KR102417227B1 - Method and apparatus for measuring gradient of inside of sewer pipe - Google Patents

Abstract

A method for measuring an internal slope of a sewage pipe using a processor comprises the following steps of: obtaining inertia data according to movement of a moving body inside a sewage pipe; obtaining moving distance data according to movement of the moving body inside the sewage pipe; calculating position information before correction through integration of the obtained inertia data and correcting the position information before correction by using the obtained moving distance data to calculate corrected position information of the moving body inside the sewage pipe; and generating slope data inside the sewage pipe based on the corrected position information. In the method, position information coordinated inside the sewage pipe is calculated by using the inertia data and moving distance data.

Description

Method and apparatus for measuring gradient of inside of sewer pipe

The present invention relates to a method and apparatus for measuring the slope inside a sewage pipe.

In general, the type of sewage pipe is buried in the ground in the form of a normal pipe isolated from the outside, and various harmful gases such as ammonia, hydrogen sulfide, trimethylamine, and methyl mercaptan are generated in the sewage pipe due to the retention of pollutants such as sewage.

In particular, hydrogen sulfide (H2S) is the main culprit in concrete corrosion and acts as a factor in corrosion and damage of sewage pipes.

In addition, as the sewage conduit is used for a long period of time, the smooth drainage flow is hindered due to the accumulation of pollutants, and structural and functional problems such as cracks due to the aging of the sewage conduit occur. It causes other problems such as groundwater pollution.

Therefore, in order to determine in advance whether a problem such as damage, cracks, or subsidence of the sewage pipe has occurred, continuous management of the sewage pipe is essential.

To this end, each local government not only builds a database (DataBase: DB) of basic specifications such as pipe type, pipe diameter, and year of laying of sewage pipes, but also records the status and performance of sewage pipes and uses them for maintenance of sewage pipes. have.

In the maintenance of such a sewage pipe, conventionally, a photographing device is installed on a moving object to photograph the sewage pipe, and damage, cracks, subsidence, etc. are determined by the inspector's naked eye based on the captured image.

In this case, since it is necessary to examine the image with the naked eye of the inspector, it is difficult to accurately measure the size or range of the damaged area such as the inconvenience of the image reading operation and the resulting decrease in productivity and damage or cracks.

On the other hand, even if the sewage conduit is constructed according to the design drawings, the actual position of the sewer pipe will be displaced with time depending on the condition of the land, etc. These displacements are the cause of sewage pipe faults.

Accordingly, it is necessary to accurately measure the information on the photographing location of the photographing equipment in the sewage conduit where the satellite positioning apparatus cannot be used, such as in an indoor environment, and there is no suitable method for achieving this in the prior art.

The present invention has been devised to solve the above problems, and an object of the present invention is to provide a method and an apparatus for calculating location information coordinated inside a sewage conduit using inertial data and movement distance data.

Another object of the present invention is to provide a method and apparatus for measuring the slope inside a sewage conduit by using the calculated location information.

Another object of the present invention is to provide a method and apparatus for measuring the size of a damaged sewage conduit area using location information matched to image data and an angle on the image of the damaged area.

The method for measuring the slope inside the sewage conduit using a processor according to an embodiment of the present invention for achieving the above object includes obtaining inertial data according to the movement of a moving body inside the sewage conduit; Obtaining movement distance data according to the movement of the moving object, calculating the position information before correction through integration of the obtained inertia data, and correcting the position information before correction using the obtained movement distance data to correct the position information of the sewage pipe It may include calculating the corrected position information of the moving object in the interior and generating slope data of the inside of the sewage conduit based on the corrected position information.

In addition, the calculating of the corrected position information may include comparing the time point at which the distance data and the inertia data are generated, and using the distance data and the inertia data generated at the same time point, the corrected position information at the time point can be calculated.

The method may further include acquiring image data of the inside of the sewage conduit photographed according to the movement of the mobile body.

In addition, the image data is image data captured using an omnidirectional camera, and may include pixel angles corresponding to respective regions.

In addition, the calculating of the corrected position information includes calculating inertia data corrected on the basis of the pixel angle change data according to the movement of the moving object, and using the calculated corrected inertia data and the movement distance data. Corrected position information may be calculated.

In addition, the method may further include mapping at least one of corrected position information and slope data corresponding to each of a plurality of frames constituting the image data, and generating a sewage conduit image map based on the mapped image data. can

On the other hand, the slope measuring device inside the sewage conduit includes an inertia measuring unit for obtaining inertial data according to the movement of the moving body inside the sewage conduit, an encoder unit for obtaining moving distance data according to the movement of the moving body inside the sewage conduit, Calculating the position information before correction through the integration of the obtained inertia data, and correcting the position information before correction using the obtained movement distance data to calculate the corrected position information of the moving object in the sewage conduit It may include a position information generator and a gradient calculator for generating gradient data inside the sewage conduit based on the corrected position information.

