MR10 may include only the extracted measurement results. When the filter function is used, a user interface similar to the dialog box DB17 shown in FIG. 24 may be used. When the sort function is used, the measurement results may be sorted in ascending or descending order according to the blade number, the measured value, or the like.

[0363] A tab different from the tabs TAB10 and TAB11 of the dialog box DB14 may be displayed, and the measurement results MR10 may be displayed in that tab. The measurement results MR10 may be displayed at any position on the display screen of the display unit 38.

[0364] In step S108, the control unit 39 determines which blades require a second inspection and determines the priority of those blades. For example, if the measurement results indicated by the status information of one or more blades exceed the criteria for the pass / fail conditions registered in the memory unit 37, the control unit 39 determines that the inspection result is FAIL. At this time, the inspection ends. If the inspection result is not FAIL but the control unit 39 determines that one or more blades require detailed observation, step S122 is executed.

[0365] The measurement result MR10 may be updated with the result of the measurement in step S123, or the result of the measurement in step S123 may be added to the measurement result MR10.

[0366] In step S154, the control unit 39 displays the dialog box DB18 shown in Fig. 26 on the display unit 38. Explanation of the same parts as those shown in Fig. 14 will be omitted.

[0367] The judgment result RS10 is displayed in the dialog box DB 18. The judgment result RS10 indicates whether the test has passed or failed. In the example shown in Fig. 26, the judgment result RS10 indicates that the test result is PASS.

[0368] The position where the judgment result RS10 is displayed is not limited to the position shown in Fig. 26. Furthermore, the display format of the judgment result RS10 is not limited to the display format shown in Fig. 26. For example, the judgment result RS10 may be displayed on a tab TAB10. The judgment result RS10 may be displayed as an icon instead of text information. Instead of visually displaying the judgment result of whether the inspection is pass or fail, the endoscope device 1 may generate a sound indicating the judgment result.

[0369] The type of measurement applied to the fourth embodiment is not limited to the measurement of the clearance between the blade tip and the shroud, but measurements similar to the clearance measurement may also be applied to the fourth embodiment.

[0370] Each aspect of the present invention may include the following modifications: The inspection support system 10 has a storage medium (storage unit 37) that stores inspection management information associated with each of two or more objects.

[0371] Each aspect of the present invention may include the following modifications: The control unit 39 compares the examination management information with a preset criterion, and outputs the result of the comparison between the examination management information and the criterion.

[0372] Each aspect of the present invention may include the following modifications: The control unit 39 measures the size of an object shown in at least one first image by using the at least one first image; or, the control unit 39 measures the size of an object shown in at least one second image by using the at least one second image; the inspection management information includes the measurement result of the size; and the judgment criterion relates to the size.

[0373] In the fourth embodiment, the endoscope device 1 can significantly reduce the examination time.

[0374] (Fifth embodiment) A fifth embodiment of the present invention will be described. In the fifth embodiment, an external device different from the endoscope device 1 is used. The external device acquires a first image and a second image from the endoscope device 1 and controls the turning tool 4.

[0375] 27 shows the configuration of an inspection support system 10a in the fifth embodiment. The inspection support system 10a has an endoscope device 1, a turning tool 4, a communication device 6, and an external device 7. The turning tool 4 is not shown in FIG.

[0376] 1 except that the endoscope device 1 has a communication unit that communicates with an external device 7. The turning tool 4 is the same as the turning tool 4 shown in FIG.

[0377] For example, the communication device 6 is connected to the endoscope device 1 via a cable. The endoscope device 1 outputs a first image and a second image to the communication device 6. The communication device 6 performs wireless communication with the external device 7 and transmits the first image and the second image to the external device 7.

[0378] For example, the external device 7 is a personal computer (PC). The external device 7 may be located at a location remote from where the inspection is performed. The external device 7 performs wireless communication with the communication device 6 and receives the first image and the second image from the communication device 6. The external device 7 also performs wireless communication with the turning tool 4 and transmits rotation control information for rotating the disk DS10 to the turning tool 4.

[0379] The endoscope device 1 and the communication device 6 may perform wireless communication with each other. The external device 7 may be connected to the communication device 6 via a cable.

