KR101901918B1 - System for measuring a moving distance of robot in sewage pipe and method thereof - Google Patents

Abstract

The present invention relates to a system and method for measuring travel distance of a traveling body in a pipeline for precisely measuring and calculating a distance from a sewage pipe to a crack point or a specific point, A self-propelled traveling body which is installed on the same line as a plane and spaced apart from each other by a predetermined distance and which transmits an image of an inner wall of the duct taken by each camera to the outside, Calculates the time required for the subject located at a specific point of the first camera image to be located at the same point in the second camera image by analyzing the moving distance, calculates the unit velocity of the traveling object using the calculated moving time, And a control unit for measuring the temperature.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for measuring travel distance of a traveling body in a pipeline,

The present invention relates to a position measuring system for a sewer pipe, and more particularly, to a system and method for measuring a travel distance of a traveling tool in a pipeline for accurately measuring and calculating a distance from a sewage pipe to a crack point or a specific point.

Water pipes, gas pipes, etc. are made of metal or cement, so that they may aged over time and cause corrosion or cracking. Therefore, it is necessary to periodically inspect the state of the pipeline and to perform maintenance if there is an abnormality.

Generally, in the case of a sewage pipe having a diameter of 800 mm or more, an operator manually inputs the sewage pipe to judge whether or not the sewage pipe has an abnormality. However, in the case of a sewage pipe having a small diameter, the worker can not input the sewage pipe. Thus, the CCTV is mounted on the self- The information displayed on the monitor is used to find out the leaked gap in the sewer pipe and the section where the crack occurred.

In this way, it is very important to locate the crack point in order to repair the crack point of the sewer pipe.

In the past, as shown in FIG. 1, the distance to the crack point was calculated by calculating the length of the cable, and the distance to the point was measured.

That is, the cable 35 is connected to the traveling body 10, and the cable 35 is automatically released from the pulley 30 installed on the ground when the traveling body is moved. At this time, when the cracked section appears, the length of the cable is counted by calculating the distance to the point. In such a cable pulley system, the accuracy according to the traveling distance of the traveling body is lowered due to the cable tension, and the cable is not loosened straight in the pipeline. Instead, the cable loosens in a meandering shape as shown in Fig. 1, .

In order to solve this problem, there is a method in which a sensor is mounted on the wheel of the traveling body and the distance is measured and displayed by the wheel rotation number. However, errors occur frequently in the measurement distance due to the wheel slipping or turning depending on the obstacle or the inner surface state in the pipe.

In this case, although the traveling distance of the traveling body is calculated and displayed by using the cable pulley and the wheel rotation speed in the past, an error has to be generated according to various variables in the field. Accordingly, unnecessary cost and time are added Loss occurred.

Korean Patent No. 10-1298227, pipeline inspection apparatus. Korean Patent Laid-Open No. 10-1226222, an amphibious mobile photographing apparatus, and a sewage pipe photographing method using the same.

An object of the present invention is to solve the problems of the prior art described above, and it is an object of the present invention to provide an image processing apparatus, Provided is a system and method for measuring travel distance of a traveling body in a pipeline that can accurately measure a distance from a pipeline to a crack point or a specific point.

It is another object of the present invention to provide a method and apparatus for analyzing a color pattern using a plurality of lasers as well as image pattern analysis using a camera to easily obtain a comparison reference point for calculating the speed of the traveling body, And a method of measuring the distance traveled by the traveling body in the pipeline.

In order to achieve the above object, according to the present invention, there is provided a system for inspecting an internal crack of a sewer pipe, comprising: a first camera and a second camera which are arranged on a same plane A self-propelled traveling body spaced apart from the main body and transmitting the in-duct image photographed through each camera to the outside; And analyzing an image photographed through the first camera and the second camera in accordance with the traveling of the traveling body to calculate a time required for a subject located at a specific point of the first camera image to be located at the same point in the second camera image And a control unit for calculating the unit speed of the traveling body using the calculated traveling time and measuring the traveling distance.

