KR102536981B1 - System for measuring moving distance - Google Patents

Abstract

A movement distance measurement system is provided according to an embodiment of the present invention. The system includes a moving body traveling inside the pipe; an optical odometer provided in the movable body and generating a series of pipe surface images by photographing the inner wall of the pipe; and a controller configured to determine a travel distance of the movable body based on a change in image position of a pattern appearing in the pipe surface image and to estimate a position of the movable body.

Description

Moving distance measurement system {SYSTEM FOR MEASURING MOVING DISTANCE}

The present invention relates to a movement distance measuring system, and more particularly, to a movement distance system for measuring a movement distance of a moving object traveling in a pipe.

Various types of piping are installed in various industries. For example, fluids such as water, oil, and gas are transported through water and sewage pipes, city gas pipes, plant pipes of petrochemical plants, and the like. After these pipes are installed, defects may occur due to aging or corrosion over time, or damage may occur to the pipes due to external impact due to construction, etc., which may cause a major accident.

Therefore, maintenance work is performed to prevent accidents by checking the internal state of the pipe at any time or for a certain period of time. This maintenance work is difficult to access to the pipe to be inspected due to facilities around the pipe, and the pipe is underground. If it is buried, it is impossible to access the pipe, so a lot of cost and manpower are required.

In order to solve this problem, pipe inspection equipment is moved inside the pipe to inspect the damaged part, and at this time, precise/long-distance detection and evaluation are possible only when the exact location of the pipe inspection equipment can be continuously checked.

An object of the present invention is a movement distance measuring system that improves the reliability of position estimation.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

A movement distance measurement system is provided according to an embodiment of the present invention. The system includes a moving body traveling inside the pipe; an optical odometer provided in the movable body and generating a series of pipe surface images by photographing the inner wall of the pipe; and a controller configured to determine a travel distance of the movable body based on a change in image position of a pattern appearing in the pipe surface image and to estimate a position of the movable body.

In addition, the pipe surface image includes a first pipe surface image in which a first pattern appears and a second pipe surface image in which a second pattern appears, and the control unit determines a change vector between the first pattern and the second pattern And, the traveling distance of the moving body may be determined by extracting only the traveling direction vector from the change vector.

In addition, the control unit may perform primary edge detection on the pipe surface image to extract feature regions constituting the pattern, and may determine the change vector by analyzing a correlation between the feature regions.

In addition, the controller may perform secondary edge detection on the feature region to analyze the correlation of the feature region.

In addition, the optical odometer is composed of a plurality of odometers, each optical odometer extends from the movable body toward the inner wall of the pipe, and the control unit is configured to first detect a change in the pipe surface image of each optical odometer. Determines a mileage, determines a secondary mileage based on a plurality of the primary mileage, wherein the secondary mileage is an average of at least a portion of the primary mileage or the secondary mileage is the primary mileage may be the largest value among them.

In addition, the controller may determine the validity of the first mileage and determine a second mileage based on the effective first mileage.

In addition, the pipe on which the movable body travels includes at least one of a straight pipe, a horizontal bend pipe, a vertical bend pipe, a compound bend pipe, and a branch pipe (tee), and the control unit is based on the shape of the pipe and the plurality of primary travel distances. Thus, the second mileage can be determined.

In addition, a contact odometer provided in the movable body and closely attached to an inner wall of the pipe to measure a moving distance of the movable body, wherein the control unit measures the moving distance of the contact odometer and the optical odometer. It is possible to estimate the position of the moving object based on the traveling distance of .

In addition, the controller estimates the position of the movable body based on the contact odometer, and estimates the position of the movable body based on the optical odometer when the contact odometer is separated from the inner wall of the pipe. can

In addition, the control unit may determine validity of the mileage according to the optical odometer, and estimate the position of the moving object based on the contact odometer when the mileage is not valid.

In addition, the contact odometer is formed in the same or adjacent direction as the optical odometer, and the controller calculates the position of the movable body from the average of the travel distance of the contact odometer and the mileage of the optical odometer. can be estimated

In addition, the contact-type odometer is formed in the same or adjacent direction as the optical odometer, and the controller determines the moving object from a larger value of the moving distance of the contact-type odometer and the mileage of the optical odometer. location can be estimated.

