KR20100041040A - Unified system for maintaining sewer pipe, and method thereof - Google Patents

Abstract

PURPOSE: An integrated type sewer pipe repairing system and a method thereof are provided to efficiently maintain a sewer pipe by simultaneously performing the maintenance of a sewer pipe, sludge dredging, and strain measurement. CONSTITUTION: An integrated type sewer pipe repairing system comprises a sewer maintenance device(100), a sewer maintenance assist device(300) and a connection line. The sewer maintenance device moves within a sewer pipe. The sewer maintenance device takes a photograph of the inside of the sewer pipe and measures the strain of the sewer pipe. The sewer maintenance assist device supplies control data, high pressure water and power to the sewer maintenance device.

Description

Unified system for maintaining sewer pipe, and method

The present invention relates to an integrated automation system for maintenance of sewage pipes, and more particularly, to an integrated sewage pipe maintenance system and method capable of simultaneously performing CCTV survey, sludge dredging, and strain measurement for maintenance of sewage pipes.

Sewage industry plays an important role in improving national disasters such as flood damage and the local environment as essential considerations for a comfortable and safe life. In general, since sewage pipes are buried underground and constructed, it is difficult to inspect or check the functions of the sewage pipes once constructed.

Accordingly, in carrying out the sewage pipe maintenance project, dredging and internal investigation of sewage pipes (visual inspection or CCTV investigation) and the measurement of the strain rate of flexible pipes after construction are indispensable. There is a situation. That is, for the maintenance of sewage pipes, separate equipment for each purpose should be used for dredging work, internal CCTV survey, and strain measurement, and the company equipped with all these equipments is working to collectively work.

For example, CCTV survey work on sewage pipes is conducted after improvement work or dredging to investigate the cause of sewage pipes, investigate the cause of unknown invasion water, investigate the unauthorized discharge of wastewater, and investigate the cause of flooding or road sinking in urban areas. Work is being done through a camera-equipped imaging device.

In addition, sewage pipe dredging is a method in which a high-pressure jet-cleaner (Jet-Cleaner) equipment vehicle and a water tank vehicle work together in a tank, and various sediment accumulated in the sewage pipe is sprayed on the high-pressure water sprayed from the jet-cleaner. After the removal, the material is pushed in the opposite direction and the material deposited in the manhole is processed by suction.

In addition, the strain measurement of sewage pipes, dredging and cleaning of sewage pipes prior to the strain measurement, and then check the deformation of the sewage pipes by inputting the strain measurement equipment, thereby determining whether to re-install or repair the sewage pipes.

However, the current sewage pipe maintenance system has a problem that the overall maintenance process is very inefficient because survey, dredging, and maintenance are separately performed as necessary for the maintenance work of the sewer pipe. In other words, in the current sewage drainage maintenance system, CCTV surveys are conducted after dredging sewer dredging or before dredging as needed. It is not integrated into the system.

The technical problem to be solved by the present invention to solve the above problems is to provide an integrated sewage pipe maintenance system and method that can maintain the sewage pipe efficiently by enabling CCTV survey, sludge dredging and strain measurement at the same time inside the sewage pipe It is to provide.

Another technical problem to be achieved by the present invention is to check the sewage condition using a CCTV camera in the inaccessible sewage pipe, and dredging various sediments or sediments of the sewage pipe quickly using a high-pressure jet jet cleaner (Jet-Cleaner) It is to provide an integrated sewage maintenance system and method thereof.

Another technical problem to be achieved by the present invention is to provide an integrated sewage pipe maintenance system and method which can measure the deformation amount of a sewage pipe, which is a flexible pipe, by laser method, and output the results of the investigation to the imaging system in graphs and numerical values. .

Another technical problem to be achieved by the present invention is to provide an integrated sewage maintenance system and method capable of automatically controlling quality through image processing of CCTV survey images.

Another technical problem to be achieved by the present invention is to provide an integrated sewage pipe maintenance system and method that can be easily controlled according to the working conditions such as diameter, dredging amount.

As a means for achieving the above-described technical problem, the integrated sewage pipe maintenance system according to the present invention, while photographing the inside of the sewage pipe while moving inside the sewage pipe, dredging the sludge inside the sewage pipe based on the shooting screen, the sludge Sewage pipe maintenance device for measuring the strain of the sewer pipe dredged; A sewage pipe maintenance support device connected to the sewage pipe maintenance device to supply control data, high pressure water and power to the sewage pipe maintenance device, and receive and process the sewage pipe photographing screen and the strain measurement data photographed by the sewage pipe maintenance device; And a connection line interconnecting the sewer pipe maintenance device and the sewer pipe support device so that the control and measurement data, power, and high pressure water can be provided.

Here, the sewage pipe maintenance device, the body; Is formed on the front of the body, the shooting unit for photographing the inside of the sewage pipe; A dredging part formed on the front of the body and dredging the sludge of the sewage pipe based on the photographed screen; It is formed on the rear of the body, the strain measuring unit for measuring the strain inside the sewage pipe dredged sludge; And formed on the side of the body may include a running unit for driving the sewage pipe maintenance device back and forth inside the sewage pipe.

