KR101577648B1

KR101577648B1 - Structures image capture apparatus

Info

Publication number: KR101577648B1
Application number: KR1020150087153A
Authority: KR
Inventors: 김종출; 김상찬; 홍석삼
Original assignee: (주) 한국시설안전연구원; 주식회사 정신이앤시
Priority date: 2015-06-19
Filing date: 2015-06-19
Publication date: 2015-12-15

Abstract

The present invention relates to a structure image capturing apparatus, and a structure image capturing apparatus (100) according to the present invention includes a photographing unit (110) for photographing a structure to generate an image, a laser A line laser 200 for dividing a predetermined rectangular region by a line laser 200, an image generated by a line laser 200 in an image generated by the photographing unit 110 and extracting the extracted image in a longitudinal direction or a lateral direction A carriage 400 provided with an image processing unit 300, a photographing unit 110, a line laser 200 and an image processing unit 300 for joining the line laser 200 and the line laser 200 to each other, And a traveling unit 500 for moving the bogie 400 by a predetermined distance.

Description

[0001] STRUCTURE IMAGE CAPTURING APPARATUS [0002]

The present invention relates to a structure image capturing apparatus.

In carrying out the precise inspection and precise safety diagnosis, the external investigator of the subway, tunnel and box structure investigates the damage (cracks, wrinkles, peeling, peeling, peeling, leakage, etc.) by the engineer And the state of the structure is quantitatively judged through it. The damage and location surveyed by the technician's experience and judgment is insufficient to be used as objective basic data due to subjective data. In addition, the contractor carries out the repair and maintenance of the structure based on the external appearance data including the subjective data. Although the present state of the structure is continuously maintained by performing the precise inspection and the precise safety diagnosis periodically, the results of the inspection and diagnosis performed in the past also include the subjectivity as described above, so that the progressive damage and maintenance history of the structure can be objectively And it is difficult to manage continuously.

In order to solve such a problem, as described in the patent documents of the prior art documents, a scanning apparatus has been developed to carry out the precise inspection and the precise safety diagnosis. However, since the moving image is acquired and the image quality is considerably lower than that of the still image, 0.3 mm or less is difficult to read. Considering that about 90% of the cracks generated in the structure are less than 0.3 mm when performing the inspection and diagnosis, it is considered that the conventional scanning device does not satisfy the reliability and completeness.

KR 20-0236696 Y1

According to an aspect of the present invention, there is provided an image processing method including extracting an image existing in a predetermined area divided by a line laser in an image generated by a photographing part in a still state, To thereby provide a structure image capturing apparatus with high reliability and completeness.

A structure image capturing apparatus according to an embodiment of the present invention includes a photographing unit for photographing a structure to generate an image, a line laser for dividing a rectangular region by ejecting a laser of a horizontal line and a laser of a vertical line to the structure, An image processing unit for extracting an image existing in the predetermined area partitioned by the line laser from the additionally generated image and joining the extracted image in the longitudinal direction or the lateral direction; And a traveling portion for moving the carriage by a predetermined distance corresponding to a lateral size of the predetermined region defined by the line laser, wherein the carriage has a first coupling groove recessed in a thickness direction along one direction , The first fastening groove (12) has two first projections (12) projecting from both sides of the upper end And a first fastening means slidably coupled to the first fastening groove so as to be movable, wherein the first fastening means includes a fastening body, a pair of fastening bodies projecting from one surface of the fastening body, A first protrusion protruding from both ends of the first extended portion to be engaged with the two first protrusions; a second protrusion protruding from the other surface of the coupling body; A second extending portion extending in the longitudinal direction of the fastening body, and a second projection projecting from both ends of the second extending portion, the second fastening means being slidably coupled to the first fastening means, Wherein a second fastening groove recessed in a thickness direction is formed on one surface of the second fastening means, Two second projections are formed so as to be narrowed from both sides of the first projection, the second extension is arranged to slide between the two second projections, the second projection is caught by the two second projections, The photographing unit or the line laser is coupled to the other surface of the second fastening means.

In the structure image capturing apparatus according to the embodiment of the present invention, the first fastening means further includes a pressing means coupled to one side of the fastening body and pressing the first fastening groove to fix the fastening body .

In the structure image capturing apparatus according to an embodiment of the present invention, the pressing means may include a fastening bolt passing through the fastening body, a handle coupled to one end of the fastening bolt, and a screw fastened to the other end of the fastening bolt, And a fastening nut having a width corresponding to the width of the first fastening groove to prevent rotation within the first fastening groove.

In the structure image capturing apparatus according to an embodiment of the present invention, the first fastening means may further include a first stopper protruding from the other surface of the fastening body at one side of the second extending portion, One side of the second fastening means is caught.

In the structure image capturing apparatus according to an embodiment of the present invention, the first fastening means further includes a second stopper detachably fastened to the other surface of the fastening body so as to be disposed on the other side of the second extending portion, And the other side of the second fastening means is hooked on the second stopper.

In the structure image capturing apparatus according to an embodiment of the present invention, two fastening protrusions are formed in the fastening body, and two fastening protrusions are inserted into the two fastening protrusions, .

In the structure image capturing apparatus according to an embodiment of the present invention, a protruding locking protrusion is formed in the insertion hole, a hook is formed at the distal end of the locking protrusion, and the hook has two locking protrusions When the elastic force acts in the direction in which the two locking projections are moved away from each other and the two pressing projections are pressed in the direction in which the two locking projections come close to each other, the hook is separated from the locking projection.

In the structure image capturing apparatus according to the embodiment of the present invention, the second fastening means is provided with a fastening hole penetrating in the thickness direction, and the bolts are inserted into the fastening holes, Thereby coupling the line laser.