In addition, the location information generating unit may compare the time when the distance data and the inertia data are generated, and calculate the corrected location information at the corresponding time by using the distance data and the inertia data generated at the same time. .

In addition, further comprising an image acquisition unit for acquiring image data of the inside of the sewage conduit photographed according to the movement of the mobile body, wherein the image data is image data captured using an omnidirectional camera, and pixels corresponding to each area Angles may be included.

In addition, the position information generator calculates corrected inertia data based on the pixel angle change data according to the movement of the moving object, and uses the calculated corrected inertia data and the movement distance data to generate the corrected position information. can be calculated.

On the other hand, the program according to an embodiment of the present invention for achieving the above object may include a program code for executing the method for measuring the slope inside the sewage pipe.

According to the present invention, by calculating the position information of the moving object inside the sewage conduit using the inertial data obtained through the inertial measuring device and the moving distance data obtained through the encoder, the global positioning system (GPS) It is possible to accurately measure the position of a moving object even in the internal environment of the sewage pipe, where it is impossible to measure the position of the moving object.

And, since the calculated position value of the moving object can be used as a position value inside the sewage pipe, the inside of the sewage pipe can be coordinated using the calculated position information.

In addition, according to the present invention, it is possible to accurately measure the slope inside the sewage conduit by using the inertia data obtained through the inertial measurement device and the movement distance data obtained through the encoder, and accordingly, check the water passage capacity of the sewage conduit, repair and repair It can help in decision making to determine priorities and operational management priorities.

In addition, according to the present invention, by measuring the size of the damaged area inside the sewage pipe by using the angle and position information on the image, there is an effect that can objectively measure the size and range of the damaged area of the sewage pipe.

In addition, according to the present invention, the scale and size of the damaged part inside the sewage pipe and the slope information inside the sewage pipe can be managed by DB (Data Base), so that the efficiency of work can be increased, and even after re-reading It has an easy effect.

1 is a block diagram illustrating an apparatus for measuring a slope inside a sewage conduit according to an embodiment of the present invention.
2 is an exemplary diagram illustrating image data captured using an omnidirectional camera according to an embodiment of the present invention.
3 is a flowchart illustrating a method for measuring a slope inside a sewage conduit according to an embodiment of the present invention.
4 is a flowchart illustrating in more detail a method for measuring a slope inside a sewage conduit according to an embodiment of the present invention.
5 is a flowchart illustrating a method for generating a sewage conduit image map according to an embodiment of the present invention.
6 is an exemplary view illustrating a method for measuring the size of a damaged area inside a sewage conduit according to an embodiment of the present invention.
7 is an exemplary diagram illustrating a case in which a moving object is implemented as an underwater drone according to an embodiment of the present invention.

The following is merely illustrative of the principles of the invention. Therefore, those skilled in the art can devise various devices that, although not explicitly described or shown herein, embody the principles of the invention and are included in the spirit and scope of the invention. In addition, it should be understood that all conditional terms and examples listed herein are, in principle, expressly intended only for the purpose of understanding the inventive concept and are not limited to the specifically enumerated embodiments and states as such. .

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

Accordingly, all flowcharts, state transition diagrams, pseudo code, etc., may be tangibly embodied on computer-readable media and should be understood to represent various processes performed by a computer or processor, whether or not a computer or processor is explicitly shown. .

The functions of the various elements shown in the figures including a processor or functional blocks represented by similar concepts may be provided by the use of dedicated hardware as well as hardware having the ability to execute software in association with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or a plurality of separate processors, some of which may be shared.

The above-described objects, features and advantages will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the invention pertains will be able to easily practice the technical idea of the invention. .

In addition, in the description of the invention, if it is determined that a detailed description of a known technology related to the invention may unnecessarily obscure the gist of the invention, the detailed description thereof will be omitted.

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

1 is a block diagram illustrating an apparatus 100 for measuring an internal slope of a sewage conduit according to an embodiment of the present invention. 1, the sewage pipe internal measurement device 100 includes an inertia measuring unit 110, an encoder unit 120, a location information generating unit 130, a slope calculating unit 140, an image obtaining unit 150, It may include all or part of the mapping unit 160 and the sewage conduit image map generating unit 170 .

Here, the apparatus 100 for measuring the slope inside the sewage conduit may be mounted on a moving body traveling inside the sewage conduit, and may collect exploration data for the inside of the conduit at the same time as the moving body travels.

In the sewage conduit, sewage refers to sewage and rainwater, and the conduit may be implemented in various shapes such as a square or a circle in cross-section.

Sewage may or may not flow in the sewage conduit, depending on the installation location of the conduit.

