KR102172215B1 - Image photographing apparatus for vertical structure - Google Patents

Abstract

The present invention relates to a technology for photographing an image for facility inspection. An image photographing device comprises: an image obtaining assembly moving in a vertical direction through a cavity formed inside a vertical structure and obtaining an inner image of the vertical structure; a driving control unit installed at a high place of the vertical structure to control vertical movement of the image obtaining assembly using a wire; and an image processing unit storing the obtained inner image of the vertical structure and moving distance or position of the image obtaining assembly together. The image obtaining assembly includes: a camera photographing the inner image of the vertical structure; a body storing the camera and having a direction in which the camera is directed formed of a transparent material; a moving wire formed on the body to control ascent or descent from the driving control unit; and a wire coupling unit to which a shaking preventing wire for preventing shaking by fixing a reference axis for image photographing is each connected.

Description

Image photographing apparatus for vertical structure

The present invention relates to a technology for photographing an image for facility inspection, and in particular, to an image photographing apparatus for photographing an inner image within a vertical structure in an environment where it is difficult for a person to directly enter and work, and an image processing method using the same. .

Various building facilities such as tunnels and bridges exist, and continuous maintenance must be performed to ensure safety for these facilities. In particular, there are situations in which it is difficult to investigate by manpower due to the large scale or the peculiarity of the installation site. Recently, due to the development of complex camera devices, various image processing technologies, and moving objects or drone technologies, an element of automation has been introduced in a large part of the facility condition survey prior to such maintenance.

For example, in order to regularly check whether there are any problems such as cracks or leaks in the interior of the tunnel, an inspection technology using a moving object equipped with an imaging device has been used instead of an external inspection by personnel. In the prior art document exemplified below, a technique for inspecting the exterior damage of the road surface of such a tunnel or road is introduced.

On the other hand, in the case of visual inspection technology based on the premise of traveling of a moving object or flying of an aircraft, a method of recording the secured position of a corresponding image with a GPS signal or a location identifier attached thereto is adopted. Therefore, in order to investigate the exterior wall of a facility formed in a vertical direction, for example, a high-rise building, a separate means for specifying the location of the image captured on the exterior wall of the building is inevitably required. To this end, the site used a method of recording the location of the captured image by displaying a tape measure or height identifier on the exterior wall of the building.

However, it was pointed out as a problem that it is difficult to utilize such a location-specific means in the case of a vertical structure other than the exterior wall of a building located in a securely exposed space. In environments in which it is difficult for people to enter, for example, structures such as hollow piers, vertical shafts, ventilation holes, or reservoir intake towers, the space is narrow, human access is difficult, and there is a risk of accidents. Therefore, a new technical means is required to easily perform a field survey of such a vertical structure.

Korean Patent Registration Publication No. 10-2001789, "Structure damage inspection apparatus and its control method"

The technical problem to be solved by the present invention is to overcome a situation in which it is difficult to secure an inner exterior image in a facility having a structure that is difficult for personnel to access when checking the internal state of a vertical structure, and at a specific position of a structure formed in a vertical direction. This is to solve the inconvenience of needing a tape measure indicating the length or a separate location identifier to specify the location when shooting an image, and to solve the problem of having to confirm the type and size of defects in the captured image afterwards.

In order to solve the above technical problem, an image capturing apparatus according to an embodiment of the present invention includes an image acquisition assembly that moves in a vertical direction through a cavity formed inside a vertical structure and acquires an inner image of the vertical structure; A driving control unit installed at the height of the vertical structure and controlling vertical movement of the image acquisition assembly using at least two types of wires; And an image processing unit for storing the acquired inner image of the vertical structure and the moving distance or position of the image acquisition assembly together, wherein the image acquisition assembly includes: a camera for photographing an inner image of the vertical structure; A body in which the camera is accommodated and formed of a transparent material at least in a direction in which the camera is directed; A first wire coupling part formed on the body to which a moving wire for controlling ascending or descending is connected from the driving control unit; And a second wire coupling part formed on the body and connected to a shake preventing wire for preventing shaking by fixing a reference axis for image capture from the driving control unit.

