KR20070068788A - Measurement system of pipe, the measuring method therewith and sensor fixing device - Google Patents

Abstract

A pipe measuring system, a pipe measuring method and a sensor fixing device are provided to prevent damage to cables by connecting the cables to a movable robot unit via a roller. A pipe measuring method includes a step(S10) of inputting construction data; a step(S20-1,S20-2) of retrieving construction data, combining pipe measurement data with the construction data, and storing the combined data with a file name; a step(S30) of retrieving the stored file; a step(S40-1,S40-2) of retrieving a still image for the repaired part with the corresponding distance, and inputting maintenance data; and a step(S50-1,S50-2) of storing data on the still image, corresponding distance, and input maintenance status as an abnormality report or maintenance report.

Description

Measurement system of pipe, The measuring method therewith and Sensor fixing device}

1 schematically illustrates a pipeline measurement state according to the prior art.

Figure 2 schematically shows a pipeline measurement system according to the prior art.

3 schematically illustrates a pipeline measurement state using a pipeline measurement system according to a preferred embodiment of the present invention.

Figure 4 is a perspective view showing a sensor fixing device of the pipeline measuring system according to a preferred embodiment of the present invention.

FIG. 5 is an enlarged perspective view of a moving part of the sensor fixing device illustrated in FIG. 4.

6 is an exploded perspective view of the sensor fixing unit moving part of FIG. 5.

Figure 7 is an enlarged perspective view of the twist prevention portion.

8 and 9 are schematic cross sectional views along the line A-A of FIG.

10 is a perspective view showing another example of the sensor fixing device.

11 schematically shows a flowchart of a pipeline measuring method according to the present invention.

Figure 12 shows an example of the measurement module of the program in the pipeline measurement according to the present invention.

Figure 13 shows an example of the report generation module of the program when measuring the pipeline according to the present invention.

14 shows an example of an abnormal report or a repair report produced by the pipeline measuring system according to the present invention.

15 shows an example of a pop-up window.

** Description of Drawing Major Symbols

10: main controller 20: sensor fixing device

23 support 25 lower rod

27: side plate 28: roller

29: guide rod 31: housing

32: handle 33: worm housing

38: guide 39: elastic portion

41: moving handle 43: sensor fixing

45: sensor 60: kink prevention part

61: fixed portion 63: annular portion

The present invention relates to a pipeline measurement system, pipeline measurement method and sensor fixing device for measuring sewage or water supply pipe, and more specifically, it is possible to accurately and easily measure and derive a repair report or an abnormal report directly from the measurement data. The present invention relates to a pipeline measuring system, a pipeline measuring method, and a sensor fixing device.

Pipe line means water pipes, sewer pipes, oil pipelines, etc. buried underground. In case of damage or damage to the pipeline, sewage, sewage, oil or water is leaked from the pipeline to pollute the pipeline and cost is lost due to leakage itself. Check the pipe for abnormality, repair it if there is any problem, and check whether it is properly completed after the repair.

FIG. 1 schematically shows a state of measuring a conduit 2000 using a pipeline measuring system 100 according to the prior art, and FIG. 2 schematically illustrates a pipeline measuring system 100 according to the prior art. .

As shown in FIG. 1, the pipeline measuring system 100 according to the related art includes a main controller 110 for controlling an illumination state, a forward reversal, and the like of the mobile robot unit 150, and a control of the main controller 110. The mobile robot unit 150 is configured to measure the state of the pipeline 2000 while traveling in the pipeline 2000. The main controller 110 wirelessly controls the mobile robot unit 150, but is connected to a control signal and a cable 167 for supplying the power required by the mobile robot unit 150 as shown in FIG. 1.

In order to accurately measure the traveling distance of the mobile robot unit 150, the mobile robot unit 150 is provided with an ultrasonic transmitting device 156, and the main control unit 110 is an ultrasonic receiving device through a receiving cable 169. 145 is connected, and receives the signal transmitted from the ultrasonic transmitting device 156 of the mobile robot unit 150 to measure the moving distance of the mobile robot unit 150. In FIG. 1, reference numeral 167 illustrates a receiving cable connecting the ultrasonic wave receiving device 45.

As shown in FIG. 2, the main control unit 110 controls a power source 111 for supplying power required for the pipeline measurement system 100, a moving picture data or a distance measurement data measured by the mobile robot unit 150, and the like. A display unit 112 controlled to display through the display unit 118, a calculation unit 113 for receiving the distance measurement data and calculating the actual distance, a storage unit 114 for storing the calculation result or moving image data and a program, and An input unit 115 such as a keyboard to input, an ultrasonic receiver 145 for receiving an ultrasonic signal transmitted from the mobile robot 150, and a controller 118 for controlling the components.