In order to achieve the above object, according to the present invention, there is provided a system for inspecting internal cracks in a sewer pipe, comprising: a first camera and a second camera which are arranged on the same plane A laser module is installed at an adjacent position of each camera so that a color irradiation area is formed at a specific point of the photographed image of each camera so that the image of the inner wall of the duct taken through each camera is transmitted to the outside Self propelled vehicle; And analyzing the image photographed through the first camera and the second camera according to the travel of the traveling body, so that the color pattern formed by the subject or the laser located at a specific point of the first camera image is located at the same point in the second camera image And a control unit for calculating the unit speed of the traveling body using the calculated travel time and measuring the travel distance.

Specifically, the laser module may be color laser illumination, and the color illumination area may be formed so as to be formed at the same position with respect to the photographed image of each camera. In addition, the color illumination area formed by the laser module may be formed at the same position with respect to the photographed image of each camera, and may be installed at the left side of the photographed image.

The control unit calculates the unit travel speed of the vehicle using the calculated travel time and the distance between the first camera and the second camera, and calculates the travel distance of the travel vehicle by accumulating the unit speed and the travel time .

In order to accomplish the above object, the present invention provides a method for measuring a traveling distance of a running body in a pipeline, comprising the steps of: (a) ) Photographing the upper end of the inside of the conduit with the first camera and the second camera, respectively, and transmitting each photographed image to the external control unit; (b) extracting a specific pattern by analyzing the captured images of the first and second cameras received from the traveling body, respectively; (c) comparing the pattern extracted in the step (c), calculating a time required for the pattern photographed by the first camera to be located at the same point in the second camera; And (d) calculating a unit speed of the traveling body using the calculated traveling time, and measuring a traveling distance to a specific point.

Specifically, in the step (b), the specific pattern may include at least one of a shape pattern and a color pattern.

According to the present invention, the image pattern of the pipeline is sequentially recognized by using a plurality of cameras instead of the length of the cable, and the traveling time and the speed of the traveling body are calculated. Thus, the distance from the sewage pipe to a crack point or a specific point is accurately measured can do.

In addition, the present invention can easily acquire a comparison reference point for calculating the speed of a traveling body by performing color pattern analysis using a plurality of lasers as well as image pattern analysis using a camera, And the pattern recognition by the control unit is facilitated by the amplification of the fine pattern through the laser module, so that the recognition of the comparison reference point is easy and the distance measurement can be effectively utilized.

1 is a view for explaining a pipeline exploration method according to the prior art.
2 is a view showing a traveling body according to an embodiment of the present invention.
3 is a configuration diagram showing a moving distance measuring system of a traveling vehicle in a pipeline according to the present invention.
4 is a flowchart illustrating a process of measuring a travel distance of an in-pipe traveling vehicle according to the present invention.
Figs. 5 to 10 are diagrams for explaining a pattern extraction method in a pipeline. Fig.

Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings. It is to be understood that the embodiments and terminology used herein are not intended to limit the invention to the particular embodiments, but are to be construed to cover various modifications, equivalents, and / or alternatives of the embodiments.

2 to 10, a problem to be solved by the system for measuring travel distance of a traveling body in a pipeline according to the present invention will be discussed.

FIG. 2 is a view showing a traveling body according to an embodiment of the present invention. The traveling body 100 basically includes a first camera 111 and a second camera 115, Modules 121 and 125 may be further provided.

The first camera 111 and the second camera 115 are installed on the same plane on the same plane in the longitudinal direction of the traveling body 100 at regular intervals to photograph the upper end of the channel. A first laser module 121 is installed at an adjacent position of the first camera 111 so as to face the upper end of the channel and a second laser module 121 is disposed at an adjacent position of the second camera 115, Module 125 is installed. In this case, the first camera 111, the first laser module 121, the second camera 115, and the second laser module 125 are sequentially installed on the same line along the longitudinal direction of the traveling body 100 desirable. The first laser module 121 and the second laser module 125 do not need to be arranged on the same line as the cameras 111 and 115 but the coordinates should be the same on the basis of each camera.

