KR20100024252A - Robot system - Google Patents

Abstract

PURPOSE: A robot system for checking a bridge is provided to obtain images about defects of a desirable position below the deck of the bridge on a real time basis by wirelessly controlling a robot whose position is freely controlled. CONSTITUTION: A robot system for checking a bridge comprises a robot device and a monitoring device. The robot device comprises an image signal input part(23), motors(24,25), motor drivers(27,28,29), a motor controller(31), an image signal transmitter(32), a control data transceiver(33), a controller(30). The image signal input part receives image signals from a camera. The image signal transmitter transmits the obtained image signals. The controller moves, obtains, and transmits the image about a correspondent position. The robot device moves to a desired position. The monitoring device wirelessly communicates with the robot device.

Description

    Robot system for bridge inspection {Robot system}

The present invention relates to a robot inspection system for bridges, and more particularly to a bridge inspection robot system for checking a state of a bridge by moving a robot device equipped with a camera to a desired position along a rail installed under the bridge.

Recently, when performing a test for diagnosing the deterioration of a large structure such as a bridge, a method for economically and efficiently performing the external inspection of the substructure of the bridge, which is difficult for periodic visual inspection, is required.

      Industrial infrastructures, such as bridges, are regularly inspected and diagnosed to ensure safety, and primarily inspect the structure for cracks and corrosion depending on appearance inspection.

      The existing test method is to install a work platform such as scaffold (3) or a moving passage and scaffolding in the lower portion of the bridge through which water flows, as shown in FIG. When installing a work platform such as a scaffold on the surface of the water costs a lot of wind when the work platform under the bridge has a disadvantage that the safety of the worker is not secured.

In addition, there is a method of putting the worker on the ladder and inspecting the bottom of the bridge deck by using the recently introduced articulated ladder truck (4), but in the case of the suspension bridge or the cable-stayed bridge, as shown in FIG. Securing safety is a problem.

Accordingly, an object of the present invention is to provide a bridge inspection robot system capable of real-time monitoring by moving the robot device equipped with a camera to a desired position along the rail installed under the bridge so as to solve the above problems. Is in.

In the robot system for inspecting the bridge according to the present invention for achieving the above object, a video signal input unit for mounting the camera and receiving the video signal from the camera, and connected to the wheel to move forward and backward A motor driver for driving a motor and the motor, a motor controller for controlling each motor driver, an image signal transmitter for transmitting an image signal acquired by the camera, and a control data transmitter for transmitting and receiving the control data; And a control unit which is capable of moving the location by controlling each of the components, and includes a control unit for acquiring and transmitting an image to a corresponding location. And a monitoring device connected to the robot device for wireless communication and controlling the position of the robot device to analyze and monitor the image received from the robot device.

The monitoring apparatus may further include an image signal receiver for receiving an image signal received from the robot apparatus, a control data transmitter and receiver for transmitting and receiving control data with the robot apparatus, and an image storage unit for storing the received image and the reception. An image analysis unit for analyzing the captured image, a control data generation unit for generating control data in a transmittable standard for controlling the robot device, a control key input unit for inputting a control key for controlling the robot device, and the image analysis result Characterized in that it comprises a display unit for outputting.

In addition, the robot device has a home position moving module that sets a desired position and moves to the set home position, and a speed conversion input module that inputs the moving speed and acceleration of the robot and determines the moving speed of the robot according to the input speed and the magnitude of the acceleration. And a camera posture control module for controlling the camera posture by applying an inclination angle formed by the central axis of the camera to the ground and rotation angles formed by the projection axis and the reference axis when the central axis is projected onto the ground, and a focus control motor of the camera. The camera control module controls the camera by applying the rotation angle and the rotation angle of the zoom in / zoon out control motor of the camera, and determines a part including a defect in the image acquired through the camera. It includes a defect measuring module that measures the length and width of the defect by clicking the defect area with the mouse according to the width and length. It shall be.