The mobile robot unit 150 is a driving unit 151 which is driven by the power and the control signal received from the main control unit 118, the camera driver 152 for changing the direction of the camera, and converts the signal to send an ultrasonic signal An ultrasonic transmitter 156, a photographing unit 153 which is driven by the camera driving unit 152 to record moving image data, a measuring unit 155 which measures the inclination of the conduit 2000, and provides illumination when photographing. The lighting unit 154 and the robot control unit 158 for controlling and transmitting the control signal received from the main control unit 118 to each of the above configuration.

The ultrasonic receiving apparatus 145 and the ultrasonic transmitting apparatus 156 shown in FIG. 1 are for measuring the moving distance of the mobile robot unit 150, and a detailed measuring method thereof is described in Korean Patent No. 10-0486029.

The procedure and method for measuring the condition of a pipeline using the pipeline measurement system 100 according to the related art as described above will be described.

Receiving an order for abnormality investigation or repair work for pipelines such as water and sewage or oil pipelines in a certain section from a government office, etc., a mobile robot connected to the main control unit 110 through a manhole in the pipeline section as shown in FIG. 1. Injecting the unit 150 into the conduit 2000, and moving the moving robot unit 150 while photographing the inside of the conduit 2000, by measuring the moving distance and the angle of the moving robot unit 150 with a video image Save it.

In addition to the stored video image, distance measurement data, and angle measurement data (hereinafter referred to as 'measurement data'), input construction information and pipeline information (hereinafter referred to as 'construction data'), and input the measurement data and input. Based on the data, the pipeline (2000) measurement report is prepared and submitted to the government office.

However, the pipeline measurement system 100 as described above enters the construction data into the measurement data at the stage of writing a report after completing the measurement, when combining a construction data that does not match the measurement data when performing a plurality of constructions There was a problem to input the construction data once again in the report preparation phase. On the other hand, since the cable 167 is in contact with the edge of the conduit 2000, the cable 167 may be damaged, and the cable 167 and the receiving cable 169 may be tangled or twisted with each other to be measured. The operation was interrupted, and there was a problem in that the receiver 145 could not be accurately positioned at the center of the conduit 2000.

The present invention is to solve the above problems, by inputting the construction data in the step before the start of the pipeline measurement work can match the measurement data and construction data, combined with the measurement data and construction data with the completion of the measurement It is enough to input the construction data once because it can be saved and extract the report from the measurement result, and it is possible to prevent the cable and the receiving cable from being tangled or twisted together, and the receiver can always be located in the center of the pipeline. It is an object of the present invention to provide a pipe measuring system, a pipe measuring method, and a sensor fixing device capable of significantly shortening the adjustment time of the upper rod and the lower rod.

The present invention is designed for the above purpose, by combining the measurement data and construction data by measuring the pipeline with a pipeline measurement system consisting of a main control unit, a sensor fixing device, a mobile robot unit, a pipeline measurement report preparation program according to the present invention. In the recording and storing method,

Obtaining and inputting construction data;

Importing the input construction data, combining the measurement data measuring the pipeline with the construction data, and storing the same by giving a filename;

Importing files stored in a combination with the construction data in the step;

Extracting, from the moving picture data, the still image of the part having the pipeline or the repaired portion together with the corresponding distance, and inputting the abnormality or the repair status;

By storing the data on the still image, the corresponding distance, the input abnormality or repair status, the angle profile according to the distance, the abnormal or repair partial still image, the abnormality report or repair indicating the distance, abnormality or repair status corresponding to the image Characterized in that the step consists of extracting and storing as a report,

In the step of importing the inputted construction data, combining the measurement data measured by the pipeline with the construction data and giving a file name and storing the measurement data, the measurement data is recorded and stored in the audio storage of the video storage medium, and the video is reproduced. Playback with the poem video,

In addition, in the step of importing the inputted construction data, and storing the measurement data measuring the pipeline with the construction data and giving a file name, the measurement data is the data block of the 21st scan line when scanned by NTSC method It is characterized in that it is stored to be loaded and displayed on.

And the report extracted in the above is a display section for displaying the construction data and pipeline data in the upper section, a pipeline display section in which the inclination angle profile of the pipeline according to the entire length of the pipeline in the lower center portion, and the pipeline display section A still image column for displaying a still image of a pipeline to both sides, and a lower portion of each of the still image column has an abnormality display column for indicating whether or not the user has entered an error or not, the inclination profile of the bureau display field Still image fields of the moving distance are connected by a leader line.