In the structure image capturing apparatus according to the embodiment of the present invention, the bolt is inserted into the fastening hole, one end of the rib is coupled to the second fastening means, and the photographing unit or the line laser The combined brackets are coupled.

In the structure image capturing apparatus according to an embodiment of the present invention, a nut for screwing the bolt is provided in the second fastening groove, the first fastening groove is recessed in the thickness direction, A rotation preventing groove having a corresponding shape is formed, and the nut is inserted into the rotation preventing groove.

In the structure image capturing apparatus according to the embodiment of the present invention, the photographing section photographs the structure only when the carriage stops.

In the structure image capturing apparatus according to the embodiment of the present invention, when the bogie is stationary, the photographing unit photographs the structure to generate an image, and after the bogie moves the bogie a predetermined distance, The photographing unit photographs the structure to generate an image.

In the structure image capturing apparatus according to an embodiment of the present invention, the bogie is formed of a first frame extending horizontally, a first frame having wheels and a second frame extending horizontally, A third stage carriage coupled to an upper side of the first stage carriage and formed of a second stage carriage having the image processing section, a third frame extending horizontally, a third stage carriage coupled to the upper side of the second stage carriage, And a fourth stage carriage which is formed by an extended fourth frame and is coupled to the upper side of the third stage carriage and includes the photographing section and the line laser.

In the structure image capturing apparatus according to an embodiment of the present invention, the wheel includes a main body having an outer peripheral surface in contact with the rails, and an engagement portion formed at one end of the main body and having a diameter larger than that of the main body, A first wheel, a second wheel having a cylindrical groove corresponding to the main body and detachably inserted into the main body and having elasticity, and a second wheel inserted through the second wheel and inserted into the retaining portion, And an anchor bolt for releasably coupling the wheel to the body.

The structure image capturing apparatus according to an embodiment of the present invention may further include a distance measuring unit provided on the bogie to measure a moving distance of the bogie, wherein the traveling unit calculates, based on the moving distance measured by the distance measuring unit, The bogie is moved by a predetermined distance corresponding to the horizontal size of the predetermined area defined by the line laser.

The structure image capturing apparatus according to an embodiment of the present invention may further include an interval measuring unit provided in the bogie and measuring an interval between the bogie and the structure, To move the bogie so as to maintain a predetermined gap between the bogie and the structure.

In the structure image capturing apparatus according to an embodiment of the present invention, a hollow first connecting member having an inner space is extended upward, and a second connecting member is extended downward in the second frame The second connection member is inserted into the inner space of the first connection member and is coupled to the inner space of the first connection member and the inner space of the first connection member is stacked with elastic cushioning material, The second connection member is inserted into the inner space of the first connection member so that the second connection member is inserted.

In the structure image capturing apparatus according to the embodiment of the present invention, a hollow third connecting member having an internal space is extended upward, and a fourth connecting member is extended downwardly to the third frame , The fourth connecting member is inserted into the inner space of the third connecting member and is coupled to the third connecting member, and the inner space of the third connecting member is laminated with elastic cushioning material, The fourth connecting member is inserted into the inner space of the third connecting member so that the fourth connecting member is inserted.

In the structure image capturing apparatus according to the embodiment of the present invention, the cushioning material includes a first cushioning material, a second cushioning material disposed on the upper side of the first cushioning material, a third cushioning material disposed on the upper side of the second cushioning material, And a fourth cushioning material disposed on the upper side of the third cushioning material, wherein the first cushioning material and the third cushioning material are more elastic than the second cushioning material and less elastic than the fourth cushioning material.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to that, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor can properly define the concept of a term to describe its invention in the best possible way It should be construed as meaning and concept consistent with the technical idea of the present invention.

According to the present invention, it is possible to read a minute crack by extracting an image existing in a predetermined region partitioned by the line laser in an image generated by the photographing section in a stationary state, and then joining the image extracted by the image processing section.

Further, according to the present invention, there is an advantage that the position can be freely adjusted by coupling the photographing unit, the line laser, the illumination unit, or the like to the carriage through the first and second fastening means.

1 is a perspective view of a structure image capturing apparatus according to an embodiment of the present invention,
FIGS. 2A and 2B are conceptual diagrams illustrating an operation process of the structure image capturing apparatus shown in FIG. 1,
3 is a sectional view of the portion A shown in Fig. 1,
4 is a sectional view of part B shown in Fig. 1,
5 to 6 are front views of a traveling portion of the structure image capturing apparatus shown in FIG. 1,
Fig. 7 is an enlarged perspective view of part C shown in Fig. 1,
8 is a cross-sectional view along DD line in Fig. 7,
9 is a sectional view taken along the line EE of Fig. 7,
FIGS. 10A to 10C are perspective views illustrating a coupling / disassembling process of the first and second fastening means shown in FIG. 7;
Fig. 10D is an exploded bottom perspective view of the first and second fastening means shown in Fig. 7,
11 is a cross-sectional view along the FF line of Fig. 10A.

BRIEF DESCRIPTION OF THE DRAWINGS The objectives, specific advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. Also, the terms "first "," second ", and the like are used to distinguish one element from another element, and the element is not limited thereto. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description of the present invention, detailed description of related arts which may unnecessarily obscure the gist of the present invention will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of a structure image capturing apparatus according to an embodiment of the present invention, and FIGS. 2 (a) and 2 (b) are conceptual diagrams showing an operation process of the structure image capturing apparatus shown in FIG.