Further, the traveling body 100 is further provided with an illuminating device 130 for illuminating the photographing area for photographing the upper end of the channel.

As the first camera 111 and the second camera 115 are installed at predetermined intervals along the longitudinal direction of the traveling body 100, the image of the upper end of the pipe photographed by the first camera 111, 2 camera 115 as shown in FIG.

In this manner, the unit speed can be obtained by converting the time taken for the image taken by the first camera 111 to be taken by the second camera 115, and the total moving distance can be obtained by using the obtained unit speed and time Can be measured. However, basically, there must be an identifiable crack or subject, which is the reference point of comparison, at the top of the pipeline. In the case of the sewer, almost all of the objects necessary for image identification are present because the foreign substances such as surface peeling, cracks, and dust are densely arranged on the top of the wall surface with almost no exception. Therefore, the first camera 111 and the second camera 115 ).

However, if the cracks are minute or the object is very small, it may become difficult to obtain a subject necessary for image comparison. In order to compensate the difficulty, the first camera 111 and the second camera 115, It is preferable to further provide a laser module for projecting special colors to the photographing area so that comparison images can be acquired more easily.

FIG. 3 is a block diagram showing a system for measuring the moving distance of a traveling body in a track according to the present invention. The measuring system includes a traveling body 100 and a control unit 300.

The traveling body 100 basically includes a first camera 111, a second camera 115 and a transmission unit 150 and additionally includes a first laser module 121 and a second laser module 125 It is possible.

The first camera 111 and the second camera 115 are spaced at equal intervals along the longitudinal direction of the traveling body 100 on the same plane and on the same line to photograph the upper end of the channel. It is preferable that the first camera 111 and the second camera 115 are installed so as not to generate an overlap area at the time of photographing. This is because it is difficult to calculate the moving time when the shooting areas of the first camera 111 and the second camera 115 are overlapped.

The first laser module 121 and the second laser module 125 are installed at adjacent positions of the respective cameras so that a color irradiation region is formed at a specific point of the captured image of each camera. At this time, the first laser module 121 and the second laser module 125 need not be installed on the same line as the camera, but the installation positions (coordinates) should be the same with respect to each camera.

The laser irradiation area formed by the laser module is formed at the same position with respect to the photographed image of each camera and can be installed so as to be positioned on the left side of the photographed image.

The transmission unit 150 is configured to receive the images photographed by the cameras 111 and 115, amplify and convert the signals into appropriate signals, and transmit the images to the external control unit 300 using the wireless or cable 200.

That is, the traveling body 100 transmits the image of the inner wall of the channel 1 photographed through the cameras 111 and 115 of the pipeline to the external control unit 300 in real time.

The control unit 300 analyzes an image photographed through the first camera 111 and the second camera 115 in accordance with travel of the traveling body 100 and transmits the photographed object or laser module 121, and 125 is located at the same point on the second camera 115, calculates the speed of the traveling body 100 using the calculated traveling time, .

Specifically, the control unit 300 controls the time required until the subject photographed by the first camera 111 is positioned at the same point of the image of the second camera 115, The total distance to the target point (crack position) of the traveling body 100 is calculated by calculating the unit speed of the traveling body 100 by using the interval between the unit speed and the traveling time.

The subject may be any one of a crack, a surface peeling, a foreign matter and a specific pattern formed on the inner wall of the channel.

In the control unit 300, the right side of the photographed image in the image photographed through the first camera 111 and the second camera 115 is allocated as a zone for identifying the shape pattern of the subject, and the left side is assigned a color Can be assigned to zones for identifying patterns. Of course, this is merely an embodiment, and the right part of the camera image may be set as the color pattern identification area, and the left part may be set as the shape pattern identification area.