Here, the running unit may be a caterpillar running along the pipe wall of the sewage pipe, the caterpillar is attached to four positions of the side surface of the body so that the sewage pipe maintenance device is not pushed back by the repulsive force according to the injection of the high-pressure water It is done.

Here, the dredging portion may be a jet-cleaner-type high-pressure water injection nozzle, the high-pressure water injection nozzle is characterized in that the top and side minority arrangement of the sewage pipe is disposed, a plurality of the lower portion of the sewage pipe.

Here, it may further include a shock absorbing portion connected between the body and the running portion to shrink or relax according to the inner radius of the sewage pipe, the shock absorbing portion is characterized in that the hydraulic shock absorber (Shock Absorber) type legs .

Here, the sewage pipe maintenance support device may include a computer system capable of performing the quality control function by grasping the CCTV survey operation status, storing and outputting the survey image, and analyzing the image. Input of basic information about sewage pipes, real-time monitoring of recorded video, notification function in case of accidents and field program that can analyze real-time quality data, and internal use that can play, save and analyze recorded video and acquired data. It is characterized by being operated by the program.

Here, the connection line, the data transmission line for transmitting the control data of the sewage pipe maintenance support device to the sewage pipe maintenance device, and the photographing data and strain measurement data photographed by the sewage pipe maintenance device to the sewage pipe maintenance support device; A high pressure water supply line for supplying the high pressure water stored in the high pressure water tank of the sewage pipe maintenance support device to the sewage pipe maintenance device when dredging the sewage pipe maintenance device; And it may include a power supply line for transmitting power to the running portion of the sewage pipe maintenance device from the sewage pipe maintenance support device so that the running portion of the sewage pipe maintenance device.

Here, the sewage pipe maintenance support device is characterized in that the control of the sewage pipe maintenance device can be switched to the remote manual mode or automatic mode according to the adaptive (Adaptive) method according to the maintenance work characteristics.

On the other hand, as another means for achieving the above-described technical problem, the integrated sewage pipe maintenance method according to the present invention, sewage pipe maintenance method according to the integrated sewage pipe maintenance system consisting of a sewer pipe maintenance device and a sewer pipe maintenance support device, a) the sewage pipe Transporting and arranging the maintenance device into the sewer pipe; b) driving the sewer pipe maintenance device along the pipe wall of the sewer pipe; c) photographing the interior of the sewer pipe; d) dredging the sewage pipe using high pressure water provided from the sewage pipe maintenance support device based on the internal screen of the sewage pipe taken; And e) measuring the strain of the dredged sewer pipe.

Here, the step a) is characterized in that in response to the radius of the sewage pipe, the running portion of the sewage pipe maintenance device to relax until reaching the pipe wall of the sewage pipe.

Here, the step c), c-1) adjusting the position of the CCD camera mounted on the sewage pipe maintenance device; c-2) photographing the inside of the sewage pipe using the CCD camera; And c-3) processing an internal photographing image of the sewage pipe so as to be identified by CCTV formed in the sewage pipe maintenance support device.

Here, the step d) may include d-1) recognizing a target to be dredged according to the internal photographed image of the sewage pipe; d-2) adjusting the spray angle and the spray pressure of the high pressure water nozzle when the treatment object to be dredged is recognized; And d-3) spraying the high pressure water provided from the sewage pipe maintenance support device through the nozzle, in which the injection angle and the injection pressure are adjusted, to dredge the inside of the sewage pipe.

In this case, in step d-1), if the treatment target is not recognized, the method may further include transferring a situation to the sewage pipe maintenance apparatus operator, and switching to the remote manual operation mode to reset the section repetition and condition. .

Here, the step e), e-1) adjusting the laser meter according to the radius of the sewer pipe; e-2) measuring the strain of the sewer pipe using the laser meter; And e-3) outputting the strain measurement result as an image by processing the measured data in the sewage pipe maintenance support device.

Here, the step e-3, the step of examining the limit deformation of the sewage pipe in accordance with the measurement data; And imaging the measurement cross section of the sewage pipe and graphing the measurement diameter.

Here, the integrated sewage pipe maintenance method according to the present invention, f) advance the sewage pipe maintenance device to a predetermined position, and further dredging the sewage pipe, and back to the original position while photographing the dredging state of the sewage pipe further includes; Can be.

According to the present invention, by allowing CCTV survey, sludge dredging and strain measurement inside the sewage pipe at the same time, it is possible to efficiently maintain and manage the sewage pipe.

According to the present invention, it is possible to check the sewage condition using a CCTV camera in the inaccessible sewage pipe, and dredging various sediment or sediment of the sewage pipe using a high pressure jet jet cleaner.

According to the present invention, the deformation amount of the sewage pipe, which is a flexible pipe, can be measured by a laser method, and the irradiation result can be output to the imaging system in graphs and numerical values.

According to the present invention, the quality can be automatically controlled through image processing of CCTV survey images.