[0380] There are no limitations on the standard of communication between the endoscope device 1 and the communication device 6 and the standard of communication between the communication device 6 and the external device 7. For example, a Universal Serial Bus (USB) may be used for wired communication. A communication standard defined by IEEE802.11 or the like may be used for wireless communication.

[0381] For example, a first user and a second user perform an examination. The first user holds the insertion section 2 of the endoscope device 1, and the second user operates the external device 7. The second user can check the status of the examination by observing the screen of the external device 7. The second user can also instruct the first user to change the imaging conditions.

[0382] 28 shows the configuration of the external device 7. The external device 7 has a communication unit 70, an operation unit 71, a display unit 72, a storage unit 73, and a control unit 74.

[0383] The communication unit 70 performs wireless communication with the communication device 6. The operation unit 71 is a user interface. The operation unit 71 includes buttons and the like. The operation unit 71 accepts user operations on the external device 7. The user can input various information to the external device 7 by operating the operation unit 71.

[0384] The display unit 72 is a monitor (display) such as an LCD. The display unit 72 has a display screen and displays images, operation menus, etc. on the display screen. The display unit 72 may be a touch panel.

[0385] The storage unit 73 is a volatile or non-volatile recording medium. For example, the storage unit 73 is at least one of a RAM, a DRAM, an SRAM, a ROM, an EPROM, an EEPROM, a flash memory, an HDD, and an SSD. The storage unit 73 stores images, examination management information, and the like.

[0386] The control unit 74 controls the operation of the external device 7 based on a program stored in the external device 7. The control unit 74 may be configured with at least one of a processor and a logic circuit. The control unit 74 may include one or more processors. The control unit 74 may include one or more logic circuits.

[0387] The process executed by the external device 7 will be described with reference to Fig. 29. Fig. 29 shows the procedure of the process executed by the external device 7.

[0388] After the external device 7 starts the process shown in FIG. 29, the control unit 74 executes the following process to capture the reference blade within the field of view of the insertion unit 2 (step S200).

[0389] The control unit 74 outputs rotation control information for rotating the disk DS10 to the communication unit 70. The communication unit 70 transmits the rotation control information to the turning tool 4. The communication unit 42 of the turning tool 4 receives the rotation control information from the external device 7. The drive control unit 41 controls the rotation unit 40 in accordance with the rotation control information. The rotation unit 40 rotates the disk DS10.

[0390] After the insertion unit 2 captures the reference blade within the field of view, the rotation unit 40 stops the rotation of the disk DS10. The disk DS10 is stationary. For example, the reference blade is located in the center of the field of view.

[0391] After step S200, the control unit 74 executes the following process to capture the target blade to be observed within the field of view of the insertion unit 2 (step S201).

[0392] The communication unit 70 receives the object information transmitted from the turning tool 4 and outputs the object information to the control unit 74. The object information includes the number of blades arranged on the disk DS10. The control unit 74 calculates the angle between two adjacent blades based on that number. The control unit 74 outputs rotation control information for rotating the disk DS10 by that angle to the communication unit 70. The same processing as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control information. The rotation unit 40 rotates the disk DS10 by that angle.

[0393] After the disk DS10 has rotated by an angle between two adjacent blades, the rotation unit 40 stops the rotation of the disk DS10. The disk DS10 remains stationary. The insertion unit 2 captures the target blade within the field of view and acquires an optical image of the target blade. For example, the target blade is located at the center of the field of view. Immediately after step S200 is executed, the target blade is the reference blade, and step S201 is not executed. Therefore, the insertion unit 2 acquires an optical image of the reference blade.

[0394] After step S201, the control unit 74 outputs a first image acquisition instruction to the communication unit 70 to instruct the endoscope device 1 to acquire a first image. The communication unit 70 transmits the first image acquisition instruction to the endoscope device 1 (step S202).

[0395] After step S202, the communication unit 70 receives the first image from the endoscope device 1 and outputs the first image to the control unit 74. The control unit 74 stores the first image in the storage unit 73. The control unit 74 also adds the number (file name) of the first image to the examination management information (step S203).

[0396] After step S203, the communication unit 70 receives the rotation information from the turning tool 4 and outputs the rotation information to the control unit 74 (step S204). The rotation information indicates the amount of rotation (rotation angle) of the disc DS10.

[0397] After step S201 is executed, step S204 may be executed, and after step S204 is executed, step S202 may be executed.