The control unit 300 may include a receiving unit 310, an input unit 320, a timer 330, a storage unit 340, a controller 350, a display unit 360, and the like.

The receiving unit 310 receives each image transmitted from the traveling body 100 and performs amplification and digital conversion on the image and provides the image to the controller 350. The input unit 320 receives an operation command of the controller 350 The timer 330 provides time information to the controller 350 and the storage unit 340 is configured to store the image and the detection information transmitted from the traveling body 100 And the display unit 360 can display images and various information in the pipeline transmitted from the traveling body 100.

The controller 350 may include a pattern extracting unit 351, a pattern comparing unit 353, a speed calculating unit 355, and a distance calculating unit 357.

The pattern extracting unit 351 is configured to extract a shape pattern or a color pattern by analyzing the photographed images of the first camera 111 and the second camera 115 respectively transmitted from the traveling body 100, The control unit 353 is configured to compare the extracted shape pattern or color pattern to determine whether or not the same pattern as the specific pattern of the first camera 111 appears at the same position of the second camera 115, The unit 355 counts the time until the same pattern as the specific pattern of the first camera 111 is located at the same point of the second camera 115 and outputs the same pattern to the first camera 111 and the second camera 115 The distance calculating unit 357 is configured to calculate the unit speed using the time located at the same point of the camera 115 and the distance between the first camera 111 and the second camera 115, Accumulate velocity and travel time to calculate the distance to a specific goal W is configured to display.

As described above, in the present invention, the speed is measured by comparing shapes through comparison of shape patterns in the first order, and the laser is projected secondarily to compare mixed colors of the color laser and the subject, thereby measuring the speed by color comparison . Of course, it is also possible to perform measurement using either a camera or a laser as necessary. Calculating a more accurate speed by converting measurement values of a shape pattern and a color pattern, and calculating a distance to a specific point using the calculated speed.

Even if the subject is not located at the same position between the first camera 111 and the second camera 115 when extracting the subject from the pattern extracting unit 351, It is possible to calculate and correct the time on the same position through the position and time.

FIG. 4 is a flowchart illustrating a process of measuring a travel distance of a traveling object in a channel according to the present invention, and will be described in detail with reference to FIGS. 5 to 10.

First, the traveling body 100 is put into a duct to be searched, and then the travel of the traveling body 100 is adjusted through the input unit 320 of the control unit 300. Since the traveling apparatus and method of the traveling body 100 are well known, detailed description thereof will be omitted.

The traveling body 100 charged into the pipeline starts traveling under the control of the control unit 300 and the traveling body 100 irradiates the first laser 121 and the second laser 125 (S10). Then, the first camera 111 and the second camera 115 photograph the peripheral region including the laser irradiation region irradiated as shown in FIG. 5 (S20). Each image photographed in accordance with the movement of the traveling body 100 is continuously transmitted to the external control unit 300 through wired or wireless transmission unit 150 (S30). The traveling body 100 and the control unit 300 can be wired or wirelessly connected via a cable. In case of wireless communication, any one of Zigbee, Bluetooth, Wi-fi, 424 MHz RF communication and 447 MHz RF communication is used .

The control unit 300 receives photographed images of the first camera 111 and the second camera 115 transmitted from the traveling body 100 through the receiving unit 310 and the pattern extracting unit 351 extracts The pattern is analyzed to extract a specific pattern and its pixel coordinates and stored in the storage unit 340 (S40). Here, the pattern may be at least one of a shape pattern and a color pattern.

