KR102156115B1 - Piping inspection and repair system using drone and MR technology - Google Patents

Abstract

The present invention secures an image of an exposure pipe using a photographing device mounted on a drone, inputs the secured image to a modeling device to generate a 3D model and a 2D image, and transmits the generated 3D model and 2D image through an MR device. It is related to a drone that repairs the crack location of a pipe identified through an MR device by metal spraying with a spray device mounted on a drone, and a pipe inspection and repair system using MR.
The pipe inspection and repair system using a drone and an MR according to the present invention includes at least one inspection drone, a photographing device mounted on the drone and photographing exposed pipes installed on a bridge at various angles to generate a plurality of input images, and a drone. And at least one control device capable of controlling the photographing device, a modeling device in which a modeling program that generates a 3D model using an input image is installed, and a 3D model is provided to the user by implementing the 3D model in virtual reality, and using a gesture control method. It is characterized in that it comprises an MR device configured to specify a part of the model and a spray device that is controlled by the spray control unit while mounted on the drone, and allows the user to spray a solution or powder metal at a specific location. do.

Description

Piping inspection and repair system using drone and MR technology}

The present invention relates to a system for inspecting the condition of exposed pipes installed in buildings, bridges, etc. using MR technology, and to a system for repairing problematic exposed pipes, and more specifically, using a photographing device mounted on a drone. It secures the image of the exposure pipe, inputs the secured image to the modeling device to create a 3D model and 2D image, allows the generated 3D model and 2D image to be checked through an MR device, and is verified through an MR device. It relates to a pipe inspection and repair system using a drone and an MR that repairs the crack location of a pipe by spraying metal with an injection device mounted on a drone.

In general, exposed pipes installed in buildings, bridges, etc., should be repaired if leaks are found through periodic inspections, but there may be cases where it is difficult for workers to access due to various reasons such as the location, height or length of the pipes installed. It is difficult to check smoothly, and the operator may be exposed to danger.

Conventional inventions related to pipe inspection include “Pipe Monitoring System and Pipe Monitoring Method” of Korean Patent Publication No. 10-1731450 and “Ultrasonic Inspection Method for Large Structures Using a Drone” of Korean Patent Publication No. 10-2018-0025413, Korean Patent Publication No. 10-2018-0036299 “Real-time monitoring device for remote gas leakage and pipe appearance inspection using a drone” and “Bridge inspection drone” in Korean Patent Publication No. 10-1858009 have been proposed and disclosed. have.

In the “Pipe Monitoring System and Pipe Monitoring Method” of Korean Patent Publication No. 10-1731450, a first pipe sensor device capable of generating and transmitting measurement data related to the integrity of a pipe, and a location capable of receiving measurement data of the first pipe sensor Invention related to a system and method that is configured to include a mobile node that moves to and moves to a location where it can be transmitted to a monitoring server, thereby reducing the installation cost and maintenance cost of the sensor device, and increasing the monitoring efficiency of the pipe Was proposed, and in the “supersonic inspection method for large structures using a drone” of Korean Patent Application Publication No. 10-2018-0025413, it is possible to easily change the point of laser pulse irradiation toward the structure by adjusting the flight position of a drone equipped with a laser reflector. In addition, an invention has been proposed for a method configured to easily acquire ultrasonic surface vibration of a large high-rise structure by using a non-contact measuring means mounted on a drone.

In addition, the “real-time monitoring device for remote gas leakage and pipe appearance inspection using a drone” of the Korean Patent Application Publication No. 10-2018-0036299 includes a laser gas detector that acquires leakage gas data from a drone and thermal image data of the leakage gas. An invention is proposed for a device that is configured to mount a thermal image acquisition camera, etc. to be acquired so that gas leakage and pipe appearance inspection can be efficiently and accurately performed even in environments where there is a space limitation for pipe inspection such as high-rise apartments or large bridges. In the “Bridge Inspection Drone” of the Korean Patent Publication No. 10-1858009, the drone can be protected in the event of a collision with foreign objects through horizontal protection guards and vertical protection guards installed on the drone body. An invention has been proposed for a device capable of securing a clear image by minimizing the obstruction of the field of view of the camera for use.

