KR101943426B1 - Method, apparatus, computer program and computer readable recording medium for generating a drawing of an inner wall condition of a conduit, method, apparatus, computer program and computer readable recording medium for inspecting an inner wall condition of a conduit - Google Patents

Abstract

A method for generating a plot of the inner wall condition of a conduit is disclosed. The method includes the steps of acquiring exploration data collected in a surveying device exploring the interior of the conduit, generating impairment data relating to the impaired region of the conduit inner wall based on the acquired exploration data, And the survey data may be data in which point cloud data having a three-dimensional space coordinate value with respect to the inside of the conduit and the photographed image inside the conduit are mapped.

Description

METHOD, APPARATUS, COMPUTER PROGRAM AND COMPUTER READABLE RECORDING MEDIUM, METHOD, APPARATUS, COMPUTER PROGRAM AND COMPUTER READABLE RECORDING MEDIUM FOR INVESTIGATING INTERNAL WALL CONDITION OF A DISTANCE a computer readable recording medium for generating an inner wall condition of a conduit, a computer readable recording medium for generating an inner wall condition of a conduit,

The present invention relates to a method, an apparatus, a computer program and a computer-readable recording medium, a method for checking the inner wall condition of a conduit, an apparatus, a computer program and a computer-readable recording medium for generating a drawing of the inner wall condition of a conduit And more particularly, to a method, apparatus, computer program and computer readable recording medium for generating a map of an inner wall condition of a conduit using exploration data to which a captured image and point cloud data are mapped, , A computer program and a computer-readable recording medium.

Underground infrastructure such as sewage pipes among social infrastructures is very important because the social and environmental costs in case of loss of asset function are much larger than ordinary maintenance costs.

For this purpose, each local government not only builds basic specifications like sewer pipe, pipe diameter, burial year, etc. as database (DB), but also records the state and performance of sewage pipes and uses them for maintenance of sewer pipes.

In the maintenance of the sewerage system, damage area was determined through analysis of CCTV image and damage amount was calculated. Based on this, the final report, the exterior mine map, was prepared and used for maintenance work.

That is, in the conventional CCTV image analysis method, the CCTV image of the sewer pipe is first photographed, and then the user checks the location and size of the damaged area by checking the CCTV image. After that, And a step of filling in the external visual acuity chart and creating an external visual acuity chart.

However, according to this conventional system, since the sewer CCTV image must be inspected with the naked eye of the user, there is a problem of inconvenience of the image reading operation, resulting in lowering of productivity and incompleteness of the resultant product.

Further, according to the conventional method, since the user has to directly write the drawing, the productivity has been reduced.

In addition, according to the conventional system, it is necessary to reevaluate the area unclear at the time of reading the CCTV image, which has a problem of lowering the working efficiency.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned needs, and it is an object of the present invention to provide a method and apparatus for generating damage data related to a damaged area of an inner wall of a pipe, An apparatus, a computer program, and a computer-readable recording medium for automatically generating a drawing showing a state of a computer.

It is also an object of the present invention to determine the damage area on the inner wall of the conduit using the exploration data collected by the surveying device and to estimate damage data on the damage area based on the point cloud data, A computer program, and a computer-readable recording medium.

It is another object of the present invention to provide a method, an apparatus, and a computer program for displaying a virtual reality screen within a conduit using point cloud data having a photographed image inside a conduit and a three- , And a computer readable recording medium.

According to another aspect of the present invention, there is provided a method of generating a view of an inner wall of a conduit, the method comprising: acquiring probe data collected by a probe for exploring the inside of the conduit; Generating impairment data relating to the damaged area of the inner wall of the conduit based on the data and generating a diagram showing the state of the inner wall of the conduit based on the generated impairment data, And the point cloud data having the three-dimensional space coordinate value with respect to the inside of the conduit are mapped.

The method may further include extracting only an area corresponding to a field of view of the camera from the exploration data and then performing a rendering process or extracting an object that is hidden from the plurality of objects included in the exploration data and is not visible in a field of view of the camera And then performing a rendering process.

And, the damage data may include at least one of damage type data, damage position data, damage direction data, and damage size data of a damaged area in the inner wall of the conduit.

The method may further include displaying a Virutal Reality screen on the inside of the conduit based on the exploration data, receiving a markup from a user on the displayed virtual reality screen, And generating inspection data including the damage data.

The step of generating the damage data may further include displaying a Virutal Reality screen on the inside of the conduit based on the exploration data, receiving a damage area from the user on the displayed virtual reality screen, Determining at least one of the damage location data, the damage direction data, and the damage size data based on coordinate values of the point cloud data of the selected damage area according to user input.

The method of claim 1, further comprising storing a coordinate value change pattern of point cloud data corresponding to each of a plurality of damage types, wherein the step of generating the damage data comprises: Comparing the previously stored coordinate value change pattern with the previously stored coordinate value change pattern, detecting a damaged area on the inner wall of the conduit according to the comparison result, comparing the damaged position data, Damage direction data and the damage size data.

The method may further include uploading the inspection data and the exploration data to a web server, wherein the uploaded data can be confirmed through a terminal device of a user connected to the web server.

In addition, the step of creating the drawing showing the state of the inner wall of the conduit may comprise the steps of: forming a conduit including a number of the conduit, a specification of the conduit, a manhole number at the beginning and end of the conduit, Acquiring information on the damage data; assigning a damage number to the damage data in the order of the position of the damaged area from the first manhole; classifying the damage data according to the damage direction; Assigning an identifier, and calculating the amount of damage based on the magnitude of the damage.

The step of generating the drawing may include the steps of: generating an initial deployment drawing in which a drawing corresponding to at least one inner wall constituting the conduit is developed based on the standard of the conduit; Generating a final development drawing displaying at least one of a drawing identifier and a damage number assigned to the damage data in a damaged area in the initial developed drawing using coordinate values of the determined initial developed drawing, . ≪ / RTI >

The step of generating the drawing may further include the steps of extracting, from the survey data, an image corresponding to at least one inner wall constituting the conduit based on the standard of the conduit, Determining a coordinate value for both ends of the initial expanded image, determining a coordinate value of the initial expanded image using the coordinate value of the initial expanded image, And generating a final deployment image indicating at least one of the damage numbers.

According to another aspect of the present invention, there is provided a method for examining an inner wall condition of a conduit, the method comprising: acquiring point cloud data having a captured image inside the conduit and a three- Acquiring the mapped exploration data, and determining a damaged area on the inner wall of the conduit using the obtained exploration data, and generating damage data for the damaged area based on the point cloud data .