On the other hand, in the pipeline measuring system consisting of the main control unit, the mobile robot unit, and the sensor fixing device of the present invention, the sensor fixing device includes a support having one or more lower rods extended; A roller rotatably connected to the support by a side plate; A guide rod extending from the support and having a rod gear portion; It is installed to be movable up and down along the guide rod, characterized in that consisting of a moving part having an upper rod,

The sensor is further provided with a sensor installed in the sensor, the sensor has a built-in temperature sensor to compensate for the distance error due to the temperature change in the pipeline during ultrasonic distance measurement, characterized in that for measuring the internal temperature of the pipeline,

A guide having an upper rod, a through hole and a side opening formed therein and inserted into the guide rod; A worm housing in which a vertical hole, a worm wheel opening portion connected to the vertical hole, and a worm shaft hole are formed; A worm wheel rotatably installed in the vertical hole and having a worm shaft, and a worm wheel rotatably installed in the worm wheel opening part and engaged with the rod gear part through a side opening; It is characterized in that the worm housing and the guide is assembled to the housing formed with a shaft hole,

A pivot hole is formed in the housing, and a pivot screw groove is formed in the guide. The housing is rotatably connected to the guide by a pivot screw, and further includes an elastic part connected to the housing and the guide.

And it characterized in that it further comprises a twist prevention portion consisting of a fixing portion formed with a through hole at the end of the guide rod, and an annular portion formed integrally with the fixing portion.

On the other hand, the sensor fixing device used in the pipeline measuring system includes a support formed with one or more lower rods extending; A roller rotatably connected to the support by a side plate; A guide rod extending from the support and having a rod gear portion; It consists of a moving part,

A guide having an upper rod, a through hole and a side opening formed therein and inserted into the guide rod; A worm housing in which a vertical hole, a worm wheel opening portion connected to the vertical hole, and a worm shaft hole are formed; A worm wheel rotatably installed in the vertical hole and having a worm shaft, and a worm wheel rotatably installed in the worm wheel opening part and engaged with the rod gear part through a side opening; The worm housing is assembled to the guide and is characterized in that it comprises a housing formed with a shaft hole,

A magnet mounted on the side of the roller and a magnetic sensor on the side plate may measure the moving distance by the rotation of the roller according to the movement of the mobile robot.

Hereinafter, a pipeline measuring system, a pipeline measuring method, and a sensor fixing apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the detailed description, the same name is used for a configuration having the same function as the prior art.

3 schematically illustrates a state in which the pipeline 2000 is measured by the pipeline measurement system 1 according to a preferred embodiment of the present invention. As shown in FIG. 3, the pipeline measuring system 1 according to the present invention includes a main control unit 10, a sensor fixing device 20, and a mobile robot unit 50. The mobile robot parts 50 are connected to each other by a cable 67 via the roller 28 of the sensor fixing device 20. The cable 67 supplies power required for the mobile robot 50 and transmits a control signal of the main controller 10 to the mobile robot 50. The receiving sensor 45 installed in the sensor fixing device 20 is connected to the main control unit 10 through the receiving cable 69. The sensor 45 has a built-in temperature sensor to measure the internal temperature of the sewage pipe and to correct the distance error according to the temperature during the ultrasonic distance measurement.

In FIG. 3, reference numeral 56 shows a transmitter that transmits an ultrasonic signal by a control signal of the main controller 10.

The main controller 10 includes a power supply unit, a display unit, a calculation unit, a storage unit, an input unit, and a control unit similar to the related art, and the mobile robot unit 50 also includes a driving unit, a camera driving unit, a photographing unit, a lighting unit, a measuring unit, and a transmitting unit. Although, it is made of a control unit, the operation of each component is similar to the prior art, and thus detailed description thereof will be omitted.

4 is a view illustrating a sensor fixing device 20 of a pipe measuring device 1 according to a preferred embodiment of the present invention, and FIG. 5 is an enlarged view of the moving part 30 of the sensor fixing device 20 of FIG. 4. 6 is an exploded view of the moving part 30 of the sensor fixing device 20 of FIG. 4.

As shown in Figures 4 to 6, the sensor fixing device 20 of the pipeline measuring device 1 according to a preferred embodiment of the present invention includes a support 23 having one or more lower rods 25, and The side plate 27 is fixed to both sides of the support 23 to rotatably connect the roller 28, and the roller 28 is rotatably connected to the side plate 27. In FIG. 4, 27a shows a side plate groove formed in the side plate 27, and installing a rotary encoder in the side plate groove 27 a and measuring the moving distance of the mobile robot unit 50 by the rotation of the roller 28. It is possible. As shown in FIG. 3, the lower rod 25 is inserted into the conduit 2000 to be in contact with an inner side surface of the conduit 2000.

