KR102611929B1 - Wire-based unmanned body position control system and method to acquire images for inspection of the underside of a bridge using 3-axis DOF camera system - Google Patents

Abstract

The present invention relates to a method of acquiring images for inspection of the underside of a bridge using a wire-based unmanned body position control system and a 3-axis degree-of-freedom camera system.
The wire-based unmanned body position control system is an unmanned body connected by four wires and located at the bottom of the bridge, with a cam attached to the top that can be raised and lowered to acquire images of the underside of the bridge; And a position control system attached to one side of the bridge and connected to the unmanned object by a wire, and capable of controlling the position of the unmanned object by adjusting the length of the wire.
In addition, the method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system is a wire-based unmanned body position control system,
A winch installation step of placing winch devices at four locations on one side and the other side of the bridge and installing a support structure;
A guiding member installation step of installing a wire guiding member capable of guiding a wire to the lower surface of a bridge to a winch device;
A fastening step of fastening the RoboCam socket and the wire so that the RoboCam socket of the unmanned object is located at the lower part of the bridge;
A RoboCam installation step of moving the RoboCam socket to the outermost side of the bridge and installing the RoboCam in the socket;
A bridge inspection step of controlling the position of the RoboCam socket and the robot arm and robot joint of the RoboCam through a wire-based unmanned body position control system to acquire an image for inspection from the bottom of the bridge.

Description

{Wire-based unmanned body position control system and method to acquire images for inspection of the underside of a bridge using 3-axis DOF camera system}

The present invention relates to a method of acquiring images for inspection of the underside of a bridge using a wire-based unmanned body position control system and a 3-axis degree-of-freedom camera system. More specifically, it relates to a method for inspecting the underside of a bridge where cracks, water leaks, damage, and wear occur. This relates to a system and method for controlling the human body to acquire images for inspection.

In order to maintain the function and safety of bridges currently installed and in use, regular inspections are conducted on the condition of bridges.

Many of the inspection methods currently being implemented are human-based, and most diagnose the degree of cracks, water leaks, damage, and wear of bridges using human eyes.

The limitations of bridge condition inspection by manpower have been pointed out for a long time. These are that it is difficult for manpower to access the parts of the bridge where cracks, water leaks, damage, and wear occur, and condition judgments made by manpower lack consistency. It can be said that it is possible.

Therefore, in order to overcome these problems, technology is being developed to evaluate the condition using images acquired by unmanned drones and cameras. This is to compensate for the poor accessibility of manpower through drones and to ensure consistency of judgment through acquired images.

Republic of Korea Patent Publication No. 10-1693759 (announced on January 9, 2017) Republic of Korea Patent Publication No. 10-1582611 (announced on January 19, 2016) Republic of Korea Patent Publication No. 10-1228593 (announced on January 25, 2013) Republic of Korea Patent Publication No. 10-1047527 (announced on July 8, 2011) Republic of Korea Patent Publication No. 10-1027515 (announced on March 30, 2011)

The present invention is intended to solve the above problems.

First, drones are used to acquire images to check the condition of spaces that are difficult to access by personnel, but drones are suitable for shooting in a downward or lateral direction and have many limitations in the vertical direction, so wire-based unmanned body position control is used. The purpose is to provide a system that can capture high-resolution images through the system.

Second, the drone may move violently up and down and laterally during operation due to reception errors with the remote controller, sudden gusts, etc., and if a vehicle passes under the bridge, this may lead to an accident such as a collision with a vehicle.

Additionally, the purpose is to provide a method of installing a wire-based unmanned body position control system provided on the side of a bridge and a 3-axis degree-of-freedom camera system installed on the top of an unmanned body.

In order to achieve the above purpose, the wire-based unmanned body position control system according to the present invention is connected by four wires and located at the bottom of the bridge, and a cam that can be raised and lowered is attached to the top to acquire images of the bottom of the bridge. capable unmanned vehicle; and a position control system attached to one side of the bridge and connected to the unmanned object by a wire, and capable of controlling the position of the unmanned object by adjusting the length of the wire. It is characterized by including.

