KR101936018B1 - Method for inspecting pipeline using exploration unit and pipeline inspection system supporting the same - Google Patents

Abstract

Disclosed is a pipe diagnosis method using a pipe exploration unit, capable of detecting damage to a pipe, and a pipe diagnosis system supporting the same. According to one embodiment of the present invention, the pipe diagnosis method using a pipe exploration unit comprises: the pipe exploration unit to detect a crack or hole formed in the pipe based on infrared irradiation and reception; a control device controlling drive of the pipe detection unit and analyzing detection information of the pipe exploration unit to determine the presence of the crack or the hole; and at least one external device to share the determination information with the control device. The control device receives infrared irradiation and reception information, and location information of the pipe exploration unit from the pipe exploration unit as at least a part of the detection information, and compares the infrared irradiation information with the infrared reception information. When the infrared irradiation information does not correspond to the infrared reception information, the presence of the crack or hole formed on the pipe is determined, the location information is mapped to information related to the pipe to be stored, and the information related to the presence of the crack or the hole is outputted and transmitted to the at least one external device. Above this, various embodiments figured out through the specification are possible.

Description

TECHNICAL FIELD [0001] The present invention relates to a pipeline diagnosis method using pipeline exploration units and pipeline diagnosis systems supporting the same,

The various embodiments disclosed herein relate to a method for diagnosing defects in ducts of a duct exploration unit and a duct diagnostics system including the duct exploration unit.

Various pipelines have been proposed for delivering fluids such as water, sewage or gas to the right place in connection with infrastructure construction according to industrial sites or residential environments. Normally, the pipeline is buried in the ground for reasons such as aesthetics in the installation environment or intolerance of the site. Accordingly, when quality damage such as cracks or holes due to aging of the pipeline, internal foreign matter, external impact, or the like occurs, it is difficult to always take countermeasures in all the operations related to the detection or repair of the damage .

Damage to the pipeline can lead to leakage or leakage of the internal fluid, which can be linked to safety accidents, economic damage, or contamination of the pipeline, and various alternatives for detecting damage to the pipeline have been proposed. For example, a method has been introduced in which the electric conductivity of a pipeline is utilized, or a sound is generated in a pipeline to track damage. However, the conventional methods as described above may not be able to be implemented due to the nature of the pipe (for example, a polyethylene pipe) in which the conduction is insufficient, and the accuracy of the determination of the authenticity of the damage is lacking due to the noise of the surrounding environment or the subjective judgment of the operator .

Various embodiments disclosed in this document can be applied to a pipeline diagnosis method using a pipeline exploration unit that can detect the damage of the pipeline by exploring the inside of the pipeline based on a pipeline exploration unit that emits and receives light in a specific wavelength band And a pipeline diagnosis system supporting the pipeline can be provided.

A pipeline diagnosis system for detecting the presence or absence of cracks or holes on a pipeline according to an embodiment is a pipeline diagnostic system that travels inside the pipeline and detects the presence of cracks or holes on the pipeline, A control unit for controlling the running of the pipe exploration unit and analyzing the detection information of the pipe exploration unit to determine whether the crack or the hole exists, And may include at least one external device that is shared.

According to one embodiment, the channel survey unit includes a body frame, a rotation axis extending from the body frame, a light emitting module disposed in a first region of the rotation axis to emit the infrared rays, A light receiving module for receiving infrared rays emitted from the light emitting module, a camera module disposed in a third area of the rotary shaft for capturing an image of the inside of the duct, a plurality of driving modules disposed at predetermined intervals along an outer circumferential surface of the body frame, A plurality of link chains connecting each of the plurality of driving modules to the body frame and supporting the position change of the sub frame, and a satellite navigation receiving module for obtaining position information of the channel searching unit.

According to one embodiment, the plurality of driving modules may include a subframe coupled to the body frame in a position-changeable structure between a first position adjacent to the body frame and a second position spaced apart from the body frame, A drive wheel rotatably coupled to the frame, and a motor for providing power to the drive wheel.

According to one embodiment, the control device comprises: a communication module for performing communication with the channel search unit and the at least one external device; a memory for storing detection information provided from the channel probe unit; And a controller electrically connected to the communication module, the memory, and the display.

According to one embodiment, the controller receives the infrared light emission information, the infrared light reception information, and the position information of the channel survey unit through the communication module as at least a part of the detection information, The infrared light receiving information is compared with each other to determine whether the crack or the hole is present on the pipe if the mutual correspondence does not coincide with each other, and the position information is mapped to information related to the pipe to be stored in the memory, Or information relating to the presence of the hole, and transmits information related to the determination of presence of the crack or the hole to the at least one external device through the communication module.