1 and 2, a structure image capturing apparatus 100 according to an exemplary embodiment of the present invention includes a photographing unit 110 for photographing a structure and generating an image, A line laser 200 for dividing a rectangular region X by discharging a laser beam and an image existing in a predetermined region X defined by the line laser 200 in an image generated by the photographing unit 110 A carriage 400 provided with an image processing unit 300 for joining the extracted images in the longitudinal direction or the lateral direction, a photographing unit 110, a line laser 200, and an image processing unit 300, And a traveling unit 500 for moving the bogie 400 by a predetermined distance? In correspondence with the lateral size? Of the predetermined area X divided by the bogie 400. As shown in Fig.

The photographing unit 110 photographs a structure to generate an image. Here, the photographing unit 110 may be disposed on the bogie 400 so as to look at the structure, and may be disposed on the fourth bogie 440, which is the upper end of the bogie 400, for example. The photographing unit 110 photographs the photographing area Y that is larger than the predetermined area X defined by the line laser 200 when the bogie 400 stops, Is transmitted to the image processing unit 300 and processed, and a detailed description thereof will be described later. A plurality of photographing units 110 are provided, and a plurality of photographing regions Y can be photographed at a time along the longitudinal direction. At this time, a plurality of photographing regions Y may overlap a certain region in the longitudinal direction. On the other hand, the photographing unit 110 may be a charge-coupled device camera, though not limited thereto. In addition, a lighting unit 600 for supplying light for photographing the photographing unit 110 is provided, so that a necessary light source can be secured in the image sensor of the photographing unit 110. Here, the illumination unit 600 may be provided on the carriage 400, and the position and angle of the illumination unit 600 may be adjusted in consideration of the shape of the structure.

The line laser 200 serves to define a predetermined area X on a structure using a laser. Here, the line laser 200 is provided in the bogie 400 so as to look at the structure, for example, the upper end of the bogie 400 may be disposed in the fourth stage bogie 440. In addition, the line laser 200 discharges two vertical lines of the laser in parallel with the two transversal lines of expanded horizontal lines. At this time, the two vertical line lasers 200 parallel to the two parallel horizontal line lasers 200 can define a rectangular area (X) (refer to the hatched area in Fig. 2) forming four vertices . As described above, the predetermined region X defined by the line laser 200 is photographed by the photographing unit 110, and the image processing unit 300 photographs the line laser 200 from the image photographed by the photographing unit 110, And extracts an image existing in one predetermined area X. [ In addition, a plurality of line lasers 200 may be provided to divide a plurality of predetermined regions X along the longitudinal direction at one time (see Fig. 2). On the other hand, the line laser 200 is not particularly limited, but it is possible to improve the detection performance of the image processing unit 300 on the predetermined region X by using a diode of 300 mW or more, for example.

The image processing unit 300 processes an image generated by the photographing unit 110. Specifically, the image processing unit 300 extracts an image existing in a predetermined rectangular area X defined by the line laser 200 among the images generated by the photographing unit 110. That is, the image processing unit 300 detects a predetermined region X defined by the line laser 200 among the images generated by the photographing unit 110 and extracts the predetermined region X. In addition, the image processing unit 300 joins the images in the extracted predetermined area X in the longitudinal direction or the transverse direction. Here, since the image in the predetermined region X defined by the line laser 200 is rectangular, it can be bonded in the longitudinal direction or in the lateral direction. Thus, the image in the predetermined area X is longitudinally or laterally joined at the image processing unit 300, so that an image of the entire structure to be inspected and diagnosed can be obtained. Particularly, since the image generated by the photographing unit 110 transmitted from the image processing unit 300 is taken when the carriage 400 is stopped, the image quality can be improved and the minute cracks can be read accordingly. The image processing unit 300 divides a plurality of predetermined regions X along a longitudinal direction by using a plurality of line lasers 200 and performs a plurality of photographing operations By photographing the area Y, a longitudinal image of the structure can be obtained at a time when the bogie 400 stops. Although three predetermined areas X and three photographing areas Y are shown in FIG. 2, this is an example, and the number of the predetermined areas X and the photographing areas Y can be increased or decreased as needed.

The carriage 400 supports the photographing unit 110, the line laser 200, the image processing unit 300, and the like. Here, the bogie 400 may be configured in multiple stages. For example, the truck 400 may include a first stage truck 410, a second stage truck 420, a third stage truck 430, and a fourth stage truck 440. Here, the first stage carriage 410 is formed as a first frame 415 extending horizontally and disposed at the lowermost stage, and a wheel 510 may be provided. The bogie (400) can be moved using this wheel (510). The second stage balancer 420 is formed as a horizontally extended second frame 425 and is coupled to the upper side of the first stage balancer 410 and includes an image processing unit 300, a battery 630, an inverter 640, an automatic driving control unit 660, and the like. The third stage carriage 430 is formed as a horizontally extended third frame 435 and is coupled to the upper side of the second stage carriage 420 and may include a cable storage box 650 or the like. The fourth stage bogie 440 is formed as a vertically extending fourth frame 445 and is coupled to the upper side of the third stage bogie 430 and includes a photographing unit 110, a line laser 200, (600) may be combined. The first, second, and third frames 415, 425, and 435 forming the first, second, and third tiers 410, 420, 430, and 440 are horizontally coupled to form a plurality of frames, The fourth frame 445 forming the fourth-stage bogie 440 is vertically coupled. More specifically, the fourth stage carriage 440 may include a vertically coupled vertical frame 447 and a horizontal frame 449 horizontally coupled to the interruption of the vertical frame 447. At this time, the photographing unit 110, the illumination unit 600, the line laser 200 and the like can be coupled to the vertical frame 447 of the fourth stage carriage 440, The line laser 200 may be combined.

