KR100228137B1 - System for examining the cable of a bridge using a robot - Google Patents

Abstract

There is provided a cable inspection system using Loboc that adjusts the robot to automatically take an image of the surface state and inspect it. An object of the present invention is to make the inspection safe and accurate by inspecting the cable using a robot that is adjusted wirelessly.

In this system for inspecting the cable condition of the bridge, the robot is fastened to the cable and moves along the cable, photographing the surface of the cable and generating a captured video signal. The radio controller controls the robot from the ground. The image receiving system receives an image signal generated from the robot and records the received image signal. The image retrieval system is connected to the image receiving system, manages the image according to a preset image management method, and determines whether there is an error in the cable from the captured image signal.

Description

Robotic Cable Inspection System

1 is a diagram showing a cable inspection system of a bridge using a robot.

2 (a) and 2 (b) show details of the robot in the system of FIG.

FIG. 3 shows details of an image receiving and recording apparatus in the system of FIG.

* Explanation of symbols for main parts of the drawings

10: robot 20: radio controller

30: video receiving and recording device 40: video management system

200: driving unit 202: moving distance control device

204: surface confirmation injection unit 206: robot body coupling portion

208: camera rotation unit 210: video recording and transmission unit

212; MPU (Micro Processor Unit) 214: Control signal receiver

302: Image signal receiver 304: Robot monitoring data receiver

306: video signal and monitor data combining unit

308: video signal recording unit

The present invention relates to a system for inspecting the state of the cable to check the surface state of the cable, which is the main element of the bridge having the form of a cable-stayed bridge. The cable inspection system of the bridge used.

As construction technology develops, bridge structures that require high technologies such as suspension bridges and market bridges are increasing. In particular, in recent years, as the weight of maintenance of the bridges is gradually increased, the necessity of always accurately determining the main elements of these bridges and properly preparing them in case of abnormalities is increasing.

The main component of the bridge, the cable, is the connection between the high tower and the bridge road. The maintenance of the cable requires an accurate understanding of the cable's condition. The conventional method of determining the state of this cable is to inspect it yourself. However, this method of checking up by person is not only extremely difficult but also quite dangerous.

Accordingly, an object of the present invention is to provide a cable inspection system using a robot that can safely and accurately inspect the cable by using a robot that is wirelessly controlled.

The cable inspection system using a robot according to the present invention is for inspecting a cable state of a bridge, which is fastened to the cable and moves along the cable to generate a photographed image signal by photographing the surface of the cable; Robot control means for controlling the robot; Receiving and recording means for receiving an image signal generated from the robot and recording the received image signal; And means connected to the receiving and recording means, for managing an image according to a preset image management method, and for determining an abnormality of a cable from the photographed image signal.

In this cable inspection system, the robot comprises: means for receiving a control signal from the robot control means; Control means for performing at least one control operation according to the control signal; Means for relocating along the cable in response to one of the control actions; And photographing and transmitting means for photographing the surface of the cable and transmitting the photographed video signal to the video receiving and recording means in response to one of the control operations.

In addition, the robot is a means for displaying the position so that the human can recognize for later repair when the abnormality on the surface of the cable from the captured video signal, and the phenomenon of slipping or falling off the cable when the robot moves It further includes a device for adjusting the clamping pressure to prevent.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention;

1 is a diagram schematically showing a cable inspection system using a robot according to the present invention. As shown in FIG. 1, the configuration of the cable inspection system of the present invention can be broadly divided into being installed in a bridge site and being installed in an office. Installed at the bridge site is a robot 10, a portable radio remote controller 20 and an image receiving and recording device 30, and installed in the office is an image management system 40. In this embodiment, the distinction between the site and the office is merely for convenience of explanation, all the components may be supported by the vehicle in the field, and when communication is developed, all the components except the robot may be placed in the office. have.

When explaining the embodiment of the present invention in more detail, the cable inspection robot 10 installed in the bridge site is fastened to the cable, in accordance with the operator's control signal using the portable radio controller 20, while moving on the cable The cable surface is photographed and the photographed surface image signal is transmitted to the image receiving and recording device 30. The function of the ground radio controller 20 serves to remotely control the cable inspection robot 10 by the inspector on the ground. The image receiving and recording apparatus installed on the ground receives the image information transmitted from the robot 10 through the receiving apparatus, and stores the received image in an internal recording storage medium (eg, a video tape recorder). The image management system 40 receives an image signal of the surface of the cable provided from the image receiving and recording device 30, and manages it according to a predetermined management method to determine whether there is an abnormal cable. Determination of cable abnormality is made through inspection history management and video storage management if necessary.