According to one embodiment, the infrared ray emission information includes information on time stamps of the infrared ray and electrical signal information of the infrared ray emission amount, and the infrared ray reception information includes information on the reception time stamp information of the infrared ray, And may include electrical signal information of the infrared light receiving amount

According to one embodiment, when the electrical signal information of the infrared light receiving amount is not included within the designated critical range based on the electrical signal information of the infrared light emitting amount, the controller controls the crack or the like in the channel region in which the channel searching unit is located. It can be determined that the hole exists.

According to one embodiment, the controller can transmit a signal related to imaging of the channel region in which the channel probe unit is located, to the channel probe unit, when the presence of the crack or hole is determined.

According to one embodiment, the information related to the pipeline may include pipeline drawing information of the pipeline.

According to one embodiment, when the presence of the crack or the hole is determined, the controller may map the position information of the pipe exploration unit to the pipe map information and store the information.

According to one embodiment, the controller may output a notification specifying the existence of the crack or the hole through the display when the presence of the crack or the hole is determined.

According to one embodiment, the controller may cause the channel probing unit to alternately perform traveling and stopping of a specified distance within the channel in accordance with the first period, And transmit a signal to the channel survey unit to perform light reception.

According to one embodiment, the controller transmits to the channel exploration unit a signal for causing the rotation axis to alternately perform the rotation and the stop of the specified angle in accordance with the second specified period, while the channel survey unit is stationary can do.

According to one embodiment, the plurality of drive modules may further include a plunger module that, at the time of rectification of the channel probing unit, at least one region is adsorbed on the inner wall of the channel to fix the channel probing unit .

According to an embodiment of the present invention, there is provided a pipeline diagnosis method for detecting the presence or absence of cracks or holes on a pipeline, comprising: an operation in which a satellite navigation receiving module of a pipeline exploration unit traveling in the pipeline acquires position information of the pipeline exploration unit; The light receiving module of the channel surveying unit receives the emitted infrared rays, the controller receives the infrared ray emission information, the infrared ray reception information and the position information from the channel survey unit An operation of the controller to determine whether the crack or the hole exists on the pipeline based on the infrared light emission information and the infrared light reception information; a step of, when it is determined that the crack or the hole exists on the pipeline, Maps the location information to information related to the pipeline Over storage and may include an operation of sending information related to the crack or the presence of holes is determined as an output and at least one external device.

According to an embodiment, the operation of receiving the infrared light emission information, the infrared light reception information, and the position information may be such that the control device displays, as the infrared light emission information, the time stamp information of the infrared light and the time stamp information of the infrared light emission amount An operation of receiving electrical signal information, and an operation of receiving, as the infrared light reception information, the electric signal information of the infrared light reception amount and the light reception time stamp information of the infrared ray.

According to an embodiment of the present invention, the operation of determining whether the crack or the hole is present on the pipeline is performed when the electric signal information of the infrared light receiving amount is not included within the designated critical range based on the electric signal information of the infrared light emitting amount, And the controller may determine that the crack or hole exists in the channel region where the channel probe unit is located.

According to one embodiment, the method for diagnosing a duct is characterized in that when it is judged that the crack or the presence of the hole is judged on the duct, the control device judges whether or not the duct And transmitting the signal.

According to one embodiment, the operation of mapping the position information to information related to the pipeline and storing the information may include pipeline drawing information of the pipeline included as information related to the pipeline, And mapping location information of the probe unit.

According to an embodiment of the present invention, the operation of the control device for outputting information related to the determination of the presence of the crack or the hole may be performed through a display included in the control device to notify the presence of the crack or the hole And outputting the output signal.

According to an embodiment of the present invention, the channel diagnosing method may further include a step of causing the channel probing unit to alternately perform traveling and stopping at a specified distance within the channel in accordance with a first predetermined period, And a signal for causing the control device to transmit the infrared ray to the channel surveying unit to perform an operation of receiving the infrared ray.

According to one embodiment, the pipe diagnosing method is characterized in that, in a state where the channel surveying unit is stationary, the rotation axis of the channel surveying unit including the light emitting module and the light receiving module is rotated and stopped at a specified angle, The control unit may transmit a signal to be alternately performed in accordance with the control signal to the channel survey unit.

According to various embodiments, leakage or leakage of fluid caused by damage (e.g. cracks or holes, etc.) of the pipeline can be prevented.

According to various embodiments, a human safety accident can be prevented through an unmanned operation by a pipeline exploration unit running in a pipeline.

According to various embodiments, it is easy to identify the damage point on a wide range of pipelines, based on the location information of the pipeline exploration unit.

According to various embodiments, it is possible to support the ease of work management at a later time by mapping the detected point of the pipe damage to the pipe line and recording it.

In addition, various effects can be provided that are directly or indirectly understood through this document.

FIG. 1 is a view showing an example of operation of a pipeline exploration unit according to an embodiment.
2 is a diagram illustrating a pipeline diagnostic system in accordance with one embodiment.
3 is a view showing a pipeline exploration unit according to an embodiment.
4 is a view showing a driving form of a channel survey unit according to an embodiment.
5 is a diagram illustrating a pipeline diagnostic method according to an embodiment.
In connection with the description of the drawings, the same or corresponding elements may be given the same reference numerals.