In addition, the position control system,

A first winch device attached to one side of the bridge and capable of controlling a first wire connected to the unmanned object; a second winch device attached to one side of the bridge while being spaced apart from the first winch by a predetermined distance and capable of controlling a second wire connected to the unmanned object; A third winch device attached to the other side of the bridge at a position corresponding to the first winch and capable of controlling a third wire connected to the unmanned object; and a fourth winch device attached to the other side of the bridge at a position corresponding to the second winch and capable of controlling a fourth wire connected to the unmanned object. It is characterized by including.

In addition, the first winch device, the second winch device, the third winch device, and the fourth winch device,

A winch fixed to the inner peripheral surface of a bridge railing and having a pulley structure therein capable of winding a wire connected to the unmanned object; a wire guide roller capable of adjusting the length of a wire connected to the unmanned object while moving up and down on the outer peripheral surface of the bridge railing; a guide frame installed outside the wire guide roller and connected to the wire guide roller to guide its movement; and a winch mount attached to the top of the railing of the bridge and connecting the winch and the guide frame.

In addition, the unmanned object includes a RoboCam equipped with a cam that can capture images for inspection of the lower surface of a bridge; and a Robocam socket, which is formed in the shape of a basket forming the lower part of the Robocam and has a device installed therein for installing image collection and management software, and the upper end of the basket is comprised of a fixed plate and a moving plate; It is characterized by including.

In addition, the robocam,

An elevation system installed inside the RoboCam socket and connected to the lower end of the moving plate to elevate and lower the moving plate within a certain height range; And a cam light is fixed to the top of the moving plate, the cam light and a first robot arm, a first robot joint, a second robot arm, and a second robot joint are sequentially connected, and a bridge bottom inspection is performed at the end of the second robot joint. An image acquisition unit equipped with a cam lens capable of capturing images; It is characterized by including.

In addition, the image acquisition unit is characterized in that the image captured through the cam lens can be transmitted to a device equipped with the image collection and management software and stored in memory.

In addition, the cam lens can be adjusted in height by the elevation system, and can be moved 360 degrees by the second robot arm. It is characterized by being rotatable.

The image acquisition method for inspecting the underside of a bridge using a 3-axis degree-of-freedom camera system according to the present invention is a wire-based unmanned body position control system, where a winch device is located at four locations on one side and the other side of the bridge, and a support structure is installed. Winch installation step of installing; A guiding member installation step of installing a wire guiding member capable of guiding a wire to the lower surface of a bridge to a winch device; A fastening step of fastening the RoboCam socket and the wire so that the RoboCam socket of the unmanned object is located at the lower part of the bridge;

A RoboCam installation step of moving the RoboCam socket to the outermost side of the bridge and installing the RoboCam in the socket; A bridge inspection step of controlling the position of the RoboCam socket and the robot arm and robot joint of the RoboCam through a wire-based unmanned body position control system to acquire an inspection image from the bottom of the bridge; It is characterized by including.

In addition, the guiding member installation step is characterized by installing the wire guiding member on a bridge instead of installing it on a winch device.

In addition, the bridge inspection step includes automatically operating the position of the RoboCam socket and the robot arm and robot joint of the RoboCam according to a pre-entered path, or manually operating in conjunction with an external terminal. It is characterized by

The wire-based unmanned body position control system according to the present invention controls the Robocam and the socket equipped with the Robocam, allowing the unmanned body to approach a place that is difficult for humans to access and obtain images for inspection when the bridge is closed.

In addition, the wire-based unmanned body position control system according to the present invention can acquire images for inspection under the bridge by constructing a 3-axis degree-of-freedom camera system using a robocam.

