KR101822340B1 - Apparatus for three-dimensional face mapping in mine tunnel and three-dimensional face mapping method there of - Google Patents

Abstract

The present invention relates to an apparatus for three-dimensional face mapping in a mine tunnel which has an excellent picture quality and can be easily used for obtaining data with a simple composition, in which mining surface three-dimensional photogrammetry data for three-dimensional geological modeling for estimating a change of geological features and minerals in the mine tunnel, comprising: a moving body for moving within the mine tunnel; a holder having a plurality of frames unfolded in the radial direction and fixed to the moving body; and a camera and a lamp fixed to a terminal end of the frame of the holder, wherein the camera films the inner surface of the mine tunnel with a lighting of a lamp according to the movement of the moving body.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional face mapping apparatus for a mining tunnel, and a three-dimensional face mapping method using the same.

The present invention relates to a three-dimensional face mapping apparatus for a mining tunnel and a three-dimensional face mapping method using the same, more specifically, to provide a three-dimensional photogrammetric data for a three- dimensional geological modeling for estimating a change in a lipid- The present invention relates to a three-dimensional face mapping apparatus for a mining tunnel having a simple structure and having an excellent image quality, and a three-dimensional face mapping method using the same.

It is similar to the lifetime of a person when the first development of the deposit is started, the expansion is prospering, and the mining of the mineral is completed and then it is annihilated. The life span of the mine can be divided into the age of prospecting as a childhood, the era of business as a boyhood era, the age of development as a youth, the age of prosperity as a middle age, and the age of decline as an old age.

Most mines can predict the future of the mine already in the early childhood age, but even if the mine has a good prospect, the life span is often shortened if it is not implemented technically and economically. Prior to the development of the mine, detailed geological surveys, physical and chemical exploration, drilling, and exploration tunnels are used to identify deposits. During this period, there are few imports and significant expenses. When entering the business era, the company will set up a development plan for the tunnel skeleton, facility facilities, production scale, efficiency, and the number of employees, and prepare various facilities necessary for production. Even in the corporate age, profitability is hard to anticipate and requires a lot of investment.

In the era of development, as the mine is opened and the workplace expanded, the facility must be gradually expanded. When we enter the era of prosperity that is the era of mine development, all facilities except the mine are maintained and profitable. Therefore, in this era, not only can it recover all the investment cost for the purchase and development of the mine, but it also accumulates the cost against the abandoned mine.

Of course, this is the case when the mine development plan is smoothly proceeding smoothly, and if the disruption occurs or the deposits suddenly disappear, things will change. Therefore, it is important to prolong the prosperity period with planning and careful management in terms of technology and management.

In the era of decline, the reserves are depleted and the quality is lowered, not only the extension of the tunnel is prolonged, but also the depth is deepened and the production is reduced and the cost is increased. This is the time for the abandoned mine. Therefore, it is an important condition for mine development to prevent prolongation of prosperous period by avoiding sudden increase and decrease of output by conducting prospecting in parallel with mining in the times of prosperity.

On the other hand, the face mapping of a tunnel refers to a process of directly observing and recording the face or rock cut surface condition exposed when a tunnel is excavated. In the case of mine development, And it is possible to deduce the extender of the extender through this.

However, until now, the face mapping of the tunnel has been investigated by the investigator directly entering the tunnel and moving along the tunnel, observing the inner surface of the tunnel with the naked eye, recording it with a manual and then analyzing the data qualitatively, .

Therefore, it is difficult to share the results of analytical and analytical results because of the lack of reliability of the results and the difficulty in sharing the results of the analysis and interpretation because the analysis result of the presence or absence of the mine or the extension of the mine has been dependent on the visual inspection of the investigator and the subjective interpretation of the individual.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a three-dimensional photogrammetric data for a three-dimensional geological modeling for estimating a change in a geological structure and a mineralization in a tunnel, Dimensional face mapping apparatus and a three-dimensional face mapping method using the same.

SUMMARY OF THE INVENTION The present invention is a moving body for moving in a tunnel, A cradle having a plurality of frames fixed on the moving body and extending radially; And a camera and a lamp fixed to a frame end of the cradle; And a camera photographs the inner surface of the tunnel with the illumination of the lamp according to the movement of the moving object.