Various embodiments of the invention will now be described with reference to the accompanying drawings. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes various modifications, equivalents, and / or alternatives of the embodiments of the invention.

In this document, the expressions "have," "may," "include," or "include" may be used to denote the presence of a feature (eg, a numerical value, a function, Quot ;, and does not exclude the presence of additional features.

In this document, the expressions "A or B," "at least one of A and / or B," or "one or more of A and / or B," etc. may include all possible combinations of the listed items . For example, "A or B," "at least one of A and B," or "at least one of A or B" includes (1) at least one A, (2) Or (3) at least one A and at least one B all together.

The expressions "first," " second, "" first, " or "second ", etc. used in this document may describe various components, It is used to distinguish the components and does not limit the components. For example, without departing from the scope of the rights described in this document, the first component can be named as the second component, and similarly the second component can also be named as the first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the other embodiments. The singular expressions may include plural expressions unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art. The general predefined terms used in this document may be interpreted in the same or similar sense as the contextual meanings of the related art and are intended to mean either ideally or in an excessively formal sense It is not interpreted. In some cases, even the terms defined in this document can not be construed as excluding the embodiments of this document.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a pipeline diagnosis method and a pipeline diagnosis system supporting the same according to various embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a view showing an example of the operation of a pipeline exploration unit according to an embodiment, and FIG. 2 is a diagram illustrating a pipeline diagnosis system according to an embodiment. The functional operation of the channel survey unit 100 referred to throughout FIGS. 1 and 2 can be understood as being controlled by the controller 230 of the controller 200 interacting with the channel survey unit 100, for example. have.

Referring to FIGS. 1 and 2, a pipeline probe unit 100 according to an embodiment includes a pipeline P (e.g., a fluid such as a constant, sewage, or gas, etc.) according to drive information scheduled by the controller 200 (Referred to as a crack C hereinafter) generated in an arbitrary region of the pipe P while running in a pipeline where the pipe P is transported. In this regard, the channel surveying unit 100 emits light (for example, infrared rays, hereinafter referred to as infrared rays) in a specific wavelength band based on the mounted light emitting module 51, And receives infrared rays reflected from the inner wall of the channel P through the light receiving module 52. In this operation, the channel survey unit 100 may perform wireless communication and transmit the light emission information and the light reception information of the infrared rays to the control device 200. [ The light emission information may include, for example, infrared light emission time stamp information of the light emitting module 51 and electrical signal information of the amount of infrared light emission. Correspondingly, the light reception information corresponds to the infrared light reception time Stamp information, and electrical signal information of the infrared light receiving amount.

According to one embodiment, the controller 200 can determine whether or not there is a crack on the pipeline P based on the infrared light emission information and the infrared light reception information received from the pipeline exploration unit 100. In this regard, the control device 200 identifies the comparison target infrared light amount and the infrared light reception amount based on the infrared light emission time stamp and the infrared light reception time stamp corresponding to each other at predetermined time intervals, and determines whether the infrared light amount and the infrared light amount Can be determined. For example, when the infrared light receiving amount is included within the designated critical range based on the infrared light emitting amount, the control device 200 can determine that the crack C does not exist on the pipeline P. [ Alternatively, when the infrared light receiving amount is not within the critical range, the controller 200 may determine that a crack C exists in a region P where the pipeline exploration unit 100 is located. In one embodiment, the control device 200 may transmit a signal related to the image capturing command (e.g. still image or video) to the channel probe unit 100 as it determines the presence of the crack C . The channel surveying unit 100 performs image capturing by driving the camera module 53 disposed adjacent to the light emitting module 51 or the light receiving module 52 in response to the image capturing signal reception, To the control device 200 at a specified frame rate. In various embodiments, an angle of view of the camera module 53 may be set to correspond to an irradiation range of infrared rays emitted from the light emitting module 51. [

In one embodiment, the above-described series of processes (e.g., infrared light emission, infrared light reception, determination of the presence of cracks, and image capturing) may be performed when the pipeline exploration unit 100 is stopped at the first position on the pipeline P As shown in FIG. In this regard, the control device 200 can schedule the driving of the channel probe unit 100 and transmit the schedule information to the channel probe unit 100. [ In one embodiment, the actuation of the channel probe unit 100 may be scheduled to be performed by a plurality of sections, For example, the control device 200 may be configured such that the pipeline exploration unit 100 performs the process by setting the first section on the pipeline P, and when the process execution in the first section is completed, So as to move to the second section. In other words, the pipeline exploration unit 100 alternately performs the traveling and the stopping of the specified distance in accordance with a specified period (for example, a time range in which the completion of the execution of the process is covered) P) region cracks (C). According to various embodiments, the section of the channel P may be set to a region range that can cover the irradiation range of infrared rays emitted from the light emitting module 51. [ For example, a section area range of the pipeline P may be set such that the infrared radiation range for the first section of the pipeline P and the infrared radiation range for the second section do not overlap with each other.