Meanwhile, the first stage truck 410 and the second stage truck 420 may be connected by using the first linking member 417 and the second linking member 427. Specifically, a hollow first connecting member 417 having an inner space is extended upwardly from the first frame 415 of the first stage carriage 410, and a second frame 417 of the second stage carriage 410 425, the second linking member 427 extends downward. 3, the second linking member 427 may be formed to have a smaller diameter than the first linking member 417, and may be engaged by being inserted into the inner space of the first linking member 417. [ A plurality of elastic cushioning materials 450 are stacked in the inner space of the first connecting member 417 and the lower ends of the second connecting members 427 are disposed on the upper side of the cushioning material 450. The second connecting member 427 is inserted into the inner space of the connecting member 417 and is engaged.

Similarly, as shown in FIG. 1, the second stage balancer 420 and the third stage balancer 430 may be connected using a third connecting member 429 and a fourth connecting member 437. Specifically, a hollow third connecting member 429 having an inner space is extended upward from the second frame 425 of the second stage carriage 400, and a third frame 422 of the third stage carriage 430 435, the fourth linking member 437 extends downward. 4, the fourth linking member 437 is formed to have a smaller diameter than the third linking member 429, and can be engaged by being inserted into the inner space of the third linking member 429. [ A plurality of resilient cushioning materials 450 are stacked on the inner space of the third connecting member 429 and the third connecting member 437 is disposed on the upper side of the cushioning material 450, And a fourth connecting member 437 is inserted and coupled to the inner space of the connecting member 429.

The first stage balun 410 and the second stage balancer 420 and the second stage balancer 420 and the third stage balancer 430 are vertically extended as shown in Figures 1 and 3-4, The first connection member 417 and the second connection member 427, and the third connection member 429 and the fourth connection member 437, respectively. Since the buffer member 450 is provided between the first linking member 417 and the second linking member 427 and between the third linking member 429 and the fourth linking member 437, It is possible to absorb an impact or vibration received from the wheel 510 of the bogie 410. Therefore, the imaging unit 110, the illumination unit 600, the line laser 200, and the like coupled to the fourth stage carriage 440 are not shaken, the image quality of the image generated by the imaging unit 110 can be enhanced, The predetermined region X can be clearly defined by the substrate 200. As a result, the image of the entire structure can be clearly obtained in the image processing unit 300 as a result.

More specifically, the cushioning material 450 provided between the first connecting member 417 and the second connecting member 427 and between the third connecting member 429 and the fourth connecting member 437 has the first The second buffer material 453, the third buffer material 455, and the fourth buffer material 457. The first buffer material 451, the second buffer material 453, the third buffer material 455, Here, the first cushioning material 451 may be disposed on the lowermost side, and the second cushioning material 453 may be disposed on the upper side of the first cushioning material 451. The third cushioning material 455 may be disposed on the upper side of the second cushioning material 453 and the fourth cushioning material 457 may be disposed on the upper side of the third cushioning material 455. [ That is, the first cushioning material 451, the second cushioning material 453, the third cushioning material 455, and the fourth cushioning material 457 may be arranged in this order from the lower side to the upper side. The fourth cushioning material 457 can contact the lower end of the second connecting member 427 of the second stage balancer 420 or the lower end of the fourth connecting member 437 of the fourth stage balancer 440. [ At this time, the first cushioning material 451 and the third cushioning material 455 are more elastic than the second cushioning material 453 and may be less elastic than the fourth cushioning material 457. That is, the fourth cushioning material 457, which is in direct contact with the second connecting member 427 or the fourth connecting member 437, has a relatively large elasticity so that the second connecting member 427 or the fourth connecting member 437 Can be effectively absorbed. The second cushioning material 453 disposed between the first cushioning material 451 and the third cushioning material 455 has a relatively small elasticity so that the second cushioning material 453 is provided on the second connecting member 427 or the fourth connecting member 437 It is possible to sufficiently secure the supporting force. In addition, the first, second, third, and fourth cushioning materials 451, 453, 455, and 457 having various elasticities can be stacked, There is also an effect of absorbing various shocks and vibrations through elasticity. On the other hand, the fourth cushioning material 457 is provided with an insertion portion 459 whose width is narrowed while a step is formed on the upper end. The second coupling member 427 or the fourth coupling member 437 is inserted into the insertion portion 459, The fourth cushioning material 457 and the second connecting member 427 or the fourth cushioning material 457 and the fourth connecting member 437 can be firmly coupled to each other.

5 to 6, the wheels 510 provided on the first stage carriage 410 may include a first wheel 513 and a second wheel 515 so as to be used on both rails and roads, , And anchor bolts (517). Specifically, the first wheel 513 includes a main body 513a having an outer circumferential surface in contact with the rail, and a locking portion 513b at a distal end of the main body 513a, the locking portion 513b being engaged with a side surface of the rail, (See FIG. 6). That is, the first wheel 513 can move while the main body 513a contacts with the rail, and guides the engaging portion 513b to move along the rail by being caught by the side surface of the rail. The second wheel 515 is formed at its center with a cylindrical groove corresponding to the main body 513a of the first wheel 513 so that the main body 513a of the first wheel 513 can be detached And the second wheel 515 has elasticity (e.g., rubber material) (see Fig. 5). The anchor bolt 517 passes through the second wheel 515 and is inserted into the side surface of the locking portion 513b so that the second wheel 515 can be detachably attached to the main body 513a of the first wheel 513 . That is, the second wheel 515 can be coupled to or separated from the first wheel 513 by using the anchor bolts 517. As described above, since the first wheel 513 and the second wheel 515 can be selectively used, they can be used on both rails and roads. The first wheels 513 are brought into contact with the rails so that the bogie 400 can move along the rails while the second wheels 515 are separated from the first wheels 513. [ (See FIG. 6). The second wheel 515 having elasticity can be brought into contact with the road so that the truck 400 can be moved in a state where the second wheel 515 used in the road is coupled to the first wheel 513 5).