In addition, the method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system according to the present invention includes moving the winch device and installing a support structure, installing a wire guiding member, installing a Robocam socket-wire, installing a Robocam, and inspecting the underside of a bridge. It may proceed in the following order.

This will contribute to the development of bridge management technology by resolving the limitations of human-centered bridge condition inspection.

In addition, it will contribute to promoting the safety of the structure and the safety of users using it by enabling consistent and thorough condition inspection of the bridge.

Figure 1 is a perspective view of a wire-based unmanned body position control system according to the present invention.
Figure 2 is a perspective view of the bottom of a bridge of the wire-based unmanned body position control system according to the present invention.
Figure 3 is a detailed diagram showing the detailed configuration of the position control system according to the present invention.
Figure 4 is a detailed diagram showing the detailed configuration of the unmanned vehicle according to the present invention.
Figure 5 is a state diagram of a method for acquiring images for inspection of a bridge's lower surface using a 3-axis degree-of-freedom camera system according to the present invention.
Figure 6 is another state diagram of a method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system according to the present invention.
Figure 7 is a block diagram of a method of acquiring images for inspection of the lower surface of a bridge using a 3-axis degree-of-freedom camera system according to the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component, and similarly, the second component may also be named a first component without departing from the scope of the present invention. The term several/or includes any combination of a plurality of related stated items or any of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "include" or "have" should be understood as not precluding the existence or addition possibility of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. .

Figure 1 is a perspective view of a wire-based unmanned body position control system according to the present invention, Figure 2 is a perspective view of the bottom of a bridge of the wire-based unmanned body position control system according to the present invention, and Figure 3 is a position control system according to the present invention. It is a detailed diagram showing the detailed configuration of, and Figure 4 is a detailed diagram showing the detailed configuration of the unmanned object according to the present invention. In addition, Figure 5 is a state diagram of a method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system according to the present invention, and Figure 6 is a state diagram of a method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system according to the present invention. Another state diagram, and FIG. 7 is a block diagram of a method for acquiring images for inspection of a bridge's underside using a 3-axis degree-of-freedom camera system according to the present invention.

The wire-based unmanned object position control system according to the present invention is divided into an unmanned object (300) and a position control system (200). The unmanned object 300 can be equipped with filming equipment that can film the condition of the underside of the bridge, and is movable. The position control system 200 consists of four subsystems, is provided on the outer surface of the bridge, and is connected to the unmanned object 300 with four wires.

As shown in FIG. 1, the bridge is basically structured with a slab 110 located at the top, and a girder 120 and a pier 130 sequentially supporting the lower part of the slab 110.

A railing of the bridge is formed on the side of the slab 110, and the position control system 200 is formed on one side of the bridge. More specifically, the position control system 200 may be formed on the inner and outer peripheral surfaces of the bridge railing and connected to the unmanned object 200 through a plurality of wires.

The position control system 200 may be composed of a plurality of winch devices, and may be composed of four winch devices as shown in FIGS. 1 to 6. The four winch devices include a first winch device, a second winch device, a third winch device, and a fourth winch device, each of which may be configured with the same structure, and its components are as follows.

As shown in Figure 3, the winch device includes a winch 210, an anchoring 220, a winch mount 230, a winch mount connection 240, a guide frame 250, a guide frame support 260, and a wire guide roller. It may be composed of (270).

Specifically, the winch 210 may include a pulley structure capable of winding a wire. The winch 210 is located on the inner peripheral surface of the bridge railing and can be fixed to the bridge railing through the bridge railing and anchoring 220.

The anchoring 220 is connected to the winch mount 230, and the winch mount 230 may be fixed to the top of the bridge railing. As shown in FIG. 3, the guide frame 250 and the wire guide roller 270 may be provided on the outer peripheral surface of the bridge railing, and the winch mount 230 and the guide frame 250 may be connected to the winch mount connection portion 240. can be connected to each other through.