The rotation axis 50 of the channel probe unit 100 in which the light emitting module 51, the light receiving module 52 and the camera module 53 are disposed is connected to a motor (not shown) mounted in the channel probe unit 100 (Not shown). For example, the rotary shaft 50 can rotate and stop at a predetermined angle in a predetermined cycle in a state where the channel survey unit 100 is stationary. According to this, the channel survey unit 100 performs infrared light emission and light reception on a region corresponding to the first rotation of the rotary shaft 50 by being fixed to a specific section on the pipe P, So as to support the detection of the entire area of the inner wall of the pipe P included in the specific section. According to one embodiment, the designated period may be set to a time range in which infrared light emission of the light emitting module 51, infrared light reception of the light receiving module 52, and determination of the presence or absence of a crack C of the control device 200 are covered have. In various embodiments, the designated period may be variable according to a determination result of the presence or absence of a crack (C) of the control device 200. [ For example, if it is determined by the controller 200 that a crack C exists on the pipeline P, the designated period may be extended to a time range in which imaging by the camera module 53 is further covered have.

2, a pipeline diagnostic system 1000 according to one embodiment may include a pipeline exploration unit 100, a control device 200, at least one external device 300a to 300n, and a network 400 have.

The pipeline probe unit 100 travels in the pipeline (P in FIG. 1) to perform the emission and the reception of infrared rays to determine whether there is a crack (C in FIG. 1) of the control device 200 And its constituent elements and structure will be described with reference to FIG. 3 and FIG. 4 which will be described later.

The control device 200 may control the operation of the pipeline exploration unit 100 and may provide at least one information related to the pipeline diagnosis. In this regard, the control device 200 may include a communication module 210, a memory 220, a controller 230, and a display 240.

The communication module 210 may support communication between the control device 200 and the channel probe unit 100 and at least one external device 300a to 300n. For example, the communication module 210 establishes wireless communication with the channel exploration unit 100 and can transmit data or signals with the channel exploration unit 100 based on the wireless communication. Alternatively, the communication module 210 may establish at least one external device 300a-300n and a network 400 (e.g., a LAN, WAN, Internet, or telephone network) By accessing the network 400 based on the wireless communication, information related to the pipeline diagnosis can be shared with the at least one external device 300a to 300n. In various embodiments, the at least one external device 300a-300n may include a vendor-side server or manager-owned mobile device associated with the maintenance of the pipeline P.

The memory 220 may store at least one data or signal related to the conduit P diagnosis or may store at least one command related to the functional operation of the controller 200 components. For example, the memory 220 stores the infrared light emission information (e.g., infrared light emission time stamp information and infrared light amount electric signal information) and infrared light reception information (e.g., infrared light reception time stamp information and infrared light reception time information) received from the channel search unit 100 Electrical signal information of the amount of infrared light received). Alternatively, the memory 220 may store pipeline drawing information corresponding to the pipeline P. [

The controller 230 may be electrically or functionally connected to components of the control apparatus 200 or components of the pipeline exploration unit 100 to perform control of components, processing of data or signals, and the like. For example, the controller 230 schedules the driving of the pipeline exploration unit 100 to transmit a related control signal to the pipeline exploration unit 100, and the infrared light emission information received from the pipeline exploration unit 100 and the infrared ray information It is possible to diagnose the state of the duct P based on the received light information (for example, determine whether or not there is a crack C). In this operation, the controller 230 transmits an image capturing command signal for the inside of the pipeline P to the pipeline exploration unit 100, or transmits the image capturing command signal to the inside of the pipeline P from the pipeline exploration unit 100 And can map the piping information stored in the memory 220 and the location information of the pipeline exploration unit 100 by receiving the location information. Alternatively, the controller 230 may control the communication module 210 to receive information from the channel probe unit 100 or various pipeline diagnosis related information stored in the memory 220 to at least one external device 300a to 300n, .

The display 240 may output at least one content related to the pipeline diagnosis. For example, the display 240 displays infrared light emission information, infrared light reception information, and image information received from the pipeline probe unit 100, information on the presence or absence of a crack C on the pipeline P performed by the controller 230 , And a pipeline diagram stored in the memory 220. The pipeline diagram shown in FIG. Alternatively, the display 240 may output a notice (e.g., a message specifying the presence of a crack C) generated by the controller 230 when the presence of the crack C is determined .

FIG. 3 is a view showing a pipeline exploration unit according to an embodiment, and FIG. 4 is a view showing a drive form of a pipeline exploration unit according to an embodiment.