The moving body may be implemented as a vehicle running inside a sewage conduit through which no sewage flows. Alternatively, the mobile body may be implemented as an underwater drone capable of buoying on sewage flowing in a sewage conduit. Alternatively, the mobile body may be implemented as a mobile body capable of amphibious travel.

Such a movable body may be implemented in the form of traveling inside the sewage conduit using the driving force transmitted from the power source, or may be implemented in the form of moving by receiving the power of a person without a separate power source.

Meanwhile, according to another embodiment, the mobile body may be implemented as a person.

Accordingly, the sewage pipe internal measurement inclination device 100 is mounted on a moving body, moves with the movement of the moving body, obtains inertial data through the inertia measuring unit 110, and obtains moving distance data through the encoder unit 120. can In addition, the apparatus 100 for measuring inclination inside the sewage conduit may calculate location information of the moving object in the sewage conduit by using the obtained inertia data and movement distance data.

In addition, the sewage pipe internal slope measuring apparatus 100 may acquire and calculate various data representing the sewage pipe, such as image data, location information, and the slope of the sewage pipe inside the sewage pipe.

This, sewage pipe internal slope measurement device 100 may be implemented using software, hardware, or a combination thereof. For example, according to the hardware implementation, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors (processors) ), controllers, micro-controllers, micro-processors, and other electrical units for performing other functions may be implemented using at least one.

Hereinafter, each configuration constituting the internal slope measuring device 100 of the sewage pipe will be described in more detail.

The inertia measurement unit 110 may generate inertia data according to the movement of a moving body moving inside the sewage pipe for observation of the sewage pipe.

Specifically, the inertia measurement unit 110 detects a change in at least one of acceleration, angular velocity, geomagnetism, and altitude in three directions when the moving object moves in the sewage conduit, and detects a change in at least one of the detected acceleration, angular velocity, geomagnetism and altitude. Inertia data may be generated based on at least one or more values. That is, the inertia data may be generated based on a change in at least one of acceleration, angular velocity, geomagnetism, and altitude according to the movement of the moving object. Here, the inertia measurement unit 110 may include an accelerometer, an angular accelerometer, a geomagnetometer, and an altimeter. Also, the inertial measurement unit 110 may be implemented as an Inertial Measurement Unit (IMU) sensor.

The encoder unit 120 may generate movement distance data by measuring the distance traveled by the moving object in the sewage conduit.

Specifically, the encoder unit 120 detects the number of revolutions of the motor unit (not shown) or the number and direction of rotation of the wheels (not shown) of the moving object, and based on the sensed number of revolutions or the direction of rotation, a sewage pipe measuring device ( 100) can generate distance data by calculating the distance actually moved.

In addition, the encoder unit 120 detects the number of revolutions of a plurality of wheels (not shown), and calculates the distance and direction the moving object actually moves based on the number of revolutions of each wheel (not shown) to obtain moving distance data. can create

For example, if the sewage pipe measuring device 100 is configured with four wheels (not shown), the encoder unit 120 compares the rotational speed and the rotational direction of each of the four wheels (not shown) so that the sewage moving body is actually Moving distance data can be generated by calculating the moving distance and moving direction. Accordingly, the moving distance data may include the actual moving distance and moving direction of the moving object.

Alternatively, a wire may be connected to the moving object, and the encoder unit 120 may calculate the moving distance data of the moving object based on information on the length of the unwrapped wire.

The location information generating unit 130 may calculate the location information of the moving object in the sewage conduit by using the inertia data obtained from the inertia measurement unit 110 and the movement distance data obtained from the encoder unit 120 .

That is, since the position estimation using only the inertia data obtained from the inertial measurement unit 110 tracks the accumulated value of the measured data of the inertial sensor, an error due to noise is amplified over time, resulting in a large position error. If this data can be corrected using the GPS value, the error can be resolved, but the GPS value cannot be used inside the sewage conduit.

Accordingly, the position information generating unit 130 according to the present invention generates the position information before correction by integrating the inertia data obtained from the inertia measurement unit 110 , and receives the generated position information before correction from the encoder unit 120 . It is possible to calculate the position information of the moving object in the sewage conduit by correcting it based on the obtained moving distance data. For example, the distance between the current position and the past position is calculated from the pre-correction position information calculated through the integration of the inertia data, and the calculated distance information is compared with the moving distance data obtained from the encoder unit 120 to perform the position correction. It is possible to generate a correction value for the purpose, and to generate position information after correction by correcting the position information before correction based on the generated correction value.

Here, the position information before correction is calculated based on only the inertia data of the inertia measurement unit 110, and the error due to noise is amplified over time, resulting in a large position error, but the position information after correction according to the present invention is the encoder unit The position information of the moving object may be accurately calculated by correcting the position information before correction based on the movement distance data obtained from 120 and the amount of change in the pixel angle in the image obtained by the image acquisition unit 150 .