However, in the prior art as described above, since it is necessary to check the exposure pipe only with limited images collected by photographing, a problem has arisen that makes it difficult for the user to freely and closely check the crack position. Since there has been a problem that requires direct access to the exposed pipe, there is a need for a solution to this problem.

On the other hand, VR (Virtual Reality) refers to a virtual reality realized by devices such as computers, which users can experience through VR devices, which are display devices, and are actively introduced into various fields such as games, medicine, and military fields. It is the latest technology that is being used and is expected to develop further in the future.

In addition, MR (Mixed Reality) refers to a mixed reality in which real objects and virtual objects can interact by combining virtual reality with the real world, and users can experience through VR and MR devices, which are display devices. , Like VR, it has been introduced and actively used in various fields, and it is the latest technology that is expected to further develop in the future.

Korean Patent Publication No. 10-1731450 (2017. 04. 24) Republic of Korea Patent Publication No. 10-2018-0025413 (2018. 03. 09) Republic of Korea Patent Publication No. 10-2018-0036299 (2018. 04. 09) Republic of Korea Patent Publication No. 10-1858009 (2018. 05. 17)

The pipe inspection and repair system using a drone and an MR according to the present invention is a technology proposed to solve the problems of the prior inventions as described above,

Exposed piping requires periodic inspection as the shape and properties of materials may change due to aging of the piping system and external impacts, but worker access due to various reasons such as the location where the bridge is installed, the height of the building or bridge, and the length of the bridge. This difficult problem arose,

Since it is necessary to check the exposure piping with only the limited images collected by shooting, there is a problem that it is difficult to freely and closely check by the user.

Since measurement is impossible, there was a problem that it was not possible to measure the size of the damaged part and the amount of displacement due to deformation of the pipe.

In order to repair cracks and shape abnormalities in exposed pipes discovered by inspection, there was a problem that the user had to access the exposed pipes directly.

Its purpose is to secure big data on the deterioration process of pipes by securing 3D and 2D shape data of exposed pipes at regular intervals.

Pipe inspection and repair system using a drone and MR according to the present invention to realize the above object,

One or more inspection drones; A photographing device mounted on the drone 100 and photographing an exposure pipe installed on a bridge or the like at various angles to generate a plurality of input images; At least one control device capable of controlling the drone and the photographing device; A modeling device installed with a modeling program that generates 3D modeling using the input image; An MR device configured to implement the 3D modeling in virtual reality and provide it to a user, and to specify a part of the 3D modeling using a gesture control method; An injection device mounted on the drone and controlled by an injection control unit, wherein a user sprays a solution or powder metal at a specific location; It proposes a pipe inspection and repair system using a drone and MR characterized in that it is configured to include.

Pipe inspection and maintenance system using a drone and MR according to the present invention,

By implementing the actual shape and state of the exposed pipe in virtual reality using drones and MR technology, the effect of allowing the user to comfortably and safely check the condition of the exposed pipe on the ground, and the effect of allowing free and detailed inspection occurred. ,

It is configured to enlarge, reduce, move, and rotate the 3D model implemented with the same size and length as the actual measured value of the exposed pipe, so that the exact location of the damaged area can be identified and the size can be measured, and the amount of displacement due to deformation of the pipe can be measured. There was a measurable effect,

By spraying metal with an injection device mounted on a drone at the crack location of the exposed pipe discovered by the inspection, the crack location of the pipe can be repaired immediately without the user's access, thus preventing safety accidents in advance.

By securing 3D and 2D shape data of exposed pipes at regular intervals, the effect of being able to grasp the deterioration state and progress of the pipes occurred.