In the image capturing apparatus according to an embodiment, the image acquisition assembly, by forming a comparison index on the transmission surface of the body, overlaps and acquires the comparison index on the inner image photographed through the camera, , The image processing unit may calculate a length or size of a region of interest (ROI) to be contrasted through a relative comparison with the comparison index included in the acquired image.

In the image capturing apparatus according to an embodiment, the comparison index is a grid in which a plurality of straight lines intersect, and the image acquisition assembly uses curvature information appearing from a straight line of a grid included in the acquired image The type of image distortion caused by the lens of the lens is barrel distortion, pincushion distortion, or mousetache distortion, and corrects the image distortion according to the identified type. can do.

In the image capturing apparatus according to an embodiment, the image acquisition assembly further comprises a distance sensor provided in the body to measure a distance to an image capturing object, wherein the image processing unit includes the image included in the acquired image. Using the comparison index corresponding to the region of interest and the distance measured by the distance sensor, from a relational expression based on the distance from the distance sensor to the transmission surface on which the comparison index is formed and the distance from the distance sensor to the image photographing object The length or size of the region of interest may be calculated.

In the image capturing apparatus according to an embodiment, the camera is a 360 degree camera capable of photographing both front and rear of a reference axis for image capturing, and the distance sensor is provided to face each of the front and rear of the reference axis, and the The image processing unit acquires an inner image of the vertical structure with respect to each of the front and rear sides of the reference axis, and acquires additional information including a moving distance or position of the image acquisition assembly, and the calculated length or size of the ROI. It is directly displayed on the inner image of the vertical structure to the front and rear and stored in real time as a single integrated image, but when the detected defect area in the inner image corresponds to a preset defect pattern, it is determined as a candidate defect location and added A separate flag can be recorded together with the information.

The image capturing apparatus according to an embodiment further comprises a reel for winding or releasing the moving wire connected to the first wire coupling part of the image capturing assembly, wherein the reel is the image capturing assembly or the driving It is installed in any one of the control units to calculate the moving distance of the image acquisition assembly using the number of rotations of the reel, and the second wire coupling unit includes a shake preventing wire extending from the driving control unit to the body of the image acquisition assembly. By forming a hole structure penetrating in a vertical direction, each of which is provided in at least two areas of the body of the image acquisition assembly, each of which is connected with a shake preventing wire, is connected with a weight in the direction of gravity to the end of the shaking preventing wire. The reference axis for video recording can be fixed.

In the image capturing apparatus according to an embodiment, the driving control unit includes the moving wire connected to the first wire coupling part of the image acquisition assembly and the shake preventing wire connected to the second wire coupling part of the image acquisition assembly Each of the first support shafts connected to different support shafts, the first support shaft to which the moving wire is connected, has a structure that rotates when controlling vertical movement of the image acquisition assembly, and the second support shaft to which the anti-shake wire is connected is the second support shaft. 1 It may be installed so as to intersect with the support shaft, but the moving wire and the shaking preventing wire to form one plane.

Embodiments of the present invention obtain an image inside the structure while moving the image capturing means in the vertical direction of the vertical structure, but by directly calculating the moving distance from the driving means for moving the image capturing means, the image without a separate tape measure or position identifier Information about the acquired location can be added, and the size of the defect included in the captured image can be grasped in real time using a comparison index and a distance sensor and recorded together, making it easy for the investigator to check the integrated image. It has the advantage of being able to simultaneously provide an image including a part, a location where an image was captured, and information on the size of a defect.

1 is a diagram illustrating an image photographing apparatus for a vertical structure according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating an image photographing apparatus for a vertical structure of FIG. 1 from a control point of view.
3 is a more detailed diagram illustrating an image acquisition assembly of an image capturing apparatus according to an embodiment of the present invention.
4 is a view for explaining a process of calculating the length or size of an object to be photographed using a distance sensor and a comparison index in an image photographing apparatus according to an embodiment of the present invention.
5 is a block diagram illustrating a process of generating one integrated image in an image capturing device according to an embodiment of the present invention.
6 is a diagram illustrating an integrated image generated through the process of FIG. 5.