In addition, by using the absolute spatial coordinates measured at the starting point and the ending point for correction, it is possible to finally remove the accumulated error of the intermediate coordinates.

Here, the calculated location information of the moving body inside the sewage pipe may be used as a value indicating the location of the internal space of the sewage pipe. That is, the location information calculated by the location information generator 130 may be a three-dimensional coordinate value for coordinating the inside of the sewage conduit.

The location information generator 130 may calculate location information of the moving object based on various methods as follows.

As an example, the location information generator 130 may generate location information by correcting a measurement value of inertia data based on movement distance data using the Extended Kalman Filter.

As another example, the location information generator 130 may estimate a location by using acceleration and angular velocity values among distance data measured by the encoder unit 120 and inertia data measured by the inertia measurement unit 110 .

Specifically, the location information generator 130 may calculate location information using Equation 1 below.

Here, Position(2) is corrected position information, and Position(1) indicates an existing position.

And, in the case of vertical coordinates, theta represents the horizontal inclination angle difference of the current moving object from the horizontal plane. Here, theta may be calculated using the acceleration and angular velocity values and distance data included in the inertia data.

Also, Delta can use the change amount of encoder data as it is. Alternatively, Delta may use the corrected encoder data using inertia data calculated by tracking and accumulating the current position of the moving object from the starting point of the moving object.

As another example, the location information generator 130 may calculate location information using Equation 2 below.

Here, Position(2) is corrected position information, Position(1) is an existing position, and A, B, C, and D may have values between 0 and 1 as weights. Here, as A is closer to 1, a weight is assigned to the distance data, and as A is closer to 0, a weight is assigned to the inertia data.

Also, as B, C, and D are closer to 1, weights are assigned to the acceleration coordinate data, angular velocity data, and pixel angle change in the image, respectively, and the total amount of B, C, and D is made constant at 1.

That is, the position information generating unit 130 corrects the inertia data measured by the inertia measuring unit 110 based on the angular velocity change data and the pixel angle change data in the image, and then corrects it using the corrected inertia data and distance data. location information can be calculated.

Through this, it is performed several times per second to suppress drifting by complementing and synthesizing the inertial measurement sensor values having a time error (especially, the rotation axis drifting in the accelerometer and the random noise phenomenon in the coordinate axis of the accelerometer) and the encoder sensor values having an absolute error. can do.

Meanwhile, when calculating the location information, the location information generator 130 compares the time points at which the movement distance data, the inertia data, and the pixel angle data in the image are generated, and uses the movement distance data and the inertia data generated at the same time point. Thus, it is possible to calculate the corrected position information at the time.

As another example, the location information generator 130 may calculate location information using Equation 3 below.

Here, 'Position' is the position coordinates corrected through the survey coordinates and means the corrected location information, A means an arbitrary point, has a value of 0 at the start, and B means the end point. Therefore, Position(A)/Position(B) has a value of 0 to 1, and it is multiplied by the amount of change in the absolute measurement coordinates and corrected with the measured absolute value to finally remove the error.

In this way, the location information generating unit 130 can calculate the accurate location information by correcting the accumulated error that may occur in the inertia data with the distance data, and thus can accurately coordinate the inside of the sewage conduit.

The slope calculator 140 may calculate the slope inside the sewage conduit.

Specifically, the slope calculation unit 140 may generate slope data by calculating the slope inside the sewage conduit by using the inertia data obtained by the inertia measurement unit 110 and the distance data measured by the encoder unit 120 . . In this case, the inclination calculator 140 sets the x-axis value and the y-axis value to the same constant (that is, assuming that the position of the moving object does not change on the x-axis and y-axis), and the inertia measurement unit only for the z-axis value The slope inside the sewage conduit may be calculated using the inertia data obtained at 110 and the distance data measured by the encoder unit 120 .

Alternatively, the slope calculating unit 140 may generate slope data by calculating the slope of the sewage conduit based on the position information generated by the position information generating unit 130 . Specifically, the slope calculating unit 140 may generate slope data inside the sewage conduit based on the Z-axis change amount of the position information generated by the position information generating unit 130 .

Here, the generated slope data may be used to determine the water flow capability of the sewage conduit.

The image acquisition unit 150 may acquire image data of the inside of the sewage conduit photographed according to the movement of the mobile body. Here, as the image data, a camera capable of omnidirectional imaging may be used. In this case, the obtained image data may include a pixel angle.

The pixel angle will be described with reference to FIG. 2 .

2 is an exemplary diagram illustrating spherical image data captured by an omnidirectional camera according to an embodiment of the present invention.