In addition, the robot device stores the set home position and moves to the stored home position according to the home position return command, and if the desired position is set during the movement while storing the movement trajectory, the robot stores the set position and moves to the setting position. The quick moving module moves to the set position according to the command, the angle of inclination of the camera's central axis necessary for image acquisition when the continuous image is acquired through the camera, and the projection when the central axis is projected onto the ground. The image to be viewed again is stored while continuously storing the rotation angle formed by the axis and the reference axis, the rotation angle of the focus control motor of the camera, and the trajectory of the rotation angle of the camera's zoom in / zoom out control motor. When set, the tilt angle value of the camera's central axis, which is a variable for acquiring the set image, and the ground, and the central axis When projected, the rotation angle value formed by the projection axis and the reference axis and the rotation angle value of the zoom in / zoom out control motor of the camera are stored, and the stored values are applied according to the set image acquisition command. It characterized in that it comprises a quick image acquisition module for acquiring the set image.

In addition, the home position return module stores the value of the encoder connected to the wheel when the home position is set, and moves to the origin using the stored encoder value, and the camera attitude control module is configured to control the angle of the camera's central axis and the ground. The position of the camera is controlled by using a connected encoder value and an encoder value connected to a motor that adjusts an angle between the projection axis and the reference axis when the central axis is projected onto the ground, and the camera control module is connected to the focus control motor of the camera. The camera is controlled by using an encoder value and an encoder value connected to a zoom in / zoom out control motor of the camera, and the quick moving module stores the value of the encoder connected to the wheel according to the movement trajectory while moving. When the desired position is set, the encoder value of the set position is stored, and according to the command to move to the set position The quick image acquisition module is projected when the value of the encoder connected to the motor and the camera center axis are projected onto the ground using the encoder value of the stored set position. It is characterized in that to obtain a quick image by using the encoder value connected to the motor to adjust the angle between the axis and the reference axis.

Therefore, the apparatus of the present invention provides an effect of real-time acquisition of an image of a defect in a desired position by wirelessly controlling a robot that can be freely adjusted in the upper surface of the upper deck of the bridge.

Hereinafter, with reference to the accompanying Figures 3 to 6 will be described in detail a preferred embodiment of the present invention.

3 is a schematic view for explaining an embodiment of the bridge inspection robot system according to an embodiment of the present invention.

Referring to FIG. 3, the robot system includes a robot device 20 and a monitoring device 60, and the robot device 20 and the monitoring device 60 are connected to enable wireless communication. At this time, wireless communication is possible using Bluetooth. A rail 50 is installed between the piers 10 and the robot apparatus 20 and the robot apparatus 20 which move along the rail 50 are wirelessly controlled, and from the image signal input from the robot apparatus 20. And a monitoring device 60 for monitoring the state of the piers 10. The robot apparatus 20 includes a motor that rotates up, down, left, and right along the rail 50 to check the state of the lower portion of the piers 10.

Therefore, by moving to a desired position by the control signal of the monitoring device 60 to obtain an image of the corresponding position using its camera. The acquired image is transmitted to the monitoring device 60. The monitoring device 60 is wirelessly connected to the robot device 20 to output a control signal for controlling the robot device 20, and to check and monitor the state of the piers 10 from the image obtained from the robot device 20. can do.

The camera of the robot device 20 may perform a function of calculating a crack and a width of a structure having an arbitrary range by adjusting focus and zoom in. In addition, the camera of the robot device 20 can be rotated 360 degrees vertically and 90 degrees by adopting a high magnification zoom lens, it is possible to inspect in all directions from the bottom of the bridge. The camera of the robot device 20 transmits the acquired image to the monitoring device 60, and the image is processed by the monitoring device 60 to perform image analysis such as calculating a crack width and length, and storing the image. . Such image analysis data is stored in the monitoring device 60 for later analysis and comparison with the test results.

Figure 4 is a detailed block diagram of the robot apparatus of the bridge inspection robot system according to the present invention.

Referring to FIG. 4, the robot device 20 includes an image signal input unit 23, an X-axis, a Y-axis, for receiving a video signal from the camera 21 and the camera 21 integrally formed with the lighting 22. X-axis motor 24, Y-axis motor 25, and rotary shaft motor 26 and X-axis motor driver 27, Y-axis motor driver 28 for driving each motor connected to the wheel to move to the rotary shaft, respectively ), And a rotating shaft motor drive unit (29). In addition, the robot apparatus 20 includes a motor controller 31 for controlling each motor driver 27, 28, and 29, a controller 30 for controlling each component, and an image signal transmitter for transmitting an image signal ( 32) and a control data transmission / reception unit 33 for transmitting and receiving control data.