1 is a configuration diagram of a pipe inspection and repair system using a drone and an MR according to the present invention.
Figure 2(a) is an exemplary view showing an embodiment in which a drone of a pipe inspection and repair system using a drone and an MR according to the present invention is in flight and a photographing device generates an input image.
2(b) is an exemplary view showing another embodiment in which a drone of a pipe inspection and repair system using a drone and an MR according to the present invention is in flight and a photographing device generates an input image.
3 is a detailed configuration diagram of a modeling device that is a component of a pipe inspection and repair system using a drone and an MR according to the present invention.
4(a) to 4(e) are exemplary views showing various embodiments of checking exposed pipes implemented in virtual reality using an MR device of a pipe inspection and repair system using a drone and an MR according to the present invention.

The present invention relates to a system for checking the condition of exposed pipes installed in buildings, bridges, etc. using MR technology, and for repairing exposed pipes with problems,

One or more inspection drones 100; A photographing device (110) mounted on the drone (100), photographing an exposure pipe installed on a bridge, etc. at various angles to generate a plurality of input images; At least one control device 120 capable of controlling the drone and the photographing device; A modeling device 130 installed with a modeling program for generating a 3D model using the input image; An MR device 140 configured to implement the 3D model in virtual reality and provide it to a user, and to specify a part of the 3D model using a gesture control method; A spray device 150 that is mounted on the drone 100 and controlled by the spray control unit 151 for spraying a solution or powder metal at a specific location by the user; It relates to a pipe inspection and repair system using a drone and MR characterized in that it is configured to include.

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

First, as shown in Figure 1, the pipe inspection and repair system using a drone and MR according to the present invention is characterized in that it is configured to include one or more inspection drones 100.

In general, a drone refers to an unmanned aerial vehicle in the form of a multicopter in which a plurality of guide frames extending outward from the main body are provided, and a rotor blade is provided at each end of each guide frame. Since it is possible to stop flying after approaching the inspection object while controlling the speed during the moving flight, it has the advantage of performing precise inspection work compared to the unmanned aerial vehicle composed of a fixed wing.

Therefore, the drone 100 secures the image of the exposure pipe, generates a 3D model from the secured image, and allows the user to comfortably and safely check the state of the exposure pipe by allowing the generated 3D model to be checked in virtual reality. It is the most suitable device to achieve the object of the present invention to enable the operation environment or the type and size of the equipment to be installed, a dual copter composed of two rotor blades, a tricopter composed of three rotor blades, and four rotor blades. It can be configured in any of the form of a quadcopter composed of, a hexacopter composed of six rotors, and an octocopter composed of eight rotors.

In addition, the drone 100 may be operated alone, but a plurality of objects may be operated simultaneously for rapid operation, and the operation method is manual or a control signal transmitted from the following control device 120 It is an automatic control method.

Accordingly, the drone 100 must be equipped with a transmission/reception device for receiving a control signal transmitted from the outside and transmitting various types of information, and a drone control unit that controls the drone 100 by the control signal. .

In addition, the drone 100 may be provided with a GPS device that collects GPS coordinate information for the purpose of identifying and recording the current location, and to prevent collisions with external objects such as buildings, bridges, or drones 100 A distance sensor for detecting a distance to an external object may be provided for use.

In addition, as shown in Figure 1, the pipe inspection and repair system using a drone and an MR according to the present invention is mounted on the drone 100, photographing exposed pipes installed in buildings, bridges, etc. at various angles to obtain multiple input images. It characterized in that it is configured to include a photographing device 110 for generating.

The photographing device 110 is a known device that provides a real-time image for controlling the drone 100 to a user and photographs a subject, referred to by the name of a camera, etc., and exposure pipes with a 3D model generated from a photographed image It is preferable that a device having excellent performance capable of photographing an image having high quality such as high resolution is provided so that a close inspection of the device can be performed.

