KR102195061B1 - Method for inspecting passage type structure - Google Patents

Abstract

The present invention relates to a method of inspecting a passage-type structure. According to the present invention, the method of inspecting the passage-type structure comprises: a video data acquisition step to acquire video data on an internal side of the passage-type structure by a photographing apparatus, which photographs the video data while driving the internal side of the passage-type structure, and to store the video data in a storage unit placed in the photographing apparatus; an image extraction step to extract stop images on the internal side of the passage-type structure by an inspector from the video data acquired through the video data acquisition step; an image classification step to classify the stop images extracted through the image extraction step by the inspector by position of the passage-type structure; an image merging step to merge the stop images classified through the image classification step by the inspector and to form a panorama image; and an inspection drawing production step to use the panorama image formed through the image merging step and to produce an inspection drawing showing an inspection result by the inspector. The present invention aims to provide a method of inspecting a passage-type structure, which is able to allow a user to easily and visually identify the positions and conditions of damages.

Description

Inspection method for passage-type structures {METHOD FOR INSPECTING PASSAGE TYPE STRUCTURE}

The present invention relates to a structure inspection method, and more particularly, to a method for inspecting a passage-type structure such as a steel box girder or a concrete box structure of a PSC bridge.

Conventionally, in the case of inspecting for damage such as cracks and corrosion inside passage-type structures such as box girders of bridge structures, a dedicated inspection facility consisting of ladders, supports, handrail supports, etc. is installed at the lower part of the bridge structure. After entering, the operator was directly visually inspected while moving along the passage.

However, the method of inspecting damage such as corrosion or crack conditions inside passage-type structures such as box girders of conventional bridge structures is reliable because only the operator can know the inspection data such as crack conditions. There is a problem that it is difficult to review or analyze the inspection data later due to the lack of. In addition, when a worker enters a passage-type structure using facilities such as ladders, pedestal, handrail support, etc., there is a significant risk of safety accidents, and contact with stiffeners and ribs installed inside due to narrow access passages and dark interior conditions. There is a problem that the working environment is very unfavorable, such as the possibility of occurrence of an accident.

Patent Publication No. 10-2004-0019143 discloses an unmanned inspection device that monitors the lower part of the bridge and stores the photographed data without the inspector directly inspecting the lower part of the bridge using a camera that photographs the lower part of the bridge and transmits an image signal. It is described. However, such a conventional inspection device is not suitable for checking the inner passage of a passage-type structure such as a steel box girder structure.

Republic of Korea Patent Application Publication No. 10-2004-0019143 "Unmanned inspection device for bridges" (2004.03.05.)

The technical problem to be solved by the present invention is to provide a method of inspecting the inside of a passage-type structure such as a box girder of a bridge structure using image capture.

In order to achieve the technical problem to be solved by the present invention, according to an aspect of the present invention, moving picture data for the inside of the passage-type structure is acquired by a photographing device that photographs while driving the inside of the passage-type structure. Obtaining moving picture data stored in a storage unit provided in the photographing device; An image extraction step of extracting still images of the inside of the passage-type structure by an inspector from the moving image data acquired through the moving image data acquisition step; An image classification step in which the still images extracted through the image extraction step are classified according to positions of the passage-type structures by an inspector; An image merging step in which the still images classified through the image classification step are merged by an inspector to form a panoramic image; And an inspection drawing production step in which an inspection drawing showing an inspection result is produced by an inspector using the panoramic image formed through the image merging step.

In order to achieve the technical problem to be solved by the present invention described above, still picture data for the inside of the passage-type structure is acquired by a photographing device for photographing while traveling inside the passage-type structure, and storage provided in the photographing device Obtaining still picture data stored in the unit; An image classification step in which still photos included in the still photo data acquired through the still photo data acquisition step are classified by position by an inspector; A panorama merging step in which the still pictures classified by location through the image classification step are merged by an inspector to form a panoramic image; And VR data generation step in which virtual reality data for the inside of the passage type structure is generated by an inspector using the panoramic image formed through the panorama merge step is provided.

According to the present invention, all the objects of the present invention described above can be achieved. Specifically, the interior of a passage-type structure such as a box girder of a bridge structure is captured as a video, and still images classified by location and member are extracted using the captured video, and a panoramic image is created by merging the extracted still images. And, since the inspection drawing is created using the generated panoramic image, the location and content of the damage can be visually and easily identified.

