KR102040435B1 - Inspection system of remote structural and structural inspection method using the system - Google Patents

Abstract

Disclosed are an inspection system for a structure in a long distance, capable of determining a damage degree of a structure by photographing a structure in a long distance and inspecting the state of the structure, and an inspection method for a structure using the same. According to an embodiment of the present invention, the inspection system for a structure in a long distance includes: a marking device attached to a part of the structure; a photographing device installed in a photographing position in a predetermined photographing range and obtaining first image data by photographing a part of the structure to which the marking device is attached, wherein the photographing device obtains multiple pieces of second image data by photographing the structure except for an area of the first image data once or more times; a distance measuring device installed in a part of the photographing device and measuring a reference distance value between the photographing device and the part of the structure photographed by the photographing device, by sensing the marking device; and a structure inspection device receiving the first image data and the multiple pieces of the second image data from the photographing device and correcting the multiple pieces of the second image data by individually calculating a distance value between the photographing device and the part of the structure individually corresponding to the multiple pieces of the second image data, wherein the structure inspection device calculates the damage degree of the structure by extracting crack data after combining the first image data and the multiple pieces of the second image data as single image data.

Description

Remote inspection system and inspection method using the system {Inspection system of remote structural and structural inspection method using the system}

The present invention relates to a remote structure inspection system and a method for inspecting a structure using the system, and more particularly, to determine a damage degree of a structure by photographing the structure from a distance, and to a structure for checking a structure of a remote structure. A method for inspecting a structure using the system.

In general, structures such as tunnels, bridges, bridges, and buildings generate cracks and damage due to hydraulic pressure, earth pressure, earthquakes, and structural defects over time. It also collapsed.

For this reason, regular safety checks and precise safety checks are carried out on the structure, and after the condition and stability of the structure have been assessed, the structure is repaired and reinforced to secure stability.

Such basic items, such as safety inspection and precision safety diagnosis, include visual inspection. This visual inspection is performed to capture the cracks and damage of the structure to obtain an image of the structure, and then to save the obtained structure image to obtain data such as the length, width of the crack.

In order to photograph the cracks and damages for the appearance inspection, in the past, a temporary construction such as a scaffold was installed to allow the worker to photograph close to the location where the cracks and damages occurred in the target structure. Therefore, the worker obtains the structure image by photographing the damage generated on the target structure while moving in the temporary construction. After that, when the acquisition of the structure image is completed, the worker transmits and stores the acquired structure image to a device such as a terminal. It was.

As an example of such a conventional appearance investigation, Korean Patent No. 10-1337896 applies a pressure-sensitive material to a structure, sends out an image while observing the structure, records it in an image recording apparatus, and records the image in the image recording apparatus. A safety diagnosis device for detecting a crack based on a change in stress field while detecting a light emitting part is disclosed. However, in the prior art, it is difficult to apply the light-sensitive material to the entire surface of a large structure, it takes a long time even to apply the light-sensitive material, there was a problem that the efficiency of safety diagnosis for the large structure is inferior. In addition, there was an uncomfortable problem of removing the pressure-sensitive material from the structure after the safety diagnosis.

In addition, Korean Patent No. 10-1769951 arranges a plurality of specimens in a line, and then electrically connects two adjacent specimens to supply a DC current, and measures a potential difference between the plurality of specimens to determine a plurality of specimens. Disclosed is a crack detection device for detecting cracks in the field. However, in the prior art, it is difficult to install the specimens in a large structure, the installation time of the specimens takes a long time, there was a problem that the efficiency of safety diagnosis for large structures is inferior. And there was an uncomfortable problem of removing the specimens from the structure after the end of the safety diagnosis.

Korea Patent Registration No. 10-1337896 Korea Patent Registration No. 10-1769951

Therefore, the present invention has been made to solve the above problems, the present invention obtains the image data for the structure at a distance away from the structure, extract the crack of the structure from the obtained image data, the length of the crack And the purpose of the present invention is to provide a remote structure inspection system that can check the structure by calculating the degree of damage of the structure according to the width and the structure inspection method using the system.