Preferably, the frames of the cradle are spaced apart from each other along the 360 占 direction at the top of the moving body and are coupled to the cradle.

Preferably, the arrangement of the camera and the lamp is not adjacent to each other but is arranged alternately along the 360 ° direction on the upper part of the mobile body.

Preferably, the cameras are arranged so that the angle of view is superimposed on each other, and the photographed images are overlapped with each other.

Preferably, the lamp is provided with a roughness adjuster capable of adjusting the illuminance of its own lamp according to an external control, and includes a distance measuring device for calculating the distance from the inner surface of the tunnel to the direction of irradiation of the lamp.

Preferably, the distance measuring device calculates the distance by irradiating the laser beam from the lamp to the wall surface of the tunnel, and then using the time difference of the reflected and reflected laser beam.

Preferably, the distance measuring device calculates the distance by firing the ultrasonic wave into the intermittent sound, then hitting the wall surface of the tunnel, and measuring the time of being reflected and reflected.

Preferably, the distance receiving unit is connected to the distance measuring unit of each lamp and receives the lamp-specific distance measuring values. A roughness calculation unit for calculating a required roughness value for each lamp by comparing the distance measurement values; And an illuminance output unit connected to the illuminance adjuster of each lamp to transmit a lamp illuminance value; Wherein the illumination controller controls the brightness of each lamp to be differentiated by distance so that all the cameras can shoot the entire wall surface in a uniform brightness illumination.

Preferably, the lamp is provided with an illuminance adjuster capable of adjusting the illuminance of the self-illuminating lamp according to an external control, and the mount is provided with a rotation rod rotated by a rotation driver, and at least two distance measuring devices are installed in the rotation rod The average distance to the camera with respect to the photographing area of the camera is calculated from the inside of the tunnel through the distance measuring device and the brightness of the illumination through the lamp is controlled by controlling the illuminance adjusting device according to the average distance.

Preferably, the distance measuring devices 52a, ..., 52x are aimed at a predetermined angle? 1, ...,? X from the vertical direction of the installation position, The distance values r1, ..., rx are measured, and the average distance from the camera to the camera area on the inner surface of the tunnel is calculated by the following equation.

(Equation)

는 거리 측정기(52a, ... 52x)가 설치된 회전봉의 회전각이며, a와 b는 각각의 카메라가 촬영하는 갱도 내벽에 해당하는 회전봉의 회전각의 시작과 끝의 각도임. At this time,

A and b are angles at the start and end of the rotation angle of the rotation bar corresponding to the inner wall of the tunnel taken by each camera.

According to another aspect of the present invention, there is provided a method of measuring a position of a marker in a bar code, the method comprising: (a) measuring a position in a tunnel to be installed with markers to determine coordinate values; (b) measuring the distance between the ramp and the inner wall surface of the tunnel through the distance measuring device of each ramp angle-fixed lamp after moving the three-dimensional face mapping device according to any one of claims 1 to 7 to the marker; (c) receiving the measured distance measurement values through the distance receiving unit, and determining whether the distance measurement values are dispersed through the roughness calculation unit; (d) if the distance measurement values are dispersed, comparing the distance measurement values through the illumination calculation unit and calculating the illumination value required for each lamp for homogeneous illumination; (e) adjusting the brightness of the lamp by the illuminance adjuster of each lamp received the illuminance value from the illuminance output unit; (f) photographing and storing the inner surface of the tunnel in all directions via each camera fixed at a radial angle; And (g) moving the mobile body to a next position where the pictures before and after the movement can overlap; And repeating the steps (b) to (g) to provide a method for performing three-dimensional face mapping on an in-tunnel section.

Preferably, in the step (d), the illuminance calculating unit controls the brightness of each lamp to be differentiated according to distances, so that all cameras can photograph the entire wall surface in a uniform brightness illumination.