Referring to FIG. 2 , each region (b, c, d) of 360-degree spherical image data may have a corresponding pixel angle. Here, the pixel angle means an angle formed by each region from the reference point of the image data, and the reference point may be the center of the image data or the position of the image acquisition unit 150 .

For example, the pixel angle of the region corresponding to the center of the image data may be 0 degrees.

That is, the image data includes a pixel angle corresponding to each region, and the pixel angle of each region means an angle between the corresponding region and a reference point of the image data.

Meanwhile, each region (b, c, d) may correspond to one pixel or a plurality of pixels, and may have different pixel angles for each region of image data. In addition, spherical image data is an example, and may be implemented in other forms.

In addition, the image data may include a specific area of the sewage conduit. For example, the specific region may be a damaged region in which cracks, corrosion, breakage resistance, cracks, and the like occur.

On the other hand, the specific area included in the image data is not limited to the above-described example, and refers to all areas in which an inspection element for managing a sewage pipe is reflected.

The mapping unit 160 may map at least one of the location information generated by the location information generator 130 and the tilt data calculated by the tilt calculator 140 to the image data.

Specifically, the mapping unit 160 may map at least one of position information and tilt data corresponding to each of a plurality of frames constituting image data.

The sewage conduit image map generating unit 170 may generate an image map of the sewage conduit by using the data mapped by the mapping unit 160 .

Specifically, the sewage conduit image map generating unit 170 may generate an image and a sewage conduit image map indicating a location inside the sewage conduit at which the image is captured by using the location information mapped to the image data.

In addition, the sewage conduit image map generating unit 170 may generate an image and a sewage conduit image map specifically showing only the slope inside the sewage conduit where the image is captured by using the slope data mapped to the image data.

Here, the generated sewage conduit image map may be in a format that can be read through a computing device, and may be displayed through a display of the computing device.

Next, a method for measuring the slope inside the sewage pipe of the sewage pipe internal slope measuring apparatus 100 will be described with reference to FIG. 3 .

3 is a flowchart illustrating a method for measuring a slope inside a sewage conduit according to an embodiment of the present invention.

Referring to FIG. 3 , the apparatus 100 for measuring the slope inside the sewage pipe may acquire inertia data according to the movement of a mobile body moving inside the sewage pipe for observation of the sewage pipe ( S10 ).

Specifically, when the moving object moves in the sewage conduit, the inertia measurement unit 110 detects a change in at least one of acceleration, angular velocity, geomagnetism, and altitude in three directions, and detects a change in at least one of the detected acceleration, angular velocity, geomagnetism, and altitude. Inertia data may be generated based on at least one or more values.

Meanwhile, the apparatus 100 for measuring the slope inside the sewage conduit may measure the distance moved inside the sewage conduit according to the movement of the moving object to generate distance data (S20).

And, the sewage pipe internal slope measuring device 100 calculates the position information before correction through the integration of the acquired inertia data, and corrects the position information before correction using the obtained moving distance data, thereby measuring the movement of the moving object inside the sewage pipe. It is possible to calculate the corrected position information (S30).

Specifically, the apparatus 100 for measuring the slope inside the sewage conduit may calculate the corrected position information using the inertia data and the movement distance data based on Equations 1 to 3 described above.

At this time, in the step (S30) of calculating the location information, the sewage conduit internal slope measuring apparatus 100 compares the moving distance data and the inertial data generation time point, and uses the moving distance data and the inertial data generated at the same time point. Thus, it is possible to calculate the corrected position information at the time.

In addition, the sewage pipe internal slope measuring apparatus 100 may generate slope data inside the sewage pipe based on the corrected position information (S40).

4 is a flowchart showing in more detail a method for measuring the internal slope of a sewage conduit according to an embodiment of the present invention. Referring to FIG. 4 , first, as in FIG. 3 , the apparatus 100 for measuring inclination inside the sewage conduit acquires inertia data according to the movement of the moving body inside the sewage conduit ( S10 ), and the movement of the moving body inside the sewage conduit ( S10 ). It is possible to obtain moving distance data according to (S20)

In addition, the apparatus 100 for measuring the slope inside the sewage conduit may acquire image data of the inside of the sewage conduit photographed according to the movement of the mobile body (S25). Here, the image data is image data photographed using an omnidirectional camera, and may include pixel angles corresponding to respective regions.

In this case, the step of calculating the corrected position information (S30) includes calculating the corrected inertia data based on the pixel angle change data according to the movement of the moving object (S31), the calculated corrected inertia data and the movement distance data. It may include calculating the corrected position information using (S32).

In addition, the step of calculating the corrected position information ( S30 ) may further include calculating the corrected inertia data based on the angular velocity change data. Calculate the final corrected inertia data based on the corrected inertia data based on the data and the corrected inertial data and the acceleration coordinate data based on the angular velocity change data, and the corrected position using the final corrected inertia data and distance data information can also be produced.