By attaching a magnet to the side of the roller 28 made of synthetic resin and nonferrous metal, and attaching a magnetic sensor to the side plate 27 to generate an electrical signal when the roller 28 rotates, ultrasonic distance measurement due to immersion, etc. It is also possible to measure the travel distance when it is not possible.

A guide rod 29 extends vertically from the support 23, and a rod gear portion 29a is formed in the guide rod 29. The moving part 30 moves up and down along the guide rod 29.

The moving part 30 includes a housing 31, a worm housing 33, and a guide 38. The guide 38 is inserted into the guide rod 29 to move up and down along the guide rod 29. The guide 38 is formed with a through hole 38a into which the guide rod 29 is inserted, and a side opening 38b connected to the through hole 38a in a lateral direction is formed, and an upper rod in one direction. 38d.

As shown in FIG. 3, the upper rod 38d is also inserted into the conduit 2000 to contact the inner side of the conduit 2000 to measure the conduit 2000.

The worm housing 33 is installed in the direction in which the side opening portion 38b of the guide 38 is formed, and the worm housing 33 has a vertical hole 33a formed therein and is connected to the vertical hole 33a. Um wheel opening 33b is formed. The worm 35 is rotatably installed in the vertical hole 33a, and the worm shaft 34 extends through the worm shaft hole 33d and the shaft hole 31c of the housing 31 from the worm 35. . The worm wheel 37 is rotatably installed in the worm wheel opening 33b, and the worm wheel 37 is engaged with the worm 35, and when the worm shaft 34 is rotated, the worm wheel 35 passes through the worm 35. The worm wheel 37 is also rotated.

The guide 38 and the worm housing 33 are connected by the housing 31. A shaft hole 31c is formed in the housing 31, and two or more screw holes 31a for connecting to the worm housing 33 and the guide 38 are formed. The worm housing 33 is formed with a screw hole 33c corresponding to the screw hole 31a.

The housing 31 and the worm housing 33 may be coupled by welding as well as screws, but are preferably screwed in order to be detachable. Preferably, the housing 31 and the guide 38 are rotatably coupled to a pair of pivot screws 36b.

It is preferable that the handle 32 is attached to the worm shaft 34 protruding through the worm shaft hole 33d and the shaft hole 31c to facilitate rotation.

When the guide 38 and the worm housing 33 are coupled to the housing 31 as described above, the worm wheel 37 engages with the rod gear part 29b of the guide rod 29 through the side opening 38b. Done.

When the handle 32 is rotated in the engagement state as described above, the worm 35 is rotated by the worm shaft 34, and the worm wheel 37 engaged with the worm 35 is rotated and thus the guide rod 29 The moving part 30 moves up and down along the rod gear part 29a of the upper side, and the upper rod 38d is adjusted by adjusting the distance between the upper rod 38d and the lower rod 25 by the vertical movement. While the lower rod 25 is in contact with the inner surface of the conduit 2000, to fix the sensor fixing device 20 to the conduit 2000.

4 to 6, 41 shows a movement knob for adjusting the position of the sensor 45, 43 shows a sensor fixing portion formed integrally with the movement knob and the sensor 45 is fixed, 48 Shows a support plate for installing the movable handle to be movable up and down.

A support groove 38e is formed in the guide 38 in the longitudinal direction, and the movement handle 41 moves up and down in a space formed by the support groove 38e between the support plate 48 and the guide 38. Inserted as possible.

The receiving cable 69 connected to the sensor 45 may be connected to the main control unit 10, and as shown in FIG. 4, between the housing 31 and the worm housing 33 and / or the guide 38. It is also possible to install an amplifier (not shown) in the space formed in and connected to the main controller 10 via the amplifier.

In the above, the sensor fixing device 20 or the mobile robot 50 is provided with a temperature sensor (not shown), and the main controller 10 is provided with a temperature compensating circuit (not shown), so that the ultrasonic transmitter 56 is provided. It is preferable to accurately measure the moving distance of the mobile robot unit 50 by correcting the result measured by the sensor 45.

In FIG. 4 and FIG. 7, 61 shows a fixing part in which a through hole 61a is formed, and 63 shows an annular part integrally formed with the fixing part 61 via a cable 67 or a signal cable 69. One, 60 shows the twist prevention portion consisting of the fixing portion 61 and the annular portion (63).