3 and 4, a pipeline exploration unit 100 according to an embodiment includes a body frame 10, a plurality of drive modules 20, a plurality of motors 30, a plurality of link chains 40, And may include a rotary shaft 50. In various embodiments, the pipeline exploration unit 100 may omit at least one of the components described above, or may additionally include at least one other component. For example, the pipeline exploration unit 100 includes a satellite navigation receiving module for receiving the location information of the pipeline exploration unit 100 from a specified external device (e.g., a satellite, etc.), the above-described control device 200 A power supply module for applying driving power to at least a part of the components, and a controller for controlling the functional operation of the components. According to various embodiments, the pipeline exploration unit 100 travels within a pipeline (P in Fig. 1) through which fluid (e.g., water, sewage or gas) flows, and the components of the pipeline exploration unit 100 May be implemented as a waterproof or dustproof structure.

The body frame 10 may support or support some components of the channel survey unit 100. For example, the body frame 10 is provided with a plurality of grooves (not shown) formed along a running direction of the channel search unit 100 (e.g., a direction in which the rotary shaft 50 extends from the body frame 10) 15 to receive at least a portion of the plurality of link chains 40. Alternatively, the body frame 10 may receive at least a part of the rotation axis 50 such that the rotation axis 50 passes through the outer surface of the body frame 10 from the inside thereof and is exposed to the outside. Alternatively, the body frame 10 may mount at least one of the satellite navigation receiving module, the communication module, the power supply module, and the controller as an internal space, and may transmit driving force to the rotating shaft 50 More motors can be mounted. According to one embodiment, the body frame 10 may include a polygonal columnar shape extending in the running direction of the channel search unit 100. At this time, a plurality of side surfaces of the polygonal column except for the upper surface and the lower surface can correspond one to one to the number of the plurality of drive modules 20 included in the channel survey unit 100.

The plurality of drive modules 20 may be coupled with a plurality of link chains 40 received on each of a plurality of side surfaces of the body frame 10 and disposed along the plurality of side surfaces. The driving module 20 may include a subframe 21 extending parallel to the axial direction of the body frame 10 and functioning as an axle. In one embodiment, the subframe 21 may include a motor 30 and a power transmission device 31 that transmit driving force to the driving module 20 in one area. The rotation of the motor 30 can be performed in the forward and reverse directions while the first gear 32 and the second gear 33 are meshed with each other through the inner side of the sub frame 21, Bevel gears. The first gear 32 is connected to the rotation shaft of the motor 30 and rotates in the same direction as the rotation direction of the motor 30 and the second gear 33 is rotated in a direction perpendicular to the first gear 32 For example, in a direction parallel to the drive wheels 22 and 23). The gear ratio of the first gear 32 and the second gear 33 is designed to be 1: 1 so that the power of the motor 30 is transmitted to the first drive wheel 22 without being accelerated or decelerated while passing through the bevel gear . The gear shaft 34 of the second gear 33 extends from the center of the second gear 33 to both sides and is connected to a pair of first drive wheels 22 provided at the tip of the drive unit 20, Lt; / RTI > The pair of first drive wheels 22 may have a circular wheel shape and a plurality of protrusions may be formed on the outer circumferential surface thereof at a predetermined angular interval. Also, a pair of second drive wheels 23 may be provided at the rear end of the subframe 21 with the subframe 21 interposed therebetween. A plurality of protrusions 25 may be formed on the outer circumferential surface of the pair of second drive wheels 23 at predetermined angular intervals and the pair of second drive wheels 23 are connected to each other on the basis of the wheel axle 35 . The belt 26 can be fastened to the first drive wheel 22 and the second drive wheel 23. [ A plurality of protrusions 27 formed on the first drive wheel 22 and a plurality of protrusions 25 formed on the second drive wheel 23 may be formed on the inner circumferential surface of the belt 26 .

According to various embodiments, one region of the power transmission device 31 included in the subframe 21 includes a plunger (not shown) for preventing the flow of the pipeline exploration unit 100 when the pipeline exploration unit 100 is stationary plunger module 36 may be disposed. The plunger module 36 may include, for example, a submotor (not shown), an extension shaft 37 of a multi-stage folded configuration, and a hemispherical adsorption member 38 (e.g., rubber or the like) including an internal space. In one embodiment, the sub-motor may be disposed in the interior space of the power transmission device 31 and may be physically connected to one end of the extension shaft 37 in the interior space. The other end of the extension shaft 37 may be exposed to the outside through one region of the outer surface of the power transmission device 31 and the adsorption member 38 may be disposed at the other end. According to one embodiment, at the time of resting of the channel survey unit 100, the sub motor is driven under the control of the controller included in the channel survey unit 100 to unfold the folded multi- The shaft 37 can be extended to the outside of the power transmission device 31. The suction member 38 disposed at the other end of the extension shaft 37 can be brought close to the inner wall of the conduit P and the pressing force of the extension shaft 37 and the pressure difference between the inside and outside of the suction member 38 And can be adsorbed on the inner wall of the channel P.