Before describing the embodiments of the present invention in detail, the technical limitations and problems pointed out in an environment in which the present invention is implemented will be briefly introduced.

As briefly introduced above, in checking the internal state of a vertical structure, there has been a situation in which it is difficult to secure an inner exterior image in a facility having a structure that is difficult for personnel to access. Particularly, when an image is captured at a specific location of a structure formed in a vertical direction, a tape measure indicating the length or a separate location identifier is required to specify the location. First of all, it was necessary to directly check the type and size of defects in the captured image using human resources.

Accordingly, embodiments of the present invention have been conceived from the recognition of this problem, and while moving the image photographing means in the vertical direction, the inner image of the structure is obtained, but the moving distance is directly determined by the driving means for the movement of the image photographing means. By calculating and adding information on the location where the image was acquired, and by grasping the size of the defect included in the captured image in real time and recording it together, the investigator can easily check the image or image including the defect area by checking the integrated image. It was planned to be able to provide information on the photographed location and size of defects at once.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, in the following description and the accompanying drawings, detailed descriptions of known functions or configurations that may obscure the subject matter of the present invention will be omitted. In addition, throughout the specification, "including" a certain component means that other components may be further included, rather than excluding other components unless specifically stated to the contrary.

Further, terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms may be used for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

The terms used in the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "comprise" are intended to designate the existence of a set feature, number, step, action, component, part, or a combination thereof, but one or more other features or It is to be understood that the presence or addition of numbers, steps, actions, components, parts, or combinations thereof does not preclude the possibility of preliminary exclusion.

Unless otherwise defined, all terms, including technical and scientific terms, used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning of the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. .

1 is a diagram showing an image photographing apparatus for a vertical structure according to an embodiment of the present invention, and is largely composed of an image photographing means and a driving means.

The image acquisition assembly 10 is a component that moves in a vertical direction through a cavity formed inside the vertical structure and acquires an inner image of the vertical structure. The image acquisition assembly 10 includes a camera 11 for photographing an image inside the vertical structure, and a body in which the camera 11 is accommodated and is formed of a transparent material at least in a direction toward which the camera is directed. do. Here, when considering the working environment in which the embodiments of the present invention are used, the camera 11 may use a wide-angle camera capable of acquiring an image of a wide area as much as possible in at least one direction, and preferably, an omnidirectional 360 Figure) A 3D camera capable of shooting may be used. The body is a structure that forms the exterior of the image acquisition assembly 10, and includes a member to which a wire for movement in a vertical structure is coupled in addition to protecting the camera 11. At this time, it is preferable that a part or all of the body is implemented as a transparent material so that the lens of the camera 11 can capture an image inside a vertical structure located outside the body. For example, the body may be made of a transparent acrylic material or reinforced plastic.

On the other hand, the image acquisition assembly 10 is formed in the body, the first wire coupling portion 12 to which the moving wire 41 for controlling the ascending or descending from the driving control unit 20 is connected, and formed on the body, It includes a second wire coupling unit 13 to which a shake preventing wire 43 for preventing shaking by fixing a reference axis for image capturing from the driving control unit 20 is connected. There are two main types of wires employed in the embodiments of the present invention.

First, the moving wire 41 is connected to a separate winding device, for example, a manual or an electric reel to control the vertical motion of the image acquisition assembly 10. To this end, the moving wire 41 may be directly fixed to the first wire coupling part 12 to the body of the image acquisition assembly 10. At this time, a reel (not shown) for winding or releasing the moving wire 41 connected to the first wire coupling unit 12 is installed in either the image acquisition assembly 10 or the driving control unit 20 , The moving distance of the image acquisition assembly 10 may be calculated using the number of rotations of the reel. The moving distance calculated from the number of rotations of the reel may be transmitted to an image processing unit (not shown) and used to generate an integrated image.