At this time, it is obvious that the photographing device 110 must be configured with a size and weight that does not cause an obstacle to the flight of the drone 100, and it is fastened to a gimbal for preventing shaking of the photographed image and adjusting the photographing angle. It is preferable to be mounted on the drone 100 in the state.

In addition, in general, considering that the exposed pipes are mainly installed on both sides of the building and are installed on both sides or under the bridge, the photographing device 110 may be mounted on the side or under the drone 100, It may be mounted on the top of the drone 100, and must be able to rotate at a certain angle so that the shooting angle can be adjusted.

In addition, the photographing device 110 may be configured to be detachable so that the mounting position on the drone 100 can be changed as necessary, and a plurality of the photographing device 110 may be distributedly arranged at each position of the drone 100 to be selectively driven as necessary. Can be configured.

2(a) and 2(b) are exemplary views showing an embodiment in which the drone 100 flies along the exposure pipe and the photographing device 110 generates an input image. The two examples should be mixed.

The input image is a still image of the entire exposed pipe installed in buildings, bridges, etc., and each part is photographed at various angles, and is used as data for generating 3D models and 2D images of the exposed pipe. Part of the exterior may be included, and other surrounding scenery may be included.

Such an input image is immediately stored in the photographing device 110 and can be copied or transmitted through a mobile storage medium or wired or wireless connection after the drone 100 is retrieved. However, the 3D model and 2D image of the exposure pipe can be quickly As soon as it is created, it can be transmitted to the outside.

The method of controlling the photographing device 110 is a manual control method using a control signal transmitted from the following control device 120, and accordingly, the drone 100 receives a control signal to control the photographing device 110. A photographing device control unit must be provided, and a separate transmitting/receiving device for receiving a control signal and transmitting an input image may be provided, but it may be configured to use a transmitting/receiving device already provided in the drone 100.

In addition, as shown in Fig. 1, the pipe inspection and repair system using a drone and an MR according to the present invention includes one or more control devices 120 capable of controlling the drone 100 and the photographing device 110. It is characterized by being.

The control device 120 is a known control device capable of simultaneously or respectively controlling the drone 100 and the photographing device 110 through a wireless communication method, and is used for controlling the drone 100 and the photographing device 110 It may be a dedicated terminal used as, but may also be configured as a user terminal such as a smartphone with a control application installed.

That is, when the control device 120 is configured as a dedicated terminal, the control device 120 is provided with a transmission/reception device for bidirectional communication with a transmission/reception device provided on the drone 100 side, and displays a captured image. Thus, a display device provided to the user may be provided, an input unit for driving or stopping the drone 100 may be provided, an input unit for controlling the flight of the drone 100 may be provided, and the photographing device 110 An input unit for driving or stopping the drive may be provided, an input unit for capturing an image may be provided, an input unit for zooming in or out of the image to be captured may be provided, and the at least one input unit may be a button, It can be configured with either a switch or a stick.

In addition, when the control device 120 is configured with a user terminal such as a smartphone on which a control application is installed, the screen of the user terminal drives or stops the drone 100, and controls the flight of the drone 100, A button for driving or stopping the photographing device 110, photographing an image, and zooming in or out of the photographed image may be displayed.

Therefore, the user can control the drone 100 and the photographing device 110 at the same time using the control device 120, and control the drone 100 and stop flying to a certain position, and then the photographing device 110 The process of controlling) can be repeated, and two users can each control the drone 100 with one control device 120 and control the photographing device 110 with the other control device 120 .

In addition, the control device 120 may control a gimbal to which the photographing device 110 is fastened to adjust a photographing angle of the photographing device 110.

In addition, as described above, since a plurality of the drones 100 can be operated at the same time, the control device 120 also includes a plurality of drones 100 and a photographing device 110 mounted to each of the drones 100 at the same time. Alternatively, a plurality of them may be provided for the purpose of controlling at a time.