In addition, the contact type odometer includes a support extending outwardly from the moving body; an odometer rotatably coupled to an end of the support; And a bent part formed in a depression along the circumference of the support part at a position adjacent to the odometer in the support part, and while the bent part is bent, the odometer adheres to the inner wall of the pipe or the odometer faces the running direction. can do.

In addition, the contact type odometer includes a first support part and a second support part extending outwardly from the moving body; an odometer rotatably coupled to an end of the first support; A link connecting the first support part and the second support part at the odometer side may be included, and at least one of the first support part and the second support part may be elastically deformed by an external force.

A movement distance measurement system is provided according to an embodiment of the present invention. The system includes at least one processor; and a memory configured to store instructions executable by the at least one processor, wherein the processor executes the instructions to determine a pattern appearing in a series of pipe surface images generated by the optical odometer photographing the inner wall of the pipe. Based on the image position change, the travel distance of the moving object can be determined, and the position of the moving object can be estimated.

According to the present invention, by using the optical odometer, it is possible to prevent a measurement error from occurring due to slip or wear of the contact odometer.

In addition, according to the present invention, it is possible to reduce the influence of the measurement error due to the direction error between the vector of the center line of the pipe and the speed measurement vector of the contact odometer.

According to the present invention, by improving the reliability of mileage calculation and providing it to a navigation algorithm, it is possible to improve the accuracy of localization and provide precise location-based defect information to enable efficient pipe integrity management. .

In order to more fully understand the drawings cited in the detailed description of the present invention, a brief description of each drawing is provided.
1 is a block diagram of a movement distance measurement system according to an embodiment of the present invention.
2 is a side view of a pipe moving device according to an embodiment of the present invention.
3 is a diagram for explaining pattern analysis of a pipe surface image according to an embodiment of the present invention.
4 is a diagram for explaining a contact type odometer according to an embodiment of the present invention.
5 is a diagram for explaining a contact type odometer according to an embodiment of the present invention.

Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the contents described in the accompanying drawings. Like reference numerals or numerals in each drawing indicate parts or components that perform substantially the same function. For convenience described below, directions of up, down, left, and right are based on the drawings, and the scope of the present invention is not necessarily limited to the corresponding directions.

Terms including ordinal numbers, such as first and second, may be used to describe various elements, but elements are not limited by the terms. Terms are only used to distinguish one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention. The terms and/or include a combination of a plurality of related items or any one of a plurality of related items.

Terms used in this specification are used to describe embodiments, and are not intended to limit and/or limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms include or have are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features, numbers, or steps However, it should be understood that it does not preclude the possibility of existence or addition of operations, components, parts, or combinations thereof.

Throughout the specification, when a part is said to be connected to another part, this includes not only a case where it is directly connected but also a case where it is indirectly connected with another element interposed therebetween. In addition, when a part includes a certain component, this means that it may further include other components without excluding other components unless otherwise stated.

In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. .

1 is a block diagram of a movement distance measuring system according to an embodiment of the present invention, and FIG. 2 is a side view of a pipe moving device according to an embodiment of the present invention.

1 and 2, the movement distance measuring system 100 includes a moving object 110, an optical odometer 120, a contact odometer 130, an inertia measuring unit 140, an electromagnetic wave generator 150, and A controller 160 may be included.

In the movement distance measuring system 100, the moving body 110, the optical odometer 120, the contact odometer 130, the inertia measurement unit 140, and the electromagnetic wave generator 150 are a pipe moving device (or a pipe inspection device). ), and at this time, the control unit 160 may be built together with the pipe moving device or physically separated and spaced apart from the pipe moving device.

The movable body 110 is a part forming the body of the pipe moving device, and may have a size and shape capable of being inserted into the pipe and moving.

In the embodiment, the movable body 110 may accommodate various components (a pipe inner wall cleaning device, a leakage magnetic flux detection device, a measurement data collection/transmission device, a pipe abnormality diagnosis device, a battery pack, etc.) inside and outside. In addition, the movable body 110 can perform various functions such as inspecting the inside of the pipe while traveling inside the pipe according to the pressure difference of the fluid inside the pipe generated between the front and rear ends of the movable body 110. .

In an embodiment, the movable body 110 may be composed of one or a plurality of pieces. When composed of a plurality, the movable body 110 may be connected to each other through a link member such as a universal joint. For example, the first movable body at the front end may be in charge of traveling in the pipe, and the second movable body at the rear end may be in charge of inspecting the pipe. However, it is not limited thereto.