In addition, the interior of a passage-type structure such as a steel box girder structure or a concrete box girder is taken as a still picture, and the taken still pictures are merged to produce a panoramic image, and a virtual experience (VR) data is generated as a panoramic image. Visually more efficient inspection can be performed on the interior of passage-type structures such as box girders of

1 is a flowchart schematically illustrating a method of inspecting a passage-type structure according to an embodiment of the present invention.
FIG. 2 is a side view showing a general structure of a steel box girder type bridge that can be inspected by applying the inspection method of the passage type structure shown in FIG. 1.
3 is a cross-sectional view of the upper structure in the steel box girder type bridge shown in FIG.
FIG. 4 is a diagram illustrating a state in which a video capture step is performed in a steel box girder structure in the flowchart shown in FIG. 1.
5 is a flowchart schematically illustrating a method of inspecting a passage-type structure according to another embodiment of the present invention.
6 is a perspective view showing an example of a concrete box structure that can be inspected by applying the inspection method of a passage-type structure according to the present invention.
7 is a view showing a state in which the inspection method of the passage-type structure according to the present invention is performed in a concrete box structure.
8 to 10 are views of the photographing apparatus shown in FIG. 4.

Hereinafter, the configuration and operation of the embodiment according to the present invention will be described in detail with reference to the drawings.

1 is a flowchart schematically illustrating a method of inspecting a passage-type structure according to an embodiment of the present invention. Referring to FIG. 1, a method for inspecting the interior of a passage-type structure such as a box girder of a bridge structure according to an embodiment of the present invention includes a moving image data acquisition step (S110) in which moving image data on the interior of the passage-type structure is obtained. Wow, the image extraction step (S120) in which still images of the inside of the passage-type structure are extracted from the moving image data on the interior of the passage-type structure acquired through the moving picture data acquisition step (S110), and the image extraction step (S120). An image classification step (S130) in which still images extracted through are classified by location, an image merging step (S140) in which still images classified by location through the image classification step (S130) are merged to form a panoramic image, and image merging It includes an inspection drawing production step (S150) in which an inspection drawing showing the inspection result is produced by using the panoramic image formed through the step (S140).

In this embodiment, the passage-type structure will be described as being a steel box girder structure installed on a steel box girder bridge. In the video data acquisition step (S110), video data about the inside of the steel box girder structure is acquired.

First, the steel box girder structure to be inspected will be outlined. Figure 2 shows the general structure of the steel box girder type bridge. 2, in general, a steel box girder type bridge (B) has an upper structure consisting of an upper slab (S) and a steel box girder structure (G) supporting the load applied to the upper slab (S), and the upper It has a lower structure consisting of two abutments (A) supporting the structure at both ends in the longitudinal direction, and a pier (P) positioned between the two abutments (A) and supporting the upper structure. The steel box girder structure (G) is formed by being connected so that a plurality of unit steel box girders are sequentially connected, and extends long along the longitudinal direction of the steel box girder bridge. A passage is formed inside each of the plurality of unit steel box girders, and as shown in FIG. 3, a passage F extending along the entire length direction is provided inside the steel box girder structure G. In addition, various reinforcing materials such as a partition wall (W) and a reinforcing rib (E) are formed inside the steel box girder structure (G). In the video data acquisition step (S110), a video of the inside of the steel box girder structure (G) is photographed using an image photographing device. 3 shows a state in which the video data acquisition step S110 is performed. The imaging equipment used in the video data acquisition step (S110) includes a rail (R) formed to extend along the inner passage (F) of the steel box girder structure (G), and a steel box while moving along the rail (R). It includes a photographing device 100 for photographing the inside of the girder structure G. The photographing device 100 is coupled to the rail (R) to be movably coupled to the traveling unit 110 traveling along the rail (R), and coupled to the traveling unit 110 and moving together with the traveling unit 110 A camera 131 for photographing the inside of the girder structure G as a moving picture or a still picture, and a storage unit (not shown) for storing moving picture or still picture data taken by the camera 131 are provided. The location of the captured video inside the steel box girder structure (G) can be identified by a specific mark displayed inside the steel box girder structure (G).

In the video data acquisition step (S110), a video of the entire area including the ceiling, the floor, and both sidewalls is photographed by the camera 131 over the entire inspection section of the steel box girder structure (G), and the photographed video data is It is stored in a storage unit (not shown).