According to another aspect of the present invention, there is provided a method of measuring a position of a marker, comprising the steps of: (a) determining a coordinate value by measuring a position in a tunnel to be installed with markers; (b) moving the three-dimensional face mapping device according to any one of claims 1 to 9 to a marker, rotating at least two distance measuring devices on the rotating bar, Calculating an average distance between the reference point and the reference point; (c) calculating illuminance values required for the respective lamps for homogeneous illumination through the illuminance calculating unit according to an average distance from the camera to the calculated photographing area of the camera; (d) adjusting the brightness of the lamp by the illuminance adjuster of each lamp having received the illuminance value from the illuminance output unit; (e) photographing and storing the inside surface of the tunnel in all directions through each camera fixed at a radial angle; And (f) moving the moving object to a next position where the photographs before and after the movement can overlap; And performing the three-dimensional face mapping on the in-tunnel section by repeating the steps (b) to (f).

Preferably, in the step (b), the distance measuring devices 52a to 52x are aimed at predetermined angles? 1 to? X from the vertical direction of the installation position, ..., Rx), and the average distance from the camera to the imaging area of the camera on the inner surface of the tunnel is calculated by the following equation.

(Equation)

는 거리 측정기(52a, ... 52x)가 설치된 회전봉의 회전각이며, a와 b는 각각의 카메라가 촬영하는 갱도 내벽에 해당하는 회전봉의 회전각의 시작과 끝의 각도임. At this time,

A and b are angles at the start and end of the rotation angle of the rotation bar corresponding to the inner wall of the tunnel taken by each camera.

According to the present invention, it is possible to provide three-dimensional photogrammetric data for a three-dimensional geological modeling for estimating a change in a geological and optical body in a tunnel, and has a merit that data acquisition work can be easily performed with a simplified configuration.

Especially for face mapping, it is important to check the exact wall surface. In the present invention, the distance between the apparatus and the tunnel front is automatically calculated in photographing in a light-free tunnel so that the amount of illumination to the front of the tunnel is controlled differently so that the camera can shoot the entire wall surface in a homogeneous brightness illumination Thereby providing an excellent picture quality. This type of illumination control allows uniform illumination to illuminate the front of the tunnel, even if the lighted device is not located at the center of the tunnel floor when the lighted device moves inside the tunnel due to the uneven surface of the tunnel. This feature will make it possible to export homogeneous illumination brightness to the front of the tunnel even if the inner shape of the tunnel is uneven and does not have asymmetry.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a three-dimensional face mapping apparatus for a mining tunnel according to an embodiment of the present invention; FIG.
2 is an internal block diagram of a three-dimensional face mapping apparatus for a mine tunnel according to an embodiment of the present invention.
3 is a view for explaining a photographing state using a three-dimensional face mapping apparatus according to an embodiment of the present invention.
4 is a flowchart illustrating a three-dimensional face mapping method of a mining tunnel according to an embodiment of the present invention.
5 is a front view showing a three-dimensional face mapping apparatus for a mining tunnel according to another embodiment of the present invention.
FIG. 6 is a side view showing a three-dimensional face mapping apparatus of a mining tunnel according to another embodiment of the present invention. FIG.
FIG. 7 and FIG. 8 are views for explaining a driving principle of a three-dimensional face mapping apparatus of a mining tunnel according to another embodiment of the present invention. FIG.

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

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a three-dimensional face mapping apparatus for a mining tunnel according to an embodiment of the present invention. FIG.

1, a three-dimensional face mapping apparatus according to an embodiment of the present invention includes a moving body 10 for moving in a tunnel, a cradle having a plurality of frames 21 radially spread on the moving body 10 20, a camera 40 fixed to the end of the frame 21 of the cradle 20, and a lamp 50.

The moving body 10 is provided so as to be able to move along the bottom surface of the tunnel. It is preferable that the moving body 10 is a vehicle for smooth exploration in the tunnel, but any moving means such as a truck or a cart, Is also applicable.

The mobile unit 10 includes a power supply unit 11 for providing power for driving the camera 40, the lamp 50, and the three-dimensional face mapping apparatus. The power supply unit 11 may be a vehicle battery, but may be a separate external battery.

