WO2017175261A1 - Appareil de détection de turbidité, procédé de détection de turbidité et appareil d'inspection immergé - Google Patents

Appareil de détection de turbidité, procédé de détection de turbidité et appareil d'inspection immergé Download PDF

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Publication number
WO2017175261A1
WO2017175261A1 PCT/JP2016/004654 JP2016004654W WO2017175261A1 WO 2017175261 A1 WO2017175261 A1 WO 2017175261A1 JP 2016004654 W JP2016004654 W JP 2016004654W WO 2017175261 A1 WO2017175261 A1 WO 2017175261A1
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WO
WIPO (PCT)
Prior art keywords
turbidity
region
bright
dark
image
Prior art date
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Ceased
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PCT/JP2016/004654
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English (en)
Japanese (ja)
Inventor
武史 島本
信昭 中村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Priority to JP2017513830A priority Critical patent/JP6145728B1/ja
Publication of WO2017175261A1 publication Critical patent/WO2017175261A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated

Definitions

  • the turbidity detection device includes a measurement member having a dark region and a bright region, a camera that captures the dark region and the bright region of the measurement member through a liquid and generates image data, and an image of the dark region in the image data
  • a turbidity detecting unit for detecting turbidity based on the information and the image information of the bright region.
  • the bright area of the measuring member has a higher brightness than the dark area.
  • the ground unit 200 includes a computer 250 that issues instructions to the underwater inspection apparatus 10, a controller 220 that is operated by a user, and a communication unit 230 that performs communication between the computer 250 and the underwater robot 100.
  • the CPU210 acquires the image image
  • the turbidity detection unit 214 of the CPU 210 calculates the brightness of each of the bright area 170w and the dark area 170b based on the image of the portion 170p of the measurement member 170 included in the acquired image (step S22).
  • the turbidity detection unit 214 obtains a normalized luminance difference Nc that is a value obtained by normalizing the obtained luminance difference between the bright region 170w and the dark region 170b based on (Equation 1) (step S23).
  • the turbidity detecting unit 214 refers to the luminance difference-turbidity correspondence information 218a (see FIG. 7) and calculates the turbidity from the obtained normalized luminance difference Nc (step S24).
  • the distance determining unit 216 refers to the turbidity-distance correspondence information 218b (see FIG. 8), and determines the distance from the obtained turbidity to the inspection object 10P (step S25).
  • the memory 218 holds one luminance difference-turbidity correspondence information 218a.
  • the memory 218 holds a plurality of luminance difference-turbidity correspondence information, and may be used by switching according to the application.
  • the memory 218 may hold two types of luminance difference-turbidity correspondence information 1218a and 2218a, each indicating the relationship between turbidity and the subject distance to the inspection object 10P.
  • the luminance difference-turbidity correspondence information 1218a is used when performing a rough inspection
  • the luminance difference-turbidity correspondence information 2218a is used when performing a precise inspection.
  • the underwater robot 100 is separated from the inspection object 10P and the image of the inspection object 10P is taken, but the clarity of the image is deteriorated, but a wide range that is good at once. Therefore, it is possible to shorten the time for capturing an image of the entire inspection range. Such an inspection is effective when it is desired to first obtain an overview of the entire inspection object 10P.
  • the luminance difference-turbidity correspondence information 2218a is used, the range that can be captured at a time becomes narrower by capturing the image of the inspection target 10P by bringing the underwater robot 100 closer to the inspection target 10P, and the inspection range is reduced.
  • the memory 218 holds two types of brightness difference-turbidity correspondence information 1218a and 2218a according to the use for rough inspection and precise inspection, and switches between them. By using it, it becomes possible to perform a suitable inspection according to the application.
  • the turbidity-distance correspondence information 218b shown in FIG. 8 gives the distance to the subject continuously with respect to the turbidity, but the subject distance information is not limited to this.
  • FIG. 11B shows other turbidity-distance correspondence information 1218b in the first embodiment.
  • the turbidity-distance correspondence information 1218b shown in FIG. 11B gives the distance to the inspection object 10P stepwise based on the turbidity, that is, discretely.
  • the CPU 210 of the computer 250 controls the position of the underwater robot 100 so that the distance from the underwater robot 100 to the inspection object 10P is the calculated distance (step S35).
  • the light irradiated on the measurement member 170 is scattered light from the surroundings, or the inspection object 10P, the waterproof container 118, and the measurement from the illumination device 120.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

La présente invention concerne un appareil de détection de turbidité qui est pourvu de : un élément de mesure qui comporte une zone sombre et une zone claire; une caméra qui génère des données d'image par photographie de la zone sombre et de la zone claire de l'élément de mesure à travers un liquide; et une unité de détection de turbidité qui détecte une turbidité sur la base d'informations d'image concernant la zone sombre dans les données d'image et des informations d'image concernant la zone claire dans les données d'image. La zone claire de l'élément de mesure présente une luminosité supérieure à celle de la zone sombre. L'appareil de détection de turbidité peut détecter la turbidité d'un liquide au moyen d'une configuration simple.
PCT/JP2016/004654 2016-04-04 2016-10-21 Appareil de détection de turbidité, procédé de détection de turbidité et appareil d'inspection immergé Ceased WO2017175261A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2017513830A JP6145728B1 (ja) 2016-04-04 2016-10-21 液中検査装置及び液中検査方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-075349 2016-04-04
JP2016075349 2016-04-04

Publications (1)

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WO2017175261A1 true WO2017175261A1 (fr) 2017-10-12