In addition, the control device 120 may have a caution function that generates and displays a warning message on a display device or a screen when the distance to an external object detected by the distance sensor is less than a preset distance. Through this, the drone 100 can prevent a collision with a building, a bridge, or an exposed pipe, and when a plurality of drones 100 are operated at the same time, a collision with another drone 100 can be prevented. The device 120 may be implemented in a manner of generating a vibration or a notification sound.

In addition, as shown in Fig. 1, the pipe inspection and repair system using a drone and an MR according to the present invention includes a modeling device 130 in which a modeling program for generating a 3D model is installed using the input image. It features.

The modeling device 130 is a device that receives a plurality of input images generated by the photographing device 110 and generates a single 3D model, and it is easy to input and output information using wired and wireless communication methods, and a modeling program It is preferable to be configured with a known computer capable of installing, but may be configured with a dedicated terminal.

The 3D model is an image modeled so that the entire shape of the exposed pipe can be checked at various angles according to the user's selection and each part can be enlarged, and is provided to the user in virtual reality through the MR device 140 below. As compared to the pipe inspection method using the input image, which is a still image of the entire exposed pipe installed on a bridge, and each part at various angles, the effect of improving the inspection efficiency occurs.

That is, in order to check the exposure pipe with only the input image, which is a still image of the entire exposure pipe and each part, the user must check a plurality of input images one by one, and locate the exposure pipe corresponding to the input image in which a problem was found. Although it is not efficient due to problems such as having to be checked again, the inspection method of piping using the 3D model solves all these problems, so that the user can quickly, accurately and easily perform various parts of the exposed piping system in one place with simple hand movements. Make it possible to check the exposed piping.

Therefore, the modeling program may be a program produced by direct development or development request by the user of the present invention, which has a function capable of generating a single 3D model by integrating using a plurality of input images, and available for a fee or for free. It may be a known program.

Specifically, as shown in FIG. 3, the modeling device 130 receives a plurality of input images, extracts feature points from the plurality of input images, and extracts feature points based on the extracted feature points. It characterized in that it comprises an image matching unit 132 for performing image matching and a first generation unit 133 for generating a single 3D model by synthesizing a plurality of image-matched input images.

The extraction unit 131 extracts one or more unique feature points appearing in the shape of each subject from buildings, bridges, and exposed pipes included in the input image.

That is, buildings, bridges, exposure pipes, etc. included in the input image are expressed differently in shape and size depending on the angle at which they are photographed and the distance to the photographing device 110, so the extraction unit 131 is limited to the shape and size of the subject. By extracting one or more unique features that do not exist, the location where each input image was photographed and the actual location can be identified.

In addition, the drone may be equipped with a GPS device that collects GPS coordinate information, and GPS coordinate information at the time of creation may be input to each input image. Accordingly, GPS coordinate information included in each input image is It can be used to determine the location of the image.

The image matching unit 132 uses as a reference image any one of a plurality of input images captured in different coordinate systems by the movement of the drone 100 and a change in the shooting angle of the photographing device 110, As a component of the modeling device 120 that implements the same effect as those captured in the same coordinate system by matching other input images to the reference image, feature points extracted from the extraction unit 131 are used as a reference for matching these coordinate systems. Is used.

The first generation unit 133 generates a single 3D model by synthesizing a plurality of input images image-matched by the image matching unit 132, and in the generation of such a 3D model, an image is expressed and a 3D position is extracted. A method such as adjusting the luminous flux using the collinear condition, which is a basic condition for this, may be used.

In addition, a conversion program capable of converting the format of the 3D model is installed in the modeling device 130.

When the format of the 3D model generated by the modeling device 130 and the format executable by the following MR device 140 are different from the format of the 3D model generated by the modeling device 130, when the 3D model is not compatible with the following MR device 140, the 3D model As a program to solve this problem by converting the format of the present invention, it may be a program produced by direct development or development request by the user of the present invention, or may be a known program that can be used for a fee or for free.