That is, the wire of the wire guide roller 270, which will be described later, may be connected to the internal pulley of the winch 210, and a controller 400 that controls the length of the wire may be provided inside the winch 210. That is, the wire guide roller 270 can adjust the length of the wire connected to the unmanned object 300 by moving up and down on the outer peripheral surface of the bridge railing. In addition, the wire guide roller 270 and the winch 210 can be provided with a wire of sufficient length, so that the position of the unmanned object 300 connected to the wire can be accurately controlled.

In more detail, a motor and a brake are installed inside the winch 210 to control the speed and length of the wire being wound. In addition, the unmanned object 300 can be moved to a desired location on the underside of the bridge by controlling the wires connected to the four winch devices differently by the controller 400 provided therein. That is, the controller 400 controls the length of each wire connected to the winch device so that the unmanned object 300 can be positioned to balance forces by the four wires.

The guide frame 250 is installed on the outer peripheral surface of the bridge railing and can be fixed to the bridge railing by the winch mount connection part 240. Therefore, of course, the structure of the guide frame 250 is not deformed or affected by strong external winds and can sufficiently extend under the girders 120 and piers 130 of the bridge.

Additionally, the center of the wire guide roller 270 provided inside the guide frame 250 may be connected to the upper part of the guide frame 250 and may guide the movement of the wire guide roller 270. The wire guide roller 270 forms a pulley structure around which a wire connected to the unmanned object 300, which will be described later, can be wound and can move up and down.

Specifically, the wire guide roller 270 receives a control signal from the controller 400 along the guide frame 250 and moves up and down, thereby controlling the length and tension of the wire.

Additionally, the guide frame support portion 260 may be provided at the end of the outer surface of the bridge railing and the slab 110 of the bridge. The guide frame support portion 260 serves to more firmly fix the guide frame 250 to the bridge.

Generally, two of the above-described winch devices may be provided on one side of the bridge, spaced apart from each other by a certain distance, and the remaining two may be provided on the other side of the bridge, spaced apart from each other by a certain distance.

As shown in detail in FIG. 4, the unmanned object 300 may be composed of a Robocam socket 310 and a Robocam 320. Additionally, the Robocam 320 may be composed of an elevation system 330 and an image acquisition unit 340.

The Robocam socket 310 may be configured in a basket shape with the top sealed with a plate. A socket opener 315 may be provided on one side of the Robocam socket 310, and a hinge structure may be provided at the bottom of the socket opener 315. Specifically, a groove for a handle is provided at the top of the socket opener 315 so that the user can easily open and close it by grasping the groove. Equipment necessary for the RoboCam 320 can be mounted into the RoboCam socket 310 through the socket opener 315.

The plate provided on the upper part of the RoboCam socket 310 can be divided into a fixed plate 316 and a moving plate 332. The moving plate 332 is provided with a javara-shaped frame at the bottom that is fixed to the lower surface of the RoboCam socket 310, and can be raised and lowered.

More specifically, the bellows frame 333 may have a shape in which the upper and lower ends of an

Additionally, the bellows frame 333 may be connected to both sides of the moving plate 332 with a frame fixing pin 336 and a frame moving pin 335.

Additionally, long holes 334 may be provided on both sides of the moving plate 332 to prevent the frame moving pins 335 and the sides of the moving plate 332 from interfering with each other. The position at which the frame moving pin 335 moves along the long hole 334 can be controlled by the controller 400, and the height of the image acquisition unit 340 formed at the top of the moving plate 332 is determined accordingly. You can.

Among the upper plates of the Robocam socket 310, the remaining portion excluding the moving plate 332 is a fixed plate 316. The four corners of the fixing plate 316 may be provided with a first wire fixer 311, a second wire fixer 312, a third wire fixer 313, and a fourth wire fixer 314, respectively. Although not shown in FIG. 4, each wire fixture is provided with a linker so that it can be coupled to the wire.

In detail, the wire connected to the first winch device is connected to the first wire 271, the wire connected to the second winch device is connected to the second wire 272, and the wire connected to the third winch device is connected to the third wire 273 and the fourth wire. The wire connected to the winch device is called the fourth wire 274.

