Pipe inspection device and pipe inspection method

Abstract

To provide a device for measuring the shape of the inner surface of a pipe using an underwater moving body without reducing the movement performance of the underwater moving body.SOLUTION: A pipe investigation device according to the present invention includes: an underwater moving body 10 equipped with an in-the-air camera 11, an underwater camera 12, and a line laser 13; an in-the-air optical cutting processing unit 22 that performs optical cutting processing on an image of a line beam 43 in the air and obtains an inner surface of the pipe 41 as a point cloud 61 in the air; a position and posture calculation unit 24 that obtains a position and posture of the underwater moving body 10 from the point cloud 61 in the air; an in-the-air shape data calculation unit 26 that obtains an in-the-air shape obtained by integrating the point cloud 61 in the air with the shape of the pipe 41 using the position and posture of the underwater moving body 10; an underwater optical cutting processing unit 28 that performs optical cutting processing on the image of the line beam 43 in water to obtain the inner surface of the pipe 41 as a point cloud 62 in water; an underwater shape data calculation unit 29 that obtains an underwater shape obtained by integrating the point cloud 62 in water with the shape of the pipe 41; and a pipe measurement data recording unit 30 that integrates the in-the-air shape and the underwater shape.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an apparatus and method for inspecting the inside of a pipe by an underwater vehicle.

Background Art

[0002] In pipelines such as sewers, it is necessary to inspect the internal state of the pipe, for example, the deterioration state of the inner wall. For example, in a sewer with a small-diameter pipe, the flow of water is stopped, and the inside of the pipe is photographed with a camera that moves inside the pipe by remote control or the like to inspect the state of the pipe inner wall. On the other hand, in a sewer (main line) with a large-diameter pipe, since the main line is often in use, even if the water level inside the pipe can be lowered to some extent, it is difficult to stop the flowing water. By using an underwater vehicle that moves in water or on the water surface, the state of the pipe inner wall can be inspected without stopping the flowing water in the pipeline. The underwater vehicle measures the surface shape inside the pipe in a cross section perpendicular to the length direction of the pipe in the inspection of the pipe inner wall. At this time, the position information of the underwater vehicle is required.

[0003] An example of a conventional apparatus for photographing the pipe inner wall is described in Patent Document 1. The pipe inner wall surface image photographing apparatus described in Patent Document 1 photographs the pipe inner wall surface using a strobe light emitting device and a still camera (still image photographing means), and measures the cross-sectional shape of the pipe inner wall by the optical cutting method.

[0004] Patent Document 2 describes an example of a conventional apparatus for detecting the position of an underwater vehicle. In the underwater vehicle position detection apparatus described in Patent Document 2, based on the posture and position of the underwater vehicle when a measurement image representing the outer shape of the structures around the underwater vehicle is obtained, a storage image to be used for acquiring the position information of the underwater vehicle is selected from a plurality of image data (stored images) representing the outer shape of the structures, and the position of the underwater vehicle is calculated based on the position information attached to the selected image.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] As described above, using an underwater mobile device allows for the inspection of the condition inside a pipe without stopping the flow of water within the pipe. Conventional underwater mobile devices are equipped with various sensors to detect their position and orientation, and cables are connected to these sensors. For example, the device described in Patent Document 1 is equipped with a tilt angle detector to measure the orientation angle of the underwater mobile device, and the device described in Patent Document 2 is equipped with inertial sensors (angular velocity detector, tilt angle detector, and azimuth angle detector) to detect the orientation of the underwater mobile device.

[0007] If the underwater mobile device is small, it is possible to inspect the inside of pipes regardless of the diameter of the pipe. However, with small underwater mobile devices, the mobility performance can be greatly reduced by the cables connected to the sensors. In other words, conventional underwater mobile devices are equipped with various sensors to detect position and orientation, so many cables or thick cables are connected to them, and there is a concern that the mobility performance will be greatly reduced by these cables. A decrease in the mobility performance of the underwater mobile device is undesirable because it will take a lot of time to inspect the inside of pipes and the accuracy of the inspection will decrease.

[0008] The object of the present invention is to provide an apparatus and method for measuring the shape of the inner surface of a pipe using an underwater moving body without reducing the mobility performance of the underwater moving body. [Means for solving the problem]

[0009] The pipe inspection device according to the present invention comprises an underwater mobile body equipped with an air camera for photographing the air, an underwater camera for photographing the water, and a line laser for irradiating a line beam; an air video recording unit for recording an image of the line beam projected onto the inner surface of the pipe in the air, as captured by the air camera; an underwater video recording unit for recording an image of the line beam projected onto the inner surface of the pipe in the water, as captured by the underwater camera; an air light sectioning processing unit for performing light sectioning processing on the image recorded by the air video recording unit to calculate the distance from the air camera to the inner surface of the pipe onto which the line beam is projected, and obtaining this calculated distance as point cloud data of the air in a two-dimensional cross-section of the pipe; a position and attitude calculation unit for determining the horizontal position of the underwater mobile body in the two-dimensional cross-section and the attitude angle of the underwater mobile body from the point cloud data of the air; and a pipe shape data storage unit for storing the shape data of the pipe. The system includes a data storage unit, an air-based shape data calculation unit that uses the horizontal position and orientation angle of the underwater moving body determined by the position and orientation calculation unit and the water level of the pipe to integrate the air-based point cloud data with the shape data of the inner wall in the two-dimensional cross-section of the pipe stored in the pipe-based shape data storage unit to obtain air-based shape data, an underwater light section processing unit that performs light sectioning processing on the video recorded by the underwater video recording unit to calculate the distance from the underwater camera to the inner surface of the pipe onto which the line beam is projected, and obtains this calculated distance as underwater point cloud data in the two-dimensional cross-section of the pipe, an underwater shape data calculation unit that integrates the underwater point cloud data with the shape data of the inner wall in the two-dimensional cross-section of the pipe stored in the pipe-based shape data storage unit to obtain underwater shape data, and an in-pipe measurement data recording unit that integrates the air-based shape data and the underwater shape data.