According to the present invention, it is possible to increase the applicability and convenience by easily controlling according to the working conditions such as diameter, dredging amount.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

As an embodiment of the present invention, by providing CCTV survey, sludge dredging and strain measurement inside the sewage pipe at the same time, there is provided an integrated sewage pipe maintenance system and method that can efficiently maintain the sewage pipe.

1 is a schematic configuration diagram of a sewage pipe maintenance system according to an embodiment of the present invention, Figure 2 is a specific configuration diagram of the sewage pipe maintenance system according to an embodiment of the present invention.

Referring to Figure 1, the sewage pipe maintenance system according to an embodiment of the present invention is largely composed of the sewage pipe maintenance device 100 disposed inside the sewage pipe and the sewage pipe maintenance support device 300 to support the operation operation from the outside. The sewage pipe maintenance apparatus 100 may include a body 110, a driving unit 120, a buffer unit 130, a photographing unit 140, a dredging unit 150, a strain measuring unit 160, and an illumination unit 170. Can be.

Specifically, referring to FIG. 2, the driving unit 120 of the sewage pipe maintenance apparatus 100 may be a caterpillar, the buffer unit 130 may be a hydraulic shock absorber, and the photographing unit 140 may be a CCD camera. have. In addition, the dredge 150 may be a high-pressure water injection nozzle, for example, a jet cleaner (Jet Cleaner), the strain measuring unit 160 may be a laser measuring device, but is not limited thereto. It will be described later.

The sewage pipe maintenance support device 300 is a sewage pipe maintenance support vehicle, and includes a computer system 310, an equipment adjusting unit 320, an image recording unit 330, an image adjusting unit 340, a high pressure water tank 350, and a power supply unit 360. It may include.

The sewage pipe maintenance support vehicle 300 transmits data to the sewage pipe maintenance device 100 through the data transmission line 210, supplies high pressure water through the high pressure water supply line 220, and maintains the sewage pipe through the power supply line 230. Supply the power necessary to drive the device 100. In addition, the control of the sewage pipe maintenance apparatus 100 can be switched to the remote manual mode or the automatic mode in an adaptive manner according to the work characteristic.

The sewage pipe maintenance device 100 photographs the inside of the sewage pipe using the CCD camera 140 while traveling inside the sewage pipe under control of the computer system 310 in the sewage pipe maintenance support vehicle 300. When the sewage pipe maintenance apparatus 100 transmits the photographed data to the sewage pipe maintenance support vehicle 300 through the data transmission line 210, the computer system 310 in the sewage pipe maintenance support vehicle 300 performs the photographing. The sludge of the sewage pipe is checked according to the sewage pipe internal screen, and the injection angle and the injection pressure of the high-pressure water injection nozzle 150 are determined correspondingly.

Subsequently, the sewage pipe maintenance apparatus 100 dredges the sewage pipe according to the injection angle and the injection pressure of the high-pressure water injection nozzle 150 determined by the computer system 310 in the sewage pipe maintenance support vehicle 300.

In addition, the sewage pipe maintenance apparatus 100 measures the strain of the sewage pipe while traveling inside the sewage pipe, and the laser beam from the laser meter 160 toward the pipe wall of the sewage pipe dredged by the high-pressure water injection nozzle 150. Launches a laser beam, receives a laser beam reflected from the pipe wall of the sewage pipe, and the received laser is converted into predetermined data and then transmitted to the computer system 310 in the sewage pipe support vehicle 300. Accordingly, the computer system 310 in the sewage pipe maintenance support vehicle 300 determines the radius of the sewage pipe according to the data, and thus the strain of the sewage pipe can be measured. A detailed description of the strain measurement will be described later.

As a result, the sewage pipe maintenance system according to the embodiment of the present invention is a system incorporating CCTV survey, sludge dredging and strain measurement for efficient maintenance of sewage sewer pipe, and the CCTV survey is used for camera and video recording, camera control, work Sludge dredging is implemented as a sediment removal method through high pressure injection, so that the injection angle and hydraulic pressure can be adjusted, and the strain measurement can be implemented to observe the results in graphs and numerical values using a laser rangefinder method. have. In addition, the sewage pipe maintenance system according to an embodiment of the present invention can set the operating conditions through the image processing of the captured image for quality control and automation, it is implemented to enable automatic operation.

Figure 3a is a perspective view of the sewage pipe maintenance apparatus according to an embodiment of the present invention, Figure 3b is a view showing a connection line connected to the sewage pipe maintenance device.

Referring to Figure 3a, sewage pipe maintenance apparatus 100 according to an embodiment of the present invention, the body 110, caterpillar 120, hydraulic shock absorber 130, CCD camera 140, high-pressure water jet nozzle 150 And a laser measuring device 160, and according to the function, a photographing function by the CCD camera 140, a dredging function according to the high-pressure water jet nozzle 150, and a strain measuring function according to the laser measuring device 160 are performed. do.

Caterpillar 120 is disposed on the side of the body 110, the four caterpillar 120 formed on the side of the body 110 is connected to a power supply line 230 for supplying power.

Between the body 110 and the caterpillar 120, a hydraulic shock absorber 130, the length of which can be adjusted, respectively.