[0398] After step S204, the control unit 74 determines whether the first images of all the blades have been acquired (step S205). Step S205 is similar to step S104 shown in Fig. 4, and therefore a detailed description of step S205 will be omitted.

[0399] Step S201 is executed when the control unit 74 determines in step S205 that first images of some of the blades arranged on the disk DS10 have not been acquired. When the control unit 74 determines in step S205 that first images of all of the blades have been acquired, the control unit 74 displays two or more first images stored in the storage unit 73 on the display unit 72 (step S206).

[0400] The user observes two or more first images displayed on the display unit 72. The user determines the condition of the blades shown in each of the first images. The user inputs the result of the determination to the external device 7 by operating the operation unit 71. The control unit 74 generates status information according to the result of the determination. The status information indicates the condition of the blades shown in each of the first images. The status information includes observation information indicating whether detailed observation of each blade is required. The control unit 74 adds the status information to the first images (step S207). The control unit 74 may process the first images to determine the condition of the blades.

[0401] After step S207, the control unit 74 displays the status information on the display unit 72 (step S208).

[0402] After step S208, the control unit 74 determines whether detailed observation of one or more blades is required (step S209). Step S209 is similar to step S108 shown in Fig. 4, and therefore a detailed description of step S209 will be omitted.

[0403] When the control unit 74 determines in step S209 that detailed observation is not required, the processing shown in Fig. 29 ends. When the control unit 74 determines in step S209 that detailed observation is required, the control unit 74 selects all first images to which observation information indicating that detailed observation is required is added, and determines the order of detailed observation of the blades shown in the first images (step S210). Step S210 is similar to step S109 shown in Fig. 4, and therefore a detailed description of step S210 will be omitted.

[0404] After step S210, the control unit 74 executes the following process to capture the blade that requires detailed observation within the field of view of the insertion unit 2 (step S211).

[0405] The control unit 74 selects the target blade in accordance with the order determined in step S210. The control unit 74 acquires, from the storage unit 73, the rotation information added to the first image in which the selected target blade appears.

[0406] The control unit 74 calculates the amount of rotation (rotation angle) of the disk DS10 required to capture the target blade within the field of view of the insertion unit 2. The control unit 74 outputs rotation control information for rotating the disk DS10 by that angle to the communication unit 70. The same processing as described above is executed, and the drive control unit 41 controls the rotation unit 40 in accordance with the rotation control information. The rotation unit 40 rotates the disk DS10 by that angle. After the disk DS10 has rotated by that angle, the rotation unit 40 stops the rotation of the disk DS10. The disk DS10 comes to a standstill. The insertion unit 2 captures the target blade within the field of view and acquires an optical image of the target blade.

[0407] After step S211, the control unit 74 outputs a second image acquisition instruction to instruct the endoscope device 1 to acquire a second image to the communication unit 70. The communication unit 70 transmits the second image acquisition instruction to the endoscope device 1 (step S212).

[0408] After step S212, the communication unit 70 receives the second image from the endoscope device 1 and outputs the second image to the control unit 74. The control unit 74 stores the second image in the storage unit 73. The control unit 74 also displays the second image on the display unit 72 (step S213).

[0409] The user observes the second image displayed on the display unit 72. The user determines the status of the blade shown in the second image. The user inputs the result of the determination to the external device 7 by operating the operation unit 71. The control unit 74 generates status information according to the result of the determination. The status information indicates the status of the blade shown in the second image. The status information indicates whether the blade is OK or NG. The control unit 74 adds the status information to the second image (step S214). The control unit 74 may process the second image to determine the status of the blade.

[0410] After step S214, the control unit 74 determines whether or not second images of all blades that require detailed observation have been acquired (step S215).

[0411] When the control unit 74 determines in step S215 that second images of some of the blades that require detailed observation have not been acquired, step S211 is executed. When the control unit 74 determines in step S215 that second images of all of the blades that require detailed observation have been acquired, the processing shown in Fig. 29 ends.

[0412] The processing executed by the endoscope device 1 will be described using Fig. 30. Fig. 30 shows the procedure of the processing executed by the endoscope device 1. Description of the same processing as that shown in Fig. 4 will be omitted.

[0413] After the endoscope device 1 starts the process shown in FIG. 30, the control unit 39 determines whether or not a first image acquisition instruction has been received (step S140).