[0010] The pipe inspection method according to the present invention includes the steps of: 1) an underwater mobile body equipped with an air camera for photographing in the air and an underwater camera for photographing underwater, irradiating the inside of a pipe with a line beam; 2) an air video recording step, recording an image of the line beam projected onto the inner surface of the pipe in the air, as captured by the air camera; 3) an underwater video recording step, recording an image of the line beam projected onto the inner surface of the pipe in water, as captured by the underwater camera; 4) an air light sectioning step, performing a light sectioning process on the image recorded in the air video recording step to calculate the distance from the air camera to the inner surface of the pipe onto which the line beam was projected, and obtaining this calculated distance as point cloud data in the air in a two-dimensional cross-section of the pipe; and 5) the horizontal position of the underwater mobile body in the two-dimensional cross-section and the attitude angle of the underwater mobile body from the point cloud data in the air. A position and orientation calculation step to determine the position and orientation; an air shape data calculation step to obtain air shape data by integrating the air point cloud data with the shape data of the inner wall in the two-dimensional cross-section of the pipe, using the horizontal position and orientation angle of the underwater moving body obtained in the position and orientation calculation step and the water level of the pipe; an underwater light section processing step to perform light section processing on the video recorded in the underwater video recording step to calculate the distance from the underwater camera to the inner surface of the pipe onto which the line beam is projected, and to obtain this calculated distance as underwater point cloud data in the two-dimensional cross-section of the pipe; an underwater shape data calculation step to obtain underwater shape data by integrating the underwater point cloud data with the shape data of the inner wall in the two-dimensional cross-section of the pipe; and an in-pipe measurement data recording step to integrate the air shape data and the underwater shape data. It holds. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide an apparatus and method for measuring the shape of the inner surface of a pipe using an underwater moving body without reducing the mobility performance of the underwater moving body. [Brief explanation of the drawing]

[0012] [Figure 1] This is a block diagram showing an example configuration of a pipe inspection device according to an embodiment of the present invention. [Figure 2] This flowchart shows an example of the procedure for a pipe inspection method according to an embodiment of the present invention. [Figure 3] This is a ZX cross-sectional view of a pipe in a pipeline coordinate system, illustrating an example of the ideal position of a moving object underwater. [Figure 4] This is a YZ cross-sectional view in the pipeline coordinate system showing an underwater moving object located at the water surface. [Figure 5A] This is an example of an XY plan view of a moving underwater object inside a pipe, viewed from above along the Z-axis, in a pipe coordinate system. [Figure 5B] This is a ZLXL cross-sectional view of a pipe in a moving object coordinate system, and it shows an example of an underwater moving object at the time the still image was extracted. [Figure 6A] This figure shows an example of the results of light sectioning in air, and illustrates an example of point cloud data whose coordinates have been transformed from an air camera coordinate system to a laser coordinate system. [Figure 6B] This figure shows an example of the results of light sectioning processing underwater, and illustrates an example of point cloud data whose coordinates have been transformed from the underwater camera coordinate system to the laser coordinate system. [Figure 7A] This figure shows an example of an ellipse in a laser coordinate system, calculated by the position and attitude calculation unit from point cloud data in the atmosphere. [Figure 7B] This figure shows an example of point cloud data in air displayed on the shape data of the inner wall in the ZX cross-section of a pipe. [Figure 8A] This figure shows an example of underwater point cloud data displayed on the shape data of the inner wall of a pipe in a ZLXL cross-section in a laser coordinate system. [Figure 8B] This figure shows an example of underwater point cloud data displayed on the shape data of the inner wall in the ZX cross-section of a pipe in a pipeline coordinate system. [Figure 9] This figure shows examples of point cloud data in air and in water, displayed on the shape of the inner wall of a pipe. [Figure 10A] This is a cross-sectional view of the pipe in the coordinate system of the moving object in the water, where the position of the moving object in the water is translated by a distance ΔX in the X-axis direction from its ideal position. [Figure 10B]This is a cross-sectional view of the pipe in the coordinate system of the moving object, where the position of the underwater moving object is rotated by an angle ΔΘ around the Yr axis from its ideal position, using the ZrXr coordinate system. [Figure 10C] This is a cross-sectional view of the pipe in the coordinate system of the moving object, where the position of the underwater moving object is rotated by an angle ΔΨ around the Zr axis from its ideal position, using the ZrXr coordinate system. [Figure 10D] This is a cross-sectional view of the pipe in the coordinate system of the moving object, where the position of the underwater moving object is rotated by an angle ΔΦ around the Xr axis from its ideal position. [Figure 11] This diagram illustrates a method for calculating the difference between each point that makes up the point cloud data in the air and the shape of the inner wall of the pipe. [Modes for carrying out the invention]

[0013] The pipe inspection device and method according to the present invention can measure the shape of the inner surface of a pipe and can be used to investigate the internal condition of pipes in pipelines such as sewers. The inner wall of a pipe may deteriorate and change shape over time. In addition, mud, sand, and other materials may accumulate inside the pipe. Due to such changes in the shape of the inner wall and the accumulation of deposits inside the pipe, the shape of the inner surface of the pipe may change. The device and method according to the present invention can measure the shape of the inner surface of a pipe using a moving underwater body and investigate the internal condition of the pipe.

[0014] According to the present invention, when measuring the shape of the inner surface of a pipe, sensors for measuring the position and orientation of the underwater moving body are unnecessary, and the number of cables connected to the underwater moving body can be reduced, or thinner cables can be connected to the underwater moving body. Therefore, even if the underwater moving body is small, the condition of the inner surface of the pipe can be investigated without degrading the movement performance of the underwater moving body.

[0015] Hereinafter, an internal pipe inspection device and internal pipe inspection method according to embodiments of the present invention will be described with reference to the drawings. In the drawings used herein, the same or corresponding components are denoted by the same reference numerals, and repeated descriptions of these components may be omitted.

[0016] In the following explanation, the coordinate system (global coordinate system) set for a pipe (pipeline) will be referred to as the pipe coordinate system (X,Y,Z). In the pipe coordinate system, the length direction of the pipe is defined as the Y-axis direction, the direction of gravity is defined as the Z-axis direction, and the direction perpendicular to the Y-axis and Z-axis directions (horizontal direction) is defined as the X-axis direction.

[0017] Figure 1 is a block diagram showing an example configuration of a pipe inspection device according to this embodiment. The pipe inspection device according to this embodiment comprises an underwater mobile body 10 and a shape measuring device 20 connected to the underwater mobile body 10 by a cable, and measures the shape of the inner surface of the pipe. The underwater mobile body 10 is supplied with power by the cable and communicates with the shape measuring device 20.

[0018] The underwater mobile device 10 is equipped with an air camera 11, an underwater camera 12, and a line laser 13, and floats on the water surface to measure the shape of the inner surface of the pipe. The underwater mobile device 10 can move on the water surface or underwater.

[0019] The shape measuring device 20 comprises an air-based image recording unit 21, an air-based light sectioning processing unit 22, a synchronization control unit 23, a position and orientation calculation unit 24, a pipe shape data storage unit 25, an air-based shape data calculation unit 26, an underwater image recording unit 27, an underwater light sectioning processing unit 28, an underwater shape data calculation unit 29, and a pipe measurement data recording unit 30, and can be configured as a computer equipped with a calculation unit and a storage device. Furthermore, the shape measuring device 20 includes an air-based image display unit 31, an underwater image display unit 32, and a display unit 33 as display devices. These components of the shape measuring device 20 will be described later.