In the image extraction step (S120), still images of the inside of the steel box girder structure (G) are extracted from the moving image data about the inside of the steel box girder structure (G) obtained through the moving image data acquisition step (S110). Specifically, from the video data on the inside of the steel box girder structure (G) stored in the storage unit (not shown) of the photographing device (100 in FIG. 3), the operator as the inspector uses an appropriate image processing computer program to the steel box girder structure. (G) An image extraction step S120 may be performed by extracting still images for each of the internal parts. The extracted image data for the still images extracted in the image extraction step S120 is stored in a storage device.

In the image classification step (S130), still images of the inside of the steel box girder structure (G) extracted through the image extraction step (S120) are classified by location. Specifically, the operator, who is the inspector in the image classification step (S130), separates the still image of the inside of the steel box girder structure (G) extracted through the image extraction step (S120) according to the position of the steel box girder structure (G). Classify and store in a storage device.

In the image merging step (S140), still images classified by location and part through the image classification step (S130) are merged to form a panoramic image. Specifically, in the image merging step (S140), the operator, who is an inspector, merges still images of the inside of the steel box girder structure classified by location and part through the image classification step (S130) using an appropriate image processing program to create a panoramic image. It can be done by creating. The panoramic image generated in the image merging step (S140) is a panoramic image formed along the circumferential direction including the ceiling, the floor, and both sides at a specific position in the longitudinal direction of the steel box girder structure G. This panoramic image is formed for the entire longitudinal inspection section of the steel box girder structure (G).

In the inspection drawing production step S150, an inspection drawing showing the inspection result is produced by the inspector using the panoramic image formed through the image merging step S140. In the inspection drawing production step (S150), the inspector checks damaged areas such as corrosion, cracks, or breakage inside the steel box girder structure through a panoramic image, and marks the location on the steel box girder structure drawing and describes the damage. As a result of the inspection, drawings are produced. A corresponding photographic image may be linked to the inspection result drawing so that the damage content of the corresponding location can be confirmed as a photographic image.

5 is a flowchart schematically illustrating a method of inspecting a passage-type structure according to another embodiment of the present invention. Referring to FIG. 5, a method of inspecting a passage-type structure according to another embodiment of the present invention includes a still photo data acquisition step (S210) in which still photo data for the inside of the passage structure is acquired, and a still photo data acquisition step. The image classification step (S220) in which still photos included in the still photo data about the inside of the passage-type structure obtained through (S210) are classified by location, and the still photos classified by location through the image classification step (S220) are Including a panorama merging step (S230) of merging to form a panorama image, and a VR data generation step (S240) of generating virtual reality (VR) data using the panorama image formed through the panorama merging step (S230). do. Hereinafter, it will be described in detail by taking as an example that the passage-type structure to be inspected is a steel box girder structure.

In the still picture data acquisition step (S210), still picture data on the inside of the steel box girder structure is obtained. The still picture data acquisition step (S210) is performed using the image photographing equipment as shown in FIG. 3. In the still picture data acquisition step (S210), a still picture is taken for the entire 360° area including the ceiling, the floor, and both sidewalls by the camera 131 over the entire inspection section of the steel box girder structure (G), and Photo data is stored in a storage unit (not shown). The position of the photographed still picture inside the steel box girder structure (G) can be identified by a specific mark displayed inside the steel box girder structure (G).

In the image classification step (S220), still photos included in the still photo data of the inside of the steel box girder structure acquired through the still photo data acquisition step (S210) are classified by location. Specifically, the operator who is the inspector in the image classification step (S220) classifies the still photos stored in the storage unit (not shown) of the photographing device (100 in FIG. 3) by parts and members according to the location of the steel box girder structure (G). Save to storage device.

In the panorama merging step (S230), still pictures classified by locations through the image classification step (S220) are merged to form a panorama image. Specifically, in the panorama merging step (S230), the operator who is the inspector merges the still photos of the inside of the steel box girder structure classified by location and part through the image classification step (S220) using an appropriate image processing program to create a panoramic image. It can be done by creating. The panoramic image generated in the panorama merging step S230 is a panoramic image formed along the longitudinal direction and the 360° circumferential direction of the steel box girder structure G.

In the VR data generation step (S240), virtual reality (VR) data for the interior of the steel box girder structure (G) is generated using the panorama image formed through the panorama merging step (S230) and stored in the storage device. .