Second, at least one anti-shake wire 43 is provided and is connected to the body of the image acquisition assembly 10 to prevent shaking or shaking during image capture. To this end, it is not necessary to directly fix the anti-shake wire 43 to the body, but it is sufficient to support the body so that the body does not shake through the second wire coupling portion 13. In addition, it is not necessary to wind or unwind the anti-shake wire 43 itself according to the vertical movement of the image acquisition assembly 10. In terms of implementation, the second wire coupling part 13 is a hole through which the anti-shake wire 43 extended from the driving control unit 20 penetrates the body of the image acquisition assembly 10 in a vertical direction. A structure is formed, but is provided in at least two areas of the body of the image acquisition assembly 10, each of which is connected to an anti-shake wire 43, and at the end of the anti-shake wire 43, a weight 45 in the direction of gravity ) Is connected to fix the reference axis for image capture.

The driving control unit 20 is installed at a height of a vertical structure and controls the vertical movement of the image acquisition assembly 10 using at least two types of wires. The drive control unit 20 may be provided with at least two types of support shafts 21 and 23 for the convenience of conducting an investigation in the field. As shown, the moving wire 41 connected to the first wire coupling portion 12 of the image acquisition assembly 10 and the second wire coupling portion 13 of the image acquisition assembly 10 for preventing shaking Each of the wires 43 may be connected to different support shafts.

At this time, the first support shaft 21 to which the moving wire 41 is connected has a structure that rotates when controlling the vertical movement of the image acquisition assembly 10, and the shaking preventing wire 43 is connected. The second support shaft 23 intersects the first support shaft 21, but it is preferable that the moving wire 41 and the shake preventing wire 43 form one plane. If there are two anti-shake wires 43 connected to the second support shaft 23 as shown in FIG. 1, a total of three wires form one plane to prevent shaking of the image acquisition assembly 10. You can sufficiently suppress it.

On the other hand, to the driving control unit 20, the fixing belt 25 and the fixing belt 25 for fixing the first support shaft 21 to which the moving wire 41 is connected to the rotation groove of the driving control unit 20 are connected. A fastener 27 may be provided. When working in the field, the user installs the drive control unit 20 on the old book of the vertical structure, and then rotates the first support shaft 21 and the second support shaft 23 together to prevent movement wire 41 and shaking. The wire 43 can be released. At this time, it is necessary to loosen the weight 45 connected to the end of the anti-shake wire 43 sufficiently to be located at the lower end of the vertical structure. When the installation is completed, the second support shaft 23 is fixed so that it does not rotate any more, and the image acquisition assembly 10 is moved using only the rotation of the first support shaft 21.

In addition, the image processing unit (not shown) is configured to store the inner image of the vertical structure acquired through the image acquisition assembly 10 and the moving distance or position of the image acquisition assembly together. The integrated image generated by the image processing unit will be described in more detail later with reference to FIG. 5.

FIG. 2 is a block diagram showing the image capturing apparatus for the vertical structure of FIG. 1 from a control point of view, and expresses the image processing unit 30 together with the image acquisition assembly 10 and the driving control unit 20.

The image acquisition assembly 10 acquires an inner image of the vertical structure through the camera 11, and a distance sensor 17 may be used together with it. The distance sensor 17 is a component that measures the distance to the inner wall of the vertical structure (or a target object in the inner cavity), such as an ultrasonic sensor, a light detection and ranging (LIDAR) sensor, or a depth camera. Various means are available. By measuring the horizontal distance to the object to be photographed through the distance sensor 17 and transmitting it to the image processing unit 30, the image processing unit 30 then causes the image processing unit 30 to cause a specific object in the image acquired through the camera 11 (for example, , Defective area) is used as a factor to calculate the size. A series of calculation processes will be described later with reference to FIGS. 3 and 4.

The driving control unit 20 is connected to the image acquisition assembly 10 through a moving wire 41 and an anti-shake wire 43, and in particular, by winding or unwinding the moving wire 41, the image acquisition assembly 10 moves up and down. Control. At this time, the winding reel (not shown) for the moving wire 41 may be located at any one of the driving control unit 20 or the image acquisition assembly 10, and the image acquisition assembly 10 measured according to the winding It is preferable that the moving distance of) is transmitted to the image processing unit 30 and used to generate an integrated image. Therefore, from the standpoint of implementation, it may be easy to design that both the reel (not shown) for winding and the image processing unit 30 are attached inside or outside the body of the image acquisition assembly 10, but are not limited thereto. . This is because each of the captured image, the measured distance value, and the moving distance value calculated according to the rotation can be transmitted to the image processing unit 30 through wired/wireless means.