Therefore, the first wire 271 can be fixed to the first wire fixture 311 of the RoboCam socket 310, and the second wire 272 can be fixed to the second wire fixture 312 of the RoboCam socket 310. , the third wire 273 can be fixed to the third wire fixture 313 of the RoboCam socket 310, and the fourth wire 274 can be fixed to the fourth wire fixture 314 of the RoboCam socket 310. .

Inside the Robocam socket 310, image collection and management software equipment that can be linked with the image acquisition unit 340, which will be described later, may be mounted. The image collection and management software equipment may be equipped with a memory capable of storing images transmitted from the image acquisition unit 340. More details will be provided later.

Additionally, a UWB RTLS device 318 may be provided on one top of the fixing plate 316. In the UWB RTLS (Ultra Wide Band Real Time Location System) device 318, UWB is an ultra-wideband technology, a short-range wireless communication protocol that operates via radio waves at high frequencies. RTLS is a real-time location tracking system that can track the location of objects and use that data. Therefore, the UWB RTLS device 318 can communicate with each controller 400 in the location control system 200 based on UWB.

Specifically, the wire-based unmanned body position control system may be operated by configuring a relative coordinate system based on the first winch device, the second winch device, the third winch device, and the fourth winch device. That is, the UWB RTLS device 318 can obtain a location signal based on a relative coordinate system from the controller 400 and the user. Additionally, the location of the robocam 320 on the underside of the bridge can be transmitted to the controller 400 and the user in real time.

Therefore, the user can operate a separate external terminal, including a mobile phone, that can be linked with the UWB RTLS device 318 and the controller 400. Additionally, the user can check the location of the RoboCam 320 in real time and move the RoboCam 320 through the external terminal.

An image acquisition unit 340 may be provided at the top of the moving plate 332. The image acquisition unit 340 is equipped with a 3-axis degree-of-freedom camera system and can acquire images for inspection under the bridge.

The fixture 341 of the image acquisition unit 340 is fixed to the moving plate 332 and serves to prevent the image acquisition unit 340 from falling.

A lighting stand 342 is provided at the top of the fixture 341, and the lighting stand 342 can fix and move the cam light 343 inserted therein. To be more specific, the lighting stand 342 can be adjusted to an angle of about 180 degrees based on the upper direction by the controller 400. Therefore, by adjusting the cam lighting 343 according to the control of the lighting stand 342, the user can photograph the inspection area on the underside of the bridge even at night. Additionally, the intensity of the cam lighting 343 can be appropriately adjusted by the controller 400.

A first robot arm 344 is connected to the side of the lighting stand 342. Additionally, a first robot joint 345, a second robot arm 346, and a second robot joint 347 may be sequentially connected to the end of the first robot arm 344. Additionally, a cam angle sensor 348 may be provided at the end of the second robot joint 347, and a cam lens 350 may be attached to the top of the cam angle sensor 348. The cam lens 350 is generally configured so that the lens faces upward, and the angle can be adjusted by the cam angle sensor 348 at the bottom.

The image acquisition unit 340 can build a 3-axis degree-of-freedom camera system through the above structure. The 3-axis degree-of-freedom camera system can minimize blind spots between girders 120 when photographing the underside of a bridge.

Specifically, the 3-axis degree-of-freedom camera system is capable of manual operation and automatic operation. The 3-axis degree-of-freedom camera system can give the Robocam 320 three elements: height, rotation, and angle.

Through the elevation system 330, the RoboCam 320 can be raised and lowered by the controller 400 to a height of 1 m based on the RoboCam socket 310.

In addition, in the image acquisition unit 340, the first robot arm 344 is positioned at 0 relative to the upper part of the moving plate 332. from 180 It can be adjusted by the controller 400 within a range.

