公开(公告)号：US20130021452A1

公开(公告)日：2013-01-24

申请号：US13637203

申请日：2011-03-16

申请人： Tatsuya Oodake ,  Tetsuro Aikawa ,  Yoshinori Satoh ,  Makoto Ochiai ,  Yasuhiro Yuguchi

发明人： Tatsuya Oodake ,  Tetsuro Aikawa ,  Yoshinori Satoh ,  Makoto Ochiai ,  Yasuhiro Yuguchi

IPC分类号： H04N13/02

CPC分类号： G06T7/0075 ,  G01B11/03 ,  G01B11/245 ,  G01S11/12 ,  G06T7/593 ,  G06T2207/10012

摘要： A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained. A three-dimensional measurement coordinates calculating unit calculates, from an estimation result, three-dimensional coordinates of two distance measurement points designated on the object to be measured. A distance calculating unit calculates a distance between the two points using the three-dimensional coordinates.

摘要翻译： 三维成像单元包括对图像进行成像的多个图像拾取装置和旋转图像拾取装置的旋转驱动装置，并且调整光轴，使得待测量空间中待测量物体的反射具有预定的 重叠量。 关联计算单元，当所需测量点映射到多个图像上时，计算像素的位置关联信息。 三维形状计算单元使用位置关联信息和旋转驱动装置的旋转信息来计算被测量物体的三维形状。 三维形状估计计算单元从三维形状估计未获得三维形状的待测量对象的区域的三维形状。 三维测量坐标计算单元从估计结果计算在被测量物体上指定的两个距离测量点的三维坐标。 距离计算单元使用三维坐标来计算两点之间的距离。

公开(公告)号：US08085296B2

公开(公告)日：2011-12-27

申请号：US11470108

申请日：2006-09-05

申请人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

发明人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

IPC分类号： H04N7/18

CPC分类号： G01B11/002 ,  G01S5/163

摘要： A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.

摘要翻译： 预先获得基于监视器和移动体之间的相对距离计算操作位置的方法，以确定图像拍摄对象的表面上的相对距离和尺寸之间的一对一相关性。 在拍摄对象和监视器之间测量相对角度。 使用监视器的照相机拍摄移动体。 将图像上的参考点之间的距离和尺寸与与测量的相对角度一致的相关数据进行比较。

公开(公告)号：US20110292205A1

公开(公告)日：2011-12-01

申请号：US11470108

申请日：2006-09-05

申请人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

发明人： Yasuhiro Yuguchi ,  Koichi Soma ,  Takeshi Maehara ,  Ikuko Kameyama ,  Tetsuro Nakagawa ,  Hiroyuki Adachi

IPC分类号： H04N7/18

CPC分类号： G01B11/002 ,  G01S5/163

摘要： A method of computing an operating position based on a relative distance between a monitor and a movable body correlating data is obtained in advance for determining a one to one correlation between the relative distance and dimensions on the surface of a photographed object of an image. A relative angle is measured between the photographed object and the monitor. The movable body is photographed using a camera of the monitor. The distance and dimensions between reference points on the image are compared with the correlating data coincident with the measured relative angle.

摘要翻译： 预先获得基于监视器和移动体之间的相对距离计算操作位置的方法，以确定图像拍摄对象的表面上的相对距离和尺寸之间的一对一相关性。 在拍摄对象和监视器之间测量相对角度。 使用监视器的照相机拍摄移动体。 将图像上的参考点之间的距离和尺寸与与测量的相对角度一致的相关数据进行比较。

公开(公告)号：US20070140403A1

公开(公告)日：2007-06-21

申请号：US11504691

申请日：2006-08-16

申请人： Yasuhiro Yuguchi ,  Hiroyuki Adachi ,  Tetsuro Nakagawa ,  Satoshi Yamamoto ,  Hidefumi Amanai ,  Ken Okuda

发明人： Yasuhiro Yuguchi ,  Hiroyuki Adachi ,  Tetsuro Nakagawa ,  Satoshi Yamamoto ,  Hidefumi Amanai ,  Ken Okuda

IPC分类号： G21C17/00

CPC分类号： G21C17/01 ,  G21C19/02 ,  G21C19/207

摘要： A method for inspection and maintenance of an inside of a nuclear power reactor is provided, which can perform positioning of a remote operated vehicle relative to an inspection target surface in a nuclear power reactor in a short period of time with high accuracy, and enhance the positioning repeatability for the remote operated vehicle, thereby enabling performance of the inspection and maintenance for the inspection target surface securely and satisfactorily. For the inspection or maintenance for the inspection target surface 1a in a nuclear power reactor by using the remote operated vehicle 30, a detection mark 3 is formed in advance by providing a notching, marking, punching or engraving process to the inspection target surface 1a before performing inspection or maintenance of the inside of the nuclear power reactor by using the remote operated vehicle 30. Then, the remote operated vehicle 30 is driven to move in the nuclear power reactor filled with water. During the movement, the detection mark 3 formed in the inspection target surface 1a is detected by using the remote operated vehicle 30 so as to determine the position of the remote operated vehicle 30.