In the above embodiments, it has been described that the structure to be inspected is a steel box girder structure, but the present invention is not limited thereto. In addition to the steel box girder structure, the inspection method according to the present invention can be applied to the inspection of all types of passage-type structures that provide a long passage inside, such as a steel box girder structure, and this is also within the scope of the present invention. For example, the inspection method according to the present invention can be used for the inspection of the concrete box structure (C) of the shape as shown in FIG. The concrete box structure (C) shown in FIG. 6 provides an inner passage (H) as a single box-type concrete box girder. 7 shows a state in which the inspection method according to the present invention is performed in the concrete box structure (C). Referring to FIG. 7, a photographing device 100 for photographing the inside of the concrete box structure C while moving along the rail R and the rail R in the inner passage H of the concrete box structure C. The image capturing equipment as shown in FIG. 3 may be installed, so that the moving picture data acquisition step S110 shown in FIG. 1 and the still picture data acquisition step S210 shown in FIG. 4 may be performed. In FIG. 7, the rail R and the photographing apparatus 100 are shown to be installed in a form suspended from the ceiling of the inner passage H, but the present invention is not limited thereto.

8, 9 and 10 are views for explaining the photographing apparatus 100 shown in FIG. 4. 8, 9, and 10, the photographing apparatus 100 according to an embodiment of the present invention includes a traveling module 110 traveling along a rail R, and a rail along with the traveling module 110. A young device 130 for inspecting a structure to be inspected while moving along (R), a position change module 150 for changing a relative position of the photographing module 130 with respect to the driving module 110, and a position change module 150 ), a plurality of external recognition sensors (181, 182, 183, 184, 185, 186) for recognizing an external environment, and a plurality of external recognition sensors (181, 182, 183, 184) It includes a control module 190 for controlling the operation of the turning module 170 by using the external environment recognized through the, 185, 186.

The traveling module 110 is a moving body that travels along the rail R, and in this embodiment, it is described that the rail R is installed inside the steel box girder of the bridge, but the present invention is not limited thereto, and It may be moving along a rail installed in another structure. The traveling module 110 rotates the traveling wheel 115 by being installed on the traveling body 111, the traveling wheel 115 coupled to the traveling body 111 and in contact with the rail R, and the traveling body 111 It is provided with a driving driving unit 120, and a rail coupling unit 127 that is installed on the driving body 111 and movably couples the driving body 111 to the rail (R).

The traveling body 111 is a box shape that provides an accommodation space in which various components are installed, and is movably coupled to the rail R by the rail coupling portion 127.

The driving wheel 115 is rotatably coupled to the driving body 111, and a part of the driving wheel 115 protrudes through the bottom surface of the driving body 111 and is exposed. The driving wheel 115 rolls in both directions by the driving driver 120, and the outer circumferential surface of the driving wheel 115 contacts the rail R. Due to the rolling rotation of the driving wheel 115, the photographing device 100 travels in both directions along the rail R. That is, while the driving wheel 115 is placed on the rail R, it rolls and rotates so that the photographing apparatus 100 travels along the rail R. In this embodiment, the rail (R) is a'工' shape, and is located under the upper flange (F1) that extends generally flat and faces the upper flange (F1) and extends substantially flat. It has a lower flange (F2) and a wall-shaped connection (C) connecting the upper flange (F1) and the lower flange (F2). Both the upper flange (F1) and the lower flange (F2) extend to both sides with the connection portion (C) therebetween. The present invention does not limit the shape of the rail R to those shown in the drawings. The rail (R) is installed to be spaced a certain height from the inner floor of the steel box girder that is the structure to be inspected. The rail R extends along the longitudinal direction of the steel box girder so as to pass through the center of the width direction of the steel box girder.

The driving driving unit 120 is installed on the driving body 111 to rotate the driving wheel 115 in both directions. The travel drive unit 120 includes a travel drive motor 121 that generates rotational force, and a travel power transmission unit 122 that transmits rotational force generated by the travel drive motor 121 to the travel wheel 115.

The traveling drive motor 121 is installed in the accommodation space inside the traveling body 111 and generates a rotational force for rotating the traveling wheel 115. The rotational force generated by the travel driving motor 121 is transmitted to the driving wheel 115 through the driving power transmission unit 122.

The driving power transmission unit 122 transmits the rotational force generated by the driving driving motor 121 to the driving wheel 115 so that the driving wheel 115 rotates. The driving power transmission unit 122 includes a driving driving pulley 123 coupled to the rotation shaft of the driving driving motor 121, a driving driven pulley 124 coupled to the rotation shaft of the driving wheel 115, and a driving driving pulley 123 ) And a driving driving belt 125 connecting the driving driven pulley 124 to each other. The rotation of the driving driving pulley 123 is transmitted to the driving driven pulley 124 by the driving driving belt 125 so that the driving wheel 115 rotates.