As shown in FIGS. 4 and 7, a male screw portion 29b is formed at an upper end of the guide rod 29, and the male screw portion 29b is inserted into the through hole 61a of the fixing portion 61. And tightening the fastening nut 66 to the male screw portion 29b to install the twist prevention portion 60, and the cable 67 and the receiving cable 69 to each of the annular portions 63 of the twist prevention portion 60. By passing through), it is possible to prevent the cable 67 and the receiving cable 69 from being entangled or twisted together during the measurement operation of the pipeline 2000. In FIG. 7, reference numeral 66a shows a female thread part of the fastening nut 66.

8 and 9 are schematic cross sectional views along the line A-A of FIG.

As shown in FIG. 8, the worm 35 accommodated in the worm housing 33 is engaged with the worm wheel 37 through the vertical hole 33a, and the worm wheel 37 is disposed on the side of the guide 38. It is engaged with the rod gear portion 29a formed in the guide rod 29 through the formed side opening 38b. When the knob 32 is rotated in the engaged state as described above, the worm 35 is rotated, and when the worm 35 is rotated, the worm wheel 37 engaged with the worm 35 is rotated, and the worm wheel 37 is rotated. In accordance with the rotation of the housing 31, the worm housing 33, the moving portion 30 consisting of the guide 38 moves up and down along the guide rod 29, formed integrally with the guide rod 38 The upper rod 38d is also moved up and down.

In FIG. 8 and FIG. 9, 39 shows an elastic part, and 39a shows an elastic part fixing screw. As shown in FIGS. 8 and 9, one side of the elastic part 39 is fixed to the guide 38 by an elastic part fixing screw 39a, and the other side is fixed to the housing 31.

4 and 6, the housing 31 and the worm housing 33 are integrally connected by two or more screws 36a, and the housing 31 is a pair of pivot screws 36b. It is rotatably connected to the guide 38 around the pivot screw (36b) by.

As shown in FIG. 8, the worm wheel 37 and the rod gear part 29a maintain the engagement state by the elasticity of the elastic part 39 in the connection state of the housing 31 and the guide 38 as described above. do.

When the housing 31 is rotated clockwise by applying an external force to the housing 31 in the state as shown in FIG. 8, the housing 31 and the worm housing 33 rotate clockwise about the pivot screw 36b. As shown in Fig. 9, the engagement between the worm wheel 37 and the rod gear portion 29a is released. When released to the engagement, the moving part 30 consisting of the housing 31, the worm housing 35, and the guide 38 is freely movable up and down and can freely move the upper rod 38d up and down. Will be.

In the case where the diameter of the conduit 2000 and the gap between the upper rod 38d and the lower rod 25 (hereinafter referred to as 'rod spacing') are large, as shown in FIG. Rotate clockwise to release engagement of worm wheel 37 and rod gear portion 29a, and move upper rod 38d to adjust rod spacing to match diameter of conduit 2000, acting on housing 31 By removing the external force to return the worm wheel 37 and the rod gear portion 29a to the engaged state and by rotating the handle 32 it is possible to adjust the rod spacing to contact the inner surface of the conduit 2000 with a suitable pressure.

Therefore, as described above, the housing 31 is rotatably connected to the guide 38, and the elastic part 39 is provided to significantly reduce the time and effort for adjusting the rod gap to match the diameter of the conduit 2000. do.

6 shows a tension spring as the elastic portion 39. It is also possible to form the elastic portion 39 by generating a tension such as rubber.

10 shows another example of the sensor fixing device. As shown in FIG. 10, one end of the moving handle is fixed to the guide rod 29 and the other end of the wire 42 is fixed to the guide 38. In addition, the sensor fixing portion may be formed of the sensor fixing sheave 44. As shown in FIG. 10, when the sensor 45 is fixed to the sensor fixing sheave 44 and the moving part 30 is moved up and down by the handle 32, the displacement of the sensor fixing sheave 44 is the displacement of the moving part 30. 1/2, so that the sensor 45 can be positioned at the center of the conduit 2000 without having to adjust the position of the sensor 45 separately.

10 to 46 show the guide for allowing the sensor fixing sheave 44 to move up and down stably, 47 shows a weight to generate a load on the sensor fixing sheave 44 in the downward direction. The weight 47 may be formed of an elastic body connected to the sensor fixing sheave 44 and the support 23.

