KR101538763B1 - Apparatus and Method for Inspecting Crack in Tunnel - Google Patents

Apparatus and Method for Inspecting Crack in Tunnel Download PDF

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Publication number
KR101538763B1
KR101538763B1 KR1020140111581A KR20140111581A KR101538763B1 KR 101538763 B1 KR101538763 B1 KR 101538763B1 KR 1020140111581 A KR1020140111581 A KR 1020140111581A KR 20140111581 A KR20140111581 A KR 20140111581A KR 101538763 B1 KR101538763 B1 KR 101538763B1
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KR
South Korea
Prior art keywords
tunnel
image
information
cameras
crack
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Application number
KR1020140111581A
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Korean (ko)
Inventor
신은자
카즈오 고토
Original Assignee
주식회사 엠텍
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Priority to KR1020140111581A priority Critical patent/KR101538763B1/en
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Publication of KR101538763B1 publication Critical patent/KR101538763B1/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D33/00—Testing foundations or foundation structures
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0033—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining damage, crack or wear
    • 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
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • 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
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
    • G01N2021/8893—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques providing a video image and a processed signal for helping visual decision

Abstract

The present invention relates to an apparatus for inspecting a crack in a tunnel. The apparatus for inspecting a crack in a tunnel according to an embodiment of the present invention comprises: a plurality of cameras to acquire images of an inside surface of a tunnel; a lighting lamp to supply light to the inside surface of the tunnel to acquire the images; a three dimensional laser scanner to emit a laser beam onto the inside surface of the tunnel to acquire first information about a curve of the inside surface of the tunnel; a control unit to analyze a crack present on the inside surface of the tunnel; a body on which the plurality of cameras, the lighting lamp, the three dimensional scanner, and the control unit are mounted; and a transport means to move the body along the tunnel. The body is formed in a fan-shaped pillar shape determined by a shape of the inside surface of the tunnel. The plurality of cameras are mounted on at least a portion of a curved surface of the body in a column. The control unit arranges a plurality of images acquired by the plurality of cameras in a column and a row to generate a first image, and generates second information about the crack on the inside surface of the tunnel by using the first information and the first image.

Description

Technical Field [0001] The present invention relates to an apparatus for inspecting cracks in a tunnel,

The present invention relates to a tunnel crack inspection apparatus and a control method thereof, and more particularly, to a tunnel crack inspection apparatus having a frame bar capable of adjusting a photographing distance with a shape corresponding to the shape of an inner surface of a tunnel.

At present, Korea is leaping into the world's fifth high-speed railway age, and the interest in maintenance is increasing as the overall infrastructure infrastructure increases. In particular, 70% of the entire country is in mountainous area, and the quantity of large - scale tunnel tunnels is rapidly increasing due to the inevitability of design considering optimal linear conditions.

The current maintenance is checked and diagnosed according to the period or level specified in the Special Law on Facilities Safety Management, and the most important basic survey in this process is the visual inspection, which is performed by visual inspection.

However, since the inspection by the naked eye depends on the supervision of the inspectors, omission or errors may lead to major accidents, and precise and objective inspection results are necessary.

In particular, the progress of cracks in tunnels is an important issue, and it is difficult to grasp trends based on existing visual inspection results.

In order to solve such a problem, a device for measuring the anomaly occurred in the tunnel by photographing the appearance of the inner surface of the tunnel has been developed. However, when analyzing the captured image, the conventional device compares only the initial construction drawing with the photographed image, Other misleading analysis results were obtained.

In addition, since the conventional apparatus does not have a shape corresponding to a semicircular or semi-elliptic tunnel, there is a distortion in the photographed image, and an error occurs when analyzing the image because the light can not be uniformly supplied into the tunnel. In addition, the camera of the conventional apparatus is fixed to the apparatus, and flexible photographing can not be performed corresponding to the size or shape of the tunnel.

Therefore, it is required to develop a tunnel crack inspection apparatus and an inspection method that can more accurately analyze cracks occurring in a tunnel.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tunnel crack inspection system capable of inspecting all structures in tunnels such as structural cracks, spots, leaks, roughening of auxiliary facilities, electrical attachments and bolts, And a control method thereof.