The rail coupling part 127 is installed on the traveling body 111 to movably couple the traveling body 111 to the rail R. The traveling body 111 is coupled to the rail R so as to be movable without shaking by the coupling roller unit 127 to move stably. The rail coupling portion 127 includes a plurality of coupling rollers 128. In a state in which the driving wheel 115 is placed on the upper flange F1 of the rail R, the plurality of coupling rollers 128 contact both sides of the upper flange F1 and the lower surface of the upper flange F2. It guides the driving of the driving body 111 stably.

The photographing module 130 is coupled to the driving module 110 via the position change module 150 and the turning module 170, and moves along the rail R together with the driving module 110 to form a steel box, which is an inspection target structure. Inspect the inside of the girder. In this embodiment, the photographing module 130 will be described as being a kind of camera module for photographing the inside of the steel box girder. The photographing module 130 may be, for example, a kind of gimbal including the photographing unit 131 and the lighting unit 135, and it is possible to control the x, y, and z axes, so that the rail ( While moving along R), take pictures of cracks, damage, and corrosion inside the steel box girder while rotating up and down, left and right. In addition, the photographing module 130 may transmit an image continuously photographed inside the steel box girder through the photographing unit 131 including an image transceiver disposed on one side, and in addition, the rail ( By calculating the location information in R), the image and location can be transmitted in real time. Accordingly, it is possible to perform defect repair by more easily grasping the location of actual cracks and damage elements included in the image. The photographing module 130 in the present specification is described as an example that is formed of a gimbal to which a camera module is attached, that is, inspection equipment of visible light, but includes various inspection equipment such as invisible light and electromagnetic waves that can inspect the structure to be inspected. can do. For example, the imaging module 130 includes an irradiation unit that irradiates at least one of visible light, invisible light, and electromagnetic wave to the structure to be inspected, and visible light reflected from the structure to be inspected. It may include various inspection equipment including a photographing unit 131 for photographing at least one of invisible light and electromagnetic waves. Visible light may be a type of camera that photographs a structure to be inspected by irradiating light visible to the human eye, such as the photographing module 130 shown in the drawing, and may also include a laser scanner, and invisible light May include infrared rays, lasers, X-rays, etc. that are not visible to the human eye. In addition, the imaging module 130 may include the irradiation unit including ultrasonic waves, and when disposed in an open space, only the imaging unit may be formed without the irradiation unit.

The photographing module 130 can move along the rail R together with the driving module 110, and the relative position with respect to the driving module 110 is changed by the position change module 150 to reach the blind spot of the steel box girder. You can shoot all.

The position change module 150 changes the relative position of the photographing module 130 with respect to the driving module 110. The photographing position change module 150 is coupled to the driving module 110 via the turning module 170. The photographing position change module 150 includes a module transport unit 151 for linearly reciprocating the photographing module 130 and a tilt adjustment unit 160 for adjusting the slope of the module transport unit 151.

The module transfer unit 151 changes the relative position of the photographing module 130 with respect to the traveling module 110 by linearly reciprocating the photographing module 130. The module transfer unit 151 includes a coupling body 152 to which the photographing module 130 is coupled and fixed, a module transfer guide 153 extending in a straight line to guide the linear reciprocation of the coupling body 152, and a coupling body ( The transfer drive unit 154 for linearly reciprocating movement of the 152, the weight unit 158 moved by the transfer drive unit 154 in response to the movement of the coupling body 152, and the position of the coupling body 152 It includes a plurality of position detection sensors (159a, 159b, 159c).

The coupling body 152 is coupled to the module transfer guide 153 to enable a linear reciprocating movement, and is driven by the transfer driving unit 154 to move linearly reciprocating along the module transfer guide 153. The photographing module 130 is detachably coupled and fixed to the coupling body 152. The position of the coupling body 152 on the module transfer guide 153 is detected by a plurality of position detection sensors 159a, 159b, 159c. Specifically, it is sensed at both ends and center positions in the linear movement section of the coupling body 152.