In addition, the conversion program may be a method of changing the format of the 3D model generated by the photographing device 110 to a format usable in the following MR device 140 by linking a plurality of programs.

In addition, the pipe inspection and repair system using a drone and an MR according to the present invention facilitates the front and rear conditions of the pipe by comparing a plurality of parasitic 3D models or comparing a plurality of 2D images generated based on the parasitic 3D model. It is characterized in that it can be compared and analyzed easily, and by this feature, users related to the piping system can economically and quickly grasp the change state of exposed piping over a long period of time and measure the amount of displacement and measure the size of the damaged area. To be.

Specifically, the modeling device 130 includes a second generation unit 134 that generates a 2D image using the generated 3D model, a database 135 that stores the 3D model and the 2D image, and a plurality of It characterized in that it comprises a comparison analysis unit 136 for analyzing the shape change of the exposed pipe by comparing the 2D images with each other.

The second generation unit 134 generates an overall side view of various angles, each of which is a 2D image, from a plurality of 3D models generated at a predetermined time interval, and according to the request of the comparison and analysis unit 136 or analysis failure You can create additional partial side views of the angle.

In addition, the database 135 stores the 3D model generated by the modeling device 130 so that it can be transmitted to the following MR device 140, and the 2D generated by the second generation unit 134 By storing the image, it can be used as comparative data for analyzing the change in the shape of the exposed pipe, and can be checked in the following MR device 140.

In addition, the comparison analysis unit 136 analyzes the change in the shape of the exposed pipe by overlapping and comparing a plurality of 2D images each generated from a plurality of 3D models generated according to a time interval of a predetermined period on the same plane.

Therefore, the same exposure pipe must be represented at the same angle and distance in the plurality of 2D images to be compared, and accordingly, the second generation unit 134 composes each of the plurality of 3D models before generating the 2D image. All of the backs must match equally.

In addition, the comparison analysis unit 136 may cause the second generation unit 134 to regenerate the entire side view at various angles when the comparison analysis fails due to problems such as size and sharpness of the entire side view that is a 2D image. , You can create additional partial side views of several angles.

Accordingly, the extraction unit 131, the image matching unit 132, the first generation unit 133, the second generation unit 134, the database 135, and the comparison analysis unit 136 According to the configuration, the present invention has the effect of measuring the exact size of the damaged part generated in the exposed pipe, and by securing 3D and 2D shape data of the exposed pipe at a certain period, the effect of grasping the deterioration state and progress of the pipe occurs. .

In addition, as shown in Figure 1, the pipe inspection and repair system using a drone and an MR according to the present invention implements the 3D model in virtual reality and provides it to the user, and a part of the 3D model is provided using a gesture control method. Characterized in that it is configured to include an MR device 140 configured to be specified.

The MR device 140 is a known device that provides a user with a virtual reality implemented by a device such as a computer, and is configured to be worn on the head so that the user's gaze does not face the outside, and is a Head mounted display (HMD) or a face mounted display. It is also referred to as (FMD), and may include a stereo speaker, a microphone, and the like to enhance a sense of reality.

In addition, the MR device 140 is characterized in that it is configured to allow a user to enlarge and reduce, move and rotate the 3D model using a gesture control method, and the gesture used at this time is a known VR device or an MR device. Gestures that are used when a user who wears is to control a virtual screen, objects, etc., and gestures used to enlarge and reduce images displayed on the screen of a smartphone using two fingers can be set in various ways. I can.

Accordingly, the MR device 140 should further include a device such as a rear camera for recognizing a user's gesture and reflecting it in virtual reality, and a controller for recognizing motion by the user.

4(a) to 4(e) are exemplary diagrams showing various embodiments in which a user enlarges and reduces, moves, and rotates an exposed pipe implemented in virtual reality using the MR device 140.