The first robot joint 345 connects the first robot arm 344 and the second robot arm 346 and allows the second robot arm 346 to rotate. Therefore, the rotation radius of the second robot arm (346) is 360 and can be adjusted by control of the controller 400.

The second robot joint 347 connects the second robot arm 346, the cam angle sensor 348, and the cam lens 350 and can adjust the angle of the cam lens 350. Therefore, the angular radius of the cam lens 350 is 0 based on the upper part of the moving plate 332. from 135 It can be adjusted by the controller 400 within a range.

In particular, the wire-based unmanned body position control system equipped with the RoboCam 320 and the RoboCam socket 310 can capture images while minimizing the space that cannot be captured (blind spots) between the bridge girders 120 and the girders. there is.

In addition, the cam lens 350 can control focus, aperture, and ISO (International Standard Organization), which indicates the sensitivity of the cam to light, by the controller 400, and this can be linked to external terminals, including mobile phones, to enable user Of course, it can be controlled manually by .

The method of acquiring images for bridge underside inspection using a 3-axis degree-of-freedom camera system (image acquisition unit) will be described in detail as follows. Figure 7 shows a block diagram of a method for acquiring images for inspection of the lower surface of a bridge using a 3-axis degree-of-freedom camera system according to the present invention.

Specifically, the image acquisition method is 'moving the winch device and installing the support structure (S101)', 'installing the wire guiding member (S102)', 'Robocam socket-wire installation (S103)', 'Robocam installation (S104)' )', and if the bridge is inspected (S105)', it can be done in that order.

The winch device movement and support structure installation (S101) is the step of placing the winch device at four locations on one side and the other side of the bridge and installing the support structure, which can be called the winch installation step (S101).

In detail, the wire-based unmanned body position control system can be largely composed of four winch devices, and the positional relationships of the first winch device, the second winch device, the third winch device, and the fourth winch device are as follows.

The first winch device may be attached to one side of the bridge, and the first wire 271 connected to the first winch device and the unmanned object 300 may be controlled by the controller 400.

The second winch device may be attached to one side of the bridge at a certain distance from the first winch, and the second wire 272 connected to the second winch device and the unmanned object 300 is connected by the controller 400. It can be controlled.

The third winch device may be attached to a position corresponding to the first winch on the other side of the bridge. Additionally, the third wire 273 connected to the third winch device and the unmanned object 300 may be controlled by the controller 400.

The fourth winch device may be attached to a position corresponding to the second winch on the other side of the bridge. Additionally, the fourth winch device and the fourth wire 274 connected to the unmanned vehicle 300 may be controlled by the controller 400.

The winch installation step (S101) may include installing the winch 210 and a structure supporting the winch 210. As described above, the structure supporting the winch 210 consists of an anchoring 220, a winch mount 230, a winch mount connection 240, a guide frame 250, a guide frame support 260, and a wire guide roller 270. It can be.

The wire guiding member installation (S102) is a step of installing a wire guiding member that can guide the wire to the lower surface of the bridge to the winch device, and can be referred to as the 'guiding member installation step' (S102). Although not shown in the drawing, the guidance member installation step (S102) can be divided into independent type and bridge attached type.

The independent type according to an embodiment of the present invention refers to a type in which a guiding member is first installed on a wire connected to a winch device, and the wire is guided to the lower surface of the bridge through the installed wire guiding member.

The bridge attachment type according to another embodiment of the present invention refers to a type in which a wire guiding member is first installed on the lower surface of the bridge, and the wire connected to the winch device is guided to the lower surface of the bridge through the wire guiding member.

The RoboCam socket-wire installation (S103) is a step of connecting the RoboCam socket 310 and the wire so that the RoboCam socket 310 is located at the bottom of the bridge, and can be referred to as the connection step (S103). The wires connected to the first winch device, the second winch device, the third winch device, and the fourth winch device can be connected to the four corners of the RoboCam socket 310.