The present invention measures a reference distance value between a photographing apparatus and a portion of a structure photographed first from the photographing apparatus, and calculates the distance between the structure and the photographing apparatus from image data without measuring the distance value after the first photographing. The object of the present invention is to provide a remote structure inspection system and a structure inspection method using the system, which can shorten the inspection time.

In addition, the present invention is a remote structure inspection system and system that can accurately correct the location, length and width of the crack by correcting the size of the image data corresponding to the reference distance value, and extracting the crack based on the corrected image data The purpose is to provide a method for checking structures using

On the other hand, the technical problem to be achieved in the present invention is not limited to the above-mentioned technical problems, and other technical problems not mentioned are clearly to those skilled in the art from the following description. It can be understood.

As a technical means for achieving the above object, the remote structure inspection system according to an embodiment of the present invention, the marking device attached to a portion of the structure; The first image data is obtained by first photographing a portion of the structure to which the marker device is located, which is located far from the structure, and the second image data is obtained by photographing the structure other than the area of the first image data one or more times. Acquisition apparatus to obtain; A distance measuring device for detecting a marking device and measuring a reference distance value between a portion of the structure and the photographing device; And receiving first image data and a plurality of second image data from a photographing apparatus, and calculating a distance value between a portion of a structure corresponding to each of the plurality of second image data and a photographing apparatus, respectively, to obtain the plurality of second image data. And a structure inspecting apparatus for correcting and joining the first image data and the plurality of corrected second image data into one image data, and then extracting the crack data to calculate a degree of damage of the structure.

In one embodiment, the photographing apparatus includes a camera positioned at a distance from the structure and photographing the structure at least once, and a scope for extending the magnification and focal length of the camera.

In one embodiment, the photographing apparatus further includes a panoramic camera equipped with a 360 ° panoramic photographing function for photographing a portion of a structure that is difficult to photograph with a camera.

In an embodiment, the photographing apparatus further includes a pan head that adjusts a photographing angle of the camera horizontally or vertically by changing a position horizontally or vertically.

In one embodiment, the photographing apparatus has a photographing distance of 5 m to 200 m.

In one embodiment, the structure inspecting apparatus may include: a first storage unit configured to store first image data and a plurality of second image data obtained by the photographing apparatus; A distance calculator configured to calculate a distance value between a portion of the structure corresponding to each of the plurality of second image data and the photographing apparatus based on the number of pixels of the plurality of second image data stored in the first storage unit; A correction unit for correcting the sizes of the plurality of second image data so that the distance values respectively calculated from the distance calculation unit are equal to the reference distance values; An image joining unit for joining the first image data and the plurality of corrected second image data without an overlap area; A development view generation unit for generating a development view by matching the joined image data within a predetermined development area; A crack extracting unit extracting crack data by removing the developed view from the unfolded area; And a damage calculation unit that calculates a degree of damage of the structure based on the length of the crack and the width of the crack included in the extracted crack data.

In one embodiment, the crack extracting unit removes the bonded image data and extracts crack data of 0.1 mm to 1.0 mm.

In one embodiment, the structure inspection apparatus may include: a second storage unit in which a developed view generated by the image bonding unit is stored; And a 3D model generator for generating a 3D model for the structure based on the developed view stored in the second storage unit.

As a technical method for achieving the above object, a structure inspection method using a remote structure inspection system according to an embodiment of the present invention, the first step of attaching the marking device to a portion of the structure; Position the photographing device at a distance from the structure, take a picture of a part of the structure to which the marking device is attached with the photographing device, and obtain the first image data, and photograph the structure at least once except for the area of the first image data. A second step of acquiring a plurality of second image data; A third step of detecting a marker by the distance measuring device and measuring a reference distance value between the portion of the structure and the photographing device; And the structure inspecting apparatus receives the first image data and the plurality of second image data from the photographing apparatus, and calculates a distance value between the portion of the structure corresponding to the plurality of second image data and the photographing apparatus, respectively. And a fourth step of correcting the two image data, joining the first image data and the corrected plurality of second image data into one image data, and extracting the crack data to calculate the degree of damage of the structure.

