PROBLEM TO BE SOLVED: To provide a device for sorting an irregular flaw and a harmful flaw not accompanied with an irregular change that may occur on an internal surface of a tubular body from an unharmful dirt and the like so as to be accurately detected.SOLUTION: A defect detection device includes a tubular body photographing device 100 radiating an annular laser beam and a conical illumination light to an inner surface of the tubular body 1 respectively, while moving along an axial direction of the tubular body 1 and generating a plurality of in-tubular surface images which are photographed images of the annular laser beam and the conical illumination light along the axial direction of the tubular body 1 and an arithmetic processor for determining whether a defect exists on an inner surface of the tubular body 1. An area camera 113 possessed by the tubular body photographing device 100 is installed in such a manner that regular reflection light of the conical illumination light from an illumination region of the conical illumination light forms an image and an irregular reflection light of the annular laser beam from the illuminated portion of the annular laser beam forms an image, and a defect of the inner surface of the tubular body 1 is detected by using a generated depth image, irregular reflection image and regular reflection image.SELECTED DRAWING: Figure 2ACOPYRIGHT: (C)2017,JPO&INPIT【課題】管状体の内表面に発生しうる凹凸疵及び凹凸変化を伴わない有害疵を無害の汚れ等と選別して精度良く検出する装置を提供する。【解決手段】管状体1の軸方向に沿って移動しつつ、管状体1の内表面に対して環状のレーザ光及び円錐状の照明光をそれぞれ照射し、内表面における環状のレーザ光及び円錐状の照明光の撮像画像である管内表面画像を、管状体1の軸方向に沿って複数生成する管状体撮像装置100と、生成された管内表面画像に対して画像処理を行い、管状体1の内表面に欠陥が存在するかを判断する演算処理装置と、を備え、管状体撮像装置100が有するエリアカメラ113は、円錐状の照明光の照射領域からの円錐状の照明光の正反射光が結像し、かつ、環状のレーザ光の照射部分からの環状のレーザ光の乱反射光が結像するように配設されており、生成された深さ画像、乱反射画像及び正反射画像を利用して、管状体1の内表面の欠陥が検出される。【選択図】図2A