The CCD camera 140 and the high-pressure water jet nozzle 150 are disposed on the front of the body 110 on the basis of the driving direction, and the laser measuring device 160 is disposed on the rear of the body 110 to form the pipe wall of the sewage pipe. The laser 161 is fired and received.

Referring to FIG. 3B, the connection line connected to the sewage pipe maintenance apparatus according to the embodiment of the present invention includes a data transmission line 210, a high pressure water supply line 220, and a power supply line 230, and a data transmission line 210 and The power supply line 230 may be connected through one cable.

The data transmission line 210, the high-pressure water supply line 220 and the power supply line 230 is connected between the sewage pipe maintenance device 100 and the sewage pipe maintenance support device 300, the sewage pipe maintenance support device 300, That is, provided in the reel (reel) wound state in the equipment adjustment unit 320 of the support vehicle, while the sewage pipe maintenance device 100 is in the state of winding in the reel form is released while the sewage pipe maintenance device 100 along It is supposed to proceed. In addition, the data transmission line 210, the high-pressure water supply line 220 and the power supply line 230 when the sewage pipe maintenance apparatus 100 advances to a predetermined position after completing the maintenance work, and then back to the original position again It will be wound in the original reel form.

Here, the equipment adjustment unit 320 of the sewage pipe maintenance support vehicle 300 may be implemented as a motor capable of rotating the reel, the reel is the data transmission line 210, high pressure water according to a control command of a computer system The supply line 220 and the power supply line 230 are wound or unwound.

On the other hand, Figures 4a to 4c is a front view, side view and top view of the sewage pipe maintenance apparatus according to an embodiment of the present invention, respectively.

Referring to Figure 4a, the sewage pipe maintenance apparatus 100 according to an embodiment of the present invention, four running parts 120, that is, the caterpillar is formed on the side of the body, the caterpillar travels along the side of the sewer pipe wall Done. That is, since the sludge is likely to exist in the lower part of the sewer pipe, it is moved along the four sides so that it can be moved as smoothly as possible. Here, although 15 high-pressure water jet nozzle 150 and 12 laser measuring device 160 is installed, but is not limited thereto.

Referring to FIG. 4B, in the sewage pipe maintenance apparatus 100 according to the exemplary embodiment of the present invention, the CCD camera 140 and the high-pressure water jet nozzle 150 are disposed in front of the driving direction with respect to the driving direction, and the laser measuring device in the rear side. 160 is disposed. At this time, the high pressure water injection nozzle 150 may protrude in an oblique direction to inject high pressure water toward the upper or lower side of the front.

Referring to Figure 4c, the sewage pipe maintenance apparatus 100 according to an embodiment of the present invention, the laser 161 is launched into the pipe wall of the sewage pipe from the laser measuring device 160 disposed on the rear side with respect to the driving direction, The strain of the sewage pipe is measured by receiving the laser 161 reflected from the pipe wall of the sewage pipe.

On the other hand, Figure 5 is an operational flow diagram of the sewage pipe maintenance method according to an embodiment of the present invention.

Referring to Figure 5, the sewage pipe maintenance method according to an embodiment of the present invention, first, in the sewage pipe maintenance method according to the integrated sewage pipe maintenance system consisting of a sewage pipe maintenance device and a sewer pipe maintenance support device, the sewage pipe maintenance device in the sewage pipe The transfer is to be aligned (S110). At this time, the running portion of the sewage pipe maintenance apparatus can be relaxed until the running wall reaches the pipe wall of the sewage pipe corresponding to the radius of the sewage pipe.

Next, the sewage pipe maintenance device is driven along the pipe wall of the sewage pipe (S120).

Next, the inside of the sewage pipe is photographed using the CCD camera (S130). Specifically, to adjust the position of the CCD camera mounted on the sewage pipe maintenance device (S131), to photograph the inside of the sewage pipe using the CCD camera (S132), so as to check with the CCTV formed in the sewage pipe maintenance support device The internal captured image of the sewage pipe is processed (S133).

Next, the sewage pipe is dredged using the high pressure water provided from the sewage pipe maintenance support device based on the internal screen of the sewage pipe taken (S140). Specifically, in accordance with the internal photographed image of the sewage pipe to recognize the processing object to be dredged (S141), if not recognized, the processing object to be dredged, notifying the processing state (S142), from the automatic mode to the remote control mode The processing corresponding to the disabled state is completed by conversion (S143) (S144). In other words, if a working condition occurs that is not possible to operate automatically, the sewer can be operated in remote manual mode (segment repetition, condition reset, etc.) by transmitting the situation to the sewer maintenance device operator.

If the treatment target is recognized, the injection angle and the injection pressure of the high pressure water nozzle is adjusted (S145, S146), and the high pressure water provided from the sewage pipe maintenance support device is injected through the nozzle with the injection angle and the injection pressure adjusted. By dredging the interior of the sewer pipe (S147). In other words, the image input to the CCTV image processing, based on the determination of the sludge processing degree in real time, based on the determination result can be automatically controlled the sludge processing speed and number of times.