Specifically, the present invention aims at inspecting the inner surface of the tunnel which is objective and reliable.

It is another object of the present invention to obtain a clear image by supplying uniform illumination during inspection.

It is also an object of the present invention to provide a user with an apparatus for inspecting a crack occurring in an internal structure such as a shelter by using a frame bar.

It is another object of the present invention to correspond to the inside of a semicircular or semi-elliptic tunnel by arranging the camera on the curved surface of the apparatus.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It can be understood.

There is provided an apparatus for inspecting a crack in a tunnel, comprising: a plurality of cameras for capturing an image of an inner surface of a tunnel; an illuminating lamp for supplying light to the inner surface of the tunnel to acquire the image; A 3D laser scanner for irradiating a laser beam to the surface of the tunnel to acquire first information on the curvature of the inner surface of the tunnel, a controller for analyzing a crack existing on the inner surface of the tunnel, A body to which the control unit is mounted and a moving means for moving the body along the tunnel, wherein the body is in the form of a fan-shaped column determined according to the shape of the inner surface of the tunnel, The plurality of cameras being mounted in a row in a part thereof, Followed by column and row generates a first image, and wherein it is possible to produce a second information about the cracking of the inner surface of the tunnel by using the first image and the first information.

In addition, the second information may include information on length, depth and width of the crack, whether the crack has occurred, peeling, and peeling.

The apparatus may further include a plurality of frame bars movable in an outward direction of the curved surface of the body, wherein each of the plurality of cameras is fixed to an end of each of the plurality of frame bars, The moving distance is controlled to be determined in accordance with the distance from the camera fixed to the end of each of the plurality of frame bars to the inner surface of the tunnel, and each of the plurality of frame bars can be controlled to move by the determined distance .

In addition, the illumination lamp is a plurality of LEDs, and each of the plurality of LEDs is arranged adjacent to a part of the curved surface of the body to supply light.

According to another aspect of the present invention, there is provided a method for inspecting a crack in a tunnel, the method comprising: moving the tunnel along a tunnel using the tunnel crack inspection apparatus according to claim 1; And acquiring first information on the curvature of the inner surface of the tunnel by irradiating a laser beam onto the inner surface of the tunnel using the 3D laser scanner; A second step of generating a first image in a column and a row in a plurality of images obtained by each of the plurality of cameras; And a third step of generating second information related to a crack in the inner surface of the tunnel using the first information and the first image.

In the first step, light is supplied to the inner surface of the tunnel using a plurality of LEDs arranged adjacent to each other, and an image of the inner surface of the tunnel is obtained.

The tunnel crack inspection apparatus may further include a plurality of frame bars movable in an outward direction of the curved surface of the body, each of the plurality of cameras being fixed to an end of each of the plurality of frame bars, And moving each of the plurality of frame bars corresponding to the distance from the camera fixed to the end of each of the plurality of frame bars to the inner surface of the tunnel.

The present invention can provide a user with a tunnel crack inspection apparatus and a control method thereof that can be inspected for all structures in tunnels such as rooftops, electrical attachments and bolts of auxiliary facilities in addition to structural cracks, whitewash, leaks, and peeling of tunnels.

Specifically, the present invention can inspect the inner surface of the tunnel that is objective and reliable.

In addition, the present invention can obtain a clear image by supplying uniform illumination when proceeding with inspection.

Further, the present invention can provide a user with an apparatus capable of inspecting a crack occurring in an internal structure such as a shelter by using a frame bar.

In addition, the present invention can correspond to a semicircular or semi-elliptical tunnel inside a camera by arranging the camera on the curved surface of the apparatus.