[0414] When the control unit 39 determines in step S140 that the first image acquisition instruction has not been received, step S142, which will be described later, is executed. When the communication unit of the endoscope device 1 receives the first image acquisition instruction, the communication unit outputs the first image acquisition instruction to the control unit 39. When the control unit 39 determines in step S140 that the first image acquisition instruction has been received, step S102 is executed.

[0415] After step S102, the control unit 39 outputs the first image acquired in step S102 to the communication unit. The communication unit transmits the first image to the external device 7 (step S141). The external device 7 receives the first image in step S203 shown in FIG.

[0416] After step S141, the control unit 39 determines whether or not a second image acquisition instruction has been received (step S142).

[0417] When the control unit 39 determines in step S142 that the second image acquisition instruction has not been received, step S140 is executed. When the communication unit receives the second image acquisition instruction, the communication unit outputs the second image acquisition instruction to the control unit 39. When the control unit 39 determines in step S142 that the second image acquisition instruction has been received, step S111 is executed.

[0418] After step S111, the control unit 39 outputs the second image acquired in step S111 to the communication unit. The communication unit transmits the second image to the external device 7 (step S143). The external device 7 receives the second image in step S213 shown in Fig. 29. After step S143, step S140 is executed.

[0419] Each aspect of the present invention may include the following modifications: The imaging device has an imaging element 22 (image sensor). The control unit 74 is included in an external device 7 that is different from the imaging device.

[0420] In the fifth embodiment, two or more users can efficiently perform a test remotely.

[0421] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments and their modifications. Addition, omission, substitution, and other modifications of the configuration are possible within the scope of the spirit of the present invention. Furthermore, the present invention is not limited by the above description, but is limited only by the scope of the appended claims. [Industrial Applicability]

[0422] According to each embodiment of the present invention, the inspection support system, inspection support method, and program can improve the efficiency of inspection. [Explanation of symbols]

[0423] 1 Endoscopic device 2 Insertion section 3 Main body 4 Turning Tools 5,5a Stereo Optical Adapter 6. Communications equipment 7 External device 10,10a Inspection support system 20 Tip 21 Lens section 22 Image sensor 23 Curved section 30 Image processing section 31 Imaging control unit 32 Bending control section 33 Light source section 34 Light source control unit 35 Rotation control section 36,71 Operation unit 37,43,73 Storage part 38,72 Display section 39,74 Control section 40 Rotating part 41 Drive control unit 42,70 Communications Department 51 First illumination optical system 52 Second illumination optical system 53 First objective optical system 54 Second Objective Optical System 55 Optical path setting unit

Claims

1. An inspection support system that supports the inspection of an object having a rotating body inside which two or more objects are arranged, an image sensor that generates an image based on an optical image of an object captured within a field of view of an insertion section that is inserted into the subject; A control unit, acquiring two or more first images from the image sensor in accordance with rotation of the rotating body; adding observation information indicating that observation is required to at least one of the two or more first images; After the observation information is added to the at least one first image, the insertion unit outputs a control signal to a turning tool that rotates the rotating body based on the control signal so as to capture an object shown in the at least one first image within the field of view; acquiring at least one second image from the image sensor after the turning tool has rotated the rotating body; the control unit adds status information indicating a status of an object captured in the two or more first images to the two or more first images, or adds status information indicating a status of an object captured in the at least one second image to the at least one second image; An inspection support system having:

2. The control unit outputs the control signal to the turning tool before acquiring each of the two or more first images. The inspection support system according to claim 1 .

3. The control unit When the turning tool rotates the rotating body, rotation information indicating a rotation amount of the rotating body is acquired from the turning tool; adding the rotation information to each of the two or more first images; and outputting the control signal, which is generated based on the rotation information added to the at least one first image, to the turning tool. The inspection support system according to claim 2 .

4. the image sensor is disposed at the tip of the insertion portion, The control unit setting a first photographing condition before the image sensor generates the two or more first images; setting a second photographing condition different from the first photographing condition before the image sensor generates the at least one second image; The first imaging condition and the second imaging condition are one or more of a position of the image sensor, an attitude of the image sensor, a relative position of the image sensor with respect to an object captured in the field of view, a relative attitude of the image sensor with respect to the object captured in the field of view, imaging parameters of the image sensor, a state of illumination light irradiated inside the subject, parameters of image processing performed on the image generated by the image sensor, and a state of a lens disposed in the insertion portion. The inspection support system according to claim 1 .