The rotational force of the motor 30 is transmitted to the first gear 32 through the rotation shaft of the motor 30 on the drive module 20 constructed as described above and the rotational direction of the motor 30 is changed by the second gear 33 To the first drive wheel 22 so that the first drive wheel 22 can rotate in the forward or reverse direction. When the first drive wheel 22 rotates, the belt 26 fastened to the first drive wheel 22 and the second drive wheel 23 rotates and the running of the channel search unit 100 can be realized.

The plurality of link chains 40 may move the plurality of drive units 20 between a first position adjacent to the body frame 10 and a second position spaced from the body frame 10. [ In this regard, the link chain 40 may include a support rod 44, a first link member 41, a second link member 42, and a link support member 43. The support bar 44 may extend along the axial direction of the body frame 10 and may be fixed to the inside of the body frame 10. At both ends of the support rod 44, a plurality of movable members 45 that can be slidably fitted to the support rods 44 may be included. The compression spring 47 can be supported between the plurality of moving members 45 while being sandwiched by the support rods 44 and can be elastically pressed so that the plurality of moving members 45 face each other have. In one embodiment, the first link members 41 are provided in pairs and can be disposed at both ends of the sub frame 21, respectively. One end of the first link member 41 is connected to a second pivot shaft 41b inserted in a movable member (for example, a first movable member) corresponding to the first link member 41 among the plurality of movable members 45 And is rotatably coupled to the first moving member with the second rotating shaft 41b as a turning center. The other end of the first link member 41 is fitted to the first pivot shaft 41a inserted into the sub frame 21 and is inserted into the sub frame 21 with the first pivot shaft 41a as a turning center As shown in FIG. When the first moving member is slid along the axial flick of the body frame 10, one end of the first link member 41 can slide together.

The link support member 43 may be disposed between the first link member 41 and the support bar 44 so that the first link member 41 can stably support the drive unit 20. [ One end of the link support member 43 is hingably coupled to the center of the first link member 41 on the basis of the first hinge shaft 43a and the other end of the link support member 43 is connected to the second hinge shaft 43a 43b so that the first link member 41 can assist in supporting the drive unit 20. [

The first link member 41 is disposed at the front end of the body frame 10 while the second link member 42 is disposed at the rear end of the body frame 10 only in the difference, 41 and the second link member 42 may be symmetrically identical to each other. For example, the second link members 42 are provided in a pair, and one end and the other end of the second link member 42 are rotatably mounted about the third rotation axis 42b and the fourth rotation axis 42a, respectively, One end of the second link member 42 can slide together when the second movable member 45 is slid along the support rod 44, The second link member 42 is also provided with a link support member 43 so that the second link member 42 is supported by the drive unit 43. [ (20).

The rotary shaft 50 may include the light emitting module 51, the light receiving module 52, and the camera device 53 described above. For example, the light emitting module 51, the light receiving module 52, and the camera device 53 may be disposed adjacent to each other on the rotation axis 50 in the same line, And may be disposed in a form exposed to the outside. According to various embodiments, the camera module 53 may include a depth camera, and may include an LED module for adjusting the ambient illuminance when the camera module 53 is driven.

5 is a diagram illustrating a pipeline diagnostic method according to an embodiment. At least some of the operations described with respect to FIG. 5 may be implemented based, for example, on the control performed by the controller (230 of FIG. 2) of the controller (200 of FIG. 2) May be performed based on at least one instruction stored in the memory (210 of FIG. 2) of the control device 200. At least some of the following operations may be the same or correspond to those described above with reference to Figs. 1 to 4, and even if the redundant description is omitted, it may be understood that the above description includes the above description unless otherwise specified.

Referring to FIG. 5, at operation 501, a channel exploration unit (100 of FIG. 1) may obtain position information. In this regard, the channel survey unit 100 may include a GPS receiver module that receives position information of the channel survey unit 100 from a designated external device (e.g., a satellite, etc.). The satellite navigation receiving module may be configured to receive a navigation signal from a navigation device (for example, a pipeline in which a fluid such as a constant, sewage, or gas is transported) in accordance with the scheduling information, And can receive positional information of the channel survey unit (100) from the external apparatus in real time or at a designated cycle in the operation of stopping and stopping the operation.

In operation 503, the channel survey unit 100 can emit light (e.g., infrared rays, hereinafter referred to as infrared rays) in a specific wavelength band based on the mounted light emitting module 51 in FIG. For example, the pipeline probe unit 100 can emit infrared rays toward a specific section region on the channel P toward the inner wall of the channel P of the section region in the rectifying operation.

In operation 505, the pipeline probe unit 100 receives infrared rays reflected from the inner wall of the pipeline P in the specific section region through the light receiving module (52 in FIG. 1) mounted on the adjacent region of the light emitting module 51 .