[0020] The air camera 11 is a camera used to photograph the air. The underwater camera is a camera used to photograph the water. Depending on the pipeline system being investigated and the purpose of the investigation, any camera can be used for the air camera 11 and the underwater camera 12. For example, cameras equipped with fisheye lenses or omnidirectional cameras can be used.

[0021] The line laser 13 is a laser light source that emits a line-shaped laser beam and can be configured with any laser device. In this embodiment, the line laser 13 emits a line beam into the air and water inside the pipe. The scanning angle of the line beam of the line laser 13 is determined according to the field of view of the air camera 11 and the underwater camera 12. Alternatively, a ring laser (a laser light source that emits a ring-shaped laser beam) with the largest scanning angle may be used instead of the line laser 13.

[0022] The underwater mobile body 10 may be equipped with one line laser 13 that irradiates a line beam into both the air and the water, or it may be equipped with two line lasers 13, one line laser 13 that irradiates a line beam into the air and another line laser 13 that irradiates a line beam into the water.

[0023] The air camera 11 can capture images of the line beam projected onto the inner surface of the pipe in the air when illuminated by the line laser 13. The underwater camera 12 can capture images of the line beam projected onto the inner surface of the pipe in the water when illuminated by the line laser 13.

[0024] The underwater camera 11, the underwater camera 12, and the line laser 13 are calibrated in advance. As a result of the calibration, the internal and external parameters of cameras 11 and 12, and the position and attitude data of cameras 11 and 12 and the line laser 13 are calculated and obtained in advance. The internal parameters of cameras 11 and 12 are optical system parameters such as the position of the lenses, while the external parameters are geometric parameters that determine the position of cameras 11 and 12, such as their position on the underwater moving body 10. The position and attitude data of cameras 11 and 12 and the line laser 13 are data related to the installation position and angle of cameras 11 and 12 and the line laser 13, for example.

[0025] These parameters and position / attitude data, which are the calibration results, are used for light sectioning processing using the light section method. The air light sectioning processing unit 22 and the underwater light sectioning processing unit 28 use these calibration results to perform light sectioning processing in air and underwater, respectively.

[0026] Next, the operation and effects of the pipe inspection device according to this embodiment will be explained along with the procedure for the pipe inspection method according to this embodiment.

[0027] Figure 2 is a flowchart showing an example of the procedure for the pipe inspection method according to this embodiment.

[0028] In S1, the worker measures the water level Zw inside the pipe before beginning the inspection. The water level Zw is the distance from the bottom of the pipe to the water surface and can be measured using any device or instrument different from the underwater moving body 10, such as an optical or ultrasonic measuring instrument or scale. The measured water level Zw data is stored in the position and attitude calculation unit 24.

[0029] In S2, the worker installs the underwater mobile body 10 inside the pipe. For example, if the pipe is a sewer pipeline, the worker lowers the underwater mobile body into the pipeline from a manhole. It is preferable for the worker to install the underwater mobile body 10 so that it is as close as possible to the ideal position.

[0030] Figure 3 shows an example of the ideal position of the underwater moving body 10, and is a ZX cross-sectional view of the pipe 41 in the pipe coordinate system. Water 42 flows inside the pipe 41 at a water level Zw. The underwater moving body 10 is located at the water surface 45 of the water 42. Figure 3 shows the underwater moving body 10 being illuminated with a line beam 43 by a line laser 13. Note that the pipe 41 has a circular ZX cross-section (cross-section perpendicular to the length direction) and an inner diameter (diameter) of d p Let's assume that this is the case.

[0031] In its ideal state, the underwater moving body 10 is located at the center of the interior of the pipe 41 (the center of the Z-axis and X-axis directions), and its attitude angles (angles around the X-axis, Y-axis, and Z-axis) are zero. The origin O shown in Figure 3 is the origin in the pipe coordinate system and is located at the lowest point of the pipe 41 (the lowest point in the Z-axis direction). Figure 3 also shows an example where the water level Zw is at the center of the pipe 41 in the Z-axis direction.

[0032] When installing the underwater mobile body 10 inside the piping 41, the worker may use a device that has a function to control the position and attitude angle of the underwater mobile body 10.

[0033] Let's return to the explanation of Figure 2.

[0034] In S3, the shape measuring device 20 records images in the air and underwater. When the underwater mobile body 10 is installed inside the pipe 41, it is illuminated with the line beam 43 before it starts moving, and the air camera 11 and underwater camera 12 begin taking pictures. The shape measuring device 20 records the air and underwater images taken by cameras 11 and 12, respectively, and measures the initial position of the underwater mobile body 10.

[0035] The shape measuring device 20 measures the shape of the inner surface of the pipe 41 after the underwater moving body 10 begins to move. In this embodiment, the shape measuring device 20 measures the shape of the inner surface of the pipe 41 in a cross section (ZX cross section) perpendicular to the length direction (Y axis direction) of the pipe 41.

[0036] In this embodiment, the underwater moving body 10 moves in the Y-axis direction to measure the shape of the inner surface of the pipe 41, but the position in the Y-axis direction is not considered, and the shape of the inner surface of the pipe 41 in the ZX cross-section is measured. Therefore, the position and orientation of the underwater moving body 10 in the ZX cross-section are also determined.

[0037] In this embodiment, the Y-axis position of the inner surface shape of the pipe 41 (the Y-axis position of the underwater moving body 10) can be determined, for example, by the following methods. One method is to measure the amount of cable fed out of the cable connected to the underwater moving body 10 and determine the position from this amount. The amount of cable fed out can be determined by measuring the amount of cable fed out of a cable drum that feeds out and retrieves the cable. Another method is called Structure from Motion (SfM), which is a method that uses multiple images taken at different times by a single camera, detects the amount of movement of multiple feature points in the images, and calculates the amount of movement.

[0038] From here, the procedure for measuring the shape of the inner surface of the pipe 41 will be explained along with the components of the shape measuring device 20.

[0039] First, the air video recording unit 21, the underwater video recording unit 27, and the synchronization control unit 23 of the shape measuring device 20 will be described. The air camera 11 and the underwater camera 12 photograph the line beam 43 projected onto the inner surface of the pipe 41. At S3 in Figure 2, the air video recording unit 21 records the image of the line beam 43 projected onto the inner surface of the pipe 41 in the air, as captured by the air camera 11, and the underwater video recording unit 27 records the image of the line beam 43 projected onto the inner surface of the pipe 41 in the water, as captured by the underwater camera 12. The air video recording unit 21 and the underwater video recording unit 27 are controlled by the synchronization control unit 23 to record the air video and underwater video at the same time, respectively, in association with each other.