The optical odometer 120 is provided on the movable body 110 and can generate a series of pipe surface images by photographing the inner wall of the pipe. For example, the pipe surface image may include a first pipe surface image in which a first pattern appears and a second pipe surface image in which a second pattern appears. The first pipe surface image and the second pipe surface image may be generated by continuous or discrete shooting. A travel distance of the movable body 110 may be determined based on a positional change (particularly in pixels or pixel units) of a pattern appearing in the pipe surface image, and furthermore, the position of the movable body 110 may be estimated.

In an embodiment, the optical odometer 120 may include a camera unit for generating a pipe surface image by photographing an inner wall of the pipe. Depending on the embodiment, the optical odometer 120 may further include a lighting unit for radiating light toward an inner wall of a pipe to be photographed by the camera unit. At this time, the light may be laser light, LED light, etc., but is not limited thereto.

In the embodiment, the optical odometer 120 is composed of a plurality of pieces, and each optical odometer 120 may extend from the movable body 110 toward the inner wall of the pipe but extend in different directions. A plurality of pipe surface images may be generated from the plurality of optical odometers 120, and the mileage of the movable body 110 may be determined therefrom. At this time, a plurality of travel distances are determined for each of the plurality of optical travel distance meters 120, and a final travel distance is determined by processing them, and furthermore, the position of the moving object 110 may be estimated.

The contact odometer 130 is provided on the movable body 110 and can measure the moving distance of the movable body 110 in close contact with the inner wall of the pipe. The contact type odometer 130 may be composed of one or a plurality of them. For example, the contact type odometer 130 may consist of three or four.

In an embodiment, the contact type odometer 130 may include a support portion extending outwardly from the moving body 110 and an odometer formed at an end of the support portion. The support may be rotatably coupled with respect to the moving body 110, and the odometer may be rotatably coupled with respect to the support. Through this, the direction error between the vector of the center line of the pipe and the speed measurement vector of the contact odometer is reduced. The odometer adheres closely to the inner wall of the pipe and can rotate along the inner wall when the movable body 110 moves. In this case, the odometer may include a wheel unit in close contact with the inner wall of the pipe and a rotation measuring unit for measuring the amount of rotation of the wheel unit. For example, the rotation measurement unit may include a magnetic sensor that rotates together with the wheel unit and measures a rotation amount of the wheel unit. For example, the rotation measuring unit may include an incremental encoder. However, it is not limited thereto, and various technologies capable of measuring the moving distance of the moving object 110 may be applied to the contact odometer 130 .

In an embodiment, the optical odometer 120 and the contact odometer 130 may be formed adjacent to each other. For example, the optical odometer 120 may be formed adjacent to the odometer at the end of the support of the contact odometer 130 .

In an embodiment, the contact odometer 130 may be formed in the same or adjacent direction as the optical odometer 120 . For example, the optical odometer 120 may extend symmetrically about the center of the movable body 110 with respect to the contact odometer 130 .

The inertia measuring unit 140 is provided in the moving body 110 and may serve to measure and record a change in inertia according to the movement of the moving body 110 when the moving body 110 travels on the inner wall of the pipe. To this end, the inertia measurement unit 140 detects an acceleration sensor for detecting movement in three axes, front and rear, left and right, and up and down, and rotational angular velocity of three axes of pitch, roll, and yaw in the pipe. It may include a gyroscope sensor that does.

The electromagnetic wave generator 150 is provided on the moving body 110 and generates electromagnetic waves, and a time based market system (TBMS) installed on an AGM (above ground marker) detects this, and the time the moving body 110 passes and the position of the AGM to provide coordinates. The TBMS maintains time synchronization with the movable body 110 and may be installed on the ground directly above the pipe. Here, the AGM location coordinates can be obtained by measuring through GPS at the place where the TBMS is installed.

The controller 160 may determine the travel distance of the moving object 110 and estimate the position of the moving object. To this end, the controller 160 may, for example, execute a program stored in a memory and operate according to the execution. For example, the controller 160 may include at least one processor. The processor may be configured to process at least one instruction by performing basic arithmetic, logic, and input/output operations for the operation of the movement distance measurement system 100 . The instructions described above may be provided to the processor from memory. That is, the processor may be configured to execute instructions according to program codes stored in a recording device such as a memory. Alternatively, the instruction may be received by the movement distance measurement system 100 through the communication unit and provided to the processor.