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate a preferred embodiment of the invention and, together with the description, serve to provide a further understanding of the technical idea of the invention, It should not be construed as limited.
1 is a block diagram of a tunnel crack inspection apparatus according to an embodiment of the present invention.
2 is a perspective view of a tunnel crack inspection apparatus according to an embodiment of the present invention.
3 is a front view of a tunnel crack inspection apparatus according to an embodiment of the present invention.
4 is an end view of an actual view generated using bending information obtained by a 3D laser scanner according to an embodiment of the present invention.
Figure 5 is a side view of a construction drawing of an internally stored tunnel according to one embodiment of the present invention.
6 is an image obtained by horizontally joining images obtained by a camera of a tunnel crack inspection apparatus according to an embodiment of the present invention.
FIG. 7 is an image obtained by vertically joining horizontally combined images according to an embodiment of the present invention.
8 is an image of an inner surface of a tunnel obtained by combining images acquired by a camera according to an embodiment of the present invention.
9 is a photograph of a tunnel crack inspection apparatus according to an embodiment of the present invention.
10 is a tunnel image acquired using a general illumination light according to an embodiment of the present invention.
11 is a tunnel image acquired using LED side illumination according to an embodiment of the present invention.
12 is a perspective view showing a tunnel crack inspection apparatus having a frame bar according to an embodiment of the present invention.
13 is a side view of a tunnel crack inspection apparatus having a frame bar according to an embodiment of the present invention.
FIG. 14 is a photograph showing a frame bar moved according to an embodiment of the present invention to inspect the inner surface of the tunnel.

Due to the nature of Korea, where about 70% of the country is mountainous, there is a great need for tunnels to pass cars or trains. These tunnels are essential for safety and maintenance. Conventionally, in order to judge whether or not a problem of such a tunnel has occurred, the inspection is visually inspected by the administrator when the appearance inspection is performed, which causes a problem that omission or error may occur.

To solve this problem, a device for analyzing cracks in the inner surface of the tunnel has been developed. However, the conventional apparatus has a problem that it is not suitable to acquire an image in a fixed position of a camera and inspect cracks of various types of tunnels.

In order to solve the problems of the conventional apparatus, a tunnel crack inspection apparatus having a 3D laser scanner and a camera disposed on a curved surface has been developed.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, the embodiment described below does not unduly limit the contents of the present invention described in the claims, and the entire configuration described in this embodiment is not necessarily essential as the solution means of the present invention.

1 is a block diagram of a tunnel crack inspection apparatus according to an embodiment of the present invention.

The tunnel crack inspection apparatus includes a wireless communication unit 110, an audio / video input unit 120, a sensing unit 130, a 3D laser scanner 140, an output unit 150, a memory 160, A controller 170, a controller 180, a power supply 190, and the like.

However, the components shown in Fig. 1 are not essential, so that a tunnel crack inspection apparatus having components having more components or fewer components may be implemented.

Hereinafter, the components will be described in order.

The wireless communication unit 110 may include one or more modules for enabling wireless communication between the tunnel crack inspection apparatus and the wireless communication system or between the tunnel crack inspection apparatus and the network in which the tunnel crack inspection apparatus is located. For example, the wireless communication unit 110 may include a mobile communication module 111, a wireless Internet module 112, a short distance communication module 113, and a location information module 114.

The mobile communication module 111 transmits and receives radio signals to at least one of a base station, an external terminal, and a server on a mobile communication network.

The wireless Internet module 112 refers to a module for wireless Internet access, and may be built in or enclosed in a tunnel crack inspection apparatus. WLAN (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access) and the like can be used as the technology of the wireless Internet.

The short-range communication module 113 is a module for short-range communication. Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and the like can be used as the short range communication technology.

The position information module 114 is a module for obtaining the position of the tunnel crack inspection apparatus, and a representative example thereof is a Global Position System (GPS) module. According to the present technology, the GPS module calculates distance information and accurate time information from three or more satellites, and then applies trigonometry to the calculated information to obtain three-dimensional current position information according to latitude, longitude, and altitude It can be calculated accurately. At present, a method of calculating position and time information using three satellites and correcting an error of the calculated position and time information using another satellite is widely used. In addition, the GPS module can calculate speed information by continuously calculating the current position in real time.

Referring to FIG. 1, the camera 120 is for inputting video signals, and processes image frames such as still images or moving images with respect to the inner surface of the tunnel when the tunnel crack inspection apparatus moves along the tunnel. The processed image frame can be displayed on the display unit 151. [

The image frame processed by the camera 120 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110. [

The sensing unit 130 detects the current state of the tunnel crack inspection apparatus such as the position of the tunnel crack inspection apparatus, the orientation of the tunnel crack inspection apparatus, the acceleration / deceleration of the tunnel crack inspection apparatus, Thereby generating a sensing signal.