6, the pattern comparison unit 353 compares the pattern extracted from the second camera 115 with the pattern extracted from the first camera 111 stored in the storage unit 340, (Pixel coordinate) (S50). If there is a pattern photographed by the first camera 111, the time required until the pattern is located at the same point of the image of the second camera 115 is counted and calculated (S60). Here, the photographing time at the time of storing the photographed image is also stored, so that it is easy to know the time required for the movement by counting the time. However, since a slight fluctuation or a straight running error may be generated in the moving process of the traveling body 100, the pixel line positioned on the same vertical axis rather than the pixel having the same coordinates may be referred to as a reference May be more preferable. Since the vertical line corresponds to the time axis in the image taken while driving, there is not much error in calculation of the required time even if the pixel moves up and down.

However, as shown in FIG. 7, when the crack, which is the reference point on the pipeline, is fine, the pattern extracting unit 351 may not be able to extract from the image captured by the first camera 111 or the second camera 115, The laser modules 121 and 125 are provided.

Since the laser module is projected obliquely from the left side of the camera as shown in FIG. 8, the color is reflected on the crack region and mixed with the crack to display a specific color, so that the color pattern recognition and extraction in the pattern extraction unit 351 can be easily performed do. In other words, as shown in FIG. 9, even in the case of a fine pattern, the color is reflected in the fine crack region in the laser irradiation region, so that the recognition is clearly distinguished from the other regions. Even if the subject is not located at the same position of the first camera 111 and the second camera 115 when the subject is extracted from the controller 350, the position of the front and rear subject is determined based on the same position of the second camera 115 And the time on the same position can be calculated and corrected through the time.

Then, the speed calculating unit 355 calculates the speed of the traveling body 100 using the traveling time, which is the appearance time of the same shape pattern or / and the color pattern, and the distance between the first camera 111 and the second camera 115, The unit speed can be calculated, and the speed of the traveling body 100 is stored in the storage unit 340 and accumulated (S70). In the case of the traveling body 100, the basic traveling speed can be known by using the cable pulley and the wheel rotation speed. However, when the wheels are hooped on the channel or the cable is loosely fastened, the actual speed varies. And the moving time of the second camera 115 are used, it is possible to correct for such a situation, and precise measurement is possible.

In this manner, the controller 350 calculates the unit speed for each unit section, stores the unit speed in the storage unit 340, accumulates the unit speed, and if the distance to the target point is required, the distance calculating unit 357 calculates the speed The total distance to the specific target point can be calculated and displayed on the display unit 360 (S80).

In the present invention, when comparing images of a camera, the right part of the camera is used for comparing shape patterns, and the left part of the camera can be used for color pattern comparison. In the case of color pattern comparison, the color of the mixed color is compared with the lighting color and the wall surface. Even if the wall surface is the same, fine irregular surface, shade, dust and the like are mixed with the lighting, If they are the same, the color pixels can also be expressed and recognized.

Since the laser module has the function of facilitating the pattern recognition in the pattern extracting unit 351 by amplifying the fine pattern, the control unit 300 can easily recognize the reference point by using the color pattern, It can be measured.

It is to be understood that the scope of the present invention is not limited by the embodiments of the present invention described above and that the appended drawings illustrate rather than limit the scope of the invention as defined by the appended claims and that the scope of the present invention is not limited thereto. It will be understood by those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention.

1: sewer line 100: traveling body
111: first camera 115: second camera
121: first laser module 125: second laser module
130: illumination device 150:
300: Control unit 310: Receiver
320: input unit 330: timer
340: storage unit 350: controller
351: pattern extracting unit 353: pattern comparing unit
355: speed calculating unit 357: distance calculating unit
360: Display

Claims (14)