The cradle 20 is exposed and fixed on the upper surface of the moving body 10 and has a plurality of frames 21 radially spread out on the outer surface thereof. Therefore, as shown in the figure, the plurality of frames 21 are at least separated from each other along the 360 ° direction on the upper part of the mobile body, and a camera 40 and a lamp 50 are installed at the ends of the frames 21 have. Preferably, the arrangement of the camera 40 and the lamp 50 are not adjacent to each other, and the camera 40 and the lamp 50 may be alternately arranged along the 360 ° direction from the upper portion of the mobile object. In Fig. 1, the frame 21 of the holder 20 is shown to be unfolded in a 180 占 direction so that the camera 40 and the lamp 50 are shown to have a shooting angle and an illumination angle in a 180 占 direction However, it goes without saying that the present invention is not limited thereto. At least five cameras or more may be installed in the camera 40, and at least five lamps 50 may be installed.

The camera 40 takes an image of the inner surface of the tunnel and stores the photographed result in the memory 41. The cameras 40 installed in the direction of 360 ° from the upper part of the moving object are arranged so that the angle of view is overlapped with each other and the photographed images are overlapped with each other so that the 3D modeling using the three- Do.

The lamp 50 provides illumination so that the camera 40 can take a picture in a dark tunnel, and an illuminance adjuster 51 for adjusting the brightness (illumination) of the self illumination according to an external control is built in the lamp 50 And a distance measuring device 52 for irradiating the laser in the same direction as the irradiation angle of the lamp 50 and calculating the distance from the inner surface of the tunnel in the corresponding direction.

The distance measuring device 52 provided for each lamp 50 is a configuration for measuring the distance between the inner surface of the tunnel and the lamp 50 with respect to the inner surface of the tunnel where each lamp 50 illuminates the illumination. The distance measurement values for the distributed lamps 50 are transmitted to the illumination controller 30 to be described later and the illumination controller 30 controls the lamp 50 to light up slightly when the distance between the lamp 50 and the inner surface of the tunnel is relatively large, If the distance between the inner surface of the tunnel 50 and the inner surface of the tunnel is relatively close to each other, the brightness of the light illuminating the entire inner surface of the tunnel is made uniform by controlling the lamp 50 a little darker.

In order to actually map the face, it is important to confirm the color of the wall of the tunnel accurately. When the light is irradiated by the lamp 50 in the tunnel without external illumination and the picture is taken by the camera 40, ) May appear totally different color, which causes errors in data interpretation.

In order to solve this problem, in the present invention, a distance measuring instrument 52 is mounted on all the lamps 50, and the distance to the wall surface where the distance measuring instrument 52 is illuminated is measured. Then, So that all the cameras 40 can photograph the entire wall surface in a uniform brightness illumination.

As described above, the distance measuring unit 52 may calculate the distance by irradiating the laser beam to calculate the accurate distance from the lamp 50 to the tunnel wall surface, and then using the time difference of the reflected and returned laser beam .

Alternatively, the distance measuring device 52 may calculate the distance by emitting ultrasonic waves in a short intermittent sound, and then measuring the time of returning the ultrasonic waves while hitting the wall surface of the tunnel.

The distance measuring instrument 52 can be applied to any method as long as it can measure the distance from the lamp 50 to the wall surface of the tunnel in addition to the laser measuring method and the ultrasonic measuring method described above.

A specific internal configuration of a three-dimensional face mapping apparatus according to an embodiment of the present invention will now be described with reference to FIG.

2 is an internal block diagram of a three-dimensional face mapping apparatus for a mining tunnel according to an embodiment of the present invention.

The illumination controller 30 includes a distance receiver 31 connected to the distance meter 52 of each lamp 50 to receive distance measurement values for each lamp 50, And a roughness output unit 33 connected to the roughness adjuster 51 of each of the lamps 50 to transmit the roughness value of each of the lamps 50. The roughness calculator 32 calculates the roughness value. The illumination controller 30 receives the distance measurement values from the respective distance meters 52 provided for the respective lamps 50 and compares the distance measurement values to calculate the illuminance values of the respective lamps 50 And transmits it to the illuminance adjuster 51 provided for each lamp 50. The illumination controller 30 controls the lamp 50 to be brighter and controls the lamp 50 to be slightly darker if the distance between the ramp 50 and the inner surface of the tunnel is relatively short, Thereby making the brightness of the light illuminating the entire inner surface of the tunnel uniform.

The illumination controller 30 uses the Arduino as a main platform to connect the distance measuring devices 52 and the illuminance adjusters 51 to the IO port to control the brightness of the illumination with the distance adjusted.