In addition, the MR device 140 is a method for displaying cracks (defects) found during inspection of the exposed pipe, and is configured so that the user can specify a part of the 3D model using a gesture control method. As a method of specifying a part of the 3D model, various methods, such as a method of changing a part of the color differently from the color of another part, and a method of leaving a mark on a part, may be used.

In addition, in order to increase the efficiency of the pipe inspection, a plurality of the MR devices 140 may be provided so that several users can simultaneously check the exposed pipe, and at this time, the plurality of MR devices 140 are connected to each other by a wireless communication method. When a part of the 3D model is specified by one MR device 140, a part specified by another MR device 140 can be identified at the same time, thereby preventing a decrease in efficiency due to redundant inspection.

In addition, as shown in Fig. 1, the pipe inspection and repair system using a drone and MR according to the present invention is controlled by the injection control unit 151 while being mounted on the drone 100, so that the user can Alternatively, it is characterized in that it is configured to include an injection device 150 for spraying metal in the form of powder.

The spraying device 150 is a thermal spraying method in which a film is formed by spraying a metal or ceramic in the form of a liquid or a powder, which is melted and collided with the object to solidify or deposit, thereby repairing the damaged crack position of the pipe. The type may be any one of HVOF (High Velocity Oxygen Fuel) spray, plasma spray, powder spray, and metallization spray.

Therefore, the drone 100 must be close to the location of the damaged crack of the exposed pipe so that the spraying device 150 can spray the exposed pipe, and accordingly, the drone 100 allows the user to use the MR device 140 When a part of the 3D model is specified by using, it is characterized in that it comprises a drone control unit 101 that automatically controls and flies the drone 100 to a position adjacent to a part of the exposed pipe corresponding to the specified part.

The drone controller 101 automatically controls the drone 100 to fly to a location adjacent to a portion of the exposed pipe corresponding to the specified portion, but may be based on GPS coordinate information input to each input image. It is okay to use a different method.

The spray control unit 151 controls the spray device 150 so that the user can accurately spray the damaged crack location of a specific exposed pipe using the MR device 140, and accordingly, the spray device 150 Is configured to receive a 3D model in which a specific part is displayed in a manner such as being configured to directly bi-directionally communicate with the MR device 140, and the injection device 150 or the injection control unit 151 It characterized in that it comprises a calculation unit 152 for calculating a spray point by comparing the 3D model and the image captured in real time through the photographing device 110.

That is, when a user specifies a part of the 3D model using the MR device 140, the drone control unit 101 automatically controls the flight of the drone 100 to move it adjacent to the exposure pipe, and the injection control unit ( The method that 151 controls the spray device 150 to spray onto the exposed pipe may be said to be a technology that combines the real world with virtual reality.

In addition, the drone control unit 101, the injection control unit 151 is connected to each other, when the pipe repair work by the injection device 150 is completed, a plurality of input images are reproduced using the photographing device 110 By doing so, the process of 3D model creation and inspection and maintenance by the user can be repeated.

In addition, the pipe inspection and repair system using the drone and the MR is equipped with a non-destructive inspection equipment in the drone 100, so that the pipe is penetrated, washed, and developed before the input image is generated by the photographing device 110. It is characterized by pre-treatment such as.

As an embodiment of the present invention in which the exposed pipe is pretreated, such as permeation treatment, washing treatment, and development treatment, using the non-destructive testing equipment, the non-destructive testing equipment is a penetrant liquid such as PT fluid for performing penetrant testing. , Washing liquid and developer can be separately sprayed, and accordingly, PT liquid can be sprayed into the exposed pipe to penetrate the PT liquid to penetrate the crack, and PT liquid remaining in the exposed pipe by spraying the cleaning liquid It can be washed to remove and developed by spraying a developer so that the PT liquid that has penetrated into the cracks of the exposed pipe escapes and forms an indication shape.