It is also possible to sense whether the power supply unit 190 is powered on, whether the interface unit 170 is connected to an external device, and the like. Meanwhile, the sensing unit 130 may include an illuminance sensor 131.

The illuminance sensor 131 senses the illuminance (brightness of light) and senses the brightness of light reflected in the tunnel.

The 3D laser scanner 140 is a device that converts its shape or color from a real or actual environment into digital data. Acquisition of 3D position information by laser scanning depends on the deflection of the laser by the rotating mirror, the reflection of the laser on the object surface, and the process of receiving the reflected laser. Also, in order to acquire efficient three-dimensional position information of the 3D laser scanner 140, the laser scanning distance, the measurement accuracy, the scale of the object, and the scanning speed are considered. Also, the 3D laser scanner can be classified into the TOF method, the phase displacement method, and the triangulation method according to the measurement principle.

The output unit 150 generates an output related to a visual, auditory or tactile sense. The output unit 150 may include a display unit 151, an audio output module 152, an alarm unit 153, and the like.

The display unit 151 displays (outputs) information processed by the tunnel crack inspection apparatus. For example, the tunnel crack inspection apparatus displays an image to be photographed.

The display unit 151 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) A flexible display, and a three-dimensional display (3D display).

Some of these displays may be transparent or light transmissive so that they can be seen through. This can be referred to as a transparent display, and a typical example of the transparent display is TOLED (Transparent OLED) and the like. The rear structure of the display unit 151 may also be of a light transmission type. With this structure, the user can see an object located behind the terminal body through the area occupied by the display unit 151 of the terminal body.

There may be two or more display units 151 according to the embodiment of the tunnel crack inspection apparatus. For example, in the tunnel crack inspection apparatus, a plurality of display portions may be spaced apart from one another or may be disposed integrally with each other, or may be disposed on different surfaces.

(Hereinafter, referred to as a 'touch screen') in which a display unit 151 and a sensor for sensing a touch operation (hereinafter, referred to as 'touch sensor') form a mutual layer structure, It can also be used as an input device. The touch sensor may have the form of, for example, a touch film, a touch sheet, a touch pad, or the like.

The touch sensor may be configured to convert a change in a pressure applied to a specific portion of the display unit 151 or a capacitance generated in a specific portion of the display unit 151 into an electrical input signal. The touch sensor can be configured to detect not only the position and area to be touched but also the pressure at the time of touch.

If there is a touch input to the touch sensor, the corresponding signal (s) is sent to the touch controller (not shown). The touch controller processes the signal (s) and transmits the corresponding data to the controller 180. Thus, the control unit 180 can know which area of the display unit 151 is touched or the like.

The audio output module 152 can output audio data received from the wireless communication unit 110 or stored in the memory 160. [ The acoustic output module 152 also outputs acoustic signals related to functions performed in the tunnel crack inspection apparatus. The audio output module 152 may include a receiver, a speaker, a buzzer, and the like.

The alarm unit 153 outputs a signal for notifying occurrence of an event of the tunnel crack inspection apparatus. The alarm unit 153 may output a signal for notifying the occurrence of an event in a form other than the video signal or the audio signal, for example, vibration. In this case, the display unit 151 and the audio output module 152 may be a type of the alarm unit 153. The display unit 151 and the audio output module 152 may be connected to the display unit 151 or the audio output module 152, .

The memory 160 may store a program for processing and controlling the control unit 180 and may store programs for controlling and controlling the input / output data (for example, photographed tunnel images, reference tunnel images, The location of the analyzed tunnel, and so on). The memory 160 may also store the frequency of use of each of the data. In addition, the memory 160 may store data on vibration and sound of various patterns outputted when a touch is input on the touch screen.

The memory 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory, etc.) ), A random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read- A magnetic disk, an optical disk, a memory, a magnetic disk, or an optical disk. The tunnel crack inspection apparatus may operate in association with a web storage that performs a storage function of the memory 160 on the Internet.

The interface unit 170 serves as a path to all the external devices connected to the tunnel crack inspection apparatus. The interface unit 170 receives data from an external device, receives power from the external device, transfers the power to each component in the tunnel crack inspection apparatus, or transmits data in the tunnel crack inspection apparatus to an external device. For example, a port for connecting a device with a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, an audio I / O port, O (input / output) port, an earphone port, and the like may be included in the interface unit 170.