A system for inspecting internal cracks in a sewer line,
A self-propelled vehicle provided with first and second cameras spaced apart on the same plane on the same plane with respect to a traveling direction, and for transmitting an image captured through each camera to the outside; And
The image captured through the first camera and the second camera is analyzed in accordance with the running of the traveling body, and a moving time required until a subject located at a specific point of the first camera image is located at the same point in the second camera image And a control unit for calculating the unit time of the traveling body by using the calculated travel time and the interval between the first camera and the second camera and accumulating the speed and the traveling time to calculate the traveling distance of the traveling body A system for measuring travel distance of a traveling body in a pipeline.
delete The method according to claim 1,
Wherein the subject is any one of cracks, surface peeling, unevenness, and foreign matter formed on the inner wall of the channel.
A system for inspecting internal cracks in a sewer line,
The first camera and the second camera are spaced apart from each other on the same plane on the same plane with respect to the running direction and laser illumination modules are installed at adjacent positions of each camera so that a color illumination area is formed at a specific point of the captured image of each camera A self-propelled traveling body for transmitting an image of an inner wall of the duct taken through each camera to the outside; And
The image captured through the first camera and the second camera is analyzed in accordance with the traveling of the traveling body so that the color pattern formed by the subject or laser located at a specific point of the first camera image is located at the same point in the second camera image And a control unit for calculating the unit time of the traveling body by using the calculated travel time and measuring the travel distance of the traveling body.
The method of claim 4,
Wherein the laser module is color laser illumination, and the color illumination area is formed at the same position with respect to an image taken by each camera.
The method of claim 4,
Wherein the color illumination area formed by the laser module is formed at the same position with respect to the photographed image of each camera and is installed at one side of the photographed image.
The method of claim 4,
Wherein the control unit calculates the unit speed of the traveling body by using the calculated travel time and the distance between the first camera and the second camera, and calculates the traveling distance of the traveling body by accumulating the unit speed and the traveling time A system for measuring travel distance of a traveling body in a pipeline.
The method of claim 4,
The control unit allocates one side of the photographed image to the area for identifying the subject in the image captured through the first camera and the second camera, and allocates the other side to the area for identifying the color pattern formed by the laser Wherein the traveling distance measuring system comprises:
The method of claim 4,
The control unit includes:
A pattern extracting unit for extracting a shape pattern or a color pattern by analyzing the photographed images of the first camera and the second camera respectively transmitted from the traveling body; A pattern comparing unit comparing the extracted shape or color pattern to determine whether a pattern identical to a specific pattern of the first camera is present at the same position of the second camera; Counting the time until the same pattern as the specific pattern of the first camera is located at the same point of the second camera and counting the time when the same pattern is located at the same point of the first camera and the second camera, A speed calculating unit for calculating a unit speed using a distance between two cameras; And a distance calculation unit for calculating and displaying a travel distance to the specific target by accumulating the calculated unit speed and travel time.
A method of inspecting cracks in a pipeline using a traveling body for exploring a sewer line in a ground control unit,
(a) photographing the traveling body with the first and second cameras spaced apart from each other by a predetermined distance, and transmitting each photographed image to an external control unit;
(b) extracting a specific pattern by analyzing the captured images of the first and second cameras received from the traveling body, respectively;
(c) comparing the extracted patterns to calculate a time required for the pattern photographed by the first camera to be located at the same point of the second camera; And
(d) calculating a unit speed of the traveling body using the calculated traveling time, and measuring a traveling distance to a specific point.
The method of claim 10,
Wherein the specific pattern in the step (b) is at least one of a shape pattern and a color pattern.
The method of claim 11,
The step (c) may include: determining whether a pattern identical to a specific pattern of the first camera occurs at the same position of the second camera; And counting the time until the same pattern as the specific pattern of the first camera is located at the same point of the second camera.
The method of claim 10,
Calculating a unit speed using the time when the same pattern is located at the same point of the first camera and the second camera and the separation distance between the first and second cameras; And accumulating the calculated unit speed and travel time to calculate and display a travel distance to a specific point.
The method of claim 10,
The step (a) may include irradiating the first laser and the second laser to the upper end of the channel, respectively. And photographing the peripheral region including the irradiated laser irradiated region with the first and second cameras, respectively, and transmitting each photographed image by wire or wirelessly.

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