[0040] The synchronization control unit 23 synchronizes the air video recording unit 21 and the underwater video recording unit 27 so that the air video recorded by the air video recording unit 21 and the underwater video recording unit 27 are images from the same time. In other words, the synchronization control unit 23 controls the air video recording unit 21 and the underwater video recording unit 27 so that they record images from the same time.

[0041] The airborne image display unit 31 displays the images recorded by the airborne image recording unit 21. The underwater image display unit 32 displays the images recorded by the underwater image recording unit 27.

[0042] The shape of the inner surface of the pipe 41 can be measured by, for example, the following methods: One method is to continuously irradiate the pipe with a line beam 43 while the underwater mobile body 10 is moving and perform continuous measurements. Another method is to stop the underwater mobile body 10 at a specific location during this continuous measurement, turn off the lights on the cameras 11 and 12, and photograph the line beam 43 in the dark. Another method is to only record video during the normal movement of the underwater mobile body 10, stop the underwater mobile body 10 only at a specific location, turn off the lights on the cameras 11 and 12, and photograph the line beam 43 in the dark.

[0043] Next, the procedure for measuring the shape of the inner surface of the pipe 41 in the air will be described. First, the procedure for the light sectioning process in the air in S4 will be described. The air light sectioning processing unit 22 performs light sectioning processing using the light sectioning method on the video recorded by the air video recording unit 21, and obtains the distance from the air camera 11 to the inner surface of the pipe 41 in the air as point cloud data in the two-dimensional cross-section of the pipe 41.

[0044] In S4, the air-in-air light sectioning processing unit 22 extracts a still image from the video recorded by the air-in-air video recording unit 21 at the time of processing. The processing time can be arbitrarily determined. The air-in-air light sectioning processing unit 22 can display the extracted still image on the air-in-air video display unit 31.

[0045] Figure 4 is a YZ cross-sectional view in the pipeline coordinate system showing the underwater mobile body 10 located at the water surface 45. A cable 46 is connected to the underwater mobile body 10. The underwater mobile body 10 can be illuminated by a line laser 13 with a line beam 43 in any direction around the Y axis.

[0046] In the following explanation, the local coordinate system centered on the light source of line laser 13 is referred to as the laser coordinate system (X L ,Y L ,Z L ) is called the local coordinate system centered on the center of the underwater moving body 10, and the moving body coordinate system (X r ,Y r ,Z ris called, and the local coordinate system centered on the lens of the air camera 11 is the air camera coordinate system (X ca , Y ca , Z ca ). The local coordinate system centered on the lens of the underwater camera 12 is called the underwater camera coordinate system (X cw , Y cw , Z cw ).

[0047] FIG. 5A is an example of an XY plane view of the underwater moving body 10 inside the pipe 41 as viewed from above along the Z-axis direction in the pipeline coordinate system. In FIG. 5A, the inner diameter d of the pipe 41 p , and the coordinate axes (X L and Y L ) of the laser coordinate system are also shown.

[0048] [[ID=二十六]]FIG. 5A shows an example of the position and orientation of the underwater moving body 10 inside the pipe 41 at the time when the still image is cut out. In the example shown in FIG. 5A, the underwater moving body 10 is translated parallel by a distance ΔX in the X-axis direction of the pipeline coordinate system and rotated by an angle ΔΨ around the Z-axis compared to the ideal position. In addition, FIG. 5A also shows the sediment 44 (for example, mud, sand, etc.) deposited on the pipe 41.

[0049] FIG. 5B is a cross-sectional view of the pipe 41 in the moving body coordinate system, showing an example of the underwater moving body 10 at the time when the still image is cut out. In the example shown in FIG. 5B, the water level Zw is 1 / 2 of the inner diameter d of the pipe 41 L X L . It is assumed that the center of the Z p axis direction (Z r axis direction) of the underwater moving body 10 is at the position of the water surface 45, that is, at the center of the pipe 41 in the Z-axis direction.

[0050] FIG. 5B shows the air and underwater line beams 43 irradiated from the underwater moving body 10 and the sediment 44 existing in the water.

[0051] ​​Returning to the explanation of S4 in Figure 2, the air-light sectioning processing unit 22 calculates the center coordinates of the width of the line beam 43 as seen in the extracted still image. The air-light sectioning processing unit 22 can calculate these center coordinates by any method, for example, by performing image processing. Alternatively, the air-light sectioning processing unit 22 can calculate the center coordinates of the width of the line beam 43 by having the operator specify the center position of the width of the line beam 43 in the still image displayed on the air-light image display unit 31.

[0052] The air-inserted light sectioning processing unit 22 performs light sectioning using the calculated center coordinates of the line beam width 43, the parameters of the air-inserted camera 11 obtained from a prior calibration, and the position and orientation data of the air-inserted camera 11 and the line laser 13. Any existing method can be used for the light sectioning process.

[0053] The air-in-air light sectioning processing unit 22 performs light sectioning on the extracted still image to calculate the distance from the lens center of the air-in-air camera 11 to the inner surface of the pipe 41 onto which the line beam 43 is projected (mainly the inner wall of the pipe 41 in air). The calculated distance is then obtained as point cloud data in the two-dimensional cross-section of the pipe 41. This point cloud data is then converted to Z coordinate system in the air-in-air camera coordinate system. ca X ca This is point cloud data in the cross-section. The air-through-light sectioning processing unit 22 then transforms the obtained point cloud data from the air-through-camera coordinate system to the laser coordinate system. This coordinate transformation uses the relative positional relationship between the lens of the air-through-camera 11 and the light source of the line laser 13, which was obtained from the calibration results.

[0054] Figure 6A shows an example of the results of light sectioning in air, and is a diagram showing an example of point cloud data whose coordinates have been transformed from the air camera coordinate system to the laser coordinate system. Figure 6A shows the Z coordinate system in the laser coordinate system. L X L The plane shows the underwater moving body 10 and the point cloud data 61 obtained by irradiation with a line beam 43 in the air.

[0055] Let's return to the explanation of Figure 2.

[0056] In S5, the position and attitude calculation unit 24 calculates the position and attitude data of the underwater moving body 10 from the point cloud data 61 in the air. The position and attitude data of the underwater moving body 10 includes, for example, the horizontal position of the underwater moving body 10 in a two-dimensional cross-section of the piping 41, the attitude angle of the underwater moving body 10, and the position of the underwater moving body 10 in the Z direction. The horizontal position of the underwater moving body 10 in a two-dimensional cross-section is, for example, the travel distance ΔX in the X-axis direction (travel distance ΔX described later). L It is expressed as (including). The attitude angle of the underwater mobile body 10 is expressed by the three rotation angles of the underwater mobile body 10, namely rotation angle ΔΨ and rotation angles ΔΦ and ΔΘ, which will be described later. The position of the underwater mobile body 10 in the Z direction is expressed using the water level Zw of the pipe 41.