Depending on the embodiment, the control unit 160 is built into the movable body 110 and is referred to as a part of the pipe moving device, or is physically separated and spaced from the movable body 110 and implemented in the form of, for example, a server or a control device. It can be. In the latter case, various data measured by the optical odometer 120 may be transmitted to the control unit 160 through, for example, a communication unit. However, it is not limited thereto.

In an embodiment, the controller 160 may calculate the position, speed, and posture of the moving object 110 based on the change in inertia measured by the inertia measuring unit 140 . From this, the controller 160 can estimate the position of the moving object 110 from the moving distance of the moving object 110 (pure navigation calculation) and estimate the position of the pipe. Depending on the embodiment, the controller 160 may correct the position based on pure navigation calculation based on at least one of the optical odometer 120, the contact odometer 130, and the electromagnetic wave generator 150.

In an embodiment, the controller 160 may use the movement distance measured by the optical odometer 120 to correct the speed or position according to pure navigation calculation. Specifically, the controller 160 may determine a traveling distance and/or direction of the moving object 110 based on a change in image position of a pattern appearing in the pipe surface image, and may estimate the position of the moving object 110. In this case, the controller 160 may directly use the travel distance of the optical odometer 120 for position estimation, or may calculate the speed by differentiating the travel distance, and then use it for position estimation.

In an embodiment, the control unit 160 determines the change vector between the first pattern of the first pipe surface image and the second pattern of the second pipe surface image, and extracts only the driving direction vector from the change vector to move the moving body 110. mileage can be determined. A vector in a direction different from the driving direction is generated by, for example, rotation of the moving body 110, and is intended to remove a vector that does not affect the driving of the moving body 110.

In an embodiment, the control unit 160 may change the pipe surface image by performing edge detection on the pipe surface image and then determine a change vector between patterns. It is intended to correct the pipe surface image to be suitable for pattern detection through edge detection, and various image processing algorithms applicable in the art can be applied to edge detection.

In an embodiment, the controller 160 may perform edge detection once or multiple times. When edge detection is performed multiple times, different edge detection algorithms may be applied.

In an embodiment, the controller 160 may perform primary edge detection to extract feature regions constituting a pattern, perform secondary edge detection on the feature regions to analyze correlations between feature regions, and then determine a change vector. there is. In this case, the correlation may include identity between feature regions, change in location, and the like. That is, at least one feature region can be detected from the entire rear surface image through the first edge detection, and the texture or inner shape of each detection region is analyzed in more detail through the second edge detection to determine the identity and the same between the feature regions. A positional change of the feature region can be analyzed. For example, the primary edge detection may be performed by a canny edge detection algorithm that is effective for identifying overall boundaries, and/or the secondary edge detection may be performed by a local binary pattern (LBP) algorithm that is effective for identifying textures. . However, it is not limited thereto.

In the embodiment, when there are a plurality of optical odometers 120, the control unit 160 determines the first mileage based on the change in the pipe surface image of each optical odometer 120, and based on the plurality of first mileage distances. Thus, the second mileage can be determined. The secondary mileage may be an average of at least a portion of the primary mileage or the secondary mileage may be the largest value among the primary mileages.

In an embodiment, the controller 160 may determine the validity of the pipe surface image captured by the optical odometer 120 . If the resolution of the pipe image is too low, it is difficult to grasp the pattern, or if it is difficult to accurately calculate the positional change as the optical odometer 120 rapidly moves away from the inner wall of the pipe, it may be determined that the pipe surface image is not valid. At this time, the controller 160 may exclude an invalid pipe surface image in determining the mileage. Additionally, the controller 160 may estimate the position of the moving object 110 based on the contact odometer 130 when the pipe surface image is not valid.

In an embodiment, the controller 160 may determine the validity of the primary mileage measured from the plurality of optical odometers 120 . The controller 160 may determine the second mileage based on the effective first mileage. For example, when the deviation between the primary travel distances calculated from the plurality of optical odometers 120 is large, the control unit 160 calculates 2 based on the remaining primary mileage after excluding the primary mileage with the large deviation. You can determine the mileage of your car.