On the other hand, additionally, the sewage pipe internal slope measuring device 100 may generate a sewage pipe image map by taking a sewage pipe image, which will be described with reference to FIG. 5 .

5 is a flowchart illustrating a method for generating a sewage conduit image map according to an embodiment of the present invention.

Referring to FIG. 5 , the apparatus 100 for measuring the slope inside the sewage conduit may acquire image data by photographing the inside of the sewage conduit according to movement ( S100 ).

In addition, the apparatus 100 for measuring the slope inside the sewage conduit may generate slope data by calculating the slope of the sewage conduit based on the inertia data and the movement distance data ( S200 ).

In addition, the apparatus 100 for measuring the slope inside the sewage conduit may map the calculated slope data to the image data (S300).

In addition, the sewage pipe internal slope measuring apparatus 100 may generate a sewage pipe image map based on the mapped image data (S400).

On the other hand, the sewage pipe image map generated by the sewage pipe internal slope measuring device 100 can be used as visualization data for efficient reading of abnormal parts and DB construction of automatic reading technology.

In addition, the sewage conduit image map can be used as a DB for the future application of deep learning technology.

In addition, location information, image data, movement distance data, inertia data, inclination data, etc. generated by the sewage pipe internal slope measuring device 100 may be used to determine the size of a crack in the sewage pipe.

Specifically, the sewage pipe internal slope measuring device 100 may further include a sewage pipe damage area size measurement unit (not shown).

The sewage pipe damage area size measuring unit may determine the size of a specific area based on a user input or automatically detecting a point in the specific area.

Specifically, when points of a specific area are selected according to a user input, the size measuring unit of the sewage pipe damaged area may determine the size of the specific area based on the selected point. For example, the sewage pipe damage area size measuring unit (not shown) may detect first location information corresponding to the first location mapped to the image data and second location information corresponding to the second location. In addition, the sewage pipe damage area size measurement unit (not shown) detects a pixel angle corresponding to each of the first and second points of the first position, and a pixel angle corresponding to each of the first and second points of the second position. can do. In addition, the sewage pipe damage area size measuring unit may calculate the size of the specific area using the first location information, the second location information, and the pixel angle.

However, the present invention is not limited thereto, and the sewage pipe damage area size measurement unit detects a damaged area from the image data using the previously learned damaged area learning data, and automatically selects two outermost points from the detected damaged area to select a specific area. size can be determined.

Specifically, the damaged area detection unit (not shown) performs learning through machine learning or deep learning on the image of the damaged area, such as cracks inside the sewage conduit, and a learning model for detecting the damaged area. can be built and the damaged area can be detected from the image data based on the built learning model. Here, the constructed model is an algorithm or program for detecting a damaged area in an image.

In addition, the learning model for detecting the damaged area may be trained as a more advanced model using an output value representing the result of detecting the damaged area. For example, when the output result is an incorrect answer, the user may input a response to the output result, and the damaged area detection unit (not shown) may train a learning model for detecting the damaged area based on the user's response.

That is, according to the present invention, a learning model for detecting a damaged area may be generated by performing machine learning or deep learning, and a damaged area may be detected from an image using the generated model. Here, for deep learning, a Convolution Neural Network (CNN) algorithm, which is one of neural network models, may be applied. In this case, deep learning may perform learning through augmentation data by assuming various conditions of the driving image. Here, the condition defines a condition for transforming an image collected for learning a neural network model. Specifically, since various aspects may be exhibited by elements such as shift, rotation, brightness change, and blur of the image, data may be propagated in consideration of this.

Hereinafter, a method of measuring the size of a damaged area according to an embodiment of the present invention will be described in more detail with reference to FIG. 6 .

6 is an exemplary diagram illustrating a method for measuring the size of a sewage pipe damaged area according to an embodiment of the present invention.

Referring to FIG. 6 , a user input for selecting a first point (b) and a second point (c) of a specific area (a) in a first location (a) may be received through the input unit. Here, the first point (b) and the second point (c) may be a starting point and an ending point of the damaged area. In addition, a user input for selecting the first point (b) and the second point (c) of the specific area (a) at the second location (b) may be received.

), 제2 지점(ㄷ)에 대응되는 픽셀 각도(

)를 검출할 수 있다. 그리고, 제어부(230)는 제2 위치(b)에서 특정 영역(ㄱ)의 제1 지점(ㄴ)에 대응되는 픽셀 각도(

), 제2 지점(ㄷ)에 대응되는 픽셀 각도(

)를 검출할 수 있다. In this case, the controller 230 controls the pixel angle (b) corresponding to the first point (b) of the specific area (a) in the first position (a).