The controller 180 typically controls the overall operation of the tunnel crack inspection apparatus. Such as tunnel imaging, transmission of crack analysis information, and the like.

When the display unit 151 is provided as an organic light-emitting diode (OLED) or a TOLED (Transparent OLED), the controller 180 controls the display unit 151, When the preview image is pulled up on the screen of the organic light-emitting diode (OLED) or the TOLED (Transparent OLED) and the size of the preview image is adjusted according to the user's operation, The power consumption of the power source supplied from the power supply unit 190 to the display unit 151 can be reduced by turning off the driving of the pixels in the second area other than the first area in which the preview image is adjusted.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power necessary for operation of the respective components.

The various embodiments described herein may be embodied in a recording medium readable by a computer or similar device using, for example, software, hardware, or a combination thereof.

According to a hardware implementation, the embodiments described herein may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays May be implemented using at least one of a processor, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions. In some cases, The embodiments described may be implemented by the control unit 180 itself.

According to a software implementation, embodiments such as the procedures and functions described herein may be implemented with separate software modules. Each of the software modules may perform one or more of the functions and operations described herein. Software code can be implemented in a software application written in a suitable programming language. The software code is stored in the memory 160 and can be executed by the control unit 180. [

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the drawings based on the above-described configurations.

2 and 3 are a perspective view and a front view of a tunnel crack inspection apparatus according to an embodiment of the present invention.

2 and 3, the tunnel crack inspection apparatus includes a body 200, a camera 120, a 3D laser scanner 140, a display unit 151, a control unit 180, an illumination lamp 300, ), And the like.

However, the components shown in Figs. 2 and 3 are not essential, and a tunnel crack inspection apparatus having components having more components or fewer components may be implemented.

2 and 3, the body 200 is in the shape of a fan-shaped column in which the curved surface of the body 200 faces the inner surface of the tunnel. The cross-section of the inner surface of the tunnel is generally semicircular or semi-elliptic, so that the body 200 corresponds to the cross-section of the inner surface of the tunnel.

A plurality of cameras 120 may be arranged in the longitudinal direction and the illumination lamps 300 may be arranged in the longitudinal direction on the curved surface of the body 200 facing the inner surface of the tunnel to acquire images of the inner surface of the tunnel.

Next, a plurality of cameras 120 may be provided for acquiring still images or moving images on the inner surface of the tunnel.

The camera 120 is arranged in a row on the curved surface of the body 200 to acquire moving images or still images of the inner surface of the tunnel. Since the plurality of cameras 120 are mounted on the body 200 and the body 200 moves in the horizontal direction along the tunnel by the moving means 500, Direction.

In addition, if the image extending in the horizontal direction is in the vertical direction, the entire image acquired by the plurality of cameras 120 can be obtained.

Next, the 3D laser scanner 140 is configured to acquire bending information on the inner surface of the tunnel using a laser. The 3D laser scanner 140 may be located on the side of the body 200 as shown in FIGS. 2 and 3, but is not limited thereto and may be located anywhere that is capable of obtaining bend information of the inner surface of the tunnel. have.

4 is an end view of an actual view generated using bending information obtained by a 3D laser scanner according to an embodiment of the present invention.

5 is an end view of the construction drawing of the inner surface of the tunnel previously stored according to an embodiment of the present invention.

The control unit 180 generates one end face of the actual view as shown in FIG. 4 using the bending information of the inner surface of the tunnel acquired by the 3D laser scanner 140, and forms one end face of the internally- It is possible to generate irregularity information.

As described above, the irregularity information for the entire inner surface of the tunnel can be generated by using the 3D laser scanner 140.

The display unit 151 may output information about the image acquired by the camera 120 and the inner surface of the tunnel generated by the controller 180. The display unit 151 may display the image of the inside of the body 200, It can be located anywhere.

Next, the controller 180 controls the overall operation of each component in connection with the respective components of the tunnel crack inspection apparatus. The control unit 180 controls the overall operation of the tunnel crack inspecting apparatus using the tunnel information acquired by the 3D laser scanner 140, The irregularity information of the inner surface of the tunnel can be generated in comparison with the construction drawing of the inner surface, and the image acquired by the camera 120 can be processed.