5 is a detailed block diagram of a monitoring apparatus for a bridge inspection robot system according to the present invention.

Referring to FIG. 5, the monitoring device 60 includes a control data transmission / reception unit for transmitting / receiving control data between an image signal receiver 61 for receiving an image signal received from the robot apparatus 20 and the robot apparatus 20 ( 62) and an image storage unit 64 for storing the received image, an image analysis unit 68 for analyzing the received image, and control data generation for generating control data in a transmittable standard for controlling the robot apparatus 20. And a control key input unit 65 for inputting a control key for controlling the unit 66 and the robot apparatus 20, and a display unit 67 for outputting an image analysis result.

The detailed operation of the bridge inspection robot system according to the present invention will be described using the robot device 20 of FIG. 4 and the monitoring device 60 of FIG. 5 configured as described above.

The robot apparatus 20 of FIG. 4 is installed on a rail under the bridge, and the monitoring apparatus 60 of FIG. 5 is installed at a position capable of transmitting and receiving radio signals to control the robot apparatus 20.

Referring to FIG. 5, the operator inputs a control key for controlling the robot device 20 through the control key input unit 65 of the monitoring device 60. The control unit 63 outputs a control signal to the control data generation unit 66 to move the robot device 20 to a desired position according to the control key input of the control key input unit 65 to obtain an image of a defective place. The control data generation unit 66 converts the signal to conform to the communication standard so as to transmit the control data of the control unit 63 as a wireless signal and outputs it to the control unit 63. Herein, the wireless signal used as the communication standard may be Bluetooth. The control unit 63 outputs the control signal converted into the Bluetooth transmission standard to the control data transmission and reception unit 62. The control data transmission / reception unit 62 then transmits the control data to the robot apparatus 20.

Meanwhile, referring to FIG. 4, the control data transmission / reception unit 33 receives control data from the monitoring device 60 and outputs the control data to the control unit 30. The controller 30 outputs the motor control unit 31 if the input control data is a motor control signal for position movement. The motor control unit 31 controls the motor driving units 27, 28, 29 for driving the respective motors 24, 25, 26 to move the robot apparatus 20 to a desired position according to the control data. Then, the robot apparatus 20 moves to a desired position by the operator. At this time, when the control data is control data for controlling the camera 21 or the lighting 22 in the control data, the controller 30 controls the camera 21 and the lighting ( 22). Therefore, the camera 21 may be moved to acquire an image with the desired illumination 22. The camera 21 outputs the obtained image to the image signal input unit 23. The image signal input unit 23 outputs an image including the obtained defect to the controller 30, and the controller 30 outputs the image to the image signal transmitter 32. The video signal transmitter 32 transmits the input video signal to the monitoring device 60.

Subsequently, the image signal receiver 61 of FIG. 5 receives an input image signal and outputs it to the controller 63. The controller 63 stores the input video signal in the image storage unit 64 and outputs the image signal to the image analyzer 68. The image analyzer 68 analyzes the input image signal to analyze the state of the defect and output the analyzed signal to the controller 63. The control unit 63 not only stores the analysis result image in the image storage unit 64 but also informs the operator through the display unit 67 to enable real-time monitoring.

At this time, the defect detection screen output through the monitor is as shown in FIG.

6 is a screen state diagram of the monitoring apparatus of FIG. 5.

Referring to FIG. 6, it is possible to check a state in which a crack is in a measured image as an image, and includes a system control button for controlling a system, and includes position information at the time of measurement. In addition, the movement information of the robot device 20 and the uniform width and length measurement values are also numerically shown. The operator views the screen state diagram, and also obtains a defect image of another point at another position through the control key input to move the robot device 20 again, and continuously monitors it.

The robotic device includes a motor for driving wheels, a motor for controlling the attitude of the camera, a motor for focusing and zooming in and out of the camera, and all motors have encoders for locating a position. Is attached.

The encoder value is a homing module for setting the origin and moving to the set origin, the inclination angle formed by the camera's central axis with the ground, and the rotation angle between the projection axis and the reference axis when the central axis is projected onto the ground. Camera posture control module to control the camera posture by applying the camera control camera control by applying the rotation angle of the camera's focus control motor and the camera's zoom in / zoom out control motor rotation angle Stored and utilized in modules

The origin moving module that sets the desired position of origin and moves to the set origin can be easily moved to the origin because it is executed only by operation of origin button without any operation when moving the robot to the origin position.