), the pixel angle corresponding to the second point (c) (

) can be detected. Then, the controller 230 controls the pixel angle (b) corresponding to the first point (b) of the specific area (a) in the second position (b).

), the pixel angle corresponding to the second point (c) (

) can be detected.

Here, the first point (b) and the second point (c) of the specific area (a) at the first location (a) and the first point (b) and the second point (b) of the specific area (a) at the second location (b) The two points (c) have different pixel angles because the image data acquisition positions are different from each other. In addition, the pixel angle is an angle between each point and the reference point of the image data, and the reference point of the image data may be a center of the image data.

In addition, the sewage pipe damage area size measurement unit calculates the distance (L) between the two locations based on the first location information corresponding to the first location (a) and the second location information corresponding to the second location (b). can

)와 제2 위치(b)에서 특정 영역(ㄱ)의 제1 지점(ㄴ) 및 제2 지점(ㄷ) 각각에 대응되는 픽셀 각도(

)와 양 위치(a,b) 사이의 거리(L)를 기초로 특정 영역(ㄱ)의 제1 지점(ㄴ)에서 제2 지점(ㄷ)까지의 길이를 판단할 수 있다. And, the sewage pipe damage area size measurement unit is a pixel angle corresponding to each of the first point (b) and the second point (c) of the specific area (a) at the first location (a).

) and pixel angles (

) and the distance L between the two positions (a, b) may determine the length from the first point (b) to the second point (c) of the specific area (a).

)와 양 위치(a,b) 사이의 거리(L)를 수학식 4에 적용하여

와

의 크기를 산출하고, 수학식 5에 적용하여

와

의 크기를 산출할 수 있다. 그리고, 제어부(230)는 계산된

와

의 크기 차이 또는

와

의 크기 차이를 통해 제1 지점(ㄴ)에서 제2 지점(ㄷ)까지의 길이를 산출할 수 있다.Specifically, the size measurement unit of the damage area of the sewage pipe includes the acquired pixel angle (

) and the distance (L) between the positions (a, b) by applying Equation 4 to

Wow

Calculate the size of and apply Equation 5 to

Wow

size can be calculated. And, the control unit 230 calculates

Wow

the size difference of or

Wow

The length from the first point (b) to the second point (c) can be calculated through the difference in size of .

) 또는 제2 지점(ㄷ)의 높이(

)도 산출할 수도 있다.In addition, the sewage pipe damage area size measurement unit is the height of the first point (b) from the bottom of the sewage pipe with reference to Equations 4 and 5

) or the height of the second point (c) (

) can also be calculated.

In addition, the sewage pipe damage area size measurement unit of the first point (b) and the second point (c) in the first location (a) compared to the distance (L) between the first location (a) and the second location (b) The size of the specific region may be determined based on the pixel angle and the rate of change of the pixel angle of the first point (b) and the second point (c) at the second position (b).

That is, the size measuring unit of the sewage pipe damaged area may determine the size of the crack by using pixel angles and position information for the first point and the second point of the same crack at two locations. Here, the size may be a concept including width and length.

Through this, the present invention can objectively measure the size and range of the damaged part of the sewage conduit.

In addition, according to the present invention, the size and size of the damaged part inside the sewage pipe and the slope information inside the sewage pipe can be managed by making a DB (Data Base), so that the efficiency of work can be increased, and even after re-reading It has an easy effect.

7 is an exemplary diagram illustrating a case in which a moving object is implemented as an underwater drone according to an embodiment of the present invention. Referring to FIG. 7 , the mobile body according to the present invention may be implemented as an underwater drone 1 running in a sewage conduit filled with sewage, and the underwater drone 1 is equipped with a sewage pipe internal slope measuring device 100. can

In this case, the underwater drone 1 can move while floating on the sewage level inside the sewage conduit. In addition, the apparatus 100 for measuring the slope inside the sewage conduit uses inertial data according to the movement of the underwater drone 1 and movement distance data calculated using a wire connected to the underwater drone 1 to position the underwater drone 1 Information can be calculated, and also slope data can be calculated.

Here, since the depth of the water filled in the sewage conduit may vary depending on the slope of the lower inner wall of the sewage conduit, the slope data calculated by the apparatus 100 for measuring the slope inside the sewage conduit may be used as a predicted slope of the sewage conduit. .

Accordingly, according to the present invention, the slope of the sewage conduit can be predicted based on the slope data calculated by the apparatus 100 for measuring the slope inside the sewage conduit.

Meanwhile, in the specification and claims, terms such as "first", "second", "third", and "fourth" are used to distinguish between similar elements, if any, and this is not necessarily the case. Used to describe a specific sequence or sequence of occurrences. It will be understood that the terms so used are interchangeable under appropriate circumstances to enable the embodiments of the invention described herein to operate, for example, in sequences other than those shown or described herein. Likewise, where methods are described herein as including a series of steps, the order of those steps presented herein is not necessarily the order in which those steps may be performed, and any described steps may be omitted and/or Any other steps not described may be added to the method.