FIG. 11 schematically shows a flow chart of a pipe measuring method according to the present invention, FIG. 12 shows an example of a measuring module of a pipe measuring program provided in the pipe measuring device 1 according to the present invention, and FIG. An example of a report generation module of a pipeline measurement report preparation program according to the present invention is shown, and FIG. 14 illustrates an example of an abnormality report or a maintenance report generated by the pipeline measurement system according to the present invention.

The pipeline measuring system 1 according to the present invention includes a storage unit (not shown), as in the prior art, and includes a pipeline measurement module 70 as shown in FIGS. 12 and 13 and a report. A pipeline measurement report preparation program comprising a generation module 80 is stored, and the abnormality report or the maintenance report as shown in FIG. 14 is automatically generated and generated by performing the above module.

When receiving a pipeline measurement request from a government office, it obtains construction information consisting of construction name, construction period, ordering party, etc., and obtains pipeline information consisting of pipeline number, start manhole number, end manhole number, pipe type, specification, drainage method, etc. .

When the pipeline measuring system 1 is installed in the pipeline 2000 to be measured as shown in FIG. 3 and the pipeline measurement report preparation program is operated, the measurement module 70 as shown in FIG. 12 is displayed on the display unit (not shown). Not displayed). In the construction information field 73 and the pipeline information field 77, the construction information and the pipeline information may be inputted, or by clicking the open button 74, the construction information and the pipeline information obtained when requested from a public office may be called. have.

After importing or inputting construction information and pipeline information as described above (S10), when the CAM ON button 78a is clicked, a command is transmitted to the mobile robot unit 50 through a control unit (not shown) and the lighting is 'ON'. And the camera is operated to display the video information in the video information field 76 of the measurement module 70. At this time, the ultrasonic transmission command is transmitted to the mobile robot unit 50 through the control unit, the ultrasonic wave is transmitted from the ultrasonic transmitter 56, the ultrasonic wave is received by the sensor 45, and the operation unit (not shown) calculates the distance, The measured distance data is displayed together with the image information in the distance data field 76a of the image information field 76. Similarly, the angle of the conduit 2000 is also measured and calculated and displayed together in the angle data field 76b. Since the said angle measuring means is as having described in Utility Model No. 20-0326566, detailed description is abbreviate | omitted.

In the above state, the lighting may be adjusted by clicking the light adjustment button 79a, or the camera (not shown) may be adjusted by clicking the camera adjustment button 79b.

After the measurement preparation is completed as described above, when the start button 78a of FIG. 12 is clicked, the photographed video data, the distance data and the angle data are stored in a temporary storage unit (not shown) (S20-1). Upon completion, the video data, distance data, and angle data are combined and stored in a storage unit (not shown) forming the main control unit 10 (S20-2).

For example, the distance data and the angle data can be synchronized with the video data to be combined with the video data storage part and combined with the video data. When scanned with the NTSC-type CRT, the data block of the 21st scan line is loaded and displayed. It is also possible to save it with a video.

The combined measurement result may be automatically saved by clicking the save button 78d as a file name, or may be modified by storing a file name in the pop-up menu shown in FIG. 15. The pop-up menu shown in FIG. 15 is a conventionally known technique, and a detailed description of the pop-up menu is omitted.

In FIG. 12, reference numeral 78c denotes a button for temporarily stopping image capturing, movement of the mobile robot 50, and the like, and 79d illustrates a button for adjusting a shooting direction of the camera.

When the storage is completed as described above, activate the report generation module 80, and when the combined measurement results stored in the step (S20) (S30), construction information is displayed in the construction information field (83). In FIG. 13, the pipeline information field is omitted, but when the combined measurement result is loaded, the pipeline information is also loaded with the construction information.

When the combined measurement result is retrieved by the report generation module 80, the image information is displayed in the image information field 86, and the distance data and the angle data combined with the image information are respectively the distance data field 86a. ) And angle data fields 86b.

When the moving picture data and the distance data and the angle data are displayed, if there is an abnormality such as damage or damage to the pipe portion, when the stop button 88c is clicked, the still picture from the moving picture data is displayed in the video information field 86 and corresponding stop The distance and angle corresponding to the image are displayed in the distance data field 86a and the angle data field 86b. The distance data is also displayed in the report input field 87 (S40-1). In such a state, the user inputs the above-mentioned repair contents directly into the report input field 87 (S40-2). After the input is completed, when the capture button 88b is clicked, the still image, the distance, and the user's input are combined and stored in the temporary storage unit as one report data (S50-1).

After capturing is completed, clicking the forward button 88a displays the video data and the distance and angle data in the video information field 86. When the abnormal part is identified again, the report data is extracted in the same manner as described above. S50-2).