In an exemplary embodiment, the fourth step may include steps 4-1 of storing first image data and a plurality of second image data acquired by the photographing apparatus in the first storage unit; A step 4-2 of which the distance calculating unit calculates distance values between portions of the structure corresponding to the plurality of second image data and the photographing apparatus, respectively, based on the number of pixels of the plurality of second image data stored in the first storage unit; A fourth to third step of correcting the sizes of the plurality of second image data so that the distance values respectively calculated by the distance calculation unit are equal to the reference distance values; 4-4 step of the image bonding unit joining the first image data and the plurality of corrected second image data without an overlap area; 4-5 steps of generating a developed view by matching the image data joined by the developed view generating unit within a predetermined developed area; A fourth step of extracting the crack data by removing the development view from the development region by the crack extraction unit; And 4-7 calculating a damage degree of the structure based on the length of the crack and the width of the crack included in the extracted crack data.

As described above, according to an embodiment of the present invention, as long distance shooting of the structure becomes possible, there is an effect of reducing time and cost for installing a temporary installation for a conventional close-up.

After the first photographing, even if the distance measurement between the photographing apparatus and a part of the structure is omitted, accurate distance calculation is possible, thereby significantly reducing the structure inspection time.

In addition, even if the distance measurement is omitted, the location, length and width of the cracks generated in the structure can be accurately extracted as the distance between the photographing apparatus and the part of the structure is accurately calculated.

In addition, since traffic control and traffic jams do not occur for the safety diagnosis of the structure, work can be freely performed regardless of work time and work progress time.

In addition, by accurately extracting the length and width of cracks from the image data acquired through the remote shooting, it is possible to track the degree of damage of the structure, the future progress of the cracks, and the secular variation. Can be secured as.

Meanwhile, effects obtained in the present invention are not limited to the above-mentioned effects, and other effects not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

1 is a schematic diagram of a remote structure inspection system according to an embodiment of the present invention.
FIG. 2 is an image showing the configuration of the photographing apparatus shown in FIG. 1.
3 is an image illustrating an embodiment of photographing a structure with a camera.
4 is an image showing image data obtained by photographing a structure by a panorama technique.
5 is an image showing a photographing method of a structure using a pan head and image data obtained through the photographing method.
6 is an image showing the configuration of the distance measuring device shown in FIG.
7 is a block diagram showing the detailed configuration of the structure inspection apparatus shown in FIG.
8 is a flow chart of a structure inspection method using a remote structure inspection system according to an embodiment of the present invention.
FIG. 9 is an image illustrating a process of attaching a marker device and acquiring image data shown in FIG. 8.
10 is a flowchart showing the detailed steps of the damage level determination step of the structure shown in FIG.
FIG. 11 is an image illustrating image data stored in the first storage unit in the arrow data storing step illustrated in FIG. 10.
FIG. 12 is an image illustrating image data bonded through the image bonding unit in the image data bonding step in FIG. 10.
FIG. 13 is an image illustrating a developed view generated through the developed view generating unit in the developed view generating step shown in FIG. 10.
FIG. 14 is an image illustrating crack data extracted through a crack extraction unit in the crack extraction step illustrated in FIG. 10.
FIG. 15 is an image illustrating a solution of a damage calculation unit which database a damage degree of a structure calculated in the damage degree calculation step shown in FIG. 10.
FIG. 16 is an image illustrating a 3D model of a structure generated by the 3D model generator in the 3D model generation step shown in FIG. 10.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The detailed description, which will be given below with reference to the accompanying drawings, is intended to explain exemplary embodiments of the present invention and is not intended to represent the only embodiments in which the present invention may be practiced. The following detailed description includes specific details in order to provide a thorough understanding of the present invention. However, one of ordinary skill in the art appreciates that the present invention may be practiced without these specific details. In addition, throughout the specification, when a part is said to "comprising" (or including) a component, this may further include other components, not to exclude other components unless specifically stated otherwise. Means that. In describing the embodiments of the present invention, when it is determined that a detailed description of a known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, terms to be described below are terms defined in consideration of functions in the embodiments of the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the contents throughout the specification.