A process of the control unit 180 processing an image acquired by the camera 120 will be described with reference to FIGS. 6 to 8. FIG.

6 is an image obtained by horizontally joining images obtained by a camera of a tunnel crack inspection apparatus according to an embodiment of the present invention.

7 is an image obtained by vertically joining horizontally combined images according to an embodiment of the present invention.

8 is an image of an inner surface of a tunnel obtained by combining images acquired by a camera according to an embodiment of the present invention.

Since the camera 120 is attached to the body 200 and acquires images along the direction in which the body 200 moves, the images acquired by the plurality of cameras 120 lead to the direction in which the body 200 moves.

Since the body 200 moves in the horizontal direction along the tunnel, the image acquired by the camera 120 continues in the horizontal direction. When the image acquired by the camera 120 is moving image, the controller 180 displays the still image The extracted and extracted still image can be connected in the horizontal direction as shown in FIG. 6 to acquire the first image. In addition, when the image obtained by the camera 120 is a still image, the control unit 180 may attach the still image in the horizontal direction as shown in FIG. 6 to acquire the first image.

Next, the control unit 180 may vertically concatenate the plurality of acquired first images to obtain a second image as shown in FIG.

When a plurality of first images are combined, the images acquired at the same time must be combined. If the time does not match, a misalignment may occur between the plurality of first images in the second image, resulting in an error in the result.

Through this process, an image of the inner surface of the tunnel as shown in FIG. 8 can be obtained.

However, in the process of combining images acquired by a plurality of cameras, it is not essential that the images of the respective cameras are horizontally connected and vertically connected, and a step of vertically connecting images of a plurality of cameras and then horizontally connecting .

Also, it is possible to acquire the image of the inner surface of the tunnel by connecting the acquired image vertically and horizontally by one step.

Next, the control unit 180 can generate information about the crack by comparing the image on the inner surface of the tunnel with the bending information acquired by the 3D laser scanner 140. FIG.

The control unit 180 generates irregularity information of the inner surface of the tunnel generated by comparing the actual drawing created from the bending information acquired by the 3D laser scanner 140 with the construction drawing and displays the irregularity information and the image of the inner surface of the tunnel It is also possible to generate information on cracks by comparison.

The information about the crack generated by the control unit 180 may include the length, depth and width of the crack, white spots caused by the crack, leakage, peeling, and peeling.

Next, the illumination lamp 300 is configured to supply light to the inner surface of the tunnel taken by the camera 120. [ The interior of the tunnel requires a light 300 because there is not enough light to acquire images. The illumination lamps 300 are vertically arranged on the curved surface of the body 200 to supply light.

On the other hand, a plurality of LEDs 311 may be used for the illumination lamp 300.

9 is a photograph of a tunnel crack inspection apparatus according to an embodiment of the present invention. Referring to FIG. 9, a plurality of LEDs 311 are arranged adjacent to each other on a curved surface of a body 200, ).

By using the LED surface illumination 310, it is possible to maintain and manage the LED surface illumination 310 by replacing only the LED 311 which has reached the end of its life when some of the LEDs 311 of the plurality of LEDs 311 have reached the end of their life have.

By using the LED surface illumination 310, it is possible to provide an illumination lamp having a long life and low power consumption. In addition, the light emitted from the LED has a linearity, and when the LED is used as an illumination light, the illumination is uneven. By arranging a plurality of LEDs adjacent to each other, uniform light can be prevented and uniform light can be supplied to the inner surface of the tunnel.

10 is a tunnel image acquired using a general illumination light according to an embodiment of the present invention.

11 is a tunnel image obtained using the LED surface illumination according to an embodiment of the present invention.

Compared with FIG. 10, in FIG. 11, light is uniformly supplied and cracks existing in the tunnel are expressed more finely. That is, by using the LED surface illumination 310, it is possible to uniformly and sufficiently supply light to the tunnel to be photographed.

Next, the body 200 may include a plurality of frame bars 400 that can move in the outward direction of the curved surface of the body 200. A camera 120 is fixed to an end of the frame bar 400 and a frame bar 400 functions to adjust a photographing distance of the camera 120 with respect to the inner surface of the tunnel.