3 is a more detailed view of the image acquisition assembly 10 of the image capturing apparatus according to an embodiment of the present invention, in which the size of a specific object (eg, defect) in a captured image can be easily estimated. We propose a technical means that can be done.

The image acquisition assembly 10 obtains the comparison index 15 by overlapping the comparison index 15 on the inner image captured by the camera 11 by forming the comparison index 15 on the transmission surface of the body. Referring to FIG. 3, it is illustrated that one side of the body is opened for storage of the camera 11, and a comparison index of a grid pattern is displayed on this transparent side. If the camera is a 360-degree camera capable of bi-directional shooting, it is preferable that both sides are transparent and each comparative index of a grid pattern is formed. Now, the image processing unit (not shown) calculates the length or size of a contrasting region of interest (ROI) through a relative comparison with the comparison index 15 included in the image acquired through the camera 11 Is done. The process of calculating the length or size of such a region of interest (a target object or defect region in an image) is as follows.

4 is a view for explaining a process of calculating the length or size of a photographing object using a distance sensor and a comparison index in an image photographing apparatus according to an embodiment of the present invention.

As introduced above, the image acquisition assembly 10 may further include a distance sensor provided on the body to measure the distance to the object to be imaged (or the inner wall of the vertical structure). Now, the image processing unit (not shown) uses the comparison index corresponding to the region of interest (or defect) included in the image acquired through the camera and the distance measured through the distance sensor, from the distance sensor. The length or size of the region of interest may be calculated from a relational expression based on a distance to the transmission surface where is formed and a distance from the distance sensor to the object to be imaged.

4, the following relational expression is established.

Here, a1 is a distance from the camera and the distance sensor to the comparison index, and is a constant determined when the image acquisition assembly 10 is manufactured or the sensor is installed. a2 is a value that can be obtained by measuring from the distance sensor to the inner wall. b2 is the size of a specific object (eg, defect) in the acquired image, and b1 is the size of the comparison index overlapped with this specific object. Therefore, the size of b2 to be calculated can be derived by a simple operation from Equation 2 below.

The calculated size of b2 may be transmitted to an image processing unit (not shown) in real time and used when generating an integrated image.

On the other hand, in the embodiments of the present invention, when considering a working environment to be utilized, at least a wide-angle camera or an omnidirectional (360 degree) camera may be adopted. Accordingly, distortion may occur through the lens of the camera, and particularly, as the distance a2 to the object to be photographed is shorter, such distortion may be intensified. In particular, the distortion of the image may appear larger at the edge portion than at the center portion of the lens, and a means to correct it is required.

In addition to the purpose of more easily utilizing the size of a specific object in the captured image, in order to use it for distortion correction, an embodiment of the present invention proposes a grid in which a plurality of straight lines intersect as a comparison index. The type and degree of distortion of the image photographed through the lens can be determined and the distortion can be corrected by using the bending phenomenon indicated by the straight line constituting the grid.

To this end, the image processing unit (not shown) uses curvature information appearing from a straight line of a grid included in an image acquired through the camera, and uses the barrel distortion and pincushion distortion of the image by the lens of the camera. ), or mousetache distortion. The type of distortion can be specified through the direction in which the straight line is bent, and the type of distortion can be removed through the degree of bending.

First, the barrel distortion refers to a phenomenon in which the edge portion of the image is bent in an outward direction, and the direction in which the straight line of the grid in the acquired image is curved appears in a larger convex shape at the edge portion than in the center portion. Second, in the pincushion distortion, in the opposite direction to the barrel distortion, the direction in which the straight line of the grid is curved is more concave at the edge than at the center. Third, wave-shaped distortion is a phenomenon in which barrel distortion and pincushion distortion occur together in a single grid straight line. In this case, an image processing technique for flattening a curved straight line may be used to correct image distortion. Accordingly, more accurate image shape and size information can be provided by correcting the distortion of the image through the direction and degree of bending of the straight line of the grid.