The module transfer guide 153 extends in a straight line to guide the linear reciprocating movement of the coupling body 152. A linear movement section of the coupling body 152 is formed by the module transfer guide 153. The module transfer guide 153 is rotatably coupled with a center portion 153a in the extending direction about a horizontal axis A extending horizontally to the orbiting module 170 so that the slope thereof can be changed. In addition, the module transfer guide 153 may rotate around a vertical axis B crossing the horizontal axis A by the orbiting module 170 to perform a orbiting motion. When taking an image, the module transfer guide 153 is arranged to extend along the width direction of the steel box girder, and when an obstacle with a risk of collision is detected during driving, it is rotated by the turning module 170 to reduce the width direction area occupied during driving. So that it is arranged to extend along the driving direction. As the module transfer guide 153, a linear motion guide having a conventional configuration may be used. The transfer driving unit 154 is coupled to the module transfer guide 153 and supported.

The transfer driving unit 154 moves the coupling body 152 linearly and reciprocally on the module transfer guide 153. In this embodiment, the transfer drive unit 154 is a belt transfer device and includes a transfer drive pulley 155a, a transfer driven pulley 155b, a transfer drive belt 156, and a transfer drive motor 157.

The transfer driving pulley 155a and the transfer driven pulley 155b are positioned at both ends of the module transfer guide 153 in the longitudinal direction with the module transfer guide 153 interposed therebetween and are rotatably installed. The transfer drive belt 156 is coupled to the transfer drive pulley 155a and the transfer driven pulley 155b. The drive pulley 155a rotates in both directions by the belt drive motor 157.

The transfer drive belt 156 is coupled to the transfer drive pulley 155a and the transfer driven pulley 155b and circulates by rotation of the transfer drive pulley 155a. The coupling body 152 and the weight portion 158 are coupled to the transport drive belt 156, so that the coupling body 152 and the weight portion 158 are provided with the module transport guide 153 by circulating movement of the transport drive belt 156. ) And move in a straight line. The coupling body 152 and the weight portion 158 are coupled to opposite sides of the transfer drive belt 156, respectively. In this embodiment, the coupling body 152 is coupled to the upper surface portion 156a of the transport drive belt 156, and the weight portion 158 is coupled to the lower surface portion 156b of the transport drive belt 156. The moving direction of the coupling body 152 and the weight part 158 is changed according to the moving direction of the transfer drive belt 156.

The belt drive motor 157 drives the transfer drive belt 156 by rotating the transfer drive pulley 155a in both directions.

In the present embodiment, it is described that the belt conveying device is used as the linear motion driving unit 154, but the present invention is not limited thereto.

The weight portion 158 is coupled to the transfer drive belt 156 to move by the transfer drive unit 154 in response to the movement of the coupling body 152. The weight portion 158 is coupled to the lower surface portion 156b of the transport drive belt 156 and moves in a direction opposite to the coupling body 152 coupled to the upper surface portion 156a of the transport drive belt 156. The weight part 158 is located on the module transfer guide 153 on the opposite side of the coupling body 152 with respect to the longitudinal center of the module transfer guide 153 to balance the load applied to the module transfer guide 153. The weight of the weight portion 158 may be coupled to the transfer drive belt 156 so as to be adjustable. In this embodiment, the weight of the weight portion 158 is the same as the weight of the photographing module 130, and the weight portion 158 is the same as the coupling body 152 with the center of the lengthwise direction of the linear motion guide 153 therebetween. It is described as being located at a distance. However, unlike this, the weight of the weight portion 158 is set differently from the weight of the photographing module 130, and in response to this, the weight portion 158 is set differently from the center of the longitudinal direction of the module transfer guide 153 The same load balancing effect can be obtained.

The plurality of position sensing sensors 159a, 159b, 159c constitute a position sensing unit of the present invention that detects the position of the coupling body 152 on the module transport guide 153. Specifically, the plurality of position sensing sensors 159a, 159b, 159c are the first end position sensing sensor 159a and the second end position sensing sensor 159a for sensing the positions of both ends in the linear reciprocating movement section of the coupling body 152 ( 159b), and a center position detection sensor 159c for detecting a center position on a linear reciprocating section of the coupling body 152. In this embodiment, the position detection sensors 159a, 159b, and 159c are described as being photo sensors, but the present invention is not limited thereto.

The tilt adjustment unit 160 adjusts the tilt of the module transfer unit 151. Specifically, the module transfer guide 153 of the module transfer unit 151 is rotatable about a horizontal axis A extending horizontally to the pivot module 170 so that the center portion 153a in the extension direction can be changed so that the slope thereof can be changed. It is coupled, and the tilt of the module transfer guide 153 is adjusted by the tilt adjustment unit 160. The tilt adjustment unit 160 fixes the module transfer guide 153 to maintain a constant set tilt. In general, in the case of photographing the ceiling and the floor of the steel box girder, the module transport guide 153 is maintained horizontally (tilt 0°), and when photographing the side of the steel box girder, the module transport guide 153 is constant. It keeps the slope so that it is tilted at an angle.