According to another aspect of the present invention, there is provided a drawing generating apparatus for generating a drawing of an inner wall condition of a conduit according to an embodiment of the present invention. The drawing generating apparatus includes a storage unit for storing exploration data collected by a surveying apparatus A damage data generating unit for generating damage data related to the damaged area of the inner wall of the conduit based on the exploration data and a drawing generating unit for generating a diagram showing the state of the inner wall of the conduit based on the generated damage data, The exploration data may be data in which point cloud data having a three-dimensional space coordinate value with respect to the inside of the conduit and the photographed image inside the conduit are mapped.

In addition, the damage data may include at least one of damage type data, damage location data, damage direction data, and damage size data of the damaged area in the inner wall of the conduit.

The apparatus may further include a display unit for displaying a virtual reality screen for the inside of the conduit based on the exploration data, and an input unit for receiving a damage area from a user on the displayed virtual reality screen, , And may determine at least one of the damage position data, the damage direction data, and the damage size data based on coordinate values of the point cloud data of the damage region selected according to the user input.

The storage unit may store a coordinate value change pattern of point cloud data corresponding to each of a plurality of damage types, and the damage data generation unit may include a coordinate value change pattern of the point cloud data included in the exploration data, The damage direction data, the damage direction data, and the damage magnitude data based on the coordinate value of the point cloud data of the detected damage region, At least one of the data can be determined.

According to another aspect of the present invention, there is provided a computer-readable recording medium storing a program for executing the above-described method.

According to another aspect of the present invention, there is provided a computer readable recording medium storing a program for causing a computer to execute the method.

According to various embodiments of the present invention described above, by displaying a virtual reality screen for the inside of the conduit using the point cloud data having the photographed image inside the conduit and the three-dimensional space coordinate value inside the conduit, Can conveniently conduct a state survey of the inner wall of the conduit as if it were directly exploring the interior of the actual conduit.

In addition, according to various embodiments of the present invention described above, damage data for a damaged area is automatically generated based on point cloud data of the exploration data, and a drawing showing the state of the inner wall of the pipe is automatically generated , It is possible to improve the productivity and quality of the work of creating a visual image.

In addition, according to various embodiments of the present invention described above, it is possible to perform on-line investigation, on-line reporting, on-line approval, and the like by uploading the conduit inner wall survey data and the exploration data to a web server connectable through a terminal device. For example, a user who has the authority to investigate the inner wall of a conduit can conduct an investigation of the inner wall of the conduit on-line through his / her terminal device.

FIG. 1 is a block diagram showing a piping inner wall condition investigation system according to an embodiment of the present invention.
2 is a block diagram illustrating a surveying apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a process of collecting survey data of a surveying apparatus according to an embodiment of the present invention.
4 is a block diagram illustrating an apparatus for generating a drawing according to an embodiment of the present invention.
FIG. 5 is a block diagram showing the apparatus for generating a drawing according to FIG. 4 in more detail.
6 is a block diagram showing a piping inner wall condition investigation system according to another embodiment of the present invention.
7 is a flow chart schematically illustrating a method for generating a plot of the inner wall condition of a conduit according to an embodiment of the present invention.
8 is a flowchart specifically illustrating a method of providing a virtual reality screen according to an embodiment of the present invention.
FIG. 9 is a flowchart specifically illustrating a method of generating damage data related to a damaged area of a conduit inner wall according to an embodiment of the present invention.
10 is a conceptual diagram for explaining a damage data generating method according to FIG.
11 is a flowchart specifically illustrating a method of generating damage data related to a damaged area of a conduit inner wall according to another embodiment of the present invention.
FIG. 12 is a flowchart specifically illustrating a method of generating a piping inner wall state diagram according to an embodiment of the present invention.
13 is a flowchart specifically showing a generation method of a development drawing according to an embodiment of the present invention.
14 is a view showing an example of a developed view generated according to Fig.
15 is a flowchart specifically illustrating a method of generating a developed image according to an embodiment of the present invention.
Fig. 16 is a diagram showing an example of a developed image generated according to Fig. 15. Fig.

The following merely illustrates the principles of the invention. Thus, those skilled in the art will be able to devise various apparatuses which, although not explicitly described or shown herein, embody the principles of the invention and are included in the concept and scope of the invention. Furthermore, all of the conditional terms and embodiments listed herein are, in principle, only intended for the purpose of enabling understanding of the concepts of the present invention, and are not to be construed as limited to such specifically recited embodiments and conditions do.

It is also to be understood that the detailed description, as well as the principles, aspects and embodiments of the invention, as well as specific embodiments thereof, are intended to cover structural and functional equivalents thereof. It is also to be understood that such equivalents include all equivalents that are currently known, as well as equivalents to be developed in the future, that is, all elements invented to perform the same function regardless of structure.

Thus, it should be understood that all flow diagrams, state transitions, pseudo code, etc. are representative of various processes that may be substantially represented on a computer-readable medium and executed by a computer or processor, whether the computer or processor is explicitly shown .

The functions of the various elements shown in the figures, including the functional blocks depicted in the processor or similar concept, may be provided by use of dedicated hardware as well as hardware capable of executing software in connection with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which may be shared.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

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

FIG. 1 is a block diagram showing a piping inner wall condition investigation system according to an embodiment of the present invention. Referring to FIG. 1, a system 1000 may include a scanning device 100 and a drawing generating device 200. Here, the surveying apparatus 100 can be mounted on a moving body that travels inside the conduit, and can collect the data of the inside of the conduit simultaneously with the traveling of the moving body. Such a surveying apparatus 100 will be described in more detail with reference to FIGS. 2 to 3. FIG.

2 is a block diagram illustrating a surveying apparatus according to an embodiment of the present invention. 2, the exploration apparatus 100 may include a camera unit 110, a sensor unit 120, a storage unit 130, and a part or all of the control unit 140. Here, the surveying apparatus 100 is mounted on a moving body that travels inside a conduit, and can move with the moving body in conjunction with traveling of the moving body. The moving body can preferably be embodied as an autonomously travelable vehicle. However, the present invention is not limited to this, and according to another embodiment, the mobile object can be implemented as a person. Also, before starting the exploration operation of the surveying apparatus 100, a marker for more accurate indoor mapping may be installed in the inside of the conduit.