An operation situation of a three-dimensional face mapping apparatus of a mining tunnel having such a configuration is shown in Fig.

3 is a view for explaining a photographing operation using a three-dimensional face mapping apparatus according to an embodiment of the present invention.

The inner surface of the tunnel shown in Fig. 3 is a case where the shape of the inner surface is uneven and does not have lateral asymmetry. In such a tunnel, if the face mapping is performed through a general uniform illumination lamp, the distance between the lamp and the inner surface of the tunnel varies depending on the lamp, as shown in FIG. This difference in brightness causes color distortions on the wall of the tunnel and results in errors in data interpretation.

When the distance between the lamp 50 and the inner surface of the tunnel is relatively large, the lamp controller 50 controls the lamp 50 to be brighter and controls the lamp 50 When the inner distance of the tunnel is relatively close, the brightness of the light illuminating the entire inner surface of the tunnel is made uniform by controlling the lamp 50 to be darker. Therefore, it is possible to provide 3D photogrammetric data for 3D geological modeling with high quality and high accuracy by allowing the camera to shoot the entire wall surface in homogeneous brightness illumination.

Next, the three-dimensional face mapping method using the three-dimensional face mapping apparatus described above with reference to FIG. 4 will be described in detail.

4 is a flowchart illustrating a three-dimensional face mapping method of a mining tunnel according to an embodiment of the present invention.

First, a number of markers are installed for each depth of the tunnel in the tunnel, and the coordinates of these markers are measured in advance by the survey team.

The landmark is a position reference point in the tunnel, and the shape of the landmark is not limited.

Basically, the tunnel exploration moves from one marker to another marker, and the photographs are superimposed. The photographed photographs are made in 3D photogrammetric software by compositing to 3D tunnel surface topography. Coordinates are given based on the position value.

First, as a preliminary step, the probe determines the coordinate value by measuring the position in the tunnel to which the marking paper is to be installed (S10) and installs a marking paper at the corresponding position (S12).

For convenience of explanation, the first marking paper near the entrance of the tunnel is used as the first marking paper, and the following marking paper is used as the second marking paper.

The explorer moves the three-dimensional face mapping apparatus according to the present invention to the first marker and inputs unique information of the first marker as unique information to be used for storing the photograph, thereby recognizing that the picture to be photographed is a picture from the first marker (S14 ).

The three-dimensional face mapping device measures the distance between the ramp 50 and the inner wall surface of the tunnel through the distance measuring device 52 of each ramp 50 fixed at a radial angle (S16).

The illumination controller 30 receives the measured distance measurement values through the distance receiver 31 and determines whether the distance measurement values are dispersed first through the illumination calculation unit 32 at step S18. Here, the fact that the distance measurements are dispersed means that a plurality of distance measurement values measured in multiple channels are different from each other, which means that the three-dimensional face mapping device is not located in the center of the tunnel.

As a result of the determination in step S18, when the distance measurement values are dispersed, the illumination controller 30 compares the distance measurement values through the illumination calculation unit 32 and compares the distance measurement values to each of the lamps 50 A necessary illuminance value is calculated (S20). The illuminance adjuster 51 of each lamp 50 receiving the illuminance value from the illuminance output unit 33 adjusts the brightness of the lamp 50 according to the illuminance value (S22).

That is, if the distance between the ramp 50 and the inner surface of the tunnel is relatively large, the lamp controller 30 controls the lamp 50 to be brighter. If the distance between the ramp 50 and the inner surface of the tunnel is relatively short, By controlling the darkness, the brightness of the light illuminating the entire inner surface of the tunnel is made homogeneous.

Accordingly, the three-dimensional face mapping apparatus photographs the inner surface of the tunnel through 360 ° in all directions through each camera 40 fixed at a radial angle (S24). The photographed images are sequentially stored in the memory 41 in the first marker area.

Thereafter, the moving body 10 moves the reference distance (S26). The moving reference distance of the moving object 10 is such a distance that the photographs before and after the movement can be superimposed, and the photograph overlap before and after the movement is for the compositing work in the three-dimensional tunnel face shape in the three- .

Thereafter, it is determined whether or not the three-dimensional face mapping apparatus has been moved to the second landmark (S28). The process from S16 to S26 is repeated from the first landmark to the second landmark until the moving body arrives at the second landmark.