In an embodiment, the controller 160 may determine the secondary travel distance based on the shape of the pipe and the plurality of primary travel distances. In this case, the pipe may be classified into a straight pipe, a horizontal bend pipe, a vertical bend pipe, a composite bend pipe, a branch pipe (tee), etc. according to its shape. In the case of a composite bend pipe, it means a bend pipe including both horizontal and vertical changes. The shape of the pipe can be determined by the control unit 160 from a change in attitude of the movable body 110 measured by the inertia measuring unit 140 . However, it is not limited thereto. For example, when the movable object 110 moves along the straight line, the controller 160 may determine the largest travel distance among the plurality of first travel distances as the second travel distance. Also, for example, when the movable body 110 moves along a bend, an average of at least some of the plurality of first travel distances may be determined as the second travel distance.

In an embodiment, the controller 160 may correct the position of the moving distance measured by the contact odometer 130 based on pure navigation calculation. Such position correction may be performed in addition or alternatively to the position correction by the optical odometer 120 . At this time, the control unit 160 may directly calculate the travel distance from the travel distance of the contact odometer 130 or calculate the speed by differentiating the travel distance, and then use this for position estimation.

In an embodiment, the controller 160 may calculate the mileage based on the measured value of the contact odometer 130 . When a plurality of contact type odometers 130 are formed, the mileage may be calculated by processing a plurality of measured values. In addition, the controller 160 may calculate the travel distance by additionally considering the shape of the pipe.

In an embodiment, the controller 160 may estimate the position of the movable body 110 based on the travel distance of the contact odometer 130 and the travel distance of the optical odometer 120 . For example, the controller 160 may estimate the position of the moving object 110 from an average of the travel distance of the contact odometer 130 and the travel distance of the optical odometer 120 . Also, for example, the control unit 160 may estimate the position of the moving object 110 from a larger value of the travel distance of the contact odometer 130 and the travel distance of the optical odometer 120 . Such location estimation may be performed when the contact odometer 130 is formed in the same or adjacent direction as the optical odometer 120, but is not limited thereto.

In the embodiment, the control unit 160 estimates the position of the moving object 110 based on the contact odometer 130, but it is difficult for the contact odometer 130 to properly measure the moving distance (for example, When the contact-type odometer 130 is separated from the inner wall of the pipe, etc.) or when the reliability of the measured travel distance is low, the position of the movable body 110 can be estimated based on the optical odometer 120.

Although not shown in FIGS. 1 and 2 , according to an embodiment, the movement distance measuring system 100 may further include a pipe shape measuring unit. For example, the pipe shape measuring unit may be provided in the movable body 110 to photograph a pipe located in front of the movable body 110 and determine the shape of the pipe from the photographed image. For example, the pipe shape measuring unit may irradiate a laser forward, and the observation unit may observe the reflected laser according to the inside topography of the pipe to determine the shape of the pipe. However, it is not limited thereto.

Although not shown in FIGS. 1 and 2 , according to an embodiment, the movement distance measuring system 100 may further include a posture measuring unit. The posture measurement unit is provided on the moving body 110 to measure the distance between the moving body 110 and the inner wall of the pipe to measure the posture of the moving body 110 . The posture measuring unit may include at least one distance measuring sensor, and may be disposed at the front and rear ends of the moving object 110 in up, down, left and right directions, respectively. However, it is not limited thereto.

Although not shown in FIGS. 1 and 2 , the movement distance measurement system 100 according to an embodiment may further include a communication unit. The communication unit is provided for direct connection with the inside and/or outside or connection through a network, and may be a wired and/or wireless communication unit. Specifically, the communication unit may transmit data from a memory or the controller 160 by wire or wirelessly, or may receive data from the outside by wire or wirelessly and transfer the data to the controller 160 or store the data in the memory. For example, the communication unit includes a Bluetooth communication unit, a Bluetooth Low Energy (BLE) communication unit, a Near Field Communication (WLAN) communication unit, a Zigbee communication unit, an infrared data association (IrDA) communication unit, and a WFD ( It may include a Wi-Fi Direct) communication unit, an ultra wideband (UWB) communication unit, and the like, but is not limited thereto. The communication unit may be implemented as at least one module or chip.

Although not shown in FIGS. 1 and 2 , the movement distance measurement system 100 may further include a memory according to an embodiment. The memory may store a program for performing an operation of the movement distance measurement system 100 and data according to the execution of an operation. For example, the memory is a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg SD or XD memory, etc.), RAM (RAM, Random Access Memory) SRAM (Static Random Access Memory), ROM (ROM, Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic It may include at least one type of storage medium among a disk and an optical disk.