On the other hand, in accordance with the traveling of the moving object, the camera unit 110 can photograph the inside of the conduit and acquire a photographed image according to the photographing. The camera unit 110 may include all or a part of a lens unit, an image pickup device, and an analog signal processing unit. The lens section can form an optical signal on the imaging region of the imaging element. Here, the lens unit includes a zoom lens for controlling the angle of view to be narrowed or widened according to the focal length, and a focus lens for focusing the subject, and the zoom lens and the focus lens may each be composed of one lens , And a plurality of lens groups.

The imaging element can convert an optical signal transmitted through the lens portion and image-formed in the imaging region into an electric signal. Here, the image pickup device may be a CCD (Charge Coupled Device), a CIS (Complementary Metal Oxide Semiconductor Image Sensor) or a high-speed image sensor for converting an optical signal into an electric signal.

The analog signal processing section can generate an image by performing noise reduction processing, gain adjustment, waveform shaping, and analog-to-digital conversion processing on the analog signal supplied from the image pickup element.

Meanwhile, the sensor unit 120 may include a LiDAR (Light Detection and Ranging) sensor, which is a type of active remote sensing that acquires desired information without directly contacting an object using the same principle as a radar have. Here, the LiDAR sensor can be realized as a laser scanner that emits laser to a target to acquire information, and detects the parallax and energy change of the electromagnetic wave reflected from the target and obtains desired information. In this case, according to the traveling of the moving object, the sensor unit 120 can acquire point cloud data which is a set of a large number of points having three-dimensional spatial coordinates (i.e., x, y, z information of the real world) have.

The control unit 140 generates exploration data mapping the point cloud data having the three-dimensional space coordinate value with respect to the inside of the conduit collected by the sensor unit 120 and the image captured inside the conduit collected by the camera unit 110 can do. Here, an example of the mapping may be to map the three-dimensional spatial coordinate values of the point cloud data with the pixels of the photographed image.

In addition, the controller 140 may store the generated exploration data in the storage unit 130. The storage unit 130 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) A random access memory (SRAM), a read only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM) , A magnetic disk, or an optical disk.

Meanwhile, the sensor unit 120 includes an attitude sensor for acquiring the attitude of the moving object through an inertial measurement unit (IMU), a distance measurement instrument (DMI) for acquiring the traveling distance of the moving object, and the like . In this case, the exploration data generated by the control unit 140 may further include attitude data of the moving object and traveling distance data of the moving object.

3 is a flowchart illustrating a process of collecting survey data of a surveying apparatus according to an embodiment of the present invention. Referring to FIG. 3, the surveying apparatus 100 moves along with the traveling of the moving object to photograph the inside of the tunnel, and obtain a photographed image according to the photographing (S101). Here, an example of the captured image may be a UHD (Ultra-HD) class high resolution image.

Then, the probe apparatus 100 can acquire point cloud data having a three-dimensional space coordinate value with respect to the interior of the conduit (S102).

Then, the probe apparatus 100 can generate the probe data mapping the point cloud data having the three-dimensional space coordinate value with respect to the captured image inside the conduit and the inside of the conduit (S103). Then, the exploration apparatus 100 can store the generated exploration data in the storage unit 130 (S104).

According to the operation of the surveying apparatus 100, the exploration data in which the point cloud data is overlaid on the high-resolution photographed image can be generated.

Meanwhile, the drawing generating apparatus 200 can acquire the survey data collected by the surveying apparatus 100. For example, the surveying apparatus 100 and the drawing generating apparatus 200 may be communicatively connected to each other via a wired / wireless network. In this case, the probe apparatus 100 can transmit the probe data stored in the storage unit 130 to the plotting apparatus 200 through the wired / wireless network, and the plotting apparatus 200 can search the probe apparatus 100 Data can be received. As another example, the storage unit 130 of the exploration apparatus 100 may be implemented as a removable storage element such as a USB memory or the like. In this case, by connecting the detachable storage element to the drawing apparatus 200, the survey data stored in the storage unit 130 can be transmitted to the drawing apparatus 200.

The drawing apparatus 200 may generate damage data related to the damaged area of the inner wall of the pipe based on the obtained exploration data, and may generate a drawing showing the inner wall of the pipe based on the generated damage data. Such drawing generating apparatus will be described in more detail with reference to Figs. 4 to 5. Fig.

2 to 3, the mapping operation between the photographed image and the point cloud data is performed in the exploration apparatus 100. However, the present invention is not limited thereto. According to another embodiment of the present invention, the exploration apparatus 100 only transmits the collected exploration image and point cloud data to the drawing apparatus 200, and the mapping operation described above is performed by the drawing apparatus 200 As shown in FIG.

4 is a block diagram illustrating an apparatus for generating a drawing according to an embodiment of the present invention. FIG. 5 is a block diagram showing the apparatus for generating a drawing according to FIG. 4 in more detail. 4 to 5, the drawing generating apparatus 200 includes a storage unit 210, a virtual reality providing unit 220, a display unit 230, an input unit 240, an inspection data generating unit 250, A communication unit 270, and a control unit 280. The control unit 280 may be a wireless communication unit. Here, the virtual reality providing unit 220 may include all or a part of the exploration data loading unit 221, the lightening processing unit 222, and the rendering unit 223. The inspection data generation unit 250 includes a damage data generation unit 251 for generating damage data related to the damaged area of the inner wall of the conduit and a markup data generation unit 252 for generating data on a mark according to user input Or portions thereof. The drawing generating unit 260 includes a preprocessing unit 261, a deployment drawing generating unit 262 for generating a deployment drawing for the inner wall of the conduit, and a deployment image generating unit 263 for generating a deployment image for the inner wall of the conduit Or portions thereof.

The storage unit 210 stores various data and applications necessary for the operation of the drawing apparatus 200.

Specifically, the storage unit 210 may store the probe data collected by the probe apparatus 100. Here, the exploration data may be data obtained by mapping point cloud data having a three-dimensional spatial coordinate value with respect to a photographed image inside a conduit and an inside of the conduit.

In addition, the storage unit 210 may store inspection data on the inner wall of the conduit generated by the inspection data generation unit 240. Here, the inspection data for the inner wall of the conduit may include damage data including at least one of damage type data, damage position data, damage direction data and damage size data of the damaged area in the inner wall of the conduit. The inspection data for the inner wall of the conduit may include markup data input from the user to the conduit.

In addition, the storage unit 210 may store a diagram indicating the state of the inner wall of the conduit generated by the drawing unit 260. [ Here, the drawing showing the state of the inner wall of the conduit may include at least one of the inner wall inner wall expansion drawing and the inner wall inner wall expansion image.