5 is a block diagram for explaining a process of generating one integrated image in the image capturing apparatus according to an embodiment of the present invention, in which the image acquisition assembly 10 and the image processing unit 30 Describe the process.

Through the example of FIG. 5 and consecutive FIG. 6, the camera 11 is capable of photographing both the front and the rear of the reference axis for image capture (eg, it may be a single axis on a plane crossing the camera). It is assumed that it is a 360 degree camera. Accordingly, the distance sensor 17 is provided to face each of the front and rear sides of the reference axis, and the image processing unit 30 may acquire an inner image of the vertical structure with respect to each of the front and rear sides of the reference axis. The image acquisition assembly 10 acquires an inner image (or a specific object or defect) 31 of the vertical structure through the camera 11, and measures the distance to the target object (or inner wall surface) through the distance sensor 17. It is measured, and the moving distance of the image acquisition assembly 10 through the winding reel 19 is measured.

Now, the image processing unit 30 obtains additional information 33 including the moving distance or position of the image acquisition assembly 10 and the calculated length or size of the ROI. It can be displayed directly on the inner image 31 of the structure and stored in real time as one integrated image. In addition, the image processing unit 30 determines that a defect location detected in the inner image corresponds to a preset defect pattern 39 and records a separate flag along with the additional information. , It is possible to quickly review later. In comparing the defective area with the defect pattern 39, it is preferable that the defect type and classification are stored in the database in advance, and by comparing the defective area with the defect pattern 39 using various pattern matching algorithms The candidate defect location can be determined.

In general, it is necessary to accurately identify the defects through an analysis process by personnel later in the records obtained in the field survey. However, this process is a process that consumes a lot of time and cost, and the embodiments of the present invention directly record as much information as possible in one image in the field survey process through an automated means, but with respect to the location/area to be reviewed later. Implemented to perform separate marking. This product is an integrated image introduced above and will be described through an example of FIG. 6.

FIG. 6 is a diagram illustrating an integrated image generated through the process of FIG. 5, and 360 degrees of front and rear images are acquired and integrated into one image. Each of the front and rear images was directly inserted into the image by measuring that distances of 2.1 m and 1.9 m were separated from the target through the distance sensor. In addition, through the comparison of the measured distance value and the grid, a defect of 39 cm length and a defect of 25 cm x 12.5 cm were also included. Furthermore, it was identified that the defect was a candidate defect for'leakage' and'cracking' through contrast with the defect pattern. In particular, by managing the integrated image through a separate flag, the investigator can quickly and easily access the image of FIG. 6 specified in a number of images after the appearance investigation, and the defective part can be identified through the additional information inserted in the image. Can be easily judged.

According to the above-described embodiments of the present invention, while moving the image photographing means in the vertical direction of the vertical structure, the inner image of the structure is obtained, but the moving distance is directly calculated by the driving means for moving the image photographing means, and a separate tape measure or It is possible to add information on the location where the image was acquired without a location identifier, and by using a comparison index and a distance sensor to grasp the size of the defect included in the captured image in real time and record it together, the investigator only checks the integrated image. Also, it has the advantage of being able to simultaneously provide information on the image including the defect area, the location where the image was photographed, and the size of the defect. Furthermore, by using a grid composed of straight lines as a comparison index, it is possible to more easily compare the size of defects included in the image, as well as obtain an additional effect that distortion of the lens can be removed from the bending direction and degree of the straight line. have.

On the other hand, embodiments of the present invention include a method for controlling hardware driving of an image capturing apparatus and an image processing method for generating a single integrated image from the acquired image and measured additional information. It is possible to implement it in readable code. The computer-readable recording medium includes all types of recording devices storing data that can be read by a computer system.

Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. Further, the computer-readable recording medium is distributed over a computer system connected by a network, so that the computer-readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention belongs.