Remote Structure Inspection System

Hereinafter, with reference to the accompanying drawings will be described in detail the remote structure inspection system (hereinafter referred to as "check system") in accordance with an embodiment of the present invention.

1 is a schematic configuration diagram of a remote structure inspection system according to an embodiment of the present invention, Figure 2 is an image showing the configuration of the photographing apparatus shown in Figure 1, Figure 3 is an embodiment of photographing the structure with a camera FIG. 4 is an image showing image data obtained by photographing a structure by a panoramic technique, and FIG. 5 is an image showing a photographing method of a structure using a pan head and image data obtained by the photographing method. 6 is an image showing the configuration of the distance measuring apparatus shown in FIG. 1, and FIG. 7 is a block diagram showing the detailed configuration of the structure inspecting apparatus shown in FIG.

As shown in these drawings, the inspection system according to an embodiment of the present invention is a system for inspecting by photographing the structure 10, such as walls, bridges, piers from a distance. The inspection system is composed of the marking device 100, the imaging device 110, the distance measuring device 120 and the structure inspection device 130.

The marking device 100 is attached to a portion of the structure 10 and transmits a signal 100a to the distance measuring device 120 when the distance measuring device 120 is executed. For example, the marking device 100 may be formed in red, and the edge portion surrounding the center may be white so that the user can recognize the image through the photographing apparatus 110. In addition, the central portion of the marking device 100 is made of a horizontal length of 10cm, a vertical length of 5cm, the edge portion has a width of 2.5cm from the center, a horizontal length of 16cm, may be made of a vertical length of 10cm.

The photographing apparatus 110 acquires the image data 110a of the structure 10 by photographing the structure 10 at least once from a long distance. The photographing apparatus 110 includes a camera 111, a telephoto lens 113, a pan head 115, a scope 117, and a tripod 119.

The camera 111 acquires image data by photographing the structure 10 after being positioned at a distance from the structure 10. Specifically, the camera 111 acquires the first image data by photographing a portion of the structure 10 to which the marking apparatus 100 is attached, and at least once the structure 10 except for the region of the first image data. Photographing is obtained to obtain a plurality of second image data. At this time, it is preferable that the camera 111 photograph the structure 10 while maintaining the setting of the first photographing. In addition, the camera 111 includes, for example, a digital single-lens reflex camera (DSLR) having a maximum of 50 million pixels or more. Of course, it may be provided with a digital camera made of a high-end type. However, in the inspection system of the present invention, it is preferable to use a digital single-lens reflex camera to reduce the cost of equipment purchase. As such, the camera 111 may photograph the structure 10 while moving to a state located far from the structure 10 as well as photographing in a state far from the structure 10.

On the other hand, the photographing apparatus 110 is 360 ° panoramic shooting function to take a portion of the structure 10 (for example, jiseung, pier, between the bridge and bridge, between the bridge and the bridge) difficult to shoot with the camera 111 The mounted panoramic camera may be further provided. Such a panoramic camera is capable of enlarging and reducing magnification and focus, and thus it is easy to photograph a portion of the structure 10 that is difficult for the camera 111 to photograph. The structure inspection apparatus 130 may obtain the 360 ° data of the structure 10 through the panoramic camera. As described above, the panoramic camera is provided separately from the camera 111, but the panorama camera may be mounted on the camera 111 to replace the panoramic camera.

The telephoto lens 113 is mounted to the camera 111 as a lens having a focal length of 85 mm or more. Through the telephoto lens 113, the camera 111 may photograph a subject located at a far distance, and may photograph by emphasizing a specific portion of the subject located at a short distance. However, even when the telephoto lens 113 is mounted on the camera 111, since the camera 111 and the structure 10 are located at a long distance, the camera 111 may have a structure of image 10 having an image quality enough to analyze a crack of the structure. It is impossible to shoot. Accordingly, the imaging apparatus 110 is provided with a scope 117.