Herein, the storage unit 210 may be a storage unit such as a RAM (Random Access Memory), a FLASH memory, a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electronically Erasable and Programmable ROM) A memory card, or the like, as well as a detachable type storage device such as a USB memory.

The storage unit 210 may be implemented in the device 200 or may be implemented in the form of an external database (DB) connected to the device 200.

The virtual reality providing unit 220 may provide a virtual reality view mode using the exploration data. Here, virtual reality can refer to a human-computer interface that makes a certain environment or situation computerized and makes the person who uses it behave as if they are actually interacting with the surrounding environment.

For this purpose, the virtual reality providing unit 220 may include a search data loading unit 221, a lightweight processing unit 222, and a rendering unit 223.

The probe data loading unit 221 may load the probe data stored in the storage unit 210. Here, the exploration data may be data obtained by mapping point cloud data having a three-dimensional spatial coordinate value with respect to a photographed image inside a conduit and an inside of the conduit.

The lightening processing unit 222 can perform the lightening processing of the loaded exploration data. Specifically, in order to display the UHD-class photographed image and the exploration data to which the point cloud is mapped, it is necessary to lighten the loaded exploration data.

For this lightening process, the light-weighting processing unit 222 may extract only the area corresponding to the field of view of the camera from the exploration data, and may transmit the data corresponding to the extracted area to the rendering unit 223. As another example, the light-weighting processing unit 222 performs image processing that excludes objects not visible in the field of view of the camera while being obscured among a plurality of objects included in the exploration data, and transmits data according to the image processing to the rendering unit 223 ). Here, the viewing angle of the camera may be a viewing angle at the time when the camera is oriented in the virtual reality.

The rendering unit 223 may render the lightening-processed exploration data in the light-weighting processing unit 222 to generate a virutal reality screen. More specifically, the exploration data may be in the form of a mapping of the three-dimensional spatial coordinate values of the point cloud data and the pixels of the photographed image, and the rendering unit 223 may map the individual coordinates of the map coordinates Can be assigned. Then, the rendering unit 223 can generate a virtual reality screen using map coordinates in the allocated virtual reality.

Meanwhile, the display unit 230 may output data that can be visually recognized by the user. In particular, the display unit 230 may display a virtual reality (virtual reality) screen generated by the virtual reality providing unit 220. As a result, the user can conveniently perform the state inspection of the inner wall of the conduit just as if the inner conduit were directly explored.

The display unit 230 may be integrally formed with the drawing generating apparatus 200 to output visual recognition data and may be installed separately from the drawing generating apparatus 200 such as a monitor and a head up display (HUD) It is also possible to output recognition data.

The input unit 240 may receive user input to the drawing generating apparatus 200. In particular, the input unit 240 may receive a user input for a virtual reality screen displayed on the display unit 230. [ Here, the input unit 240 may be implemented in various forms such as a touch sensor for receiving a touch input, a proximity sensor for receiving an approaching motion, a keyboard, a mouse, and the like.

The inspection data generation unit 250 may generate inspection data on the inner wall of the conduit based on the obtained exploration data. The inspection data generation unit 250 may include all or some of the damage data generation unit 251 and the markup data generation unit 252.

More specifically, the damage data generation unit 251 generates detailed information on the damage of the inner wall of the conduit, for example, at least one of the damage type data, the damage position data, the damage direction data, and the damage size data of the damaged area in the inner wall of the conduit Lt; RTI ID = 0.0 > damage < / RTI >

Here, the normal-phase type data includes cracks, irregular metal exposures, breakage / scour, leaks, surface degradation, foreign matter deposits, delamination cracks, corrosion / lifting, peeling / peeling, rebar exposure, can do.

The damaged position data may be data indicating the position of the damaged area among the plurality of inner walls constituting the inner wall of the pipe.

The damage direction data may be data indicating the direction of the inner wall where the damaged area is located among the plurality of inner walls constituting the inner wall of the conduit. For example, when the inner wall of the conduit is composed of a left inner wall, a right inner wall, an upper inner wall, and a lower inner wall, the damage direction may be one of a left inner wall, a right inner wall, an upper inner wall, and a lower inner wall.

In addition, the damage size data is data indicating the size of the damage area, and may be composed of a damage width, a damage length, a damage depth, and the like.

Such impairment data may be generated based on the user input received via input 240. For example, the display unit 230 may display a virtual reality screen for the inner wall of the passage. In this case, the user can perform the inspection of the inner wall of the conduit through the virtual reality screen, and input the damaged region of the inner wall of the conduit detected through the input through the input unit 240. In this case, the damage data generation unit 251 can detect the point cloud data of the selected damage region according to the user's input. The damage data generation unit 251 can determine at least one of damage location data, damage direction data, and damage size data of the damaged area using the coordinate values of the detected point cloud data.

Meanwhile, according to another embodiment of the present invention, even if the user does not select a damaged region by viewing the virtual reality screen, the damaged data generation unit 251 can generate the damaged data using the point cloud data of the exploration data. For example, the damage data generation unit 251 can detect an area similar to the previously stored change pattern of the coordinate value change pattern of the point cloud data included in the exploration data. Here, the pre-stored change pattern may be a value obtained by storing a change pattern of a coordinate value for a damaged area such as crack, exposed metal parts, breakage, and surface deterioration. Accordingly, the damage data generator 251 can compare the coordinate value change pattern of the point cloud data with respect to the inner wall of the conduit and the pre-stored change pattern, and detect the damaged area on the inner wall of the conduit according to the result. Then, the damage data generation unit 251 can determine at least one of damage location data, damage direction data, and damage size data of the damaged area using the coordinate values of the point cloud data of the detected damaged area.

On the other hand, in the above embodiment, the damage data generation unit 251 uses the three-dimensional coordinate values of the point cloud data to calculate damage location data indicating the location of the damaged area and damage direction data indicating the direction of the damaged area Can be calculated. The damage data generation unit 251 calculates the width and depth depth of the damaged area using the three-dimensional coordinate values of the point cloud data, calculates the damage size data indicating the size of the damaged area Can be calculated.

On the other hand, the damage type data can be determined by observing the damaged area through the virtual reality screen and giving the corresponding damage type to the corresponding area. However, the present invention is not limited to this, and the damage data generation unit 251 can automatically determine the damage type data based on the coordinate value change pattern. For example, the storage unit 210 may store a coordinate value variation pattern of point cloud data corresponding to each of a plurality of damage types. In this case, the damage data generation unit 251 compares the coordinate pattern of the point cloud data with respect to the inner wall of the past and the change pattern pre-stored in the storage unit 210, and determines whether the coordinate value change pattern is the same or similar And the damage type data can be determined based on the damage type corresponding to the detected coordinate value variation pattern.