Specifically, the first wire 271 may be fixed to the top of the first wire fixture 311 provided in the RoboCam socket 310 using a linker.

Additionally, the second wire 272 may be fixed to the top of the second wire fixer 312 provided in the RoboCam socket 310 using a linker.

In addition, the third wire 273 can be fixed to the top of the third wire fixer 313 provided in the RoboCam socket 310 using a linker.

In addition, the fourth wire 274 can be fixed to the top of the fourth wire fixer 314 provided in the RoboCam socket 310 using a linker.

In addition, the method of fixing the wire to the RoboCam socket 310 in the fastening step (S103) can be performed in various ways depending on the conditions of the field in addition to the linker described above.

The RoboCam installation (S104) is a step of moving the RoboCam socket 310 to the outermost side of the bridge and installing the RoboCam 320 inside the socket, which can be referred to as the RoboCam installation step (S104). When installing the RoboCam 320, the RoboCam 320 can be installed so as not to interfere with the fixed plate 316 when the moving plate 332 is raised and lowered by the elevation system 330. It is preferable that the bellows frame 333 of the elevation system 330 is installed first, and a device for mounting image collection and management software is installed in the remaining space inside the socket.

Bridge bottom inspection (S105) is a step in which images for bridge bottom inspection are acquired by controlling the position of the RoboCam socket 310 and the robot arm and robot joints of the RoboCam through the wire-based unmanned body position control system 200. It can be called the bridge inspection stage (S105).

Specifically, the position of the RoboCam 320 can be adjusted by controlling the Roboarm and robot joints using the controller 400, and the image acquisition unit 340 of the RoboCam 320 can capture images even in a narrow space on the underside of the bridge. possible. As shown in FIG. 5, the wire-based unmanned body position control system can approach close to the bridge girder 120 with the moving plate 332 in contact with the fixed plate 316. Thereafter, as shown in FIG. 6, the wire-based unmanned body position control system can adjust the height of the image acquisition unit 340 using the elevation system 330 to acquire images for inspection of the bridge bottom.

At this time, control of the robot arm and robot joints, and control of the wire-based unmanned body position control system can be controlled to operate automatically according to the previously entered path. In addition, the robot arm, robot joint, and wire-based unmanned body position control system can be linked in real time with external terminals, including mobile phones, so that the user can manually control the robot arm, robot joint, and wire-based unmanned body position control system. You can control it.

The present invention described above is for illustrative purposes, and those skilled in the art will understand that it can be easily modified into other specific forms without changing the technical idea or essential features of the present invention.

In other words, although the present invention has been described with reference to various embodiments, it is not limited thereto, and it is natural that anything that can be reasonably interpreted from the scope of the rights of the present invention falls within the scope of the rights of the present invention. The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modified forms derived from the meaning and scope of the claims and the equivalent concept should be construed as being included in the scope of the present invention. .

100: bridge 110: slab
120: girder 130: pier
200: Position control system
210: winch 220: anchoring
230: winch mount 240: winch mount connection part
250: guide frame 260: guide frame support
270: Wire guide roller 271: First wire
272: 2nd wire 273: 3rd wire
274: Fourth wire 300: Unmanned object
310: Robocam socket 311: 1st wire fixture
312: 2nd wire fixture 313: 3rd wire fixture
314: Fourth wire fixture 315: Socket opener
316: Fixing plate 317: Socket body
318: UWB RTLS device 320: Robocam
330: Elevation system 331: Elevator pin guide
332: moving plate 333: bellows frame
334: Long hole 335: Frame moving pin
336: Frame fixing pin
340: Image acquisition unit 341: Fixation stand
342: lighting stand 343: cam lighting
344: 1st robot arm 345: 1st robot joint
346: 2nd robot arm 347: 2nd robot joint
348: Cam angle sensor 350: Cam lens
400: Controller

Claims (10)