The image retrieval software records and manages the cable surface image information recorded by the terrestrial receiving system if necessary, and performs the inspection history management of the cable. The operating environment is, for example, a client and server environment as shown, and the image information recording management manages the image information as a moving picture or a still picture through MPEG / JPEG. Image information is managed as information along with inspection history when recording image information. Inspection history management performs a separate history management for the cable, and performs inspection history management of image information rating. It is also possible to support other systems by using database of image information / check history information.

Next, the inspection robot 10 will be described with reference to FIGS. 2 (a) and 2 (b). FIG. 2 (a) is a diagram schematically showing the appearance of the robot, and FIG. 2 (b) is a block diagram of the internal configuration of the inspection robot.

First, the control signal receiving unit 214 receives a command transmitted wirelessly from the ground and transmits it to a microprocessor unit (MPU) 212 described below. The MPU 212 controls all other components of the robot in accordance with commands received from the ground. The components controlled by the MPU 212 are as follows. First, the robot body coupling portion 206 is a device for adjusting the clamping pressure to prevent the sliding or falling of the cable when the robot moves. The camera rotator 208 is a function of rotating the cable along the surface of the cable so as to eliminate the perspective that two or more cameras can be generated because the cable is circular. The image capturing apparatus and the transmitting unit 210 are apparatuses for photographing the cable surface and transmitting the photographed image to the ground.

In addition, the surface check spraying unit 204 is a device that displays the position so that a person can recognize for later repair when an abnormality is confirmed on the cable surface, and the driving unit 200 is a direction designated by the MPU 212. It is a device that controls the drive motor (not shown) to move over distance. In addition, the movement distance control unit 202 is a device for storing the distance to determine the distance moved or the position to be moved. Although not shown in the figure, it also includes an apparatus for generating and transmitting state information of the robot, for example, movement and motion information.

3 is a detailed block diagram of the image receiving and recording device 30 shown in FIG. As shown in FIG. 3, the apparatus receives an image signal receiver 302 for receiving a cable image signal captured by the robot 10 and a state information data for inspecting a cable while the robot moves over the cable. The robot monitoring data receiving unit 304 and an image signal combining the signals of the two receiving unit and the monitoring data combining unit 306 and the image signal recording unit 308 for recording the combined signal. As a recording method used when recording an image, an analog VHS method or a digital method may be used. Image information generation is recorded / generated in the information image through the character generator, synthesizes the image through the screen mixer, and manages the image information of the camera in one screen, and synthesizes the moving distance, time, date information and the like. It is connected to the video management system 40 described in FIG. 1 as an external interface.

The operation of the cable inspection system using a robot configured as described above is as follows. First, the body of the robot 10 is fixed to the cable, and supplies power to the robot 10, the wireless controller 20, the image receiving and recording device. Check the communication operation state (for example, forward and backward, camera operation state, etc.) of the robot 10 and the radio controller 20. When power is supplied to the robot 10 and the remote controller 20, the initialization state of the robot 10 is output on the display panel of the remote controller 20. The robot 10 transmits the image of the camera to the image receiving apparatus at the same time as the power supply. When the initialization process of the robot is executed, the travel distance counter is reset to zero. The movement of the robot 10 can be set by dividing it into a low speed and a high speed. When the initialization and operation of the robot 10 is confirmed, the surface search of the cable starts. The camera of the robot 10 can be rotated 180 degrees to eliminate blind spots (rotation is controlled by a portable controller). On the LCD of the image receiving and recording device 30 and the remote controller 20, movement and operation information of the robot 10 is received, stored, and image processing is performed.

In this embodiment, the cable of the bridge has been described as an example, and the cable installed in another structure similar to the cable of the bridge can of course be inspected.

Claims (4)

A robot for inspecting a cable state of a bridge, which is fastened to the cable and moves along the cable to generate a photographed image signal by photographing the surface of the cable: Robot control means for controlling the robot: From the robot Receiving and recording means for receiving the generated video signal, and recording the received video signal: and connected to the receiving and recording means, and manages the image according to a preset image management method, and from the photographed image signal of the cable Bridge cable inspection system using a robot comprising a means for determining the presence of abnormality. According to claim 1, The robot; Means for receiving a control signal from the robot adjusting means: control means for performing at least one or more control operations in accordance with the control signal: means for moving the position along the cable in response to one of the control operations: and the control In response to one of the operations, photographing the cable surface and photographing and transmitting means for transmitting the photographed image signal to the image receiving and recording means. The cable inspection of a bridge using a robot according to claim 2, further comprising means for displaying a position of the human image for later repair when an abnormality is detected on the surface of the cable from the photographed image signaler. system. 4. The cable inspection system according to claim 2 or 3, wherein the robot further comprises a device for adjusting the clamping pressure to prevent the robot from slipping or falling off the cable when the robot moves.

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