On the other hand, the markup data generation unit 252 can generate markup data based on the markup input from the user through the input unit 240. [ Specifically, the display unit 230 can display a virtual reality screen. The user can perform an inquiry about the inner wall of the house through the virtual reality screen, and at the same time, Line, arrow, or the like. In this case, the markup data generation unit 252 can generate markup data based on markup including letters, symbols, and the like input from the user through the input unit 240. [

The inspection data generation unit 250 may generate inspection data including the damage data generated by the damage data generation unit 251 and the markup data generated by the markup data generation unit 252. [

According to the present invention, the damage data on the damaged area is automatically generated based on the point cloud data of the exploration data, thereby improving the productivity and quality of the inspection work on the inner wall of the pipe.

Meanwhile, the drawing generating unit 260 can generate a drawing showing the state of the inner wall of the pipe. More specifically, the drawing generating unit 260 generates a drawing showing the state of the inner wall of the pipe using at least one of the inspection data generated by the inspection data generating unit 250 and the inspection data collected from the exploration apparatus 100 . Here, the drawing generation unit 260 includes a preprocessing unit 261, a development drawing generation unit 262 for generating a development drawing for the inner wall of the conduit, and a deployment image generation unit 263 for generating a deployment image for the inner wall of the conduit Or portions thereof. Accordingly, the drawing generated by the drawing generating unit 260 may include at least one of a developed image for the inner wall of the conduit and a deployed image for the inner wall of the conduit.

Specifically, the preprocessing unit 261 may perform preprocessing of data for operation of the development drawing generation unit 262 and the development image generation unit 263. More specifically, the preprocessing unit 261 can acquire the conduit information including the number of the conduit to be drawn, the specification of the conduit, the manhole number at the beginning and end of the conduit, and the manhole positions at the start and end of the conduit have. Then, the preprocessing section 261 can assign a damage number to the damaged data in the order of the position of the damaged area from the first manhole. Then, the preprocessing section 261 can classify the damage data according to the damage direction. The preprocessing unit 261 may assign a drawing identifier to the damage data according to the type of damage. Then, the preprocessing unit 261 can calculate the amount of damage based on the damage size.

On the other hand, the development drawing generation unit 262 can generate a development drawing indicating the state of the inner wall of the conduit based on the data preprocessed by the preprocessing unit 261. [ More specifically, the development drawing generation unit 262 can generate an initial development drawing in which the drawings corresponding to at least one inner wall constituting the corresponding conduit are arranged based on the specification of the conduit. For example, when the conduit is constituted by a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the deployment drawing generating unit 262 generates an initial deployment image in which the left inner wall drawing, the upper inner wall drawing, A drawing can be generated. As another example, in the case of a circular conduit not divided into a plurality of inner walls, the deployment drawing generation unit 262 can generate an initial deployment drawing in which one inner drawing is developed.

Then, the development drawing generation unit 262 can determine the coordinate values for both ends of the initial development drawing. For example, when the initial developed drawing is arranged from left to right, the developed drawing generating unit 262 can determine a coordinate value for the left end and a coordinate value for the right end of the initial developed drawing. Here, the coordinate value may be a coordinate value for matching the damaged position data of the damaged data with the position of the developed drawing. This coordinate value can be set, for example, as the coordinate value of the point cloud data.

On the other hand, the development drawing generation unit 262 can generate a final development drawing displaying the drawing ID and the damage number assigned to the damage data in the damaged area of the initial development drawing, using the coordinate values of the determined initial development drawing. More specifically, the development drawing generation unit 262 can determine the position in the initial development drawing of the damaged area using the damage position data of the damaged area, the damage direction data, and the coordinate values of the initial developed drawing. Then, the development drawing generation unit 262 can display at least one of the drawing identifier, the damage number, and the damage size assigned to the damage data in the determined initial development drawing position. Accordingly, the development drawing generation unit 262 can generate the final development drawing showing the state of the inner wall of the conduit.

Furthermore, the deployment diagram generation unit 262 can create a normal-state water quantity table based on the amount of damage calculated by the preprocessing unit 261, and place the created normal-state water quantity table on one side of the drawing.

On the other hand, the deployed image generator 263 can generate a deployed image indicating the state of the inner wall of the vessel, based on the data preprocessed by the preprocessor 261. More specifically, the deployment image generator 263 can extract, based on the standard of the conduit, photographed images corresponding to at least one inner wall constituting the conduit from the probe data. For example, when the conduit is composed of a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the deployed image generating unit 262 generates a captured image corresponding to the left inner wall, a captured image corresponding to the upper inner wall, The corresponding photographed image and the photographed image corresponding to the lower inner wall can be extracted.

The developed image generation unit 263 may generate an initial developed image of the extracted captured image. For example, when the conduit is composed of a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the deployed image generating unit 263 generates a captured image corresponding to the left inner wall, a captured image corresponding to the upper inner wall, An initial developed image in which the image and the photographed image corresponding to the lower inner wall are sequentially arranged can be generated.

The developed image generation unit 263 can determine the coordinate values for both ends of the initial developed image. For example, if the initial deployment image is arranged from left to right, the deployment image generation unit 263 can determine the coordinate value for the left end of the initial deployment drawing and the coordinate value for the right end. Here, the coordinate value may be a coordinate value for matching the position of the damaged image with the position of the developed image. This coordinate value can be set, for example, as the coordinate value of the point cloud data.

The developed image generator 263 may generate a final developed drawing that displays the drawing identifier and the damage number allocated to the damaged data in the damaged area of the initial developed image using the determined coordinates of the initial developed image. More specifically, the deployment image generator 263 can determine the position in the initial deployment image of the damaged area using the damage location data of the damaged area, the damage direction data, and the coordinate values of the initial deployment drawing. Then, the deployment image generator 263 may display at least one of the drawing identifier, the damage number, and the damage size allocated to the damage data at the determined initial deployment image position. Accordingly, the deployed image generating unit 263 can generate a final deployed image indicating the state of the inner wall of the conduit.

According to the present invention, the damage data for the damaged area is automatically generated based on the point cloud data of the exploration data, and a drawing showing the state of the inner wall of the pipe is automatically generated based on the damage data, Productivity and quality of work can be improved.