The traveling unit 500 serves to move the bogie 400. The traveling unit 500 moves the carriage 400 by a predetermined distance? Corresponding to the lateral size? Of the predetermined area X defined by the line laser 200 (see FIG. 2). That is, the traveling unit 500 moves the carriage 400 by a distance equal to the lateral size [alpha] of the predetermined area X. [ Therefore, when the carriage 400 stops, the photographing unit 110 photographs the structure to generate an image, and when the carriage 500 moves the carriage 400 to the horizontal size [alpha] of the predetermined area X When the carriage 400 is stopped after moving the predetermined distance?, The photographing unit 110 photographs the structure again to generate an image. That is, the photographing unit 110 photographs in a stationary state, and after the carriage 400 moves by the lateral size of the predetermined area X by the driving unit 500, the photographing unit 110 stops again The process of shooting in the state is repeated. Since the photographing unit 110 is repeatedly photographed while the photographing unit 110 is stationary while the traveling unit 500 moves by a predetermined distance beta by the lateral size alpha of the predetermined region X, After the image in the predetermined area X is extracted from the image generated by the photographing unit 110 and the extracted images are joined, the whole structure can be checked and diagnosed without missing parts. Since the photographing unit 110 photographs the structure only when the carriage 400 is stopped by the running unit 500 but when the carriage 400 is stopped, the image quality can be improved, and therefore, a fine crack can be read have.

1, the traveling unit 500 may include a motor 520 provided on the first stage carriage 410. The motor 520 is gear-coupled to the wheel 510 So that the driving force can be transmitted to the wheel 510. The motor 520 is provided with two or more motors so that the speed of the wheel 510 provided at one side of the bogie 400 and the speed of the wheel 510 provided at the other side of the bogie 400 are driven differently And the bogie 400 may be rotated. The driving unit 500 is controlled by the automatic driving control unit 660 to move the carriage 400 by a predetermined distance beta corresponding to the lateral size alpha of the predetermined area X and then stop Can be repeated.

In addition, the structure image capturing apparatus 100 according to the present embodiment may further include a distance measurer 610. Here, the distance measuring instrument 610 is provided on a truck 400 (first stage truck 410), and contacts the rail or the road to measure the moving distance of the truck 400. [ Under the control of the automatic travel control unit 660, the traveling unit 500 moves the carriage 400 along the predetermined distance X of the line laser 200 partitioned by the line laser 200 based on the travel distance measured by the distance measuring unit 610 Can be moved by a predetermined distance (?) Corresponding to the lateral size (?). That is, the traveling unit 500 moves the carriage 400 while moving the distance measured by the distance measuring unit 610 by a predetermined distance corresponding to the lateral size [alpha] of the predetermined area X partitioned by the line laser 200 If the distance is?, The bogie 400 is stopped. On the other hand, the distance measuring instrument 610 may be a rotary encoder, although not limited thereto.

In addition, the structure image capturing apparatus 100 according to the present embodiment may further include an interval measurer 620. Here, the interval measurer 620 is provided in the bogie 400 to measure the distance between the bogie 400 and the structure. The traveling unit 500 moves the carriage 400 under the control of the automatic travel control unit 660 on the basis of the interval measured by the interval measuring unit 620, (gamma, see Figs. 2A to 2B). That is, the running unit 500 moves the bogie 400 so that the interval measured by the interval gauge 620 is kept constant. Particularly, when the structure image capturing apparatus 100 according to the present embodiment is used in the road, it may be difficult to keep the distance between the carriage 400 and the structure constant when the carriage 400 is simply moved in a straight line. However, by providing the distance measuring instrument 610, the bogie 400 can be moved while maintaining a predetermined gap [gamma] between the bogie 400 and the structure, so that the size of the image generated by the photographing unit 110 and The size of the predetermined region X defined by the line laser 200 can be kept constant. As a result, even if the structure image capturing apparatus 100 according to the present embodiment is used on the road, the size of the image generated by the photographing unit 110 and the size of the predetermined area X partitioned by the line laser 200 are constant , And finally, the image of the entire structure can be clearly obtained in the image processing unit 300. On the other hand, the interval gauge 620 may be, but is not limited to, a laser range finder.

7, the line laser 200 or the like is provided with a first fastening groove 700, a first fastening means 800, and a second fastening groove 800 on the carriage 400 (fourth stage carriage 440) Means 900 may be coupled for movement. Although the line laser 200 is shown as a reference, the photographing unit 110 or the illumination unit 600 may be movably coupled to the carriage 400 in the same manner.

Specifically, a first coupling groove 700, which is recessed in the thickness direction along one direction (longitudinal direction or lateral direction), is formed in the bogie 400 (fourth step bogie 440) And a first fastening means 800 coupled to the first fastening groove 700 so as to be slidable along the first fastening groove 700. Also, the second fastening means 900 may be provided to be slidably coupled to the first fastening means 800 so as to be movable.

Here, the first fastening groove 700 has two first protrusions 710 protruded to have a narrow width at the top. 10C, the first fastening means 800 includes a fastening body 810, a first extension 820, a first projection 825, a second extension 830, And includes projections 835. The first extending portion 820 is formed on one side of the fastening body 810 and the second extending portion 830 is formed on the other side of the fastening body 810 . The first protrusion 825 protrudes from the first extending portion 820 and the second protrusion 835 protrudes from the second extending portion 830.