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210018994A (ko) * 2018-06-13 2021-02-19 소니 세미컨덕터 솔루션즈 가부시키가이샤 복조 회로, 처리 방법, 및 처리 장치
CN112530226A (zh) * 2020-12-13 2021-03-19 中国船舶重工集团公司七五0试验场 一种用于混浊水域辅助作业的rov模拟训练系统
JP2022141986A (ja) * 2021-03-16 2022-09-30 株式会社クボタ 濁度評価方法および凝集剤注入量調整方法
US11737434B2 (en) 2021-07-19 2023-08-29 X Development Llc Turbidity determination using computer vision
WO2023210702A1 (fr) * 2022-04-27 2023-11-02 ソフトバンク株式会社 Programme de traitement d'informations, dispositif de traitement d'informations et procédé de traitement d'informations
EP4306937A1 (fr) * 2022-07-12 2024-01-17 Maytronics Ltd. Évaluation de turbidité d'eau à l'aide d'un capteur d'image
JP2024040830A (ja) * 2022-09-13 2024-03-26 株式会社東芝 濁度推定装置、濁度推定システム、薬剤注入制御システム、濁度推定方法、およびプログラム
WO2024089688A1 (fr) * 2022-10-24 2024-05-02 Coral Smart Pool Ltd Surveillance de l'état de l'eau et de l'activité d'une piscine par vision par ordinateur, et utilisation de cette surveillance pour faciliter l'entretien de la piscine

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55124069A (en) * 1979-03-20 1980-09-24 Fuyo Kaiyo Kaihatsu Kk Measuring method of concentration of suspended matter in water and organic index
JPS613032A (ja) * 1984-06-18 1986-01-09 Hitachi Ltd 水中懸濁物質監視装置
JPH03134544A (ja) * 1989-10-20 1991-06-07 Nishihara Neo Kogyo Kk 自動透視度測定方法及び装置
US20100188660A1 (en) * 2007-07-17 2010-07-29 Hach Company Spatial frequency optical measurement instrument and method
JP2012193972A (ja) * 2011-03-15 2012-10-11 Mitsubishi Rayon Co Ltd ゲル濃度測定用チップ、ゲルの濃度を測定する方法、およびゲル濃度測定装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55124069A (en) * 1979-03-20 1980-09-24 Fuyo Kaiyo Kaihatsu Kk Measuring method of concentration of suspended matter in water and organic index
JPS613032A (ja) * 1984-06-18 1986-01-09 Hitachi Ltd 水中懸濁物質監視装置
JPH03134544A (ja) * 1989-10-20 1991-06-07 Nishihara Neo Kogyo Kk 自動透視度測定方法及び装置
US20100188660A1 (en) * 2007-07-17 2010-07-29 Hach Company Spatial frequency optical measurement instrument and method
JP2012193972A (ja) * 2011-03-15 2012-10-11 Mitsubishi Rayon Co Ltd ゲル濃度測定用チップ、ゲルの濃度を測定する方法、およびゲル濃度測定装置

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102654958B1 (ko) 2018-06-13 2024-04-05 소니 세미컨덕터 솔루션즈 가부시키가이샤 복조 회로, 처리 방법, 및 처리 장치
KR20210018994A (ko) * 2018-06-13 2021-02-19 소니 세미컨덕터 솔루션즈 가부시키가이샤 복조 회로, 처리 방법, 및 처리 장치
CN112530226A (zh) * 2020-12-13 2021-03-19 中国船舶重工集团公司七五0试验场 一种用于混浊水域辅助作业的rov模拟训练系统
CN112530226B (zh) * 2020-12-13 2023-10-27 中国船舶重工集团公司七五0试验场 一种用于混浊水域辅助作业的rov模拟训练系统
JP2022141986A (ja) * 2021-03-16 2022-09-30 株式会社クボタ 濁度評価方法および凝集剤注入量調整方法
JP7530852B2 (ja) 2021-03-16 2024-08-08 株式会社クボタ 凝集剤注入量調整方法
US11737434B2 (en) 2021-07-19 2023-08-29 X Development Llc Turbidity determination using computer vision
US12279599B2 (en) 2021-07-19 2025-04-22 Tidalx Ai Inc. Turbidity determination using computer vision
JP2023162785A (ja) * 2022-04-27 2023-11-09 ソフトバンク株式会社 情報処理プログラム、情報処理装置及び情報処理方法
WO2023210702A1 (fr) * 2022-04-27 2023-11-02 ソフトバンク株式会社 Programme de traitement d'informations, dispositif de traitement d'informations et procédé de traitement d'informations
JP7602509B2 (ja) 2022-04-27 2024-12-18 ソフトバンク株式会社 情報処理プログラム、情報処理装置及び情報処理方法
EP4306937A1 (fr) * 2022-07-12 2024-01-17 Maytronics Ltd. Évaluation de turbidité d'eau à l'aide d'un capteur d'image
JP2024040830A (ja) * 2022-09-13 2024-03-26 株式会社東芝 濁度推定装置、濁度推定システム、薬剤注入制御システム、濁度推定方法、およびプログラム
WO2024089688A1 (fr) * 2022-10-24 2024-05-02 Coral Smart Pool Ltd Surveillance de l'état de l'eau et de l'activité d'une piscine par vision par ordinateur, et utilisation de cette surveillance pour faciliter l'entretien de la piscine
EP4605918A4 (fr) * 2022-10-24 2026-01-14 Coral Smart Pool Ltd Surveillance de l'état de l'eau et de l'activité d'une piscine par vision par ordinateur, et utilisation de cette surveillance pour faciliter l'entretien de la piscine

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