Meanwhile, the communication unit 270 allows the drawing generating apparatus 200 to perform communication with another apparatus. Here, the communication unit 270 may be connected in a wireless or wired manner via a local area network (LAN) and an Internet network, a form connected through a USB (Universal Serial Bus) port, a mobile communication network Or a form of being connected through a short-range wireless communication method such as NFC (Near Field Communication), Radio Frequency Identification (RFID), Wi-Fi, or the like.

The control unit 280 controls the overall operation of the drawing generating apparatus 200. The control unit 280 includes a storage unit 210, a virtual reality providing unit 220, a display unit 230, an input unit 240, an inspection data generating unit 250, a drawing generating unit 260, 270 can be controlled in whole or in part.

In particular, the control unit 280 controls the inspection data generation unit 250 to generate inspection data related to damage to the inner wall of the pipe, based on the inspection data collected by the survey device 100, It is possible to control the drawing generating section 260 to generate a drawing showing the state of the inner wall.

In addition, the control unit 280 may control the communication unit 270 to upload the inspection data and the exploration data to the web server. This will be described in more detail with reference to FIG.

6 is a block diagram showing a piping inner wall condition investigation system according to another embodiment of the present invention. Referring to FIG. 6, the piping inner wall condition investigation system 2000 includes a drawing generation apparatus 200, a web server 300, and a plurality of user terminal apparatuses 400-1 to 400-N .

The drawing generation apparatus 200 can upload inspection data and exploration data stored in the storage unit 210 to the web server 300. Here, the inspection data for the inner wall of the conduit may include damage data including at least one of damage type data, damage position data, damage direction data and damage size data of the damaged area in the inner wall of the conduit. The inspection data for the inner wall of the conduit may include markup data input from the user to the conduit. The survey data may be data in which point cloud data having a three-dimensional spatial coordinate value with respect to the inside of the pipe and the photographed image inside the pipe are mapped. Here, the drawing generating apparatus 200 may be implemented as a variety of data processing devices such as a laptop computer, a desktop computer, a server computer, and the like.

The web server 300 may store inspection data and exploration data, and may generate a web page for providing inspection data and exploration data.

The user terminal 400 may be implemented as a variety of devices having a communication function such as a smart phone, a mobile phone, a personal digital assistant (PDA), a portable multimedia player (PMP), a desktop computer, Accordingly, the user terminal 400 can access the web server 300 and receive inspection data and exploration data from the web server 300.

According to the present invention, the user can access the web server 300 using his / her terminal device 400 and then conduct an online survey on the inner wall condition of the passage. In addition, since the web server 300 can be utilized as a channel for reporting to the ordering party in the service history, the system 200 can enable online reporting. In order to confirm the output result, the web server 300 ), The system 200 can make online approval possible.

6, the drawing generating apparatus 200 and the web server 300 are separately implemented. However, the present invention is not limited thereto. According to another embodiment of the present invention, the drawing generating apparatus 200 may be implemented to perform functions of the web server 300 as well.

In addition, each of the inspection data generation unit 250 and the drawing generation unit 260 may be implemented using software, hardware, or a combination thereof. For example, in accordance with a hardware implementation, an application specific integrated circuit (ASIC), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) ), Controllers, micro-controllers, microprocessors, and other units for performing other functions.

In addition, each of the inspection data generation unit 250 and the drawing generation unit 260 may be installed in the exploration apparatus 100 as one module. In this case, the surveying apparatus 100 can perform the functions of the inspection data generating unit 250 and the drawing generating unit 260 in real time.

7 is a flow chart schematically illustrating a method for generating a plot of the inner wall condition of a conduit according to an embodiment of the present invention. Referring to FIG. 7, the drawing apparatus 200 may acquire the survey data collected in the surveying apparatus for exploring the interior of the conduit (S201). Here, the exploration data may be data in which point cloud data having a three-dimensional space coordinate value with respect to the photographed image inside the conduit and the inside of the conduit are mapped.

Then, the drawing apparatus 200 may generate damage data related to the damaged area of the inner wall of the pipe, based on the obtained exploration data (S202). The step S202 will be described in more detail with reference to FIGS. 9 to 11. FIG.

Then, the drawing generating apparatus 200 can generate a drawing showing the state of the inner wall of the conduit based on the generated damage data. The step S203 will be described in more detail with reference to FIGS. 12 to 16. FIG.

Meanwhile, a method according to an embodiment of the present invention may further include uploading inspection data and exploration data to a web server. In this case, the uploaded data can be confirmed through the terminal 400 of the user connected to the web server 300.

8 is a flowchart specifically illustrating a method of providing a virtual reality screen according to an embodiment of the present invention. Referring to FIG. 8, the virtual reality providing unit 220 may load the search data stored in the storage unit 210 (S301).

Then, the virtual reality providing unit 220 can perform the lightening process of the loaded exploration data (S302). For example, the virtual reality providing unit 220 can perform data lightening processing by extracting only the area corresponding to the field of view of the camera from the exploration data. As another example, the virtual reality providing unit 220 may perform image lightening processing by performing image processing that excludes a plurality of objects included in the exploration data and excludes objects that are not shown in the field of view of the camera.

The virtual reality providing unit 220 may assign map coordinates in the virtual reality to the individual pixels based on the mapping relationship between the pixels of the shot image and the three-dimensional space coordinate values of the point cloud data (S303). Then, the virtual reality providing unit 220 can generate a virtual reality screen using map coordinates in the allocated virtual reality (S304).

Then, the display unit 230 may display a virtual reality screen generated by the virtual reality providing unit 220 (S305). As a result, the user can conveniently perform the state inspection of the inner wall of the conduit just as if the inner conduit were directly explored.

FIG. 9 is a flowchart specifically illustrating a method of generating damage data related to a damaged area of a conduit inner wall according to an embodiment of the present invention. 10 is a conceptual diagram for explaining a damage data generating method according to FIG. 9 to 10, the display unit 230 may display a virtual reality screen generated by the virtual reality providing unit 220 (S401). For example, the display unit 230 can display a virtual reality screen as shown in Fig. 10 (A). 10A, when the conduit is composed of a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the virtual reality screen includes a captured image 501 for the left inner wall, a captured image 503 for the right inner wall, A photographed image 504 for the inner wall, and a photographed image 502 for the upper inner wall. Here, the virtual reality screen can be displayed based on the point of time when the camera points in the virtual reality.

Then, the input unit 240 may receive a user input for selecting a damaged area of the inner wall of the conduit (S402). For example, the user can check the inner wall of the conduit through the virtual reality screen 501 and determine the damaged area of the inner wall of the conduit according to the investigation. The damage area 511 of the inner wall of the conduit can be selected.