More specifically, the first extension 820 protrudes from one side of the fastening body 810 and extends in the longitudinal direction of the fastening body 810. Further, the first projection 825 protrudes from the distal end of the first extending portion 820 to both sides (in a direction perpendicular to the first extending portion 820). For example, the first extension 820 and the first projection 825 may have a T-shape with respect to the longitudinal plane (see FIG. 8). Here, the first extending portion 820 is arranged to slide between the two first projecting portions 710, and the two first projecting portions 825 are engaged with the two first projecting portions 710. Therefore, the first fastening means 800 can slide along the first fastening groove 700 by the first extension 820, the first projection 825, and the first projection 710.

The second extension portion 830 protrudes from the other surface of the fastening body 810 and extends in the longitudinal direction of the fastening body 810. In addition, the second projection 835 protrudes from the distal end of the second extending portion 830 to both sides (in a direction perpendicular to the second extending portion 830). For example, the second extension 830 and the second projection 835 may be T-shaped with respect to the longitudinal plane (see FIG. 8). Here, the second extending portion 830 and the second protrusion 835 are configured to engage with the second fastening means 900.

The second fastening means 900 is slidably coupled to the first fastening means 800 so as to be movable. Specifically, as shown in FIG. 10C, a second fastening groove 910, which is recessed in the thickness direction along one direction (longitudinal direction), is formed on one surface of the second fastening means 900, and the second fastening groove 910 Are formed with two second projections 915 projecting from both sides of the upper end so as to be narrowed in width. 8, the second extension 830 of the first fastening means 800 is arranged to slide between the two second projections 915, and the second projection 835 is arranged to slide between the two second projections 915. In this case, And is caught by the second projection 915. Accordingly, the second fastening means 900 can slide along the second fastening groove 910 by the second extension 830, the second projection 835, and the second projection 915.

9 and 10A, the first fastening means 800 is coupled to one side (lower side) of the fastening body 810, and presses the first projection 710 to fasten the fastening body 810 (Not shown). Here, the pressing means 930 may include a fastening bolt 933, a handle 935, and a fastening nut 937. Specifically, the fastening bolt 933 passes through the fastening body 810, the knob 935 is fastened to the fastening bolt 933 at one end, and the fastening nut 937 is screwed to the other end of the fastening bolt 933 So that the first protrusion 710 can be pressed. When the knob 935 is rotated in one direction with the fastening bolt 933 and the fastening nut 937 being screwed together, the fastening bolt 933 rotates while rotating the fastening body 810 and the fastening nut 937, The first projecting portion 710 is pressed so that the fastening body 810 can be fixed so as not to slide. When the knob 935 is rotated in the other direction, the fastening bolt 933 rotates so that the first protrusion 710 and the fastening nut 937 no longer press the fastening body 810, Can slide. The fastening nut 937 is disposed in the first fastening groove 700 and has a width corresponding to the width of the first fastening groove 700 so as to prevent the first fastening groove 700 from rotating inside the first fastening groove 700 Lt; / RTI > For example, when the first fastening groove 700 extends in a straight line with a predetermined width, the fastening nut 937 may be formed in a square having a width equal to a predetermined width of the first fastening groove 700 See Fig.

10A, after the second fastening means 900 has been coupled to the first fastening means 800, the first fastening means 800 is fastened to the first stopper 840 And a second stopper 850, as shown in FIG. 10C, the first stopper 840 is protruded in the thickness direction from the other surface of the fastening body 810 at one side (lower side) of the second extension 830, and the first stopper 840, (Lower side) of the second fastening means 900 is engaged. The second fastening means 900 can be fixed without moving in one direction (downward direction) by engaging one side (lower side) of the second fastening means 900 with the first stopper 840. The second stopper 850 is detachably fastened to the other surface of the fastening body 810 so as to be disposed on the other side (upper side) of the second extending portion 830, The other side (upper side) of the main body 900 is engaged. As described above, the other side (upper side) of the second fastening means 900 is engaged with the second stopper 850 so that the second fastening means 900 can be fixed without moving in the other direction (upward direction). As a result, the second fastening means 900 can be fixed without sliding by one side (lower side) being engaged with the first stopper 840 and the other side (upper side) being hooked on the second stopper 850 (see FIG. 10A) . Specifically, when the second fastening means 900 is slidably engaged with the first fastening means 800, one side (lower side) of the second fastening means 900 is stopped by the first stopper 840, The second stopper 850 is fastened to the other side (upper side) of the second extension portion 830 so that the other side (upper side) of the second fastening means 900 is fastened to the second stopper 850, 900 can be fixed to the first fastening means 800. When the second stopper 850 is detached from the fastening body 810, the second fastening means 900 can be slid and separated from the first fastening means 800 if necessary.

On the other hand, the second stopper 850 may be detachably coupled to the fastening body 810. 10D, two insertion holes 813 are formed in the fastening body 810 in the thickness direction, and the second stopper 850 is inserted into the two insertion holes 813, (Not shown). At this time, a protruding locking protrusion 815 is formed in the insertion hole 813, and a hook 855 is formed at the end of the locking protrusion 853 to engage with the locking protrusion 815. 11, the hook 855 of the fastening protrusion 853 is engaged with the fastening protrusion 815 of the insertion hole 813, so that the second stopper 850 is engaged with the fastening body 810 . More specifically, an elastic force acts on the hook 855 in a direction in which the two fastening protrusions 853 move away from each other, so that the hook 855 can be held in the hooked projection 815. The hook 855 can be separated from the locking projection 815 so that the second stopper 850 can be separated from the fastening body 810 when the two fastening protrusions 853 are pressed toward each other can do. As described above, in order to maintain the hook 855 held by the hooking protrusion 815 using the elastic force, and to release the hook 855 from the hooking protrusion 815, the second stopper 850 is entirely (See Fig. 10D), and can be deformed upon pressurization while providing an elastic force.