However, not all of the components shown in FIGS. 1 and 2 are essential components of the movement distance measuring system 100 . Depending on the embodiment, the movement distance measurement system 100 may be implemented with more components than those shown in FIGS. 1 and 2 , and fewer components than those shown in FIGS. 1 and 2 . The movement distance measuring system 100 may be implemented by

3 is a diagram for explaining pattern analysis of a pipe surface image according to an embodiment of the present invention.

Referring to (a) of FIG. 3 , a first pipe surface image 310 is shown. Three first feature regions are distributed in the first pipe surface image 310 , and a detailed shape of the first feature regions and a positional relationship between the first feature regions form a first pattern 320 .

Similarly, referring to (b) of FIG. 3 , a second pipe surface image 330 is shown. The second pipe surface image 330 follows from the first pipe surface image 310, and similarly to the first pipe surface image 310, three second feature regions are distributed, and details of the second feature region The positional relationship between the shape and the second feature region forms the second pattern 340 .

Referring to (c) of FIG. 3 , a change vector 350 between the first pattern 320 and the second pattern 340 is obtained by comparing the first pipe surface image 310 and the second pipe surface image 330. can decide The change vector 350 may be determined through a change in the image position between the first feature region and the second feature region.

Referring to (d) of FIG. 3 , only the traveling direction vector 360 is extracted from the change vector 350, and based on this, the traveling distance of the moving object 110 may be determined. The mileage determination may be based on the length of the extracted vector and the number of corresponding pixels or pixels, the resolution of the pipe surface image, the angle of view of the camera, and the like. In (d) of FIG. 3 , the running direction is shown as a horizontal direction in the pipe surface image, but is not limited thereto.

The pattern analysis shown in FIG. 3 is exemplary, and various configurations may be applied according to an embodiment to which the present invention is applied.

4 is a diagram for explaining a contact type odometer according to an embodiment of the present invention.

Referring to FIG. 4 , the contact type odometer 130' includes a support part 131 extending outwardly from the moving body 110; An odometer 132 rotatably coupled to an end of the support 131; and a bent portion 133 recessed along the circumference of the support portion 131 at a position adjacent to the odometer 132 in the support portion 131 .

While the bent portion 133 is bent, the odometer 132 may be in close contact with the inner wall of the pipe or the odometer 132 may be directed in the driving direction. This is to prevent a deviation between the pipe direction vector and the measurement direction vector of the odometer 132 due to rotation of the movable body 110 while moving inside the pipe or forward inclination of the movable body 110 .

The contact type odometer 130' shown in FIG. 4 is exemplary, and various configurations may be applied according to an embodiment to which the present invention is applied.

5 is a diagram for explaining a contact type odometer according to an embodiment of the present invention.

Referring to FIG. 5 , the contact type odometer 130'' includes a first support part 131'-1 and a second support part 131'-2 extending outwardly from the moving body 110; an odometer 132 rotatably coupled to an end of the first support 131'-1; The odometer 132 side may include a link 134 connecting the first support part 131'-1 and the second support part 131'-2.

That is, a plurality of supports 131'-1 and 131'-2 rotatably supporting the odometer 132 are configured to more stably support the odometer 132, and the odometer 132 is connected to the pipe. It can be made to adhere to the inner wall of the

At this time, the plurality of supports 131'-1 and 131'-2 are connected through a link 134 to prevent rotational resistance from occurring in the odometer 132 as the plurality of supports are connected to the odometer 132. can be made In particular, the link 134 may be rotatably connected with respect to the first support part 131'-1 and the second support part 131'-2. Therefore, when the external force generated while the odometer 132 is in close contact with the inner wall of the pipe is transmitted to the link 134 and the second support 131'-2 via the first support part 131'-1, the link ( 134 may partially relieve the external force transmitted to the second support part 131'-2 while rotating.

In addition, at least one of the first support part 131'-1 and the second support part 131'-2 is elastically deformed by an external force, so that even if the moving body 110 travels or slips, it actively responds to this Thus, the odometer 132 may adhere to the inner wall of the pipe. For example, the first support part 131'-1 having the rotation axis of the odometer 132 may have higher elasticity than the second support part 131'-2. However, it is not limited thereto, and the second support part 131'-2 may have higher elasticity than the first support part 131'-1.