7 illustrates a screen for inputting speed and acceleration numerically and specifying an origin point.

Referring to FIG. 7, speed and acceleration are input by numbers, and buttons are provided to designate an origin point at a desired position.

In the present invention, since the origin is determined by the user according to the site situation, it is very advantageous to grasp defects of various parts and return to the original position.

It has a speed conversion input module that inputs the moving speed and acceleration of the robot and determines the moving speed of the robot according to the input speed and the magnitude of the acceleration.

Here, the moving speed and the acceleration value are input as digital values. In the present invention, the speed has a value between 1 and 500 and the acceleration is determined with a value between 1-3. The unit of speed may be m / min, or m / sec, which is determined at an appropriate speed according to the environment. Acceleration is also appropriately determined by the user according to the environment.

In addition, the present invention can be moved to the desired position. That is, in the step of moving to the desired position, specify the current position of the robot as the origin by pressing the “Origin designation” button and input the desired distance in the Step interval column. In the present invention, the unit of the step interval is mm. Then press the “Step +” button to step Advance forward by the distance specified in the interval column, and push backward by pressing "Step-" button. If you press the “Stop” button during the next move, it stops. If you press the “RUN” button, the previous operation continues. If you want to move to the origin you specified, press the "GoZero" button to return to the origin.

     The present invention includes a quick moving module for storing a moving trajectory, when a desired position is set while moving, storing the set position and moving to a set position according to a moving command.

    The quick move module is a module that can be moved quickly to the position with simple operation by setting the position when the user wants to move to the desired position during the movement as needed.

8 shows a picture associated with a camera pose.

Referring to FIG. 8, the pose of the camera is configured to be positioned at any position of the hemispherical shape. At this time, the longitudinal axis of the camera (an axis for the center of the imaging surface of the camera) is used as the central axis, and the angle θ formed between the center axis of the camera and the ground is one variable, and the central axis is projected onto the ground. In this case, if the angle φ formed between the projection axis and the reference axis is another variable, the image pickup surface of the camera can be positioned at any position of the hemispherical shape through the two variables, so that an image at any position can be obtained.

Here, the reference axis means an axis passing through the origin drawn in the radial direction from the center of the circle drawn on the ground (the circle drawn when the hemisphere and the ground meet).

    In addition, the present invention, when obtaining a continuous image through the camera, the inclination angle of the center axis of the camera required for image acquisition with the ground, the rotation angle formed by the projection axis and the reference axis when the center axis is projected on the ground, When the image to be viewed is set while continuously storing the rotation angle of the focus control motor of the camera and the trajectory of the rotation angle of the zoom in / zoon out control motor of the camera, the image to be viewed again is obtained. The angle of inclination that the center axis of the camera, which is a variable, forms the ground, the angle of rotation formed by the projection axis and the reference axis when the center axis is projected on the ground, and the zoom in / zoon out control of the camera Save the rotation angle value and apply the stored values according to the set image acquisition command to adjust the position and state of the camera. It has a quick image acquisition module for benefit.

   The position of the camera is determined by the value of the inclination angle formed by the central axis with the ground and the rotation angle value formed by the projection axis and the reference axis when the central axis is projected onto the ground. It is determined by the angle value and the rotation angle value of the camera's Zoom In / Zoon Out control motor.

   Furthermore, the present invention has an origin return module and a camera attitude control module. Here, the homing module stores the value of the encoder connected to the wheel when setting the origin and moves to the origin using the stored encoder value, and the camera attitude control module is the encoder connected to the motor that adjusts the angle of the center axis of the camera and the ground. Value and an encoder value connected to a motor that adjusts an angle between the projection axis and the reference axis when the central axis is projected onto the ground to control the attitude of the camera.

1 is a reference diagram for explaining a bridge inspection method according to a conventional embodiment;

2 is a reference diagram for explaining a bridge inspection method according to a conventional embodiment;

3 is a schematic diagram for explaining an embodiment of a bridge inspection robot system according to an embodiment of the present invention;

4 is a detailed block diagram of the robot apparatus of the robot inspection system for bridges according to the present invention;

5 is a detailed block diagram of a monitoring device for a robot system for bridge inspection according to the present invention;

6 is a screen state diagram of the monitoring device of FIG.