7, the photographing unit 110, the line laser 200, or the illumination unit 600 may be mounted on the other surface of the second fastening means 900 (opposite to the surface on which the second fastening recess 910 is formed) Lt; / RTI > surface). As described above, when the photographing unit 110, the line laser 200, or the illumination unit 600 is coupled to the second fastening unit 900, the second fastening unit 900 is slid to the first fastening unit 800 The line laser 200 or the illumination unit 600 can be easily coupled to or separated from the bogie 400. In addition, A configuration in which the photographing unit 110, the line laser 200, or the illumination unit 600 is coupled to the second fastening unit 900 is not particularly limited. However, as shown in FIGS. 7 to 8, A bolt 920 and a bolt 953 can be used. More specifically, the fastening hole 920 is formed in the second fastening means 900 in the thickness direction, and the bolt 953 is inserted into the fastening hole 920. In the second fastening means 900, The line laser 200, or the illumination unit 600 may be combined. More specifically, one end of the rib 960 is coupled by inserting a bolt 953 into the fastening hole 920, and the photographing unit 110, the line laser 200, or the illumination unit 600 Is coupled to the bracket 970. That is, the bracket 970 coupled with the photographing unit 110, the line laser 200, or the illumination unit 600 through the rib 960 can be coupled to the second fastening means 900.

8, a bolt 953 is screwed into the second fastening groove 910 of the second fastening means 900 to fasten the bolt 953 to the fastening hole 920, (Not shown). At this time, the second fastening groove 910 may be formed with a rotation preventing groove 959 which is recessed in the thickness direction and has a shape corresponding to the nut 957. When the nut 957 is inserted into the rotation preventing groove 959, the nut 957 can be prevented from rotating arbitrarily. 10D, both the nut 957 and the rotation preventing groove 959 are formed in a rectangular shape so that the nut 957 is inserted into the rotation preventing groove 959, so that the nut 957 It is possible to prevent rotation.

7, the photographing unit 110, the line laser 200, the illumination unit 600, and the like are connected to the carriage 400 through the first and second fastening means 800 and 900, The carriage 440). Therefore, it is possible to freely adjust the position of the photographing region photographed by the photographing section 110, the position and the size of a predetermined region partitioned by the line laser 200, and the like.

The operation of the structure image capturing apparatus according to an embodiment of the present invention will now be described with reference to FIGS. 1 and 2. FIG.

The illuminating unit 600 and the line laser 200 are disposed on the carriage 400 after the structure is first grasped. In addition, the position and angle of the illumination unit 600 are adjusted to adjust the vertical, horizontal, spacing, and focus of the line laser 200 so as to supply appropriate light to the structure, , And focus. When the vehicle 400 is stopped, the photographing unit 110 photographs the structure and generates an image. The driving unit 500 controls the carriage 400 by a predetermined distance (?) Under the control of the automatic driving control unit 660 ) And then stop. When the carriage 400 moves a predetermined distance (?) And then stops, the photographing unit 110 photographs the structure again to generate an image in the stopped state. At this time, the image processing unit 300 extracts the images existing in the predetermined region X partitioned by the line laser 200 from the image generated by the photographing unit 110, and joins the extracted images in the longitudinal direction or the lateral direction , The image of the entire structure is obtained.

100: Structure image capturing device 110:
200: line laser 300: image processing unit
400: lane 410: first-stage lane
415: first frame 417: first connecting member
420: second stage carriage 425: second frame
427: second connecting member 429: third connecting member
430: Third stage carriage 435: Third frame
437: fourth connecting member 440: fourth stage carriage
445: fourth frame 447: vertical frame
449: Horizontal frame 450: Cushioning material
451: first cushioning material 453: second cushioning material
455: third cushioning material 457: fourth cushioning material
459: Insertion part 500:
510: wheel 513: first wheel
513a: main body 513b:
515: second wheel 517: anchor bolt
520: motor 600: illuminator
610: distance measuring instrument 620: interval measuring instrument
630: Battery 640: Inverter
650: Cable storage box 660: Automatic traveling control unit
700: first fastening groove 710: first protrusion
800: first fastening means 810: fastening body
813: insertion hole 815:
820: first extension part 825: first projection
830: second extension part 835: second projection
840: first stopper 850: second stopper
853: fastening protrusion 855: hook
900: second fastening means 910: second fastening groove
915: second projection 920: fastening hole
930: pressing means 933: fastening bolt
935: Handle 937: Clamping nut
953: bolt 957: nut
959: rotation preventing groove 960: rib
970: bracket X: predetermined area
Y: Shooting area α: Horizontal size
?: predetermined distance?: predetermined interval

Claims

A photographing unit photographing a structure to generate an image;
A line laser for dividing a rectangular region by ejecting a laser of a horizontal line and a laser of a vertical line to the structure;
An image processing unit for extracting an image existing in the predetermined area divided by the line laser from the image generated by the photographing unit and joining the extracted image in the longitudinal direction or the lateral direction;
A bogie equipped with the photographing unit, the line laser, and the image processing unit; And
A traveling section for moving the carriage by a predetermined distance corresponding to a lateral size of the predetermined area defined by the line laser;
Lt; / RTI >
The bogie is formed with first fastening grooves recessed in the thickness direction along one direction, and the first fastening grooves are formed with two first protrusions protruding from both sides of the upper end to narrow the width,
Further comprising a first fastening means coupled to the first fastening groove so as to be slidable and movable,
Wherein the first fastening means comprises:
A fastening body;
A first extension part protruding from one surface of the fastening body and extending in the longitudinal direction of the fastening body and arranged to slide between the two first projections;
A first protrusion protruding from both ends of the first extended portion to be engaged with the two first protrusions and coupled to the first engagement groove;
A second extension part protruding from the other surface of the fastening body and extending in the longitudinal direction of the fastening body; And
A second protrusion protruding from both ends of the second extending portion;
Lt; / RTI >
Further comprising a second fastening means slidably and movably coupled to the first fastening means,
A second fastening groove recessed in a thickness direction along one direction is formed on one surface of the second fastening means,
The second fastening groove is formed with two second projections protruding from both sides of the upper end so as to be narrow in width,
The second extending portion is arranged to slide between the two second projecting portions,
Wherein the second projection is engaged with two of the second projections and is engaged with the second engagement groove,
And the photographing unit or the line laser is coupled to the other surface of the second fastening unit.