When the steps from the measurement to the report extraction and storage are summarized, first, the pipeline measuring system 1 is installed in the pipeline 2000 to be measured for the contracted project, and the construction information and the pipeline information are imported or input (S10). ; When the measurement preparation is completed as described above, the video data, the distance data and the angle data are stored in the temporary storage unit (S20-1), and when the measurement is completed, combining the video data and the distance data and the angle data to the main control unit ( Storing (S20-2) the storage in the storage unit 10) (S20); Activating the report generation module 80 and retrieving the combined measurement result stored in the step S20 (S30); Extract the distance data and the angle data corresponding to the still image and the still image of the abnormal part or the repair part from the combined measurement result (S40-1), and input the abnormal state or the repair state into the report input field 87 (S40-). 2) step (S40); After the input is completed, click the Capture button 88b to combine the still image, distance, and user's input and save it to the temporary storage (S50-1), and click the Save button 88e to save the report data. Extraction (S50-2) consists of a step (S50).

In FIG. 13, 88d shows a reverse button. When the user cannot extract report data of a part having an abnormality, the user returns to the abnormal part again, and 89 is a speed for adjusting the speed of forward or backward. The control button is shown.

As described above, when the extraction of one or more report data on the damaged part or the repair work part of the pipeline is completed and stored in the temporary storage unit, click the save button 88e of FIG. 13 and click the save button 88e. By the report data is sorted in ascending order of distance, it is combined into a report (S50).

In FIG. 13, 84 shows an open button for importing a combined and stored file, and 85 shows a close button for closing a loaded file by clicking the open button when a wrong selection is made.

As shown in FIG. 14, the report may be prepared as a report indicating whether there is an abnormality and a report indicating a repair status. The upper part of the report includes a display section 93 in which construction data and pipeline data are displayed. And a pipe line display field 97 in which the inclination angle profile 97a of the pipe line is displayed along the entire length, and a still image field 96 for displaying still images of the pipe on both sides of the pipe line display 97. In addition, an abnormality display field 96a is formed at one lower side of the still image field 96 to indicate whether or not the user inputs an abnormality or maintenance. 14 to 98 show leader lines connecting still images of the distance from the corresponding distance in the bureau display field 97.

In the case of measuring a pipeline using the pipeline measuring system 1 according to the present invention, as shown in FIG. 14, the slope profile of the pipeline according to the measured length (moving distance) of the pipeline is displayed so that the gradient of the pipeline can be grasped at a glance. As a result, it is possible to easily grasp the stagnant portion of the water in the pipeline.

It is also possible to display the actual gradient of the pipeline from the distance and angle data in the pipeline display field 97.

Although the present invention has been described above with reference to the embodiments, the protection scope of the present invention is not limited thereto, and modifications to the extent that a person having ordinary knowledge in the art to which the present invention pertains can easily carry out the modification may be used. It should be interpreted as being within the scope of protection.

In the case of measuring the pipeline using the pipeline measuring device 1 according to the present invention, the construction information and the pipeline information are input once and combined with the measurement results such as video data, and stored, and automatically the abnormal report or the repair report from the video data. Since it is possible to extract the construction information and the pipeline information need not be input more than two times, and the cable 67 is connected to the mobile robot unit 50 via the roller 28 to prevent damage to the cable 67 By providing the twist rod 60 on the guide rod 29, the cable 67 and the receiving cable 69 can be prevented from being twisted or tangled with each other, thereby improving work efficiency, and the worm housing 33 and Since the housing 31 is integrally rotatably connected to the guide 38, there is an effect that the interval adjustment time between the upper rod 38d and the lower rod 25 can be greatly saved, and the sensor 45 is fixed to the sensor. Fixed to sheave 44 The height of the sensor 45 is always located in the center of the tube to be measured by adjusting the height.

Claims (11)