Then, the damage data generation unit 251 can detect the point cloud data of the selected damage region according to the user's input (S403).

The damage data generation unit 251 may determine at least one of damage location data, damage direction data, and damage size data of the damaged area using the coordinate values of the detected point cloud data (S404). For example, the damage data generation unit 251 may calculate damage location data indicating the location of the damaged area and damage direction data indicating the direction of the damaged area using the three-dimensional coordinate values of the point cloud data. The damage data generation unit 251 calculates the width and depth depth of the damaged area using the three-dimensional coordinate values of the point cloud data, calculates the damage size data indicating the size of the damaged area Can be calculated.

11 is a flowchart specifically illustrating a method of generating damage data related to a damaged area of a conduit inner wall according to another embodiment of the present invention. Referring to FIG. 11, the storage unit 210 may store a coordinate value variation pattern of point cloud data corresponding to each of a plurality of damage types (S501). Here, the pre-stored coordinate value change pattern may be a value obtained by storing the change pattern of the coordinate value for the damaged area such as crack, exposed metal parts, breakage, and surface deterioration.

The damage data generation unit 251 may compare the coordinate value change pattern of the point cloud data included in the exploration data with the previously stored coordinate value change pattern (S502). Then, the damage data generation unit 251 can detect the damaged area on the inner wall of the conduit according to the comparison result (S503).

Then, the damage data generation unit 251 detects coordinate values of the point cloud data of the detected damage region (S504) and, based on the detected coordinate values, the damage position data, the damage direction data, and the damage size data At least one can be determined (S504).

FIG. 12 is a flowchart specifically illustrating a method of generating a piping inner wall state diagram according to an embodiment of the present invention. 12, the preprocessor 261 obtains the conduit information including the number of the conduit to be drawn, the specification of the conduit, the manhole number at the start and end of the conduit, and the manhole position at the start and end of the conduit (S601). Then, the preprocessing unit 261 can assign a damage number to the damaged data in the order of the position of the damaged area from the first manhole (S602). Then, the preprocessing section 261 can classify the damage data according to the damage direction (S603). Then, the preprocessing unit 261 can assign a drawing identifier to the damage data according to the type of damage (S604). Then, the preprocessing unit 261 can calculate the amount of damage based on the damage size (S605).

On the other hand, the drawing generating unit 260 may generate at least one of the developed drawing and the developed image indicating the state of the inner wall of the conduit based on the allocated data (S606).

13 is a flowchart specifically showing a generation method of a development drawing according to an embodiment of the present invention. Referring to FIG. 13, the development drawing generation unit 262 can generate an initial development drawing in which the drawings corresponding to at least one inner wall forming the corresponding conduit are arranged based on the specification of the conduit (S701). For example, when the conduit is constituted by a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the deployment drawing generating unit 262 generates an initial deployment image in which the left inner wall drawing, the upper inner wall drawing, A drawing can be generated.

Then, the development drawing generation unit 262 can determine coordinate values for both ends of the initial development drawing (S702). Here, the coordinate value may be a coordinate value for matching the damaged position data of the damaged data with the position of the developed drawing. This coordinate value can be set, for example, as the coordinate value of the point cloud data.

The development drawing generation unit 262 can determine the position in the initial development drawing of the damaged area using the damage position data of the damaged area, the damage direction data, and the coordinate values of the initial developed drawing (S703).

Then, the development drawing generation unit 262 can generate a final development drawing in which at least one of the drawing identifier, the damage number, and the damage size allocated to the damage data is displayed at the determined position (S704). In this case, an example of the generated final development drawing may be as shown in Fig.

For example, when the conduit is composed of a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the final deployment drawing 600 generated by the deployment drawing generating unit 262 includes a left inner wall drawing 601, an upper inner wall drawing 602, The right inner wall drawing 603 and the lower inner wall drawing 604 may be sequentially developed. Then, in the final expansion drawing 600, the drawing identifier 611, the damage number 612, and the damage size 613 allocated to the damage data can be displayed.

15 is a flowchart specifically illustrating a method of generating a developed image according to an embodiment of the present invention. Referring to FIG. 15, the deployed image generator 263 may extract a captured image corresponding to at least one inner wall constituting the corresponding channel from the exploration data based on the standard of the channel (S801). For example, when the conduit is composed of a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the deployed image generating unit 262 generates a captured image corresponding to the left inner wall, a captured image corresponding to the upper inner wall, The corresponding photographed image and the photographed image corresponding to the lower inner wall can be extracted.

Then, the expanded image generation unit 263 can extract the markup data embedded in the extracted captured image (S802).

The developed image generation unit 263 may generate an initial developed image based on the extracted captured image and markup data (S803). For example, when the conduit is composed of a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the deployed image generating unit 263 generates a captured image corresponding to the left inner wall, a captured image corresponding to the upper inner wall, An initial developed image in which the image and the photographed image corresponding to the lower inner wall are sequentially arranged can be generated.

The deployment image generation unit 263 can determine coordinate values for both ends of the initial deployment image (S804).

The deployment image generation unit 263 can determine the location of the damaged area in the initial deployment image using the damage location data, the damage direction data, and the coordinate values of the initial deployment map (S805).

In operation S806, the deployment image generator 263 may generate a final deployment image in which at least one of the drawing identifier, the damage number, and the damage size allocated to the damaged data is displayed at the determined location. In this case, an example of the final developed image generated may be as shown in FIG.

For example, when the conduit is composed of a left inner wall, a right inner wall, a lower inner wall, and an upper inner wall, the final deployed image 700 generated by the deployed image generator 263 includes a captured image 701 for the left inner wall, A captured image 703 for the right inner wall, and a captured image 704 for the lower inner wall may be sequentially developed. In the final deployment image 700, a drawing identifier 712, a markup 711, and the like allocated to the damaged data may be displayed.

Meanwhile, the methods according to various embodiments of the present invention described above may be implemented in the form of installed data and provided to servers or devices in a state stored in various non-transitory computer readable media. Accordingly, each device can access the server or the device in which the installation data is stored, and download the installation data.