Next, the strain of the dredged sewer pipe is measured (S150). Specifically, the laser measuring device is adjusted according to the radius of the sewage pipe (S151), and the strain of the sewage pipe is measured using the laser meter (S152). Thereafter, the sewage pipe maintenance support apparatus processes the measured data (S153) and outputs a strain measurement result as an image. That is, after examining the limit deformation of the sewage pipe according to the measurement data (S154), it is possible to image the measurement cross section of the sewage pipe (S155), and graph the measurement diameter (S156).

Finally, it is determined whether the maintenance of the sewage pipe is completed in a predetermined section (S160), and subsequently dredging the sewage pipe by advancing the sewage pipe maintenance device to a predetermined position, photographing the dredging state of the sewage pipe while retreating to the original position. do.

In addition, the sewage pipe maintenance method according to an embodiment of the present invention, the autonomous driving and image acquisition of the sewage pipe maintenance device for CCTV investigation, when the control command based on the judgment of the sewage pipe maintenance device operator is required, remote Can be controlled by switching to manual mode.

6A and 6B are diagrams illustrating an adjustable shock absorber type leg included in the sewage pipe maintenance apparatus according to the embodiment of the present invention.

6A and 6B, the sewage pipe maintenance apparatus according to the embodiment of the present invention is a hydraulic shock absorber so that the length of the leg 130, which is a buffer unit connecting the body 110 and the caterpillar (Caterpillar) 120, can be adjusted. It can be produced in a form, and thus it is possible to work in sewage pipes of various diameters. At this time, the leg 130 is adjustable in length, if it can absorb the impact of the running of the sewage pipe maintenance device, it may be other than the hydraulic shock absorber form.

For example, when the radius (R1) of the sewage pipe 400 is 500mm, as shown in Figure 6a, the hydraulic shock absorber-shaped leg 130 can be relaxed correspondingly, also shown in Figure 6b As shown, when the radius R2 of the sewer pipe 400 is 300 mm, the leg 130 of the hydraulic shock absorber type may be correspondingly contracted.

In addition, as shown in Figure 6a and 6b, by attaching the caterpillar-shaped wheel 120 to the four sides of the body, the sewage pipe maintenance device is pushed back by the repulsive force due to the injection of high pressure water during dredging operation The phenomenon can be prevented. That is, in the case of one to three wheels of the caterpillar type, three caterpillar-type wheels 120 are highly likely to be pushed backward by the repelling force caused by the injection of high pressure water. It is preferable to mount.

7 is a view for explaining the arrangement of the high-pressure water injection nozzle provided in the sewage pipe maintenance apparatus according to an embodiment of the present invention.

Referring to Figure 7, in the sewage pipe maintenance apparatus according to an embodiment of the present invention, the high-pressure water injection nozzle 150 may be formed so that a plurality of branches in the circumferential direction from the ring-shaped pipe 151. It will be apparent to those skilled in the art that the number, size and length of the injection nozzles 150 may vary in view of the size of the sewage pipe, sludge and the like.

At this time, considering that sediment / sediment inside the sewage pipe is mainly generated at the bottom of the sewage pipe, as shown by the reference numeral A, a few injection nozzles can be arranged on the side and the top, and also shown by reference B Likewise, a plurality of injection nozzles may be disposed at the bottom, and thus, sediment treatment and pipe wall foreign material removal may be efficiently performed.

8 is a view for explaining the strain measurement principle of the sewage pipe maintenance apparatus according to an embodiment of the present invention.

Referring to FIG. 8, data processing for strain measurement inside the sewage pipe 400 according to the laser measuring device 160 of the sewage pipe maintenance apparatus according to the embodiment of the present invention is performed. Measuring the strain of the sewage pipe 400 using the can be calculated as follows from the time the laser is reflected on the pipe wall.

X represents the radius inside the sewage pipe 400, R1 represents the distance from the center of the sewage pipe to the laser firing point, K represents the laser speed of the laser meter 160. In addition, R2 represents the pipe wall distance from the laser firing point to the sewer pipe wall, T represents the round trip time from the laser meter 160 to the sewer pipe wall of the laser emitted. Therefore, the radius X = R1 + R2 = R1 + (K ㅧ T) in the sewer pipe 400.

After all, if R1 and K are already determined and T is obtained, the radius X inside the sewer pipe 400 can be determined, and the strain of the sewer pipe 400 can be obtained by comparing the radius of the first sewer pipe 400. Will be.

On the other hand, Figure 9 is a view showing a sewer maintenance support vehicle according to an embodiment of the present invention.

Referring to Figure 9, sewage pipe maintenance support vehicle 300 according to an embodiment of the present invention is a support vehicle to support the operation operation from the outside, the high-pressure water tank, so as to supply high-pressure water, power, and transmit and receive data, It is equipped with a power generation device and a computer system. Specifically, the sewage pipe maintenance support vehicle 300 according to the embodiment of the present invention, the computer system 310, the equipment adjustment unit 320, the image recording unit 330, the image adjustment unit 340, high-pressure water tank 350 ) And a power supply 360.