The turning module 170 rotates the position change module 150 with respect to the traveling module 110. The turning module 170 includes a turning pillar 171 coupled to the traveling body 111 so as to be axially rotated around a vertical axis B, and a turning drive motor 175 that rotates the turning pole 171 do.

The pivoting pillar 171 is a pillar located in the center of the upper surface of the traveling body 111, and is supported by a bearing so as to rotate around a vertical axis (B) extending along the height direction of the traveling body 111. do. A longitudinal center portion 153a of the module transfer guide 153 is coupled to the upper end of the orbiting pillar 171, and a tilt adjustment unit 160 is installed. The pivoting pillar 171 rotates the position change module 150 by axially rotating around the vertical axis B by the pivoting drive motor 175.

The turning drive motor 175 is installed in the receiving space inside the traveling body 111 to provide a rotational force to rotate the turning column 171. By the rotational force provided by the orbiting drive motor 175, the orbiting pillar 171 is capable of axial rotation in both directions around the vertical axis (B). The rotational force provided by the orbiting drive motor 175 is transmitted to the orbiting pillar 171 by the orbiting power transmission unit (not shown). In this embodiment, the orbiting power transmission unit (not shown) is described as being a gear train.

The plurality of external recognition sensors 181, 182, 183, 184, 185, and 186 recognize the external environment in order to identify obstacles and the like during the driving process of the photographing apparatus 100. A plurality of external recognition sensors 181, 182, 183, 184, 185, 186 constitute the external environment recognition means of the present invention. In this embodiment, it will be described that the external recognition sensors 181, 182, 183, 184, 185, and 186 are LiDAR (Light Detection And Ranging) sensors. The lidar sensor is a sensor that recognizes the surrounding environment by emitting laser pulses, sensing the pulses reflected from surrounding objects, and measuring the distance to the object. In this embodiment, the plurality of external recognition sensors 181, 182, 183, 184, 185, 186 are first and second external recognition sensors respectively located at both ends of the first side 153b of the module transfer guide 153 (181, 182), the third and fourth external recognition sensors (183, 184) respectively located at both ends of the second side (153c) of the module transfer guide 153, and both ends of the traveling direction of the traveling body 111 It includes fifth and sixth external recognition sensors 185 and 186 respectively positioned at the.

The first external recognition sensor 181 and the second external recognition sensor 182 are installed to be positioned at both ends of the first side 153b of the module transfer guide 153, respectively. The first external recognition sensor 181 is located on the side of the first end 153d of the module transfer guide 153, and the second external recognition sensor 182 is on the side of the second end 153e of the module transfer guide 153. Located. The first external recognition sensor 181 and the second external recognition sensor 182 recognize an external environment in a direction toward the side of the module transfer guide 153.

The third external recognition sensor 183 and the fourth external recognition sensor 184 are installed to be respectively located at both ends of the second side 153c of the module transfer guide 153. That is, the third and fourth external recognition sensors 183 and 184 are located on opposite sides of the module transfer guide 153 with respect to the first and second external recognition sensors 181 and 182. The third external recognition sensor 183 is located at the first end 153d side of the module transfer guide 153, and the fourth external recognition sensor 184 is at the second end 153d side of the module transfer guide 153. Located. The second external recognition sensor 183 and the fourth external recognition sensor 184 recognize an external environment in a direction toward the side of the module transfer guide 153. Accordingly, the first external recognition sensor 181 and the third external recognition sensor 183 recognize external environments opposite to each other at the first end 153c side of the module transfer guide 153, and the second external recognition sensor The 182 and the fourth external recognition sensor 184 recognize the external environment (distance from an external object) opposite to each other on the side of the second end 153d of the module transfer guide 153.

The fifth external recognition sensor 185 and the sixth external recognition sensor 186 are installed to be respectively positioned at both ends of the traveling body 111 in the traveling direction. It is determined whether there is an obstacle in front of the driving direction of the driving body 111 in the driving process through the fifth external recognition sensor 185 and the sixth external recognition sensor 186.