In addition, terms such as "left", "right", "front", "behind", "top", "bottom", "above", "below" in the specification and claims are used for descriptive purposes, It is not necessarily intended to describe an invariant relative position. It will be understood that the terms so used are interchangeable under appropriate circumstances to enable the embodiments of the invention described herein to operate otherwise than, for example, as shown or described herein. As used herein, the term “connected” is defined as being directly or indirectly connected in an electrical or non-electrical manner. Objects described herein as being "adjacent" to one another may be in physical contact with one another, in proximity to one another, or in the same general scope or area as appropriate for the context in which the phrase is used. The presence of the phrase “in one embodiment” herein refers to the same, but not necessarily, embodiment.

In addition, in the specification and claims, references to 'connected', 'connecting', 'fastened', 'fastening', 'coupled', 'coupled', etc., and various variations of these expressions, refer to other elements directly It is used in the sense of being connected or indirectly connected through other components.

In addition, the suffixes "module" and "part" for the components used in this specification are given or used in consideration of the ease of writing the specification only, and do not have distinct meanings or roles by themselves.

In addition, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular also includes the plural unless otherwise specified in the phrase. As used herein, 'comprise' and/or 'comprising' means that a referenced component, step, operation and/or element is the presence of one or more other components, steps, operations and/or elements. or addition is not excluded.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes and substitutions within the scope without departing from the essential characteristics of the present invention. will be.

Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are intended to explain, not to limit the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Meanwhile, the above-described methods according to various embodiments of the present invention may be implemented as a program and provided to a server or devices. Accordingly, each device can download the program by accessing the server or device in which the program is stored.

In addition, the above-described method according to various embodiments of the present invention may be implemented as a program and stored in various non-transitory computer readable media to be provided. The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, and the like, and can be read by a device. Specifically, the above-described various applications or programs may be provided by being stored in a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims In addition, various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims (10)

In the method for measuring the slope inside the sewage pipe using a processor,
acquiring inertia data according to the movement of the moving body inside the sewage conduit;
acquiring image data of the inside of the sewage conduit photographed according to the movement of the mobile body;
acquiring movement distance data according to the movement of the mobile body in the sewage conduit;
Calculating the position information before correction through the integration of the obtained inertia data, and correcting the position information before correction using the obtained movement distance data to calculate the corrected position information of the moving object in the sewage conduit step; and
Including; generating inclination data inside the sewage conduit based on the corrected location information;
The image data is image data photographed using an omnidirectional camera, and pixel angles corresponding to each area are included.
The calculating of the corrected position information includes calculating inertia data corrected based on the pixel angle change data according to the movement of the moving object, and using the calculated corrected inertia data and the movement distance data to calculate the corrected inertia data. A method of measuring the slope inside the sewage conduit, characterized in that for calculating the location information. The method of claim 1,
Calculating the corrected location information includes:
Comparing the time when the distance data and the inertia data are generated, and using the distance data and the inertia data generated at the same time to calculate the corrected position information at the time, measuring the slope inside the sewage conduit Way. delete delete The method of claim 1,
mapping at least one of corrected position information and tilt data corresponding to each of a plurality of frames constituting the image data; and
Generating a sewage conduit image map based on the mapped image data; Method for measuring the slope inside the sewage conduit further comprising a. In the slope measuring device inside the sewage pipe,
an inertia measurement unit for acquiring inertial data according to the movement of the moving body in the sewage conduit;
an image acquisition unit for acquiring image data of the inside of the sewage conduit photographed according to the movement of the mobile body;
an encoder unit for obtaining movement distance data according to the movement of the moving body in the sewage conduit;
Calculating the position information before correction through the integration of the obtained inertia data, and correcting the position information before correction using the obtained movement distance data to calculate the corrected position information of the moving object in the sewage conduit location information generator; and
Including; a slope calculating unit for generating slope data inside the sewage conduit based on the corrected position information;
The image data is image data photographed using an omnidirectional camera, and includes a pixel angle corresponding to each area,
The position information generator calculates corrected inertia data based on the pixel angle change data according to the movement of the moving object, and calculates the corrected position information by using the calculated corrected inertia data and the movement distance data. Slope measuring device inside the sewage pipe, characterized in that. 7. The method of claim 6,
The location information generating unit,
Comparing the time when the distance data and the inertia data are generated, and using the distance data and the inertia data generated at the same time to calculate the corrected position information at the time, measuring the slope inside the sewage conduit Device. delete delete A program stored in a recording medium in which a program code for executing the method for measuring a slope inside a sewage conduit according to any one of claims 1, 2 and 5 is recorded.

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