[0057] First, the position and orientation calculation unit 24 performs ellipse fitting on the point cloud data 61 in the laser coordinate system obtained by the light sectioning processing unit 22 in S4. Ellipse fitting is a known technique for finding the ellipse that best represents the point cloud data. The position and orientation calculation unit 24 performs ellipse fitting by performing ellipse approximation calculations.

[0058] The equation for an ellipse is given by equation (1).

[0059]

number

[0060] However, A to F are arbitrary constants, and f0 is a constant for adjusting the scale. Since multiplying all coefficients A to F in equation (1) by any number will result in the same ellipse, we normalize it as shown in equation (2).

[0061]

number

[0062] It is generally known that elliptic fitting can be performed using methods such as the least squares method or the renormalization method, as shown in equations (1) and (2).

[0063] Figure 7A shows an example of an ellipse 71 in the laser coordinate system, which was determined by the position and attitude calculation unit 24 from the point cloud data 61 in the air. Note that the underwater moving body 10 is positioned differently in the X-axis of the laser coordinate system compared to its ideal position. L Distance ΔX in the axial direction L It's only shifted in parallel.

[0064] The ellipse 71 determined by the position and orientation calculation unit 24 has a major axis of d L And the minor axis is d S The major axis d is... L This is the length of the major axis of the ellipse 71, i.e., X L This is the length in the axial direction. The minor axis is d. S This is the length of the minor axis of ellipse 71, i.e., Z L This is the axial length and the inner diameter d of the pipe 41. p It is equal to.

[0065] The position and orientation calculation unit 24 calculates the major axis d from the elliptic equation (equations (1) and (2)) representing the ellipse 71. L and minor axis d S Find the major axis d L , short diameter d S , and the distance traveled ΔX L Therefore, in the coordinate system of the moving body, the rotation angle ΔΨ around the Zr axis (see Figure 5A) and the rotation angle ΔΦ around the Xr axis of the underwater moving body 10 are determined as shown in equations (3) and (4). Note that the distance traveled is ΔX L This is calculated as the difference between the position of the center of ellipse 71 and the position of the origin of the laser coordinate system.

[0066]

number

[0067]

number

[0068] In this embodiment, the minor axis d S The inner diameter d of pipe 41 p Since it is equal to (4), ΔΦ is 0°.

[0069] Furthermore, the position and attitude calculation unit 24 determines the rotation angle ΔΘ of the underwater moving body 10 around the Yr axis in the moving body coordinate system from equation (5). Equation (5) represents the ellipse 71 (Figure 7A) in the laser coordinate system after it has been translated to a coordinate system with the center of the ellipse 71 as the origin.

[0070]

number

[0071] In this embodiment, ΔΘ is set to 0°.

[0072] In S5, the position and attitude calculation unit 24 performs elliptic fitting, which is an elliptic approximation calculation, on the point cloud data 61 in the air as described above, and calculates the rotation angles ΔΨ, ΔΦ, ΔΘ and the movement distance ΔX of the underwater moving body 10. L The position of the underwater moving body 10 in the Z direction is expressed using the water level Zw of the pipe 41. The position and attitude calculation unit 24 calculates the rotation angle ΔΨ, ΔΦ, ΔΘ and the travel distance ΔX. L The water level Zw is calculated and stored as position and attitude data of the underwater moving body 10. In this embodiment, since ΔΦ and ΔΘ are 0°, the position and attitude calculation unit 24 calculates the rotation angle ΔΨ and the travel distance ΔX as position and attitude data of the underwater moving body 10. L , and the water level Zw are stored.

[0073] Let's return to the explanation of Figure 2.

[0074] In S6, the air-based shape data calculation unit 26 integrates the estimated shape of the inner surface of the pipe 41 in air with the shape data of the inner wall of the pipe 41 to obtain air-based shape data. Specifically, the air-based shape data calculation unit 26 uses the position and attitude data of the underwater moving body 10 obtained by the position and attitude calculation unit 24 (in this embodiment, rotation angle ΔΨ, travel distance ΔX) LUsing the water level Zw), the point cloud data 61 (Figure 7A) in air is integrated with the shape data of the inner wall of the pipe 41 in the ZX cross-section, and the data obtained from this integration is defined as the shape data in air. The point cloud data 61 in air represents the shape of the inner surface of the pipe 41 in air, as estimated by the shape data calculation unit 26 in air. Therefore, the shape data in air includes the estimated shape of the inner surface of the pipe 41 in air and the shape data of the inner wall of the pipe 41 in the ZX cross-section.

[0075] The pipe shape data storage unit 25 has pre-stored the shape data of the pipe 41. For example, the pipe shape data storage unit 25 stores the shape data of the inner wall of the pipe 41, obtained from the CAD data used during the design of the pipe 41.

[0076] The air-in-the-air shape data calculation unit 26 receives shape data of the inner wall of the pipe 41 in the ZX cross-section from the pipe-in-the-air shape data storage unit 25, where the position and orientation data of the underwater moving body 10 is obtained. It then integrates the air-in-the-air point cloud data 61 with the input shape data of the inner wall of the pipe 41, and displays the resulting integrated air-in-the-air shape data on the display unit 33. The air-in-the-air point cloud data 61 is displayed on the display unit 33 together with the shape data of the inner wall of the pipe 41 through this integration.

[0077] Figure 7B shows an example of point cloud data 61 in air displayed on the shape data of the inner wall in the ZX cross-section of pipe 41. In Figure 7B, the point cloud data 61 in air is transformed from the laser coordinate system and displayed in the pipeline coordinate system together with the shape 72 of the inner wall of pipe 41.

[0078] The air-based shape data calculation unit 26 represents the point cloud data 61 in the air in a pipe coordinate system. The point cloud data 61 represented in the pipe coordinate system represents the shape of the inner surface of the pipe 41 in the air in the ZX cross-section, as estimated by the air-based shape data calculation unit 26.

[0079] Let's return to the explanation of Figure 2. Next, we will explain the procedure for measuring the shape of the inner surface of pipe 41 underwater. First, we will explain the procedure for the light sectioning treatment underwater in S7.

[0080] In S7, the underwater light sectioning processing unit 28 performs the same processing as the air light sectioning processing unit 22 to perform underwater light sectioning. The underwater light sectioning processing unit 28 performs light sectioning on the video recorded by the underwater video recording unit 27 and obtains the distance from the underwater camera 12 to the inner surface of the pipe 41 underwater as point cloud data in a two-dimensional cross-section of the pipe 41.