The computer system 310 is provided with a field program and a field program to perform functions such as grasping CCTV survey work, storing and outputting survey images, and controlling quality through image analysis. Disk 311, monitor 312, joystick 313, and the like.

The image recording unit 330 records or stores data photographed through the CCD camera attached to the sewage pipe maintenance apparatus described above, and the recorded image may be output through, for example, the printer 331. The image adjusting unit 340 may adjust the quality or format by image processing the data photographed through the CCD camera attached to the sewage pipe maintenance apparatus described above.

The high pressure water tank 350 is a compressed water tank and supplies high pressure water via the drum 351.

The power supply unit 360 may be a self-generator and may include a power supply 361 for measuring strain.

In addition, the side lighting 371 and the upper lighting 372 may be provided in the sewage pipe maintenance support vehicle 300 according to the embodiment of the present invention.

On the other hand, the sewage pipe maintenance system according to an embodiment of the present invention, by utilizing the design information and laser sensor and image information for the sewage pipe network, the sewage pipe maintenance operator and the sewage pipe maintenance device 100, for example, integrated operation information between the robot Can be implemented on the monitor of the sewage pipe maintenance support device 300 through a graphical user interface (GUI) and a graphic man-machine interface (MMI) system for transmitting feedback.

In addition, the sewage pipe maintenance system according to an embodiment of the present invention, the field program and the field service for the purpose of configuring a system for performing functions such as grasping CCTV surveillance work status, storage and output of survey image, quality control through image analysis, etc. By dividing the program, in order to improve the precision of the strain measurement performance, the measurement value at the forward and backward measurements of the sewage pipe maintenance device 100 is comprehensively analyzed to minimize the occurrence of errors. Here, the field program refers to a program for inputting basic information (location, species, diameter, etc.) about the surveyed sewage pipe, real-time monitoring of shot images, a notification function when an accident occurs, and real-time quality data analysis. The office program is a post-processing module, and is a program configured to reproduce, store, and analyze photographed images and acquired data. The sewage pipe maintenance system according to the embodiment of the present invention will be described in detail with reference to FIGS. 10 to 13.

10 is a view illustrating a sewage pipe CCTV survey screen according to an embodiment of the present invention, Figure 11 is a view for explaining a CCTV shooting image processing method according to an embodiment of the present invention.

CCTV survey system according to an embodiment of the present invention may be composed of a camera attached to the sewage pipe maintenance device and an image system and a camera control system that can be monitored from the outside, the CCD camera is directed to the user's desired field of view, such as display and measurement It is equipped to be. In addition, CCTV survey according to an embodiment of the present invention can be used to determine the state of sewage pipe before the operation and inspection the quality of dredging work so that it can be taken before (during) and after (during) dredging work. .

First, the conventional sewage pipe CCTV investigation requires basic functions such as the investigation of the sewage pipe abnormality, the identification of the cause of unknown intrusion, the investigation of the unauthorized discharge of wastewater, and the investigation of the cause of flooding or road depression.

In addition, sewage pipe CCTV survey according to an embodiment of the present invention by increasing the operation (rotation) range and zoom (Zoom In-Out) function of the camera, in addition to the above-described basic functions, to increase the efficiency of CCTV survey, the image taken Through the image processing of the sewage sewer state is recognized.

Referring to Figure 10, sewage pipe maintenance system according to an embodiment of the present invention, CCTV (510), dredging (Clean: 520) and strain 530 as a main function, CCTV investigation when the CCTV 510 button is pressed The screen 500 is displayed. In this case, the CCTV survey module of the software system according to an embodiment of the present invention is a video region 550 showing a real-time shot image and a data region 540 showing position information, specifications, terrain information, etc. of the sewage pipe under investigation. User areas 560 and 570 may store, search, and output the result (image, image).

Specifically, the image processing of the CCTV photographing image (Image Processing) refers to a series of processes for processing the image material according to the purpose, the application of the image processing according to an embodiment of the present invention, (a) to (f) of FIG. As shown in), the sewage pipe 400 and the sediment 410 are distinguished from each other through object recognition through boundary derivation, and an object to be treated is identified. Since such a CCTV shooting image processing method is already known in general, a detailed description thereof will be omitted.

At this time, the treatment target is recognized in the sewage pipe maintenance system according to an embodiment of the present invention, by providing the dredging operation module with the position information, quantity information, etc. of the treatment target, to control the speed of the equipment, the injection angle of the high-pressure water and the injection pressure It is an important element to complete the automation system by providing a basis for functions such as notification of unprocessable target.

In addition, according to the sewage pipe CCTV investigation according to an embodiment of the present invention, the objective quality management is possible by utilizing the image from the CCTV to escape the maintenance method based on the subjective judgment of the operator, according to the processed image is judged appropriately It is possible to construct a quality control system applying image processing.

12 is a diagram illustrating a sewage sludge dredging screen according to an embodiment of the present invention.