A non-transitory readable medium is a medium that stores data for a short period of time, such as a register, cache, memory, etc., but semi-permanently stores data and is readable by the apparatus. In particular, the various applications or programs described above may be stored on non-volatile readable media such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM,

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

100: probe apparatus 110: camera unit
120: sensor unit 130: storage unit
140: control unit 200: drawing generating apparatus
210: storage unit 220: virtual reality provisioning
230: display part 240: input part
250: inspection data generation unit 260:
270: communication unit 280:
300: Web server 400: User terminal device

Claims (17)

A method of generating a plot of an inner wall condition of a conduit,
Storing a coordinate value variation pattern of point cloud data corresponding to each of a plurality of damage types;
Obtaining exploration data collected in a surveying device for exploring the inside of the conduit;
Generating damage data related to the damaged area of the inner wall of the conduit based on the obtained exploration data; And
And generating a diagram showing the state of the inner wall of the conduit based on the generated damage data,
The above-
A point cloud data having a three-dimensional space coordinate value with respect to the inside of the conduit is mapped,
Wherein the damage data comprises:
At least one of damage type data, damage position data, damage direction data, and damage size data of a damaged area in the inner wall of the conduit,
Wherein the step of generating the damage data comprises:
Comparing the coordinate value variation pattern of the point cloud data included in the exploration data with the stored coordinate value variation pattern;
Detecting a damaged area on the inner wall of the conduit according to the comparison result; And
And determining at least one of the damage location data, the damage direction data, and the damage size data based on the coordinate value of the point cloud data of the detected damage area. A method for generating a drawing. The method according to claim 1,
Extracting only an area corresponding to a field of view of the camera from the exploration data, and rendering the extracted area; or
Further comprising the step of rendering an object that is hidden from the plurality of objects included in the exploration data and is not visible in a field of view of the camera, and then rendering the object. Way. delete The method according to claim 1,
Displaying a Virutal Reality screen for the inside of the conduit based on the exploration data;
Receiving a markup from a user on the displayed virtual reality screen; And
Generating markup data according to the input and inspection data including the damage data. ≪ Desc / Clms Page number 20 > The method according to claim 1,
Wherein the step of generating the damage data comprises:
Displaying a Virutal Reality screen for the inside of the conduit based on the exploration data;
Receiving a damaged area from a user on the displayed virtual reality screen; And
And determining at least one of the damage location data, the damage direction data, and the damage size data based on the coordinate values of the point cloud data of the selected damage area according to the user input. A method for generating a drawing of a state. delete 5. The method of claim 4,
And uploading the inspection data and the exploration data to a web server,
Wherein the uploaded data is identifiable through a terminal device of a user connected to the web server. The method according to claim 1,
Wherein the step of generating the drawing showing the state of the inner wall of the conduit comprises:
Obtaining conduit information including a number of the conduit, a specification of the conduit, a manhole number at the beginning and end of the conduit, and a manhole location at the beginning and end of the conduit;
Firstly assigning a damage number to the damage data in order of location of the damaged area from the manhole;
Classifying the damage data according to the damage direction;
Assigning a picture identifier to the corruption data according to the type of corruption; And
And calculating the amount of damage based on the magnitude of the damage. ≪ Desc / Clms Page number 19 > 9. The method of claim 8,
Wherein the step of generating the drawing comprises:
Generating an initial deployment drawing in which a drawing corresponding to at least one inner wall constituting the conduit is developed based on the standard of the conduit;
Determining coordinate values for both ends of the initial developed drawing; And
And generating a final development drawing that displays at least one of a drawing identifier and a damage number assigned to the damage data in a damaged area in the initial developed drawing using the determined coordinates of the initial developed drawing. Of the inner wall of the conduit. 9. The method of claim 8,
Wherein the step of generating the drawing comprises:
Extracting a photographed image corresponding to at least one inner wall constituting the conduit from the survey data based on the standard of the conduit;
Generating an initial deployment image in which the extracted captured image is developed;
Determining coordinate values for both ends of the initial developed drawing; And
And generating a final expanded image displaying at least one of a drawing identifier and a damage number assigned to the damaged data in a damaged area in the initial expanded image using the determined coordinates of the initial expanded image. Of the inner wall of the conduit. A method for examining an inner wall condition of a conduit,
Storing a coordinate value variation pattern of point cloud data corresponding to each of a plurality of damage types;
Obtaining exploration data in which point cloud data having a three-dimensional space coordinate value with respect to the inside of the pipe is mapped; And
Determining a damaged area on the inner wall of the conduit using the obtained exploration data and generating damage data on the damaged area based on the point cloud data,
Wherein the damage data comprises:
Damage type data, damage position data, damage direction data, and damage size data of the damaged area in the inner wall of the conduit,
Wherein the step of generating the damage data comprises:
Comparing the coordinate value variation pattern of the point cloud data included in the exploration data with the stored coordinate value variation pattern;
Detecting a damaged area on the inner wall of the conduit according to the comparison result; And
Determining at least one of the damage location data, the damage direction data and the damage size data based on coordinate values of the point cloud data of the detected damage area. A drawing generating apparatus for generating a drawing of an inner wall condition of a conduit,
A storage unit for storing exploration data collected in a surveying apparatus for exploring the inside of the conduit;
A damage data generation unit for generating damage data related to the damaged area of the inner wall of the conduit based on the exploration data; And
And a drawing generating unit for generating a drawing showing a state of the inner wall of the pipe based on the generated damage data,
The above-
A point cloud data having a three-dimensional space coordinate value with respect to the inside of the conduit is mapped,
Wherein the storage unit stores a coordinate value variation pattern of point cloud data corresponding to each of a plurality of damage types,
Wherein the damage data generation unit comprises:
Comparing the coordinate value variation pattern of the point cloud data included in the exploration data with the stored coordinate value variation pattern and detecting a damaged area on the inner wall of the conduit according to the comparison result; And determining at least one of the damage position data, the damage direction data, and the damage size data based on the coordinate values. 13. The method of claim 12,
Wherein the damage data comprises:
Damage type data, damage position data, damage direction data, and damage size data of the damaged area in the inner wall of the conduit. 14. The method of claim 13,
A display unit for displaying a virtual reality (Virutal Reality) screen on the basis of the exploration data; And
And an input unit for receiving a damaged area from a user on the displayed virtual reality screen,
Wherein the damage data generation unit comprises:
And determines at least one of the damage location data, the damage direction data, and the damage size data based on the coordinate values of the point cloud data of the damaged area selected in accordance with the user input. delete A program for executing the method according to any of claims 1, 2, 4, 5, 7, 8, 9 or 10, stored in a computer readable recording medium. A computer-readable recording medium on which a program for executing the method according to any one of claims 1, 2, 4, 5, 7, 8, 9 or 10 is recorded.

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