According to various embodiments, in the operation 503 and the operation 505, the rotation axis (50 in FIG. 1) of the channel probe unit 100 in which the light emitting module 51 and the light receiving module 52 are disposed is rotated and stopped at a predetermined angle Can be performed at a specified cycle. For example, the rotation shaft 50 supports the infrared light and the light reception on the inner wall region of the channel P corresponding to the first rotation by the first rotation, and performs a second rotation And can support infrared light emission and light reception on the inner wall region of the channel P corresponding to the second rotation.

In operation 507, the control device 200 interacting with the pipeline probe unit 100 receives infrared ray information, infrared ray reception information, and infrared rays from the channel survey unit 100 Can be received. In one embodiment, the infrared light emission information may include infrared light emission time stamp information of the light emitting module 51 and electrical signal information of the infrared light emission amount, and the infrared light reception information may correspond to the light receiving module 52 ), And electrical signal information of the infrared light receiving amount. According to one embodiment, the controller 230 of the channel survey unit 100 may store the received infrared light emission information, infrared light reception information, and location information in the memory 220 of the channel probe unit 100. [

In operation 509, the control device 200 can determine whether a crack (C in FIG. 1) or a hole exists on the pipeline P based on the infrared light emission information and the infrared light reception information. In this regard, the controller 230 of the control device 200 can identify the infrared light emission amount and the infrared light reception amount to be compared based on the infrared light emission time stamp and the infrared light reception time stamp corresponding to each other at predetermined time intervals. The controller 230 can determine whether or not there is correspondence between the identified amount of infrared light emission and the amount of infrared light received. For example, the controller 230 determines that there is no crack (C) or hole on the pipeline P when the infrared light receiving amount is within the designated critical range based on the infrared light emitting amount, and the infrared light receiving amount It is possible to determine that a crack C exists in the region of the pipe P where the pipe exploration unit 100 is located, if it is not within the specified critical range.

If it is determined in operation 511 that a crack C or hole exists on the pipeline P, the controller 230 of the control device 200 determines the position information of the pipeline exploration unit 100 in operation 513 Can be mapped to information related to the pipeline (P). In this regard, the information related to the pipeline P may include pipeline drawing information of the pipeline P, and the controller 230 may extract the crack C or the hole from the memory 220, The location information of the pipeline exploration unit 100 corresponding to the existing pipeline (P) area can be loaded and mapped to the pipeline. In one embodiment, the controller 230 may store in the memory 220 the pipe map information to which the location information of the pipe exploration unit 100 is mapped.

In various embodiments, the controller 230 may send a signal associated with the image (e.g., still image or video, etc.) imaging command to the channel probe unit 100 as the presence of the crack C or hole is determined . The pipeline probe unit 100 performs image capturing through driving of a camera module (53 in FIG. 1) disposed adjacent to the light emitting module 51 or the light receiving module 52 corresponding to the image capturing signal reception, And transmits the image information to the control device 200.

In operation 515, the controller 230 of the control device 200 can output information related to the determination of the presence of the crack C or holes and to transmit the information to at least one external device (300a to 300n in FIG. 2). For example, the controller 230 controls the display (240 in FIG. 2) included in the controller 200 to detect infrared light emission information, infrared light reception information, image information, cracks C or holes And a graphical user interface including at least one of the determination information and the piping information. Alternatively, the controller 230 may transmit and share data related to the graphical user interface to at least one external device (300a to 300n in FIG. 2). In various embodiments, the at least one external device 300a-300n may include a vendor-side server or manager-owned mobile device associated with the maintenance of the pipeline P.

The embodiments disclosed in this document are provided for explanation and understanding of the technical contents, and do not limit the scope of the invention. Accordingly, the scope of this document should be interpreted to include all modifications based on the technical idea of the present invention or various other embodiments.

Claims (17)