[0081] First, the underwater light sectioning processing unit 28 extracts a still image from the video recorded in the underwater video recording unit 27 at the time of processing. The underwater light sectioning processing unit 28 can then display the extracted still image on the underwater video display unit 32. Next, the underwater light sectioning processing unit 28 calculates the center coordinates of the width of the line beam 43 shown in the extracted still image.

[0082] The underwater light sectioning processing unit 28 then uses the center coordinates of the calculated width of the line beam 43 and the parameters of the underwater camera 12 and the position and orientation data of the underwater camera 12 and the line laser 13 obtained from a prior calibration to perform light sectioning processing and obtain the distance from the center of the lens of the underwater camera 12 to the surface of the object onto which the line beam 43 is projected (in water, mainly the inner wall of the pipe 41 and the sediment 44 accumulated on the pipe 41) as point cloud data in the underwater camera coordinate system. The underwater light sectioning processing unit 28 then transforms the obtained point cloud data from the underwater camera coordinate system to the laser coordinate system.

[0083] Figure 6B shows an example of the results of light sectioning processing underwater, and is a diagram showing an example of point cloud data whose coordinates have been transformed from the underwater camera coordinate system to the laser coordinate system. Figure 6B shows the Z coordinate system in the laser coordinate system. L X L The plane shows the underwater moving body 10 and the underwater point cloud data 62 obtained by irradiating the line beam 43 underwater.

[0084] Let's return to the explanation of Figure 2.

[0085] In S8, the underwater shape data calculation unit 29 integrates the estimated shape of the inner surface of the pipe 41 underwater with the shape data of the inner wall of the pipe 41 to obtain underwater shape data. Specifically, the underwater shape data calculation unit 29 receives the shape data of the inner wall of the pipe 41 in the ZX cross-section from the pipe shape data storage unit 25, integrates the underwater point cloud data 62 with the shape data of the inner wall of the pipe 41 in the ZX cross-section, and uses the data obtained from this integration as underwater shape data. The underwater point cloud data 62 represents the shape of the inner surface of the pipe 41 underwater, as estimated by the underwater shape data calculation unit 29.

[0086] In this embodiment, the underwater shape data calculation unit 29 calculates the Z coordinate of the pipe 41 in the laser coordinate system. L X L The shape data of the inner wall in the cross-section is integrated with the point cloud data 62 from underwater. The shape of the inner surface of the pipe 41 underwater includes the shape 72 of the inner wall of the pipe 41 and, if sediment 44 has accumulated on the pipe 41, the shape of the surface of the sediment 44.

[0087] The underwater shape data calculation unit 29 displays the integrated underwater shape data on the display unit 33. The underwater point cloud data 62 is displayed on the display unit 33 along with the shape data of the inner wall of the pipe 41 as a result of this integration.

[0088] Unlike the point cloud data 61 in air, elliptical fitting is not required for the point cloud data 62 in water. This is because there may be sediment 44 accumulated in the pipe 41 in water, and the point cloud data 62 in water may represent the shape of the surface of this sediment 44 (an unspecified shape different from an ellipse or a circle).

[0089] Figure 8A shows the Z coordinates of pipe 41 in the laser coordinate system. L X L This figure shows an example of underwater point cloud data 62 displayed on the shape data of the inner wall in a cross-section. Figure 8A shows the shape 72 of the inner wall of the pipe 41 and the underwater point cloud data 62, represented in a laser coordinate system. The underwater point cloud data 62 shown in Figure 8A represents the surface shape of the sediment 44 deposited in the pipe 41.

[0090] Furthermore, the underwater shape data calculation unit 29 converts the underwater point cloud data 62 from the laser coordinate system to the pipeline coordinate system, and displays the shape 72 of the inner wall of the pipe 41 in the ZX cross-section and the underwater point cloud data 62 on the display unit 33 in the pipeline coordinate system. The point cloud data 62 represented in the pipeline coordinate system represents the shape of the inner surface of the pipe 41 or the surface shape of the sediment 44 in the underwater cross-section in the ZX cross-section, as estimated by the underwater shape data calculation unit 29.

[0091] Figure 8B shows an example of underwater point cloud data 62 displayed on the shape data of the inner wall of pipe 41 in the ZX cross-section in the pipeline coordinate system. Figure 8B shows the shape 72 of the inner wall of pipe 41 and the underwater point cloud data 62 as represented in the pipeline coordinate system. The underwater point cloud data 62 shown in Figure 8B represents the surface shape of the sediment 44 deposited in pipe 41.

[0092] Let's return to the explanation of Figure 2.

[0093] In S9, the pipe measurement data recording unit 30 integrates the air shape data obtained by the air shape data calculation unit 26 and the underwater shape data obtained by the underwater shape data calculation unit 29 into a single data set as pipe measurement data. Since the synchronization control unit 23 controls the air image and underwater image to be images from the same time, the pipe measurement data recording unit 30 can integrate the air shape data and underwater shape data from the same time.

[0094] The pipe measurement data recording unit 30 then displays the integrated pipe measurement data on the display unit 33. Since the air shape data and underwater shape data include the shape data of the inner wall of the pipe 41 in the ZX cross-section, the pipe measurement data includes the shape data of the inner wall of the pipe 41 in the ZX cross-section. In other words, the pipe measurement data recording unit 30 displays the point cloud data 61 in the air and the point cloud data 62 in the water, along with the shape 72 of the inner wall of the pipe 41, in the pipe coordinate system.

[0095] Figure 9 shows an example of point cloud data 61 in air and point cloud data 62 in water displayed on the shape 72 of the inner wall of pipe 41. The shape 72 of the inner wall of pipe 41 is the shape obtained from data stored in the pipe shape data storage unit 25, for example, from the CAD data used when designing pipe 41. The point cloud data 61 in air and point cloud data 62 in water are data obtained by measurement using the pipe inspection device according to this embodiment.

[0096] The pipe inspection device according to this embodiment can measure the shape of the inner surface of the pipe 41 in air and underwater at a specific ZX cross-section of the pipe 41 using the underwater moving body 10. Therefore, the pipe inspection device according to this embodiment can determine changes in the shape of the inner wall of the pipe 41 and changes in the shape of the inner surface of the pipe 41 due to deposits 44 accumulated in the pipe 41, and can investigate the internal condition of the pipe 41.

[0097] In this embodiment, the position and orientation of the underwater moving body 10 in the cross-section of the pipe 41 are determined by fitting an ellipse to the point cloud data 61 obtained by light section processing in air. Therefore, the point cloud data 62 obtained by light section processing in water can also be obtained as point cloud data representing the shape of the inner surface of the pipe 41, corresponding to the position and orientation of the underwater moving body 10. Consequently, the pipe inspection device according to this embodiment does not require a sensor to measure the position and orientation of the underwater moving body 10 in order to investigate the condition of the inner surface of the pipe 41. Therefore, in this embodiment, there is no need to connect a large number of cables to the underwater moving body 10 or to connect thick cables to the underwater moving body 10, and the condition of the inner surface of the pipe 41 can be investigated without degrading the mobility performance of the underwater moving body 10.

