Title:
検査装置
Document Type and Number:
Japanese Patent JP6803745
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To improve the self-position estimation accuracy of a remote operation robot in the inspection work in a nuclear reactor.SOLUTION: An inspection apparatus remotely traveling in a structure includes: an imaging unit which images the peripheral environment; an image processing unit which extracts a plurality of line segments from the image acquired by the imaging unit or an extension line of the repeating feature shape; a feature point calculation unit which obtains a plurality of intersection coordinates from a plurality of line segment data or extension line data obtained by the image processing unit; a position calculation unit which calculates the relative position of the inspection apparatus from the plurality of intersection coordinates calculated by the feature point calculation unit; a mapping processing unit which obtains the coordinates of a peripheral feature point of the inspection apparatus from the intersection coordinates obtained by the feature point calculation unit and the relative position of the inspection apparatus obtained by the position calculation unit; and a display device which displays the peripheral feature point and the position calculation result of the inspection apparatus.SELECTED DRAWING: Figure 2
Inventors:
Takaaki Konishi
Ryosuke Kobayashi
Ryosuke Kobayashi
Application Number:
JP2016254665A
Publication Date:
December 23, 2020
Filing Date:
December 28, 2016
Export Citation:
Assignee:
Hitachi ge Nuclear Energy Co., Ltd.
International Classes:
G01B11/00; G06T1/00; G06T7/60; G21C17/003
Domestic Patent References:
| JP2010112836A | ||||
| JP2002048513A | ||||
| JP2006250889A | ||||
| JP2011123051A | ||||
| JP2012159328A | ||||
| JP2015161577A | ||||
| JP2016050876A | ||||
| JP2007322138A |
Foreign References:
| CN104914865A |
Attorney, Agent or Firm:
Yuji Toda