A pipeline diagnostic system for detecting the presence or absence of cracks or holes on a pipeline,
A channel search unit which travels in the channel and detects cracks or holes generated in the channel based on light emission and reception of infrared rays; A controller for controlling travel of the pipeline exploration unit and analyzing detection information of the pipeline exploration unit to determine whether the crack or the hole exists; And at least one external device sharing the determination information from the control device,
The channel probing unit includes: a body frame; A rotating shaft extending from the body frame; A light emitting module disposed in a first region of the rotary shaft and emitting the infrared rays; A light receiving module disposed in a second area of the rotary shaft for receiving infrared rays emitted from the light emitting module; A camera module disposed in a third region of the rotary shaft and capturing an image of the interior of the duct; A subframe coupled to the body frame in a position changeable structure between a first position adjacent to the body frame and a second position spaced apart from the body frame, a drive wheel rotatably coupled to the subframe, A plurality of driving modules disposed at specified intervals along an outer circumferential surface of the body frame; A plurality of link chains connecting each of the plurality of drive modules to the body frame and supporting the position change of the sub frame; And a satellite navigation receiving module for acquiring location information of the channel surveying unit,
Wherein the plurality of drive modules further include a plunger module that at least one region is adsorbed on the inner wall of the channel to fix the channel probing unit when the channel probing unit is stationary,
Wherein the control device comprises: a communication module for performing communication with the channel exploration unit and the at least one external device; A memory for storing detection information provided from the channel probe unit; A display for displaying the detection information; And a controller electrically connected to the communication module, the memory, and the display,
Wherein the controller is operable to cause the channel probing unit to alternately perform traveling and stopping of a specified distance within the duct in accordance with a first predetermined period and to perform light emission and light reception of the infrared ray in the normal state To the pipeline exploration unit,
Receiving the infrared light emission information, the infrared light reception information, and the position information of the channel survey unit through the communication module as at least a part of the detection information, and comparing the infrared light emission information and the infrared light reception information, The information relating to the determination of the presence of the crack or the hole is output through the display, and the information related to the presence of the crack or the hole is output through the display And to transmit information related to the determination of presence of the crack or the hole to the at least one external device through the communication module,
Wherein the infrared light emission information includes time stamp information of the infrared light and electrical signal information of the infrared light emission amount,
Wherein the infrared light reception information includes the reception time stamp information of the infrared light and the electric signal information of the infrared light reception amount. delete The method according to claim 1,
The controller comprising:
And the electric signal information of the infrared light receiving amount is not included within a specified critical range based on the electric signal information of the infrared light emitting amount, it is determined that the crack or the hole exists in the pipeline region where the pipeline exploration unit is located Features a pipeline diagnostic system. The method of claim 3,
The controller comprising:
And a signal related to imaging of the channel region in which the channel probe unit is located is set to be transmitted to the channel probe unit when the presence of the crack or the hole is determined. The method of claim 3,
The information related to the pipeline is,
Pipeline drawing information of the pipeline,
The controller comprising:
And when the presence of the crack or the hole is determined, mapping information of the position of the pipeline probe unit to the pipeline map information is stored. The method of claim 3,
The controller comprising:
And if the presence of the crack or the hole is determined, outputs a notification indicating the presence of the crack or the hole through the display. delete The method according to claim 1,
The controller comprising:
And to transmit to the channel exploration unit a signal that causes the rotation axis to alternately perform the rotation and the stop of the specified angle in accordance with the second cycle in a state in which the channel probe unit is stationary. delete A pipeline diagnostic method for detecting the presence or absence of cracks or holes on a pipeline,
A satellite navigation receiving module of a channel searching unit traveling in the channel acquires position information of the channel searching unit; And a control unit that causes the channel inspection unit to alternately perform traveling and stopping at a specified distance within the pipeline in accordance with the first predetermined period and to perform a light emission and a reception of infrared rays in the stationary state, To the channel survey unit; An operation of the light emitting module of the channel search unit to emit infrared rays; A light receiving module of the channel probe unit receiving the emitted infrared rays; The control device receiving the infrared light emission information, the infrared light reception information and the position information from the channel probe unit; Determining whether there is the crack or the hole on the pipeline based on the infrared light emission information and the infrared light reception information; The control device maps the position information to information related to the pipe and stores the information when the crack or the presence of the hole is judged, To an external device,
Wherein the operation of receiving the infrared light emission information, the infrared light reception information, and the position information includes receiving, as the infrared light emission information, the light emission time stamp information of the infrared ray and the electric signal information of the infrared light emission amount Operation; And receiving, as the infrared light reception information, the control device receiving the infrared light reception time stamp information and the infrared light reception amount electrical signal information,
Wherein the operation of determining whether the crack or the hole exists on the pipe is performed when the electric signal information of the infrared light receiving amount is not included within the designated critical range based on the electric signal information of the infrared light emitting amount, And determining that the crack or the hole exists in the pipeline region where the unit is located. delete delete 11. The method of claim 10,
And when the presence of the crack or the hole on the pipeline is judged, the control device transmits a signal related to the imaging of the pipeline region in which the pipeline exploration unit is located to the pipeline exploration unit . 11. The method of claim 10,
Wherein the control device maps the position information to information related to the pipeline and stores the information,
And mapping the location information of the pipeline exploration unit to pipeline drawing information of the pipeline included as information related to the pipeline. 11. The method of claim 10,
Wherein the control device outputs the information related to the crack or presence of the hole,
And outputting a notification indicating the existence of the crack or the hole through a display included in the control device. delete 11. The method of claim 10,
A signal for causing the rotation axis of the channel probe unit including the light emitting module and the light receiving module to alternately perform the rotation and the stop of the specified angle in accordance with the second specified period in the state in which the channel probe unit is stationary, Further comprising: transmitting the device to the pipeline probe unit.

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