The pan head 115 is installed on the tripod 119 to adjust the photographing angle of the camera 111. The pan head 115 is a gear type, it is preferable that the product of the 400 geared head (geared head), it is to adjust the photographing angle of the camera 111 by 1 ° by an angle adjusting device (not shown). Through the pan head 115, the camera 111 is configured such that overlap regions 115a, 115b, and 115c are generated in order to completely capture the structure 10 corresponding to the photographing range while the photographing angle is adjusted. 10) will be taken more than once. Such overlap regions 115a, 115b, and 115c mean areas overlapping 10% to 30% of the image data and the previous image data, and are removed by the image inspection apparatus 130 through image work.

The scope 117 is mounted on the adapter of the camera 111 mounted between the lens of the camera 111 and the scope 117 to expand the magnification and focal length of the camera 111. For example, the scope 117 is made of sporting scopes having a diameter of 52 mm, and if the naked eye is assumed to be 1 to 25 to 50 magnification, or 168 to 340 magnification, which is the minimum and maximum magnification of the camera 111. Is set. In addition, the focal length of the scope 117 is preferably 1,245mm ~ 2,525mm, the focus of the scope 117 is adjusted by a focusing device (not shown).

Tripod 119 is mounted to the camera 111, the camera 111 is installed to match the height of the structure 10 so that the front of the structure (10) can be photographed. As such, the camera 111 assembled to the tripod 119 can be photographed horizontally and vertically to photograph the upper or lower surface of the structure 10 such as a bridge (leg). This is because the position of the pan head 115 installed on the tripod 119 may be changed horizontally or vertically.

The distance measuring device 120 includes an input unit 121 for executing distance measurement between the camera 111 and the structure 10, and an output unit for outputting a reference distance value 120a measured by the distance measuring device 120 ( 123 is provided. Here, the reference distance value 120a is a distance value between the camera 111 and a portion of the structure 10 to which the marking device 100 is attached by detecting the signal 100a of the marking device 100, for example, the marking. The distance value between the device 100 and the end of the scope 117. The distance value 120a is used to correct the distance value calculated by the structure inspection apparatus 130.

The structure inspecting device 130 is a device for inspecting the structure 10 by calculating the degree of damage of the structure 10. The structure inspecting device 130 includes a first storage unit 131, a distance calculation unit 132, a correction unit 133, and an image bonding unit ( 134, a developed view generating unit 135, a crack extracting unit 136, a damage calculating unit 137, a second storage unit 138, and a three-dimensional model generating unit 139. The structure inspection apparatus 130 is connected to the camera 111 by USB and receives the image data 110a including the first image data and the plurality of second image data from the camera 111, and the distance measuring apparatus 120. ) And wirelessly (eg, Wi-Fi, Bluetooth, Zigbee, etc.), wired (eg, cable, etc.) and USB to receive the reference distance value 120a from the distance measuring device 120.

The first storage unit 131 stores image data 131a received from the photographing apparatus 110 (preferably, the camera 111).

The distance calculator 132 receives the image data 131a from the first storage unit 131 and corresponds to the plurality of second image data 131c through the number of pixels of the plurality of second image data 131c. The distance value 132a between the portion of the structure 10 and the camera 111 is calculated.

The corrector 133 receives the reference distance value 120a from the distance measuring device 120, and the plurality of second images from which the distance value 132a and the distance value 132a are calculated from the distance calculator 132. Receive data. The correction unit 133 corrects the sizes of the plurality of second image data for which the distance value 132a is calculated such that the distance value 132a is equal to the reference distance value 120a. .

