| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a system for inspecting the inside of a conduit capable of accurately grasping the conditions of the internal wall surfaces of the conduit of sewerage etc. over its length even if flowing water is present in the conduit and retaining them for record. <P>SOLUTION: In the system, inspections on the inside of the conduit T are performed by images by mounting an omnidirectional mirror 1 and a still camera 2 to a hull S floating in flowing water F in the conduit T. A laser pointer 6 is provided for irradiating at least three laser light spots to the internal wall surfaces of the conduit T. Then the attitude and position of the hull S are detected on the basis of the positional relation among laser light spot images in images acquired by imaging the laser light spots. On the basis of the results of detection, hemispherical images imaged by the still camera 2 are developed to perform correction when the hemispherical images are converted into rectangular planar images. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