First, sewage pipe sludge dredging requires the basic function of removing various sediment in the sewage pipe. In addition to such a basic function, as described above, a plurality of injection nozzles are disposed at the bottom of the sewage pipe, and a few injection nozzles are disposed at the side and the top, so that foreign matters in the sediment treatment and the pipe wall can be efficiently removed. Can be. Accordingly, the image acquired through CCTV survey is transferred to the image processing system and converted into the data for grasping the condition inside the sewage pipe. Accordingly, the sewage pipe dredging system automatically selects the proper operating conditions to maximize the efficiency of sludge removal. Dredging is performed.

Referring to FIG. 12, the sewage sludge dredging screen 600 according to an embodiment of the present invention is a screen that appears when a dredging (Clean: 520) button shown in FIG. 10 is pressed. In this case, according to an embodiment of the present invention. Among the software systems, the sludge dredging module includes a video region 620 showing dredging images, a data region 610 showing position information, pipe cross-sectional area, sediment area, sediment ratio, and nozzle spray pressure of the equipment currently being worked on; User areas 630 and 640 may store, search, and output a work state (image, image).

The sewage sludge dredging according to an embodiment of the present invention is implemented to automatically control the spray angle and the hydraulic pressure by recognizing the working conditions (pipe diameter, amount of object to be processed, etc.) according to the image processing result through CCTV investigation. Specifically, sewage pipe sludge dredging according to an embodiment of the present invention is a sediment removal method through the high-pressure water injected from the Jet-Cleaner, to be associated with the control system to enable the control of the injection angle according to the diameter and the hydraulic pressure according to the amount of sediment. Can be. In addition, in order to replace the subjective and unclear judgment of the image input by CCTV survey, the sludge processing degree through image processing is determined in real time, and the sludge processing speed and The number of times is automatically controlled.

13 is a diagram illustrating a sewage pipe strain measurement screen according to an embodiment of the present invention.

First, the sewage pipe strain measurement requires a basic function of grasping the degree of deformation due to corrosion, aging, impact, etc. of the sewage pipe, sewage pipe strain measurement according to an embodiment of the present invention is a conventional roller (roller) roll in addition to the basic function By converting the measurement method to the laser rangefinder method, the precision is improved and the equipment maintenance is easy.

Referring to FIG. 13, the sewage strain strain measurement screen 700 according to an embodiment of the present invention is a screen that appears when the strain 530 button shown in FIG. 10 is pressed. In this case, the software according to an embodiment of the present invention is used. In the system, the strain measuring module according to an embodiment of the present invention includes data for numerically and graphically displaying a video area 720 showing a measurement work image, position information of a current working equipment, an initial pipe, a measurement, a limit diameter, and the like. The area 710 and the user graphs 730 and 740 may store, search, and output a section of a result graph and a measurement point.

14A and 14B are diagrams showing data and graphs illustrating the results of sewage strain strain measurement according to an embodiment of the present invention.

Referring to Figure 14a, as a result of the sewage strain strain measurement according to an embodiment of the present invention, the diameter, the limit radius and the measurement radius can be provided, it is measured by separating the upper part of the central horizontal line of the sewage pipe to + and the lower part to- . For example, for a distance of 1600 m, for a sewer pipe with a top and bottom radius of 120 cm, a limit radius of 108 cm is given, respectively, and the measured top and bottom measurement radii can be provided respectively. Referring to FIG. 14B, although the actually measured upper and lower measuring radius is between the diameter and the limit radius, if the actually measured upper and lower measuring radius is out of the limit radius, the sewage pipe is subsequently replaced or repaired. Should be.

On the other hand, Figures 15 to 18 are views showing the result of the maintenance of the actual sewage pipe according to an embodiment of the present invention, the configuration of the software for operating the integrated sewer pipe maintenance system according to an embodiment of the present invention, as described above, It consists of CCTV survey, strain measurement, and sewer dredging module. Also, to provide user convenience, the report shows the result of maintenance work according to the report preparation module.

15 is a view showing an overview of the result of the maintenance of the actual sewage pipe according to an embodiment of the present invention, for example, management target information including location information, conduit information and history information is described, a plurality of maintenance intervals Geographic information and surrounding status can be provided together. At this time, as a matter of attention, for example, by providing information about the habitual flooding generation area or road depression area, etc., it can be referred to the sewage pipe maintenance.

16 is a view showing the results of the CCTV survey when the actual sewage pipe maintenance according to an embodiment of the present invention, the survey summary information on the survey section and the survey date and time is displayed. In addition, for example, while providing a continuously photographed screen for each point between the first manhole and the second manhole, the photographing screen and each state to be taken into consideration may be provided. Specifically, for the distance 6.2m between the first manhole and the second manhole, a photographed state is provided for the 1.20m point, the 2.48m point, the 4.19m point, and the 5.88m point based on the viewpoint. In addition, a review opinion may be provided for the most important part to be considered, for example, a part determined to be urgently required to be repaired. In this case, these results may be provided separately for each manhole.