An unmanned object connected by four wires and located at the bottom of the bridge, with a cam attached to the top that can be raised and lowered, and capable of acquiring images of the underside of the bridge; and
It includes a position control system that is attached to one side of the bridge and connected to the unmanned object by a wire, and can control the position of the unmanned object by adjusting the length of the wire,
The position control system is,
A first winch device attached to one side of the bridge and capable of controlling a first wire connected to the unmanned object;
a second winch device attached to one side of the bridge while being spaced apart from the first winch by a predetermined distance and capable of controlling a second wire connected to the unmanned object;
A third winch device attached to the other side of the bridge at a position corresponding to the first winch and capable of controlling a third wire connected to the unmanned object; and
It includes a fourth winch device attached to the other side of the bridge at a position corresponding to the second winch and capable of controlling a fourth wire connected to the unmanned object,
The first winch device, the second winch device, the third winch device, and the fourth winch device,
A winch fixed to the inner peripheral surface of a bridge railing and having a pulley structure therein capable of winding a wire connected to the unmanned object;
a wire guide roller capable of adjusting the length of a wire connected to the unmanned object while moving up and down on the outer peripheral surface of the bridge railing;
a guide frame installed outside the wire guide roller and connected to the wire guide roller to guide movement; and
Each includes a winch mount attached to the top of the bridge railing and connecting the winch and the guide frame,
The wire guide roller is provided with a pulley structure capable of winding a wire connected to the unmanned object and moves up and down along the guide frame to adjust the length of the wire,
The unmanned object is,
Robocam equipped with a cam that can take images for inspection of the underside of the bridge; and
A RoboCam socket is formed in the shape of a basket that forms the lower part of the RoboCam, and a device for mounting image collection and management software is installed therein, and the upper part of the basket is comprised of a fixed plate and a moving plate,
The robocam is,
An elevation system installed inside the RoboCam socket and connected to the lower end of the moving plate to elevate and lower the moving plate within a certain height range; and
A cam light is fixed to the top of the moving plate, the cam light and a first robot arm, a first robot joint, a second robot arm, and a second robot joint are sequentially connected, and a cam angle sensor is installed at the end of the second robot joint. It is equipped with an image acquisition unit equipped with a cam lens that can capture images for inspection when bridged on the top of the cam angle sensor;
A wire-based unmanned body position control system, wherein the image acquisition unit constructs a 3-axis degree-of-freedom camera system.
delete delete delete delete According to clause 1,
The image acquisition unit,
A wire-based unmanned body position control system, characterized in that the image captured through the cam lens can be transmitted to a device equipped with the image collection and management software and stored in memory.
According to clause 1,
The cam lens is,
Height can be adjusted by the elevation system, and 360 degrees can be adjusted by the second robot arm. A wire-based unmanned body position control system that is rotatable.
In the method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system of the wire-based unmanned body position control system according to claim 1,
A winch installation step of placing winch devices at four locations on one side and the other side of the bridge and installing a support structure;
A guiding member installation step of installing a wire guiding member capable of guiding a wire to the lower surface of a bridge to a winch device;
A fastening step of fastening the RoboCam socket and the wire so that the RoboCam socket of the unmanned object is located at the lower part of the bridge;
A RoboCam installation step of moving the RoboCam socket to the outermost side of the bridge and installing the RoboCam in the socket;
A bridge inspection step of controlling the position of the RoboCam socket and the robot arm and robot joint of the RoboCam through a wire-based unmanned body position control system to acquire an inspection image from the bottom of the bridge;
A method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system, comprising:
According to clause 8,
The guiding member installation step is,
A method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system, characterized in that the wire guiding member is installed on the bridge instead of installed on the winch device.
According to clause 9,
The bridge inspection step is,
It includes automatically operating the position of the RoboCam socket and the robot arm and robot joint of the RoboCam according to a pre-entered path, or
A method of acquiring images for inspection of the underside of a bridge using a 3-axis degree-of-freedom camera system, which includes being operated manually in conjunction with an external terminal.

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