Pipeline measurement system (1) consisting of a main control unit 10, a sensor fixing device 20, a mobile robot unit 50, and a pipeline measurement report writing program to measure the pipeline and synthesize the measured data and construction data In the method of storage, Obtaining and inputting construction data (S10); Importing the input construction data, combining the measurement data measuring the pipeline with the construction data, and storing and giving a file name (S20); A step (S30) of combining the construction data with the stored file (S30); Extracting a still image with respect to a part of the pipeline or the repaired part from the moving picture data together with a corresponding distance, and inputting an abnormality or a repair state (S40); By storing the data on the still image, the corresponding distance, the input abnormality or repair status, the angle profile according to the distance, the abnormal or repair partial still image, the abnormality report or repair indicating the distance, abnormality or repair status corresponding to the image Pipeline measurement method comprising the step of extracting and storing as a report (S-50). According to claim 1, In the step of importing the input construction data, combining the measurement data measuring the pipeline with the construction data and giving a file name and storing (S20), the measurement data is a voice storage of the video storage medium Recorded and stored in the pipeline, characterized in that the pipeline measurement method characterized in that played with the video. The method of claim 1, wherein in the step S20 of importing the input construction data, combining the measurement data measuring the pipeline with the construction data, and giving the file name and storing the same, the measurement data is scanned in the NTSC method. And storing the data to be loaded and displayed on the data block of the twenty-first scan line. According to claim 1, wherein the report extracted in the step (S50) is a display section 93, which displays the construction data and pipeline data in the upper portion, the inclination angle of the pipeline according to the entire length of the pipeline in the lower central portion On the lower side of each of the still image fields 96, a pipe line display field 97 in which a profile 97a is displayed, and a still image field 96 displaying a still image of the line on both sides of the pipe line display 97. An abnormality display field 96a indicating whether or not the user inputs an abnormality or repair is provided, and the inclination profile 97a of the bureau display field 97 and the still image field 96 of the moving distance are indicated by the leader line 98. The pipe measuring method characterized in that connected by. In the pipeline measuring system consisting of the main control unit 10, the mobile robot unit 50, and the sensor fixing device 20, the sensor fixing device 20 is a support body formed by extending at least one lower rod 25 ( 23); A roller 28 rotatably connected to the support 23 by a side plate 27; A guide rod 29 extending from the support 23 and having a rod gear portion 29a formed thereon; A pipeline measuring system (1), characterized in that it comprises a moving part (30) having an upper rod (38d) and installed to be movable up and down along the guide rod (29). Further comprising a sensor 45 installed in the sensor fixing device 20 of claim 5, wherein the sensor 45 has a built-in temperature sensor to correct the distance error due to the temperature change in the pipeline during ultrasonic distance measurement and inside the pipeline A pipeline measuring system (1), characterized in that measuring on. The guide part (38) of claim 5, wherein the moving part (30) includes an upper rod (38d), a through hole (38a), and a side opening (38b) formed therein and inserted into the guide rod (29); A worm housing 33 in which a vertical hole 33a, a worm wheel opening portion 33b connected to the vertical hole 33a, and a worm shaft hole 34 are formed; The worm 35 is rotatably installed in the vertical hole 33a and has a worm shaft 34, and is rotatably installed in the worm wheel opening 33b, and is provided with a rod gear part through the side opening 38b. A worm wheel 37 engaged with the worm 35 and engaging with the worm 35; Pipeline measuring system (1), characterized in that the worm housing (33) and the guide (38) is assembled to the housing (31) formed with a shaft hole (31c). 8. The pivoting hole (31b) is formed in the housing (31), and the pivoting screw groove (38c) is formed in the guide (38) by the pivot screw (36b). The housing (31) is rotatably connected to the guide (38), and further comprising a housing (31) and an elastic portion (39) connected to the guide (38). The fixing part 61 according to any one of claims 5 and 7, wherein a through hole 61a is formed at an end of the guide rod 29, and an annular part integrally formed with the fixing part 61. Pipeline measuring system (1) characterized in that it further comprises a twist prevention portion (60) consisting of. A sensor fixing device (20) for use in a pipeline measuring system, comprising: a support (23) having one or more lower rods (25) extending therefrom; A roller 28 rotatably connected to the support 23 by a side plate 27; A guide rod 29 extending from the support 23 and having a rod gear portion 29a formed thereon; It consists of a moving part 30, The moving part 30 includes a guide 38 having an upper rod 38d and having a through hole 38a and a side opening 38b inserted into the guide rod 29; A worm housing 33 in which a vertical hole 33a, a worm wheel opening portion 33b connected to the vertical hole 33a, and a worm shaft hole 34 are formed; The worm 35 is rotatably installed in the vertical hole 33a and has a worm shaft 34, and is rotatably installed in the worm wheel opening 33b, and is provided with a rod gear part through the side opening 38b. A worm wheel 37 engaged with the worm 35 and engaging with the worm 35; Sensor fixing device (20), characterized in that it comprises a housing (31), which is assembled to the worm housing (33) and the guide (38), the shaft hole (31c) is formed. 12. The method of claim 10, further comprising a magnet mounted on the side of the roller 28 and a magnetic sensor on the side plate 27 to measure the moving distance by the rotation of the roller 28 in accordance with the movement of the mobile robot. Characterized in that the sensor fixing device (20).

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