The image bonding unit 134 receives the first image data 131b from the first storage unit 131 or the distance calculating unit 132, and the plurality of second image data 133a whose size is corrected from the correction unit 133. ). Also, the image joining unit 134 joins the first image data 131b and the plurality of second image data 133a whose size is corrected without an overlap area.

The developed view generating unit 135 receives the joined image data 134a from the image joining unit 134, and matches the joined image data 134a into the predetermined developed area 135b to generate the developed view 135a.

The crack extracting unit 136 receives the developed view 135a from the developed view generating unit 135, and extracts the crack data 136a by removing the developed view 135a from the developed area 135b. Here, the crack data 136a extracted by the crack extraction unit 136 includes the length and width of the crack.

The structural damage calculation unit 137 receives the crack data 136a from the crack extraction unit 136, and the damage degree of the structure 10 is based on the length of the crack and the width of the crack included in the crack data 136a. 137a) is calculated. Here, the damage degree 137a calculated by the damage calculation unit 137 is transmitted to the outside (for example, a server, a terminal, etc.) and used to track the progress of the crack and the secular change in the future. It can be used as a basis for precision safety diagnosis.

The second storage unit 138 receives the development view 135a from the development view generation unit 135. The developed view 135a stored in the second storage unit 138 is used to generate the 3D model in the 3D model generator 139.

The three-dimensional model generator 139 receives the development view 138a from the second storage unit 138 and generates a three-dimensional model 139a for the development view 138a through an image job. Here, the 3D model 139a generated by the 3D model generator 139 may be transmitted to the outside (eg, a server or a terminal) and used as a database of the structure 10.

Meanwhile, the structure inspecting apparatus 130 may further include a memory (not shown), and the memory (not shown) may store a solution (software) for performing the operations of the above-described structure inspecting apparatus 130. It would be desirable.

How to check structure

Hereinafter, with reference to the accompanying drawings will be described in detail the structure inspection method (hereinafter referred to as "structure inspection method") using the remote structure inspection system according to an embodiment of the present invention.

8 is a flowchart of a structure inspection method using a remote structure inspection system according to an exemplary embodiment of the present invention, and FIG. 9 is an image showing a process of attaching a marking apparatus and obtaining image data shown in FIG. 8. 10 is a flowchart illustrating a detailed step of the damage degree determination step of the structure shown in Figure 8, Figure 11 is an image showing the image data stored in the first storage unit in the arrow data storage step shown in Figure 10, 12 is an image showing image data bonded through the image bonding unit in the image data bonding step in FIG. 10, FIG. 13 is an image showing a developed view generated through the development diagram generating unit in the development view generating step shown in FIG. 10 is an image showing the crack data extracted through the crack extraction unit in the crack extraction step shown in Figure 10, Figure 15 is a damage well shown in Figure 10 An image showing the solution of the damage calculation unit to database the damage degree of the structure calculated in the calculation step, Figure 16 is a three-dimensional model of the structure generated by the three-dimensional model generation unit in the three-dimensional model generation step shown in FIG. Image shown.

As shown in these drawings, the structure checking method according to an embodiment of the present invention, first, the marking device 100 is attached to a portion of the structure (10) (S10), the imaging device (110) (preferably After positioning the camera 111 at a distance from the structure 10, using the camera 111 to photograph the structure 10 including a portion of the structure 10 to which the marker device 100 is attached, the first image is taken. Image data is obtained and a plurality of second image data are obtained by photographing the structure 10 except for the region of the first image data one or more times (S20). At this time, the photographing distance of the camera 111 is 5 ~ 200m, preferably the camera 111 may be located at a distance 50m away from the structure (10).

After the step S20, the distance measuring device 120 detects the signal 100a of the marking device 100 and the reference distance value 120a between the camera 111 and a portion of the structure 10 to which the marking device 100 is attached. Measured (S30). This step S30 does not necessarily proceed after step S20, but may proceed between step S10 and step S20.