7 is a screen state diagram in which speed and acceleration can be input.

8 is a reference diagram showing a form associated with a camera pose

* Explanation of symbols for main parts of the drawings

10: pier 20: robotic device

50: rail 60: monitoring device

Claims (5)

A video signal input unit for mounting a camera and receiving an image signal from the camera, a motor connected to a wheel to move forward and backward, a motor driver for driving the motor, and a motor for controlling each motor driver A video signal transmitter for transmitting a video signal acquired by the controller and the camera; and A control data transmitter and receiver for transmitting and receiving the control data; And A robot device for moving the location by controlling each of the components, including a control unit for acquiring and transmitting an image to a corresponding location, moving to a desired location to check the state of the bridge, and acquiring and transmitting an image of a defect state of a corresponding point; And a monitoring device connected to the robot device in a wireless communication manner, the monitoring device controlling the position of the robot device to analyze and monitor the image received from the robot device. The method of claim 1, The monitoring device An image signal receiver for receiving an image signal received from the robot apparatus; and Control data transmission and reception unit for transmitting and receiving control data with the robot device; And An image storage unit for storing the received image; and An image analyzer for analyzing the received image; and A control data generation unit for generating control data in a transmittable standard for controlling the robot apparatus; and A control key input unit for inputting a control key for controlling the robot device; And And a display unit for outputting the image analysis result. The method according to claim 1 or 2, The robot device The origin moving module to set the origin and move to the set origin A speed conversion input module that inputs the moving speed and acceleration of the robot and determines the moving speed of the robot according to the input speed and the magnitude of the acceleration; A camera posture control module for controlling a camera posture by applying an inclination angle formed by the central axis of the camera to the ground and a rotation angle formed by the projection axis and the reference axis when the central axis is projected onto the ground; A camera control module for controlling the camera by applying a rotation angle of the focus control motor of the camera and a rotation angle of the zoom in / zoom out control motor of the camera; The bridge comprising a defect measuring module for determining the portion to be measured in the image obtained through the camera, including the defect, measuring the length and width of the defect by clicking with the mouse according to the width and length of the defect site Robot system for inspection. The method of claim 3, The robot device A homing module for saving the set home position and moving to the stored home position according to the home return command; If the desired position is set during the movement while saving the movement trajectory, the quick movement module for storing the set position and moving to the set position according to the move command to the set position, While acquiring the continuous image through the camera, the trajectory of the tilt angle formed by the center axis of the camera necessary for image acquisition with the ground, the trajectory of the rotation angle formed by the projection axis and the reference axis when the center axis is projected onto the ground, When the image to be viewed again is set while continuously storing the trajectory of the rotation angle of the focus control motor of the camera and the trajectory of the rotation angle of the camera's zoom in / zoom out control motor, the set image is acquired. The angle of inclination that the center axis of the camera makes with the ground, the angle of rotation formed by the projection axis and the reference axis when the center axis is projected on the ground, and the zoom in / zoon out control of the camera Save the rotation angle value of the motor. And a quick image acquisition module for acquiring a set image by adjusting a position and a state of the camera by applying the stored values according to the set image acquisition command. The method of claim 4, wherein The home position return module stores the value of the encoder connected to the wheel when the home position is set, and moves to the home position using the stored encoder value. The camera position control module utilizes an encoder value connected to a motor for adjusting the angle of the camera's central axis and the ground, and an encoder value connected to a motor for adjusting the angle of the projection axis and the reference axis when the central axis is projected onto the ground. Controls the pose of the camera, The camera control module controls the camera by using an encoder value connected to a focus control motor of the camera and an encoder value connected to a zoom in / zoom out control motor of the camera, The quick movement module stores the encoder value of the wheel connected to the wheel according to the movement trajectory, and if the desired position is set during the movement, the quick movement module stores the encoder value of the set position and the encoder value of the stored set position according to the movement command to the setting position. Move to the set position using, The quick image acquisition module includes an encoder value connected to a motor that controls an angle formed by the camera's central axis and the ground, and an encoder value connected to a motor that controls an angle formed by the projection axis and the reference axis when the camera central axis is projected onto the ground. Robot system for bridge inspection, characterized in that to obtain a quick image by using a.

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