That is, the indication shape is formed at the crack location of the exposed pipe through the pretreatment process such as the penetration treatment, washing treatment, and development treatment, so that the user can easily generate the crack location during subsequent 3D model generation and inspection by the user. There is an effect that makes it discoverable.

The embodiments introduced above are provided by way of example in order to sufficiently convey the technical idea of the present invention to those of ordinary skill in the technical field to which the present invention belongs, and the present invention is based on the above-described embodiments. It is not limited and may be embodied in other forms.

In order to clearly describe the present invention, parts irrelevant to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of components may be exaggerated or reduced for convenience.

In addition, the same reference numbers throughout the specification indicate the same elements.

100: drone
101: drone control
110: photographing device
120: control device
130: modeling device
131: extraction unit 132: image matching unit
133: first generation unit 134: second generation unit
135: database 136: comparative analysis unit
140: MR instrument
150: injection device
151: injection control unit 152: calculation unit

Claims (9)

One or more inspection drones 100;
A photographing device (110) mounted on the drone (100), photographing an exposure pipe installed on a bridge, etc. at various angles to generate a plurality of input images;
One or more control devices 120 capable of controlling the drone 100 and the photographing device 110;
A modeling device 130 installed with a modeling program for generating a 3D model using the input image;
An MR device 140 configured to implement the 3D model in virtual reality and provide it to a user, and to specify a part of the 3D model using a gesture control method;
A spray device 150 that is mounted on the drone 100 and controlled by the spray control unit 151 for spraying a solution or powder metal at a specific location by the user; It is composed including,
The MR device 140,
It is configured so that the user can enlarge and reduce, move and rotate the 3D model using a gesture control method,
The MR device 140,
It is configured so that the user can specify a part of the 3D model by using a gesture control method to display the crack (defect) part found during inspection of the exposed piping, but the color of a part is changed differently from the color of other parts. Consists of,
The modeling device 130,
It is configured to easily compare and analyze the front and rear conditions of the pipe by creating 2D images based on the generated 3D model.
The modeling device 130,
A second generator 134 that generates a 2D image using the generated 3D model;
A database 135 for storing the 3D model and the 2D image;
A comparison and analysis unit 136 for comparing a plurality of 2D images with each other to analyze a change in the shape of the exposed pipe; It is composed including,
The comparison and analysis unit 136,
When the comparison analysis fails due to the problem of the size and sharpness of the 2D image of the entire side view, the second generation unit 134 is configured to regenerate the entire side view of various angles, and additionally generate a partial side view of various angles. ,
By attaching a non-destructive inspection equipment (not shown) to the drone 100,
A pipe inspection and repair system using a drone and an MR, characterized in that pretreatment of the pipe prior to generation of the input image by the photographing device 110, infiltration treatment, washing treatment, and development treatment.
The method of claim 1,
The modeling device 130,
An extraction unit 131 for inputting a plurality of input images and extracting feature points from the plurality of input images;
An image matching unit 132 that performs image matching using the extracted feature points as initial points;
A first generating unit 133 for generating a single 3D model by synthesizing a plurality of image-matched input images; Pipe inspection and repair system using a drone and MR, characterized in that configured to include.
The method of claim 1,
In the modeling device 130,
A pipe inspection and repair system using a drone and an MR, characterized in that a conversion program capable of converting the format of the 3D model is installed.
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The drone 100,
When the user specifies a part of the 3D model using the MR device 140,
A pipe inspection and repair system using a drone and an MR, characterized in that it comprises a drone controller 101 that automatically controls and flies the drone 100 to a position adjacent to a portion of the pipe corresponding to the specified part.
The method of claim 1,
The injection control unit 151,
It characterized in that it comprises a calculation unit 152 that calculates the spraying point of the spraying device 150 by comparing the 3D model in which a specific part is displayed by the user with an image captured in real time through the photographing device 110. Pipe inspection and repair system using drone and MR.
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