The frame bar 400 provided in the tunnel crack inspection apparatus will be described with reference to FIGS. 12 and 13. FIG.

12 is a perspective view showing a tunnel crack inspection apparatus having a frame bar according to an embodiment of the present invention.

13 is a side view showing a tunnel crack inspection apparatus having a frame bar according to an embodiment of the present invention.

12 and 13, a camera 120 is connected to an end of a frame bar 400, and each frame bar 400 can move in a direction outside the curved surface of the body 200.

For example, if the inside of the tunnel for crack inspection is large, the frame bar 400 moves outwardly in the curved surface, so that the distance between the camera and the inner surface of the tunnel can be made closer to obtain a finer image. The frame bar 400 may move to acquire an image of the formed shelter.

FIG. 14 is a photograph showing an inner surface of a tunnel moved by moving a frame bar according to an embodiment of the present invention. As shown in FIG. 14, the image of the inner surface of the tunnel can be acquired by extending the frame bar 400.

The length of movement of each frame bar 400 may be determined corresponding to the distance from each camera 120 fixed to the end of each frame bar to the inner surface of the tunnel, and the distance from the camera to the inner surface of the tunnel may be determined by a laser distance meter or the like Can be measured. The control unit 180 may control each frame bar 400 to extend in correspondence with the distance measured by the laser distance measuring device or the like.

Next, the moving means 500 is means for moving the body 200 along the tunnel. The moving means 500 is not limited to a specific one, and may be any means such as a truck capable of moving the body 200.

Hereinafter, a tunnel crack inspection method will be described in detail based on the above-described configurations.

An image of the inner surface of the tunnel is acquired using a plurality of cameras 120 arranged in the vertical direction moving along the tunnel and a laser is irradiated to the inner surface of the tunnel using the 3D laser scanner 140, (Step S100).

The plurality of cameras 120 may be arranged in the vertical direction on the curved surface of the body 200 to obtain moving images or still images of the tunnel inner surface. In addition, the 3D laser scanner 140 can acquire bending information on the inner surface of the tunnel by irradiating laser on the inner surface of the tunnel.

Next, each of the plurality of cameras 120 horizontally generates a plurality of second images (S200).

Since the plurality of cameras 120 are mounted on the body 200 and the body 200 moves in the horizontal direction along the tunnel by the moving means 500, Direction.

Next, a third image, which is an image of the inner surface of the tunnel, is generated vertically with the plurality of first images (S300).

When a plurality of images extending in the horizontal direction are in the vertical direction, a full image of the inner surface of the tunnel can be obtained.

Next, an actual view of the inner surface of the tunnel is generated using the first information (S400).

Next, in step S500, the construction information of the inner surface of the tunnel is compared with the actual view to generate second information related to the unevenness of the inner surface of the tunnel.

Next, the second information and the second image are used to generate third information regarding the cracks in the inner surface of the tunnel (S600).

It is to be understood that the above-described embodiments of the apparatus and method for inspecting a crack in a tunnel can not be limitedly applied to the construction and method of the embodiments described above, but the embodiments may be modified so that all or some of the embodiments are selectively As shown in FIG.

By applying the above-described configuration, it is possible to inspect the inner surface of the tunnel which is objective and reliable.

Specifically, the present invention can provide a user with a device capable of inspecting all structures in tunnels such as roughened surfaces, electrical attachments, and bolts in addition to structural cracks, white spots, leaks, and peeling of tunnels.

In addition, the present invention can obtain a clear image by supplying uniform illumination when proceeding with inspection.

In addition, the present invention can provide a user with an apparatus that can detect an image of an internal structure such as a shelter and check a crack by corresponding to a tunnel size by using a frame bar.

In addition, the present invention can correspond to a semicircular or semi-elliptical tunnel inside a camera by arranging the camera on the curved surface of the apparatus.