[0098] In the following, Figures 10A to 10D show an example of the shape data of the inner wall of the pipe 41 stored in the pipe shape data storage unit 25 (for example, the CAD data used when designing the pipe 41) in a moving body coordinate system. Figures 10A to 10D show how the shape of the inner wall of the pipe 41 in the ZX cross-section, from which the position and orientation data of the underwater moving body 10 was obtained, appears to the underwater moving body 10.

[0099] Figure 10A shows the Z coordinate system of the pipe 41 when the position of the underwater moving body 10 is translated by a distance ΔX in the X-axis direction from its ideal position. r X r This is a cross-sectional view. Figure 10B shows the Z coordinate system of the pipe 41 when the position of the underwater moving body 10 is rotated by an angle ΔΘ around the Yr axis from the ideal position. r X r This is a cross-sectional view. Figure 10C shows the Z coordinate system of the pipe 41 when the position of the underwater moving body 10 is rotated by an angle ΔΨ around the Zr axis from the ideal position. r X r This is a cross-sectional view. Figure 10D shows the Z coordinate system of the pipe 41 when the position of the underwater moving body 10 is rotated by an angle ΔΦ around the Xr axis from the ideal position. r X r This is a cross-section.

[0100] Figures 10A to 10D show how the shape of the ellipse obtained by ellipse fitting changes depending on the distance ΔX and angles ΔΘ, ΔΨ, and ΔΦ (for example, the direction in which the ellipse lengthens and the major axis d L or minor axis d S (It can be seen that the length changes.)

[0101] In S5 of Figure 2, the position and orientation calculation unit 24 compares the point cloud data 61 in the air with the shape data of the inner wall of the pipe 41 obtained from the pipe shape data storage unit 25, and can calculate the difference between the point cloud data 61 and the shape 72 of the inner wall of the pipe 41. By calculating this difference, the position and orientation calculation unit 24 can determine how far the position of the point cloud data 61 is from the shape 72 of the inner wall of the pipe 41.

[0102] Figure 11 illustrates a method for calculating the difference between each point constituting the point cloud data 61 in the air and the shape 72 of the inner wall of the pipe 41. As an example, Figure 11 shows the shape 72 of the inner wall of the pipe 41 when the underwater moving body 10 is in an ideal position in the laser coordinate system, as the shape data of the inner wall of the pipe 41.

[0103] As shown in Figure 11, the distance between point 61a, which constitutes the point cloud data 61, and point 72a on the inner wall of the pipe 41 is L. θLi Let's assume that the subscript i is an identifier that distinguishes each point 61a that makes up the point cloud data 61. Let's assume that the number of points 61a that make up the point cloud data 61 is (n+1) (0≦i≦n). Point 72a is a point on the inner wall of pipe 41 that lies on the line connecting point 61a and the origin in the laser coordinate system. Point 72a is the X in the laser coordinate system. L The angle from the axis is θ Li It is located at the distance L. θLi This represents the difference between the point cloud data 61 in the air and the shape 72 of the inner wall of the pipe 41.

[0104] The position and attitude calculation unit 24 calculates the distance L θLi The difference between each point constituting the point cloud data 61 and the shape data of the inner wall of the pipe 41 is calculated using equation (6).

[0105]

number

[0106] In equation (6), as shown in Figure 11, ΔX L_θLi This is the X between point 61a and point 72a. L This is the distance in the axial direction, ΔZ L_θLi This is the Z between point 61a and point 72a. L This is the distance along the axis.

[0107] The position and attitude calculation unit 24 calculates the difference (distance L) for all points 61a that make up the point cloud data 61 in the air. θLi The sum L of ) all We find this using equation (7).

[0108]

number

[0109] The position and attitude calculation unit 24 calculates the movement distance ΔX L The sum of the differences L obtained by equation (7) is obtained using the rotation angles ΔΨ, ΔΦ, and ΔΘ as parameters. allThe position and orientation of the underwater moving body 10 can be determined by directly changing these parameters so that the difference between the shape created by the point cloud data 61 in the air and the shape 72 of the inner wall of the pipe 41 obtained from the pipe shape data storage unit 25 is minimized. In other words, the position and orientation calculation unit 24 can determine the position and orientation of the underwater moving body 10 by changing the above parameters (position and orientation data of the underwater moving body 10) with respect to the above parameters obtained by ellipse fitting so that the difference between the shape created by the point cloud data 61 in the air and the shape 72 of the inner wall of the pipe 41 is minimized.

[0110] Alternatively, the position and attitude calculation unit 24 may, in S5 of Figure 2, not perform ellipse fitting, but instead use the least squares method or the like to minimize the difference between the point cloud data 61 in the air and the shape data of the inner wall of the pipe 41 in the ZX cross-section stored in the pipe shape data storage unit 25, thereby obtaining the position and attitude data of the underwater moving body 10. In other words, the position and attitude calculation unit 24 may, without performing ellipse fitting, determine the position and attitude data of the moving distance ΔX L The position and orientation of the underwater moving body 10 can also be determined by directly changing the above parameters (position and orientation data of the underwater moving body 10) using the least squares method or the like, with the rotation angles ΔΨ, ΔΦ, and ΔΘ as parameters, so as to minimize the difference between the shape created by the point cloud data 61 in the air and the shape 72 of the inner wall of the pipe 41 obtained from the pipe shape data storage unit 25.

[0111] Furthermore, in S6 of Figure 2, after the air-in-air shape data calculation unit 26 integrates the air-in-air point cloud data 61 with the shape data of the inner wall in the ZX cross-section of the pipe 41, the position and orientation calculation unit 24 calculates the sum of the differences in this state L all We find the difference L, and then sum these differences. all Using this as the initial value, the parameter (transition distance ΔX) obtained by elliptic fitting was used. L The rotation angles ΔΨ, ΔΦ, ΔΘ) ​​are varied, and the sum of the differences L is calculated using methods such as the least squares method. all The position and attitude data of the underwater moving body 10 that minimizes this can also be obtained. In this case, the sum of the differences L all If the value becomes larger than the initial value, the above parameters will not be changed. In this way, the range over which the parameters are changed is defined by the sum of the differences L. allBy limiting the range to one where the value is less than or equal to the initial value, it is possible to reduce the computation time and the amount of memory required for the calculation.