摘要翻译： 提供了一种用于核电反应堆内部的检查和维护的方法，其能够在短时间内高精度地执行远程操作车辆相对于核动力反应堆中的检查目标表面的定位，并且增强 对远程操作车辆的定位可重复性，从而能够可靠且令人满意地执行检查目标表面的检查和维护。 为了通过使用遥控车辆30对核动力堆的检查对象面1a进行检查或维护，通过向检查对象面1设置切口，标记，冲压或雕刻处理，预先形成检测标记3 在通过使用远程操作车辆30进行核动力反应堆内部的检查或维护之前，驱动远程操作车辆30在充满水的核动力反应堆中移动。 在移动期间，通过使用遥控车辆30来检测形成在检查目标表面1a中的检测标记3，以便确定远程操作车辆30的位置。

公开(公告)号：US09214024B2

公开(公告)日：2015-12-15

申请号：US13637203

申请日：2011-03-16

申请人： Tatsuya Oodake ,  Tetsuro Aikawa ,  Yoshinori Satoh ,  Makoto Ochiai ,  Yasuhiro Yuguchi

发明人： Tatsuya Oodake ,  Tetsuro Aikawa ,  Yoshinori Satoh ,  Makoto Ochiai ,  Yasuhiro Yuguchi

IPC分类号： H04N13/02 ,  H04N15/00 ,  G06T7/00 ,  G01S11/12 ,  G01B11/03 ,  G01B11/245

CPC分类号： G06T7/0075 ,  G01B11/03 ,  G01B11/245 ,  G01S11/12 ,  G06T7/593 ,  G06T2207/10012

摘要： A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained. A three-dimensional measurement coordinates calculating unit calculates, from an estimation result, three-dimensional coordinates of two distance measurement points designated on the object to be measured. A distance calculating unit calculates a distance between the two points using the three-dimensional coordinates.

摘要翻译： 三维成像单元包括对图像进行成像的多个图像拾取装置和旋转图像拾取装置的旋转驱动装置，并且调整光轴，使得待测量空间中待测量物体的反射具有预定的 重叠量。 关联计算单元，当所需测量点映射到多个图像上时，计算像素的位置关联信息。 三维形状计算单元使用位置关联信息和旋转驱动装置的旋转信息来计算被测量物体的三维形状。 三维形状估计计算单元从三维形状估计未获得三维形状的待测量对象的区域的三维形状。 三维测量坐标计算单元从估计结果计算在被测量物体上指定的两个距离测量点的三维坐标。 距离计算单元使用三维坐标来计算两点之间的距离。

公开(公告)号：US20100283847A1

公开(公告)日：2010-11-11

申请号：US12681625

申请日：2008-10-01

申请人： Tetsuro Aikawa ,  Yoshinori Satoh ,  Makoto Ochiai ,  Tatsuya Oodake ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Junichi Takabayashi

发明人： Tetsuro Aikawa ,  Yoshinori Satoh ,  Makoto Ochiai ,  Tatsuya Oodake ,  Hiroyuki Adachi ,  Yasuhiro Yuguchi ,  Junichi Takabayashi

IPC分类号： H04N7/18

CPC分类号： G21C17/003 ,  G01N21/8803 ,  G01N21/8851 ,  G06T3/4069 ,  G06T7/0004 ,  G21C17/08 ,  G21F7/02

摘要： The present invention includes a camera which takes an image of a camera or an inspection target; a device which estimates the movement of the inspection target; a device which generates a high resolution image having a higher resolution than the pixel resolution of a video image taken by the camera from the video image taken by the camera; a device which evaluates the quality of the high resolution image generated by the generation device; and a device which presents an inspector who visually inspects the inspection target with the high resolution image together with the quality evaluation result of the high resolution image. The present invention can improve the reliability of inspection by use of the high resolution image as well as can reduce the inspection time, and further can guarantee the reliability of the inspection using a high resolution image.

摘要翻译： 本发明包括拍摄相机或检查对象的图像的相机; 估计检查目标的移动的装置; 从相机拍摄的视频图像生成具有比由照相机拍摄的视频图像的像素分辨率高的分辨率的高分辨率图像的装置; 评估生成装置生成的高分辨率图像的质量的装置; 以及显示高分辨率图像的质量评价结果的高分辨率图像的视觉检查对象的检查器的装置。 本发明可以通过使用高分辨率图像来提高检查的可靠性，并且可以减少检查时间，并且还可以使用高分辨率图像来保证检查的可靠性。