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

120: camera
151:
140: 3D laser scanner
180:
200: Body
300: lighting light
310: LED surface lighting
400: frame bar
500: Moving means

Claims (7)

A plurality of cameras for acquiring images of inner surfaces of the tunnels;
An illumination lamp for supplying light to the inner surface of the tunnel to acquire the image;
A 3D laser scanner for irradiating the inner surface of the tunnel with laser to acquire first information about the curvature of the inner surface of the tunnel;
A controller for analyzing a crack existing in the inner surface of the tunnel;
A body on which the plurality of cameras, the illumination lamp, the 3D laser scanner, and the control unit are mounted; And
And moving means for moving the body along the tunnel,
The body is in the form of a fan-shaped column determined according to the shape of the inner surface of the tunnel,
Wherein the plurality of cameras are mounted in series on at least a part of curved surfaces of the body,
Wherein,
Generating a first image by traversing each of a plurality of images acquired by each of the plurality of cameras in a column and a row,
Generating a second image that is an image of one end surface of the tunnel inner surface from the first information, comparing the third image, which is an end surface image of the previously stored tunnel inner surface construction drawing, with the second image, Information,
Generating second information on cracks in the inner surface of the tunnel using the unevenness information and the first image,
Further comprising: a plurality of frame bars movable in an outward direction of a curved surface of the body,
Wherein each of the plurality of cameras is fixed to an end of each of the plurality of frame bars,
Wherein,
The control unit controls the moving distance of each of the plurality of frame bars to be determined corresponding to the distance from the camera fixed to the end of each of the plurality of frame bars to the inner surface of the tunnel,
And controls each of the plurality of frame bars to move by the determined distance. The method according to claim 1,
Wherein the second information includes information on the length, depth and width of the crack, and information on whether the crack has occurred, peeling, and peeling off. delete The method according to claim 1,
The illumination lamp is a plurality of LEDs,
Wherein each of the plurality of LEDs is arranged adjacent to a part of a curved surface of the body to supply light. An image of the inner surface of the tunnel is moved using the plurality of cameras while moving along the tunnel using the tunnel crack inspection apparatus according to claim 1, and a laser is irradiated to the inner surface of the tunnel using the 3D laser scanner A first step of acquiring first information on the curvature of the inner surface of the tunnel;
A second step of generating a first image in a column and a row in a plurality of images obtained by each of the plurality of cameras;
A third step of generating, from the first information, a second image that is an image of an end surface of the tunnel inner surface;
A fourth step of comparing irregularity information of the inner surface of the tunnel by comparing the third image, which is an image of one end surface of the tunnel inner surface construction drawing, with the second image; And
And generating second information on cracks in the inner surface of the tunnel using the unevenness information and the first image,
The tunnel crack inspection apparatus further includes a plurality of frame bars movable in an outward direction of the curved surface of the body,
Wherein each of the plurality of cameras is fixed to an end of each of the plurality of frame bars,
Before the first step,
Further comprising moving each of the plurality of frame bars corresponding to a distance from a camera fixed to an end of each of the plurality of frame bars to an inner surface of the tunnel. 6. The method of claim 5,
Wherein the first step supplies light to the inner surface of the tunnel using a plurality of LEDs arranged adjacent to each other and acquires an image of the inner surface of the tunnel. delete
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CN106546190B (en) * 2016-11-30 2019-04-16 山西省交通科学研究院 A kind of robot device and method for surface defects detection
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KR102001789B1 (en) * 2018-12-05 2019-07-18 주식회사 엠텍 Apparatus and Method for Inspecting damage of structure
KR102107486B1 (en) * 2019-01-04 2020-05-13 경북대학교 산학협력단 Apparatus and method of tunnel crack image photographing, tunnel crack image photographing system including the apparatus
KR102177686B1 (en) * 2019-08-29 2020-11-11 (주)엘라이트 Automatic photography for tunnel inspection apparatus
KR102270768B1 (en) 2020-10-14 2021-06-30 주식회사 아워브레인 System and method for measuring crack of tunnel surface
KR20220168618A (en) 2021-06-16 2022-12-26 한국생산기술연구원 An apparatus for driving with multiple degrees of freedom to inspect the wall of a common duct, and a method for inspecting the wall of a common duct using the same
KR102512016B1 (en) * 2021-10-14 2023-03-20 한국건설기술연구원 Concrete damage detection system, method, and a recording medium recording a computer readable program for executing the method
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KR102545459B1 (en) 2022-11-25 2023-06-20 한국건설기술연구원 Mobile camera shooting simulation system, method, and A recording medium recording a computer readable program for executing the method

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