After the step S30, the structure inspection device 130 calculates the degree of damage of the structure 10 (S40). As such, the step S40 of calculating the damage degree of the structure 10 includes the image data storing step S41, the distance calculating step S42, the image data size correcting step S43, the image data bonding step S44, and the development view generation. It consists of a step S45, a crack extraction step S46, a damage degree calculation step S47, a developed view storage step S48 and a three-dimensional model generation step S49.

In the image data storing step (S41), the image data 131a including the first image data 131b and the plurality of second image data 131c received from the camera 111 is stored in the first storage unit 131. Stored. Here, the first image data 131b may include a portion of the structure 10 and the marking device 100.

In the distance calculating step S42, the distance calculating unit 132 corresponds to the plurality of second image data 131c through the number of pixels of the plurality of second image data 131c stored in the first storage unit 110, respectively. The distance value 132a between the portion of the structure 10 and the camera 111 is calculated.

In the image data size correcting step (S43), the correction unit 133 is such that the reference distance value 120a of the distance measuring device 120 and the distance value 132a calculated by the distance calculation unit 132 become the same value. The sizes of the plurality of second image data received from the distance calculating unit 132 are corrected.

In the image data bonding step S44, the image bonding unit 134 receives the first image data 131b from the first storage unit 131 or the distance calculating unit 132, and corrects the corrections in the correction unit 133. Second image data 133a is received. The image joining unit 134 joins the first image data 131b and the plurality of corrected second image data 133a without the overlap area.

In the developed view generating step S45, the developed view generating unit 135 matches the image data 134a bonded by the image joining unit 134 into the developed area 135b to generate the developed view 135a.

In the crack extraction step S46, the crack extraction unit 136 removes the developed view 135a generated by the developed view generating unit 135 from the developed area 135b to extract the crack data 136a, 136a ', and 136a ". At this time, the crack data (136a, 136a ', 136a ") includes the length of the crack and the width of the crack, for example 0.1mm ~ 1.0mm. Looking at the crack extraction accuracy of the crack extraction unit 136 by distance, when the distance between the camera 111 and the structure 10 is 10 ~ 50m, it is possible to extract more than 0.05mm, crack state of 0.1mm or more It is possible to determine. Here, since the crack smaller than 0.1mm depends on the state of the concrete surface of the structure 10, it is preferable to extract the crack data of 0.1mm or more.

In the damage degree calculation step S47, the damage calculation unit 137 is configured based on the length of the crack and the width of the crack included in the crack data 136a, 136a ′, and 136a ″ extracted from the crack extraction unit 136. The damage degree 137a of 10) is calculated.

Thus, through the degree of damage (137a) of the acquired structure 10, the user can track the progress and future changes of the crack in the future, to secure the basic data of the initial inspection and precise safety diagnosis of the structure (10) It becomes possible.

Meanwhile, after the development view generating step S45, the development view storing step S48 and the three-dimensional model generation step S49 may be performed differently from the crack extraction step S46.

In the developed view storing step S48, the developed view 138a received from the developed view generating unit 135 is stored in the second storage unit 138.

In the three-dimensional model generation step (S49), the three-dimensional model generator 139 generates a three-dimensional model 139a for the developed view 138a received from the second storage unit 138 through the image job.

As such, the user may obtain a database of the structure 10 through the acquired 3D model 10.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

10: structure,
100: marker,
110: photographing apparatus,
111: camera,
113: telephoto lens,
115: pandew,
117: scope,
117: tripod,
120: distance measuring device,
121: input unit,
123: output unit,
130: structure inspection device,
131: first storage,
132: distance calculation unit,
133: a correction unit,
134: the image bonding portion,
135: exploded view generation unit,
136: crack extraction,
137: damage calculation,
138: second storage,
139: 3D model generation unit.