The control module 190 controls the operation of the turning module 170 using an external environment recognized through a plurality of external recognition sensors 181, 182, 183, 184, 185, 186. The control module 190 is installed in the accommodation space inside the traveling body 111 and is electrically connected to a plurality of external recognition sensors 181, 182, 183, 184, 185, 186 and the turning drive motor 175 . The control module 190 is not shown, but a control for controlling the operation of the swing drive motor 175 using an external environment recognized through a plurality of external recognition sensors 181, 182, 183, 184, 185, 186 A memory device in which a program is stored, a microprocessor on which a control program is executed, a plurality of external recognition sensors (181, 182, 183, 184, 185, 186), and a communication unit that exchanges electrical signals with the swing drive motor 175 Equipped.

Although the present invention has been described through the above embodiments, the present invention is not limited thereto. The above embodiments may be modified or changed without departing from the spirit and scope of the present invention, and those skilled in the art will recognize that such modifications and changes also belong to the present invention.

100: video recording device
110: traveling unit
131: camera

Claims (8)

A moving image data acquisition step in which moving picture data on the inside of the passage-type structure is acquired by a photographing device for photographing while driving inside the passage-type structure and stored in a storage unit provided in the photographing device;
An image extraction step of extracting still images of the inside of the passage-type structure by an inspector from the moving image data acquired through the moving image data acquisition step;
An image classification step in which the still images extracted through the image extraction step are classified according to positions of the passage-type structures by an inspector;
An image merging step in which the still images classified through the image classification step are merged by an inspector to form a panoramic image; And
An inspection drawing production step in which an inspection drawing showing an inspection result is produced by an inspector using the panoramic image formed through the image merging step,
The photographing device includes a traveling module traveling along a rail, a photographing module photographing the passage-type structure, a coupling body to which the photographing module is coupled, a module transfer guide for guiding the reciprocating movement of the coupling body, and the coupling A transfer drive unit for moving the body along the module transfer guide, a swing module for pivoting the module transfer guide with respect to the traveling module, an external environment recognition means for recognizing an external object, and for controlling the operation of the orbiting module. It includes a control module,
The orbiting module includes a orbiting pillar coupled to the driving module so as to be axially rotated,
The longitudinal center of the module transfer guide is coupled to the orbiting column,
In the process of performing the moving picture data acquisition step, the control module recognizes a traveling obstacle using external object recognition information identified through the external environment recognition means, and the module transfer guide rotates the pivoting pillar to avoid the traveling obstacle. To control,
How to inspect passage-type structures. The method according to claim 1,
In the video data acquisition step, a video of the entire area of the passage-type structure is photographed over the entire inspection section of the passage-type structure,
How to inspect passage-type structures. The method according to claim 1,
In the inspection drawing production step, a damage location is displayed on the inspection drawing based on the information of the panoramic image and the damage content is described,
How to inspect passage-type structures. The method of claim 3,
In the inspection drawing, a photographic image of the damage location is linked,
How to inspect passage-type structures. The method according to claim 1,
The passage-type structure is a box girder of a bridge structure,
How to inspect passage-type structures. Obtaining still picture data for the inside of the passage-type structure, obtained by a photographing device for photographing while driving inside the passage-type structure and stored in a storage unit provided in the photographing device;
An image classification step in which still photos included in the still photo data acquired through the still photo data acquisition step are classified by position by an inspector;
A panorama merging step in which the still pictures classified by location through the image classification step are merged by an inspector to form a panoramic image; And
A VR data generation step in which virtual reality data for the inside of the passage-type structure is generated by an inspector using the panorama image formed through the panorama merging step,
The photographing device includes a traveling module traveling along a rail, a photographing module photographing the passage-type structure, a coupling body to which the photographing module is coupled, a module transfer guide for guiding the reciprocating movement of the coupling body, and the coupling A transfer drive unit for moving the body along the module transfer guide, a swing module for pivoting the module transfer guide with respect to the traveling module, an external environment recognition means for recognizing an external object, and for controlling the operation of the orbiting module. It includes a control module,
The orbiting module includes a orbiting pillar coupled to the driving module so as to be axially rotated,
The longitudinal center of the module transfer guide is coupled to the orbiting column,
In the process of performing the still picture data acquisition step, the control module recognizes a traveling obstacle using external object recognition information identified through the external environment recognition means, so that the module transfer guide avoids the traveling obstacle. To control the rotation,
How to inspect passage-type structures. The method of claim 6,
In the still picture data acquisition step, a still picture of the entire area of the passage-type structure is taken over the entire inspection section of the passage-type structure,
How to inspect passage-type structures. The method of claim 6,
The passage-type structure is a steel box structure or a concrete box structure,
How to inspect passage-type structures.

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