[0112] The underwater mobile device 10 may be equipped with two line lasers 13: one line laser 13 that irradiates a line beam into the air and another line laser 13 that irradiates a line beam into the water. These two line lasers 13 may irradiate line beams of different wavelengths. For example, since green light has a higher transmittance than red light in water, it is preferable that the line laser 13 that irradiates a line beam into the water emits a line beam in the green wavelength band, and the line laser 13 that irradiates a line beam into the air emits a line beam in the red wavelength band.

[0113] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are possible. For example, the embodiments described above are explained in detail to make the present invention easier to understand, and the present invention is not necessarily limited to embodiments having all the configurations described. Furthermore, it is possible to replace parts of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add configurations from other embodiments to the configuration of one embodiment. Furthermore, it is possible to delete parts of the configuration of each embodiment, or to add or replace other configurations. [Explanation of symbols]

[0114] 10...Underwater moving body, 11...Air camera, 12...Underwater camera, 13...Line laser, 20...Shape measuring device, 21...Air video recording unit, 22...Air light sectioning processing unit, 23...Synchronization control unit, 24...Position and orientation calculation unit, 25...In-pipe shape data storage unit, 26...Air shape data calculation unit, 27...Underwater video recording unit, 28...Underwater light sectioning processing unit, 29...Underwater shape data calculation unit, 30...In-pipe measurement data recording unit, 31...Air video display unit, 32...Underwater video display unit, 33...Display unit, 41...Pipe, 42...Water, 43...Line beam, 44...Sediment, 45...Water surface, 46...Cable, 61...Point cloud data in air, 61a...Points constituting the point cloud data, 62...Point cloud data in water, 71...Ellipse, 72...Shape of the inner wall of the pipe, 72a...Point on the inner wall of the pipe.

Claims

1. An underwater mobile body equipped with an airborne camera for photographing the air, an underwater camera for photographing the water, and a line laser for emitting a line beam, An air-based video recording unit records the image of the line beam projected onto the inner surface of the pipe in the air, which was captured by the air-based camera. An underwater video recording unit that records the image of the line beam projected onto the inner surface of the pipe underwater, which was captured by the underwater camera, An air-in-air light sectioning processing unit performs light sectioning processing on the video recorded by the air-in-air video recording unit to calculate the distance from the air-in-air camera to the inner surface of the pipe onto which the line beam is projected, and obtains this calculated distance as point cloud data in the air in a two-dimensional cross-section of the pipe. A position and attitude calculation unit that determines the horizontal position of the underwater moving body in the two-dimensional cross-section and the attitude angle of the underwater moving body from the aforementioned point cloud data in the air, A pipe shape data storage unit that stores the shape data of the aforementioned pipe, An air-in-air shape data calculation unit obtains air-in-air shape data by using the horizontal position and attitude angle of the underwater moving body determined by the position and attitude calculation unit and the water level of the pipe, and integrating the air-in-air point cloud data with the shape data of the inner wall in the two-dimensional cross-section of the pipe stored in the pipe shape data storage unit, An underwater light sectioning processing unit performs light sectioning processing on the video recorded by the underwater video recording unit, calculates the distance from the underwater camera to the inner surface of the pipe onto which the line beam is projected, and obtains this calculated distance as point cloud data in the two-dimensional cross-section of the pipe underwater, An underwater shape data calculation unit obtains underwater shape data by integrating the underwater point cloud data with the shape data of the inner wall in the two-dimensional cross-section of the pipe stored in the pipe shape data storage unit, using the horizontal position and orientation angle of the underwater moving body determined by the position and orientation calculation unit and the water level of the pipe. A pipe measurement data recording unit that integrates the air shape data and the water shape data, A pipe inspection device characterized by being equipped with the following features.

2. The position and attitude calculation unit performs elliptical approximation calculations to determine the horizontal position and attitude angle of the underwater moving body from the point cloud data in the air. The pipe inspection device according to claim 1.

3. The system includes a synchronization control unit that controls the airborne video recording unit and the underwater video recording unit so that the video recorded by the airborne video recording unit and the video recorded by the underwater video recording unit are images from the same time. The pipe inspection device according to claim 1.

4. The line laser comprises a first line laser that irradiates water with a line beam in the green wavelength band, and a second line laser that irradiates air with a line beam in the red wavelength band. The pipe inspection device according to claim 1.

5. The position and attitude calculation unit uses the least squares method to determine the horizontal position and attitude angle of the underwater moving body such that the difference between the point cloud data in the air and the shape data of the inner wall in the two-dimensional cross-section of the pipe stored in the pipe shape data storage unit is minimized. The pipe inspection device according to claim 1.

6. The position and orientation calculation unit calculates the sum of the differences between the point cloud data in the air and the shape data of the inner wall, for all of the point cloud data in the air, when the air shape data calculation unit integrates the point cloud data in the air with the shape data of the inner wall. The position and attitude calculation unit uses the sum of the obtained differences as an initial value and, using the least squares method, determines the horizontal position and attitude angle of the underwater moving body such that the sum of the differences is minimized within a range where the sum of the differences is less than or equal to the initial value. The pipe inspection device according to claim 2.

7. A mobile underwater unit equipped with an airborne camera for photographing the air and an underwater camera for photographing the water irradiates the inside of a pipe with a line beam, An airborne video recording step, which records the image of the line beam projected onto the inner surface of the pipe in the air, as captured by the airborne camera, An underwater video recording step of recording the image of the line beam projected onto the inner surface of the pipe underwater, which was captured by the underwater camera, An air-in-air light sectioning process is performed on the image recorded in the air-in-air image recording process to calculate the distance from the air-in-air camera to the inner surface of the pipe onto which the line beam is projected, and this calculated distance is obtained as point cloud data in the air in a two-dimensional cross-section of the pipe. A position and attitude calculation step to determine the horizontal position of the underwater moving body in the two-dimensional cross-section and the attitude angle of the underwater moving body from the aforementioned point cloud data in the air, An air-based shape data calculation step is performed by integrating the point cloud data in the air with the shape data of the inner wall in the two-dimensional cross-section of the pipe, using the horizontal position and attitude angle of the underwater moving body obtained in the position and attitude calculation step and the water level of the pipe, to obtain air-based shape data. An underwater light sectioning process is performed on the video recorded in the underwater video recording process to calculate the distance from the underwater camera to the inner surface of the pipe onto which the line beam is projected, and this calculated distance is obtained as point cloud data in the underwater two-dimensional cross-section of the pipe. An underwater shape data calculation step is performed to obtain underwater shape data by integrating the underwater point cloud data with the shape data of the inner wall in the two-dimensional cross-section of the pipe, using the horizontal position and attitude angle of the underwater moving body obtained in the position and attitude calculation step and the water level of the pipe, A pipe measurement data recording process that integrates the air shape data and the water shape data, A method for conducting an in-pipe inspection, characterized by having the following features.

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