The contact type odometer 130'' shown in FIG. 5 is exemplary, and various configurations may be applied according to an embodiment to which the present invention is applied.

As described above, although the embodiments have been described with limited examples and drawings, those skilled in the art can make various modifications and variations from the above description. For example, even if the components of the described system, structure, device, circuit, etc. are combined or combined in a different form from the described method, or replaced or substituted by other components or equivalents, appropriate results can be achieved. In addition, each embodiment can be operated in combination with each other as needed. For example, the operation of the device may be operated by combining parts of one embodiment of the present invention and another embodiment. Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

100: moving distance measuring system 110: moving object
120: optical odometer 130, 130', 130'': contact odometer
131: support 131'-1: first support
131'-2: second support 132: odometer
133: bend 134: link
140: inertial measurement unit 150: electromagnetic wave generator
160: processor 310: first pipe surface image
320: first pattern 330: second pipe surface image
340: second pattern 350: change vector
360: driving direction vector

Claims (14)

As a moving distance measurement system,
A moving body traveling inside the pipe;
an optical odometer provided in the movable body and generating a series of pipe surface images by photographing the inner wall of the pipe; and
A control unit determining a travel distance of the movable body based on a change in image position of a pattern appearing in the pipe surface image and estimating a position of the movable body;
The pipe surface image includes a first pipe surface image in which a first pattern appears and a second pipe surface image in which a second pattern appears,
wherein the control unit determines a travel distance of the moving object by determining a change vector between the first pattern and the second pattern and extracting only a traveling direction vector from the change vector. delete According to claim 1,
Wherein the control unit performs primary edge detection on the pipe surface image to extract a feature region constituting the pattern, and analyzes a correlation between the feature regions to determine the change vector. According to claim 3,
Wherein the controller performs secondary edge detection on the feature region to analyze the correlation of the feature region. According to claim 1,
The optical odometer is composed of a plurality, and each optical odometer is formed extending from the moving body toward the inner wall of the pipe,
The control unit determines a first travel distance from a change in the pipe surface image of each of the optical travel distance meters, determines a second travel distance based on a plurality of the first travel distances, and the second travel distance determines the first travel distance. The average of at least a portion of the travel distance or the secondary travel distance is the largest value of the primary travel distance, the travel distance measuring system. According to claim 5,
Wherein the control unit determines the validity of the first mileage, and determines a second mileage based on the valid first mileage. According to claim 5,
The pipe on which the movable body travels includes at least one of a straight pipe, a horizontal bend pipe, a vertical bend pipe, a composite bend pipe, and a branch pipe (tee), and the controller determines 2 based on the shape of the pipe and the plurality of primary travel distances. A travel distance measurement system that determines the mileage of a car. According to claim 1,
Further comprising a contact odometer provided on the movable body and in close contact with an inner wall of the pipe to measure a moving distance of the movable body,
Wherein the control unit estimates the position of the moving body based on the moving distance of the contact odometer and the traveling distance of the optical odometer. According to claim 8,
The control unit estimates the position of the moving body based on the contact travel odometer, and estimates the position of the movable body based on the optical travel odometer when the contact travel odometer is spaced from the inner wall of the pipe. distance measurement system. According to claim 8,
Wherein the control unit determines the validity of the mileage according to the optical odometer, and estimates the position of the moving object based on the contact odometer when the mileage is not valid. According to claim 8,
The contact odometer is formed in the same or adjacent direction as the optical odometer, and the controller estimates the position of the moving object from the average of the moving distance of the contact odometer and the mileage of the optical odometer. , travel distance measurement system. According to claim 8,
The contact odometer is formed in the same or adjacent direction as the optical odometer, and the controller determines the position of the movable body from a larger value of the moving distance of the contact odometer and the mileage of the optical odometer. estimating, travel distance measurement system. According to claim 8,
The contact type odometer includes a support part extending outwardly from the moving body; an odometer rotatably coupled to an end of the support; And a bent part formed in a depression along the circumference of the support part at a position adjacent to the odometer in the support part, and while the bent part is bent, the odometer adheres to the inner wall of the pipe or the odometer faces the running direction. , a travel distance measurement system. According to claim 8,
The contact type odometer includes a first support part and a second support part extending outwardly from the moving body; an odometer rotatably coupled to an end of the first support; A link connecting the first support and the second support at the odometer side,
At least one of the first support and the second support is elastically deformed by an external force, the movement distance measuring system.

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