As a result, it is possible to provide three-dimensional photogrammetry data for three-dimensional geological modeling work for the whole in-tunnel subway, and to provide high quality and accurate three-dimensional geological modeling.

In the above-described embodiment, the distance measuring device 52 is mounted on the individual lamp 50, and the apparatus is configured to measure the distance to the inner surface of the tunnel where illumination is to be performed by irradiating the laser in the same direction as the irradiation angle of the lamp 50, The apparatus was configured such that the brightness of each lamp 50 was controlled differentially according to the measured value.

The integrated structure of the distance measuring device 52 and the ramp 50 may be effective on the inner surface of a tunnel having a smooth wall surface. However, since the inner surface of the tunnel is rough and uneven and the inner surface is irregular, In this case, a large deviation occurs in the distance measurement value depending on the point on the inner surface of the tunnel where the individual distance measurer 52 measures the distance. That is, even if the individual distance measuring device 52 is slightly different from the measuring point at which the distance is measured, the measured values are completely different from each other, which makes it difficult to control the illumination uniformly.

Therefore, as another embodiment of the present invention, there is provided a distance measuring device 52 for changing the installation position and the driving method of the distance measuring device 52 so that uniform illumination control is performed on the entire inner surface even if the inner surface of the tunnel is large, And a lamp (50). In this configuration, the brightness of the illumination is controlled by calculating the average distance from the camera 40 to the photographing area of the camera 40 on the inner surface of the tunnel. The photographing area of the camera 40 has a surface roughness, and the average distance from the camera 40 to the photographing area will be a distance considering the surface roughness.

FIG. 5 is a front view showing a three-dimensional face mapping apparatus of a mining tunnel according to another embodiment of the present invention, and FIG. 6 is a side view showing a three-dimensional face mapping apparatus of a mining tunnel according to another embodiment of the present invention.

For convenience of explanation, the configurations of the frame 21, the camera 40, the lamp 50 and the like are omitted in FIGS. 5 and 6.

Referring to FIGS. 5 and 6, a plurality of distance measuring instruments 52 are installed in separate rotating rods 60, not in the individual lamps 50, unlike the above-described embodiment. One end of the rotation bar 60 is connected to the rotation driver 61 of the cradle 20 and can rotate according to the rotation force transmitted from the rotation driver 61. At least two distance measuring devices 52a, 52b, 52c and 52d are provided on the outer surface of the rotating rod 60. [

Each of the distance measuring devices 52a, 52b, 52c and 52d is aimed at angles? 1,? 2,? 3 and? 4 from the vertical direction of the installation position, (r1, r2, r3, r4). The measured distance values r1, r2, r3, and r4 will be transmitted to the roughness calculation unit 32 through the distance receiving unit 31.

For example, referring to FIG. 7, one distance measuring instrument 52 is aimed at an angle &thetas; from the vertical direction of the installation position to measure the distance value r to the target point R. [ Here, the vertical distance d from the rotation bar 60 to the inner wall of the tunnel can be calculated by the following equation (1).

In this case, the distance measuring units 52a, 52b, 52c and 52d calculate the distances r1 and r2, respectively, from the imaginary measuring points R1, R2, R3 and R4 on the inner surface of the tunnel, R2 and R3 and the imaginary line connecting these measurement points R1, R2, R3 and R4 will coincide with one start line of the photographing area C of the camera 40. A and b are the angles between the start and end of the rotation angle of the rotation bar 60 and a line connecting the imaginary measurement points R1, R2, R3, and R4 and a and b, (C).

Accordingly, the average distance to the rotation bar 60 with respect to the photographing area C for each camera in the roughness calculation unit 32 can be calculated by the following equation (2).

는 거리 측정기(52a, 52b, 52c, 52d)가 설치된 회전봉(60)의 회전각이며, a와 b는 각각의 카메라가 촬영하는 갱도 내벽에 해당하는 회전봉(60)의 회전각의 시작과 끝의 각도이다. From here

A and b are the angles of rotation of the rotation bar 60 corresponding to the inner wall of the tunnel taken by each camera, It is an angle.