Claims (10)

A marking device attached to a portion of the structure;
A plurality of second image data obtained by photographing a portion of a structure that is located at a distance from the structure and having the marking device attached thereto, and obtaining first image data, and photographing a structure other than an area of the first image data one or more times Acquisition apparatus for obtaining;
A distance measuring device that detects the marker and measures a reference distance between the portion of the structure and the imaging device; And
Receiving the first image data and the plurality of second image data from the photographing apparatus, and calculating a distance value between a portion of a structure corresponding to each of the plurality of second image data and the photographing apparatus, respectively; A structure inspection apparatus for correcting two image data, combining the first image data and the plurality of corrected second image data into one image data, and extracting crack data to calculate a degree of damage of the structure; Including,
The structure inspection device,
A first storage unit storing the first image data and the plurality of second image data acquired by the photographing apparatus;
A distance calculator configured to calculate a distance value between a portion of a structure corresponding to each of the plurality of second image data and the photographing apparatus based on the number of pixels of the plurality of second image data stored in the first storage unit;
A correction unit for correcting the size of the second image data except for the first image data such that the distance values respectively calculated from the distance calculator are equal to the reference distance value;
An image joining unit for joining the first image data and the plurality of corrected second image data without an overlap area;
A development view generation unit for generating a development view by matching the joined image data within a predetermined development area;
A crack extracting unit which extracts the crack data by removing the developed view from the developed area; And
And a damage calculation unit that calculates a damage degree of the structure based on the length of the crack and the width of the crack included in the extracted crack data. The method of claim 1,
The photographing apparatus,
And a camera positioned at a distance from the structure to photograph the structure at least once, and a scope for extending the magnification and focal length of the camera. The method of claim 2,
The photographing apparatus,
And a panoramic camera equipped with a 360 ° panoramic shooting function for photographing a portion of the structure that is difficult to be photographed by the camera. The method of claim 2,
The photographing apparatus,
The position is variable horizontally or vertically, far structure inspection system, characterized in that further provided with a pan head for adjusting the photographing angle of the camera horizontally or vertically. The method of claim 1,
The photographing apparatus,
Remote structure inspection system, characterized in that the shooting distance is 5m ~ 200m. delete The method of claim 1,
The crack extraction unit,
Removing the bonded image data, the remote structure inspection system, characterized in that for extracting the crack data of 0.1mm ~ 1.0mm. The method of claim 1,
The structure inspection device,
A second storage unit storing a developed view generated by the image bonding unit; And
And a three-dimensional model generator for generating a three-dimensional model for the structure based on the developed view stored in the second storage unit. Attaching the marking device to a portion of the structure;
Position a photographing apparatus at a distance from the structure, photograph a portion of the structure to which the marker is attached with the photographing apparatus to obtain first image data, and photograph the structure at least once except for an area of the first image data. A second step of acquiring a plurality of second image data;
A third step of sensing the marker by a distance measuring device and measuring a reference distance value between the portion of the structure and the photographing device; And
The structure inspecting apparatus receives the first image data and the plurality of second image data from the photographing apparatus, and calculates a distance value between a portion of the structure corresponding to the plurality of second image data and the photographing apparatus, respectively. Correcting the plurality of second image data, joining the first image data and the corrected plurality of second image data into one image data, and extracting crack data to calculate a degree of damage of the structure. 4 steps; including;
The fourth step,
A step 4-1 of storing the first image data and the plurality of second image data acquired by the photographing apparatus in a first storage unit;
A distance calculating unit calculating a distance value between a portion of the structure corresponding to each of the plurality of second image data and the photographing apparatus, respectively, based on the number of pixels of the plurality of second image data stored in the first storage unit; Two steps;
A fourth step of correcting the sizes of the plurality of second image data except for the first image data such that a correction unit respectively calculates a distance value calculated from the distance calculating unit equal to the reference distance value;
A step 4-4 in which an image bonding unit joins the first image data and the corrected plurality of second image data without an overlap area;
Step 4-5 of generating a developed view by matching the joined image data to a predetermined developed area by a developed view generating unit;
A 4-6 step of extracting the crack data by removing a crack from the unfolded area by the crack extracting unit; And
The damage calculation unit 4-7 step of calculating the damage degree of the structure based on the length of the crack and the width of the crack included in the extracted crack data; Structure inspection using a remote structure inspection system comprising a Way. delete

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