5. Before the image sensor generates the at least one second image, the control unit controls one or more of a bending portion of the insertion unit, an insertion device that moves the insertion unit in the longitudinal direction of the insertion unit inside the subject or twists the insertion unit inside the subject, the turning tool, the image sensor, a light source that generates the illumination light, an image processing circuit that performs the image processing, and the lens so that the second imaging condition is different from the first imaging condition. The inspection support system according to claim 4 .

6. The control unit a reference image recorded in advance on a recording medium is acquired, and at least one object among the two or more objects is captured in the reference image; The control signal is output to the turning tool based on the composition of the object shown in the reference image. The inspection support system according to claim 1 .

7. The control unit A reference image recorded in advance on a recording medium is acquired, and the abnormality is captured in the reference image; Adding the observation information to the at least one first image based on a result of comparing a first image included in the at least one first image with the reference image. The inspection support system according to claim 1 .

8. The control unit acquiring feature information recorded in advance on a recording medium, the feature information being generated based on features of an image in which at least one of the two or more objects is captured; adding the observation information to the at least one first image based on the feature information; The inspection support system according to claim 1 .

9. The control unit adding the observation information to at least two of the two or more first images; acquiring at least two second images from the image sensor, the second images including the at least one second image; The inspection support system according to claim 1 .

10. The two or more first images include at least two first images in which the same object is captured. The inspection support system according to claim 1 .

11. The turning tool rotates the rotating body and then stops the rotating body, When the rotating body is stationary, the control unit acquires the at least one second image from the image sensor. The inspection support system according to claim 1 .

12. The control unit displays the at least one first image and the observation information on a display. The inspection support system according to claim 1 .

13. the image sensor; the control unit; The imaging device further includes The inspection support system according to claim 1 .

14. further comprising an imaging device having the image sensor; The control unit is included in a device different from the imaging device. The inspection support system according to claim 1 .

15. The subject is a turbine and the two or more objects are blades. The inspection support system according to claim 1 .

16. a storage medium that stores inspection management information associated with each of the two or more objects; The inspection support system according to claim 1 .

17. The control unit comparing the inspection management information with a predetermined judgment criterion; Output the result of the comparison between the inspection management information and the judgment criteria The inspection support system according to claim 16.

18. the control unit measures a size of an object appearing in the at least one first image by using the at least one first image; the inspection management information includes the size measurement results, The criteria relate to the size. The inspection support system according to claim 17.

19. the control unit measures a size of an object appearing in the at least one second image by using the at least one second image; the inspection management information includes the size measurement results, The criteria relate to the size. The inspection support system according to claim 17.

20. 1. An inspection support method for supporting an inspection of an object having a rotating body inside which two or more objects are arranged, comprising: a step in which a control unit acquires two or more first images in accordance with rotation of the rotating body from an image sensor that generates images based on an optical image of an object captured within a field of view of an insertion unit inserted inside the subject; a step of the control unit adding observation information indicating that observation is required to at least one first image of the two or more first images; After the observation information is added to the at least one first image, the control unit outputs a control signal to a turning tool that rotates the rotating body based on the control signal so that the insertion unit captures the object shown in the at least one first image within the field of view; The control unit acquires at least one second image from the image sensor after the turning tool rotates the rotating body; adding status information indicating a status of an object shown in the two or more first images to the two or more first images, or adding status information indicating a status of an object shown in the at least one second image to the at least one second image; An inspection support method comprising:

21. a step of acquiring two or more first images from an image sensor that generates images based on optical images of objects captured within a field of view of an insertion part inserted into a subject having a rotating body with two or more objects disposed therein, in accordance with the rotation of the rotating body; adding observation information indicating that observation is required to at least one first image of the two or more first images; After the observation information is added to the at least one first image, the insertion unit outputs a control signal to a turning tool that rotates the rotating body based on the control signal so as to capture an object shown in the at least one first image within the field of view; acquiring at least one second image from the image sensor after the turning tool has rotated the rotating body; adding status information indicating a status of an object shown in the two or more first images to the two or more first images, or adding status information indicating a status of an object shown in the at least one second image to the at least one second image; A program that causes a computer to execute the following.

Images