In the above, the present invention has been looked at around the various embodiments. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the above description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

10: image acquisition assembly
11: camera
12: first wire coupling portion
13: second wire joint
15: Comparative indicator or grid
17: distance sensor
19: reel
20: drive control unit
21: first support shaft
23: second support shaft
25: fixed belt
27: fastener
30: image processing unit
31: recorded video
33: additional information
39: defect pattern information
41: moving wire
43: anti-shake wire
45: weight

Claims (7)

An image acquisition assembly that moves in a vertical direction through a cavity formed inside the vertical structure and acquires an inner image of the vertical structure;
A driving control unit installed at the height of the vertical structure and controlling vertical movement of the image acquisition assembly using at least two types of wires; And
Includes; an image processing unit for storing the acquired inner image of the vertical structure and the moving distance or position of the image acquisition assembly together,
The image acquisition assembly,
A camera for photographing an image inside the vertical structure;
A body in which the camera is accommodated and formed of a transparent material at least in a direction in which the camera is directed;
A distance sensor provided on the body to measure a distance to an object to be imaged;
A first wire coupling part formed on the body to which a moving wire for controlling ascending or descending is connected from the driving control unit; And
Including; a second wire coupling portion formed on the body and connected to a shake preventing wire for preventing shaking by fixing a reference shaft for image capture from the driving control unit,
By forming a comparison index in which a plurality of straight lines intersect on the transmission surface of the body, the comparison index is obtained by overlapping the comparison index on the inner image photographed by the camera, and the comparison index included in the obtained image The distortion is corrected by determining the type and degree of image distortion using the bending phenomenon that appears in the straight line of
The image processing unit,
Calculate the length or size of the region of interest (ROI) to be contrasted through the relative comparison with the comparison index included in the acquired image, but the comparison index corresponding to the region of interest included in the acquired image and the Using the distance measured by a distance sensor, the length or size of the region of interest is calculated from a relational expression based on the distance from the distance sensor to the transmission surface on which the comparison index is formed and the distance from the distance sensor to the object to be imaged. To do, the imaging device. delete The method of claim 1,
The comparison index is a grid in which a plurality of straight lines intersect,
The image acquisition assembly,
The type of image distortion by the lens of the camera is barrel distortion, pincushion distortion, and Or, an image capture device that identifies which of the wave-shaped distortion (moustache distortion) is, and corrects the image distortion through the degree of bending of a straight line according to the identified type. The method of claim 1,
The image processing unit,
By dividing a value obtained by multiplying the length of the comparison index corresponding to the region of interest included in the acquired image by the distance from the distance sensor to the object to be imaged by the distance from the distance sensor to the transmission surface on which the comparison index is formed An image capturing apparatus for calculating the length or size of the region of interest. The method of claim 4,
The camera is a 360 degree camera capable of photographing both the front and the rear of the reference axis for image capture,
The distance sensor is provided to face each of the front and rear of the reference axis,
The image processing unit,
Acquiring an inner image of the vertical structure for each of the front and rear of the reference axis,
The additional information including the moving distance or location of the image acquisition assembly and the calculated length or size of the ROI is directly displayed on the inside image of the vertical structure with respect to the acquired front and rear, and stored as a single integrated image in real time. But,
When a defect part detected in the inner image corresponds to a preset defect pattern, it is determined as a candidate defect location and a separate flag is recorded together with the additional information. The method of claim 1,
Further comprising a reel (reel) for winding or releasing the moving wire connected to the first wire coupling portion of the image acquisition assembly,
The reel is installed in either the image acquisition assembly or the driving control unit to calculate a moving distance of the image acquisition assembly using the number of rotations of the reel,
The second wire coupling unit may form a hole structure through which the anti-shake wire extending from the driving control unit penetrates the body of the image capturing assembly in a vertical direction, wherein at least two areas of the body of the image capturing assembly The image photographing apparatus is provided, each of which is connected to an anti-shake wire, and a weight is connected to an end of the anti-shake wire in the direction of gravity, thereby fixing a reference axis for photographing an image. The method of claim 6,
The driving control unit,
The movable wire connected to the first wire coupling portion of the image acquisition assembly and the shake-preventing wire connected to the second wire coupling portion of the image acquisition assembly are respectively connected to different support shafts,
The first support shaft to which the moving wire is connected has a structure that rotates when controlling vertical movement of the image acquisition assembly,
The second support shaft to which the anti-shake wire is connected crosses the first support shaft, but is installed so that the moving wire and the anti-shake wire form one plane.

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