The method according to claim 1,
Wherein the first fastening means comprises:
A pressing means coupled to one side of the fastening body and pressing the first projection to fix the fastening body;
Further comprising an image capturing device.

The method of claim 2,
Wherein the pressing means comprises:
A fastening bolt passing through the fastening body;
A handle coupled to one end of the fastening bolt; And
A fastening nut screwed to the other end of the fastening bolt and having a width corresponding to a width of the first fastening groove to prevent rotation in the first fastening groove;
And an image capturing device.

The method according to claim 1,
Wherein the first fastening means comprises:
Further comprising a first stopper protruding from the other surface of the fastening body at one side of the second extending portion,
And one side of the second fastening means is hooked on the first stopper.

The method of claim 4,
Wherein the first fastening means comprises:
And a second stopper detachably fastened to the other surface of the fastening body so as to be disposed on the other side of the second extension,
And the other side of the second fastening means is hooked on the second stopper.

The method of claim 5,
The fastening body is formed with two insertion holes penetrating in the thickness direction,
And the second stopper includes two fastening protrusions respectively inserted into the two insertion holes.

The method of claim 6,
A protruding locking protrusion is formed in the insertion hole,
A hook is formed at the distal end of the fastening protrusion,
An elastic force is applied to the hook in a direction in which the two fastening protrusions are separated from each other,
And the hook is separated from the engaging projection when the two engaging projections are pressed in a direction in which the two engaging projections approach each other.

The method according to claim 1,
Wherein the second fastening means is formed with a fastening hole penetrating in the thickness direction,
And a bolt is inserted into the fastening hole to couple the photographing unit or the line laser to the second fastening means.

The method of claim 8,
The bolt is inserted into the fastening hole, one end of the rib is coupled to the second fastening means,
And the photographing unit or the bracket coupled with the line laser is coupled to the other end of the rib.

The method of claim 8,
A nut for screwing the bolt is provided in the second fastening groove,
A rotation preventing groove having a shape corresponding to the nut is formed in the second fastening groove so as to be recessed in the thickness direction,
And the nut is inserted into the rotation preventing groove.

The method according to claim 1,
Wherein the photographing unit photographs the structure only when the carriage stops.

The method according to claim 1,
When the bogie is stationary, the photographing unit photographs the structure to generate an image,
Wherein the photographing unit photographs the structure and generates an image when the carriage stops moving the carriage a predetermined distance after the carriage stops.

The method according to claim 1,
The bogie comprises:
A first stage carriage formed of a horizontally extending first frame and having wheels;
A second stage carriage formed of a second frame extending horizontally and coupled to the upper side of the first stage carriage and having the image processing unit;
A third stage carriage formed as a horizontally extending third frame and coupled to the upper side of the second stage carriage; And
A fourth stage carriage formed of a vertically extending fourth frame, coupled to the upper side of the third stage carriage, the fourth stage carriage having the photographing section and the line laser;
And an image capturing device.

14. The method of claim 13,
The wheel,
A main body having an outer circumferential surface in contact with the rail, and a first wheel formed at one end of the main body and having a larger diameter than the main body, the engaging portion being engaged with a side surface of the rail;
A second wheel having a cylindrical groove corresponding to the body and detachably inserted into the body and having elasticity; And
An anchor bolt passing through the second wheel and inserted into the retaining portion to detachably couple the second wheel to the main body;
And an image capturing device.

The method according to claim 1,
A distance measuring unit provided on the bogie and measuring a moving distance of the bogie;
Further comprising:
Wherein the traveling unit moves the carriage by a predetermined distance corresponding to a horizontal size of the predetermined area defined by the line laser based on the traveling distance measured by the distance measuring device.

The method according to claim 1,
An interval gauge provided on the bogie to measure an interval between the bogie and the structure;
Further comprising:
Wherein the traveling unit moves the carriage on the basis of the interval measured by the interval measuring unit to maintain a predetermined interval between the predetermined carriage and the structure.

14. The method of claim 13,
The first frame has a hollow first connecting member having an inner space extending upward,
The second connecting member extends downward in the second frame,
The second connecting member is inserted and coupled to the inner space of the first connecting member,
The second connecting member is inserted into the inner space of the first connecting member such that the buffering member having elasticity is stacked on the inner space of the first connecting member and the second connecting member is disposed on the upper side of the buffering member Coupled structure image capture device.

14. The method of claim 13,
A hollow third connecting member having an inner space is extended upward from the second frame,
The fourth connecting member extends downward in the third frame,
The fourth connecting member is inserted into the inner space of the third connecting member,
The fourth connecting member is inserted into the inner space of the third connecting member such that elastic cushioning material is stacked on the inner space of the third connecting member and the fourth connecting member is disposed on the upper side of the buffering member Coupled structure image capture device.

The method according to claim 17 or 18,
The cushioning material,
A first buffer material;
A second cushioning material disposed on the upper side of the first cushioning material;
A third buffer material disposed on the upper side of the second buffer material; And
A fourth cushioning material arranged on the upper side of the third cushioning material;
Lt; / RTI >
Wherein the first cushioning material and the third cushioning material are more elastic than the second cushioning material and less elastic than the fourth cushioning material.