In FIGS. 6 and 8, for convenience of explanation, the average distance to the photographing area is calculated through the distance value measured for the target points R1, R2, R3, and R4 aligned in a line in the four distance measuring devices In the case of two or more range finders capable of forming a single line, the average distance to the photographing area can be calculated in the same way only with a difference in accuracy. It is also preferable that one of the aiming angles? 1,? 2,? 3,? 4 of the plurality of distance measuring devices 52a, 52b, 52c, 52d is aligned in the vertical direction of the installation position for the reference.

Therefore, Equation (2) can be summarized as Equation (3).

Here, the distance measurer can calculate the average distance to the photographing area only if there is only difference in accuracy as described above, and if there exists more than two, n denotes the number of distance measurers.

As a result, by controlling the brightness of the illumination by calculating the average distance to the camera 40 with respect to the photographing area of the camera 40 on the inner surface of the tunnel, even the inner surface of the tunnel having a large surface roughness, Can be lost.

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: moving body 11:
20: Cradle 21: Frame
30: Lighting controller 31: Distance receiver
32: Illumination calculation unit 33: Illumination output unit
40: camera 41: memory
50: lamp 51: illuminance adjuster
52: Distance measuring instrument 60:
61:

Claims (14)

A moving object for in-tunnel movement;
A cradle having a plurality of frames fixed on the moving body and extending radially; And
A camera and a lamp fixed to the frame end of the cradle; / RTI >
The camera photographs the inner surface of the tunnel with the illumination of the lamp according to the movement of the moving object,
The lamp is provided with an illuminance adjuster capable of adjusting the illuminance of its own illuminant according to external control,
At least two or more distance measuring devices are provided on the rotating rod to calculate an average distance to the camera from the inner surface of the tunnel through the distance measuring device and to calculate the average distance from the camera Wherein the controller controls the brightness adjuster to adjust the brightness of the illumination through the lamp.
The method according to claim 1,
Wherein the frames of the cradle are separated from each other along the 360 占 direction on the upper part of the mobile body and are coupled to the cradle.
The method according to claim 1,
Wherein the arrangement of the camera and the lamp is not adjacent to each other but is alternately arranged in the 360 ° direction on the upper part of the mobile object.
The method of claim 3,
Wherein the cameras are arranged so that the angle of view is superimposed on each other, and the photographed images are overlapped with each other.
delete delete delete delete delete The method according to claim 1,
The distance measuring devices 52a to 52x are adjusted by aiming at a predetermined angle? 1, ...,? X from the vertical direction of the installation position to calculate a distance value r1 , ..., rx)
Wherein the average distance from the inside surface of the tunnel to the camera with respect to the photographing area of the camera is calculated by the following equation.
(Equation)

At this time,

A and b are angles at the start and end of the rotation angle of the rotation bar corresponding to the inner wall of the tunnel taken by each camera.
delete delete (a) measuring a position in a tunnel to be installed with markers to determine coordinate values, and installing markers at the positions;
(b) calculating an average distance to the camera from the inner surface of the tunnel while moving at least two or more distance measuring devices on the rotating bar after moving the three-dimensional face mapping device according to any one of claims 1 or 10 to the marker, ;
(c) calculating illuminance values required for the respective lamps for homogeneous illumination through the illuminance calculating unit according to an average distance from the camera to the calculated photographing area of the camera;
(d) adjusting the brightness of the lamp by the illuminance adjuster of each lamp having received the illuminance value from the illuminance output unit;
(e) photographing and storing the inside surface of the tunnel in all directions through each camera fixed at a radial angle; And
(f) moving the mobile body to a next position where the pictures before and after the movement can overlap; / RTI >
Wherein the steps (b) to (f) are repeated to perform a three-dimensional face mapping on an in-tunnel section.
14. The method of claim 13,
In the step (b)
The distance measuring devices 52a to 52x are adjusted by aiming at a predetermined angle? 1, ...,? X from the vertical direction of the installation position to calculate a distance value r1 , ..., rx)
Wherein the average distance from the inside surface of the tunnel to the camera with respect to the photographing area of the camera is calculated by the following equation.
(Equation)

At this time,

A and b are angles at the start and end of the rotation angle of the rotation bar corresponding to the inner wall of the tunnel taken by each camera.

Images