FIG. 17 is a view illustrating sludge dredging results of sewage pipes according to CCTV surveys when actual sewage pipe maintenance is performed according to an embodiment of the present invention, and survey summary information on an irradiation section and a survey date and time are displayed. Also, for example, for each point between the first manhole and the second manhole, a sludge deposition rate and deposition rate graph may be provided. Specifically, for the 6.2m distance between the first manhole and the second manhole, graphs of deposition rate and deposition rate for each subsection at 0m point, 1.55m point, 3.10m point, 4.65m point and 6.20m point based on the viewpoint will be provided. And, as a matter of consideration, it may be indicated that the deposition rate is maximum at the 4.45m point. In this case, these results may be provided separately for each manhole.

FIG. 18 is a diagram illustrating a result of measuring sewage strain strain during maintenance of an actual sewage pipe according to an embodiment of the present invention. Measurement overview information on a measurement section, a work date, and the like is provided and measured using the aforementioned laser measuring device. Strain strain measurement results and graphs are provided. For example, for the 6.2m distance between the first manhole and the second manhole, the sewage strain deformation is maximum at 2.33m from the viewpoint, and no deformation exceeding the limit has occurred, but there is a part near the limit. Comments may be provided. Subsequently, the repair or replacement of the sewerage system may be determined based on the result of the sewage strain measurement.

As a result, the sewage pipe maintenance system according to the embodiment of the present invention, while improving the current sewage pipe maintenance system described above, while developing an integrated equipment capable of simultaneously monitoring the sewage pipe CCTV, sludge dredging, strain measurement, the image input to the CCTV It is possible to build an automation system through image processing and quality control function to automatically control the sludge processing speed and recovery according to the image and the sludge processing degree in real time and the GUI (Graphic User Interface) function of the operator and equipment.

In addition, the sewage pipe maintenance system according to an embodiment of the present invention, by performing the tasks for the maintenance of the existing sewage pipe is carried out by the integrated equipment, the time and preparation process and post-treatment process required for each work It can shorten, and can easily solve the traffic problems, inconveniences of the users of the water facilities, which occurred in the existing methods. In addition, the sewage pipe maintenance system according to an embodiment of the present invention, in consideration of the environment of the sewage pipe maintenance work work process for the premise of the safety and health of the worker for oxygen deficiency, harmful gas, flammable gas, running water, etc. Minimization of manpower input through automation is required, and the sewage drainage maintenance system according to the embodiment of the present invention imposes an automation function on the integrated system, thereby providing an operator with an objective determination criteria model of dredging quality and an operator of the sewage drainage maintenance device. Convenience can be achieved.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form. The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

1 is a schematic configuration diagram of a sewage pipe maintenance system according to an embodiment of the present invention.

Figure 2 is a specific configuration of the sewage pipe maintenance system according to an embodiment of the present invention.

Figure 3a is a perspective view of the sewage pipe maintenance apparatus according to an embodiment of the present invention, Figure 3b is a view showing a connection line connected to the sewage pipe maintenance device.

4A to 4C are front, side and top views, respectively, of the sewage pipe maintenance apparatus according to the embodiment of the present invention.

5 is an operation flowchart of the sewage pipe maintenance method according to an embodiment of the present invention.

6A and 6B are diagrams illustrating an adjustable shock absorber type leg included in the sewage pipe maintenance apparatus according to the embodiment of the present invention.

7 is a view for explaining the arrangement of the high-pressure water injection nozzle provided in the sewage pipe maintenance apparatus according to an embodiment of the present invention.

8 is a view for explaining the strain measurement principle of the sewage pipe maintenance apparatus according to an embodiment of the present invention.

9 is a view showing a sewage pipe maintenance support vehicle according to an embodiment of the present invention.

10 is a diagram illustrating a sewage pipe CCTV survey screen according to an embodiment of the present invention.

11 is a view for explaining a CCTV shooting image processing method according to an embodiment of the present invention.

12 is a diagram illustrating a sewage sludge dredging screen according to an embodiment of the present invention.

13 is a diagram illustrating a sewage pipe strain measurement screen according to an embodiment of the present invention.

14A and 14B are diagrams showing data and graphs illustrating the results of sewage strain strain measurement according to an embodiment of the present invention.

15 to 18 are views showing the result of maintaining the actual sewage pipe according to an embodiment of the present invention.

<Brief Description of Drawings>

100: sewage pipe maintenance device 300: sewage pipe maintenance support device (vehicle)

400: sewer pipe

110: body 120: running part / caterpillar

130: shock absorber / shock absorber 140: recording unit / CCD camera

150: dredge portion / high pressure jet nozzle 160: strain measurement unit / laser measuring instrument

170: lighting unit 210: data transmission line

220: high pressure water supply line 230: power supply line

310: computer system 320: equipment control unit

330: video recording unit 340: video adjustment unit

350: high pressure water tank 360: power supply

Claims (20)

A sewage pipe maintenance apparatus for photographing the inside of the sewage pipe while moving inside the sewage pipe, dredging the sludge inside the sewage pipe based on the photographing screen, and measuring the strain of the sewage pipe dredged with the sludge; A sewage pipe maintenance support device connected to the sewage pipe maintenance device to supply control data, high pressure water and power to the sewage pipe maintenance device, and receive and process the sewage pipe photographing screen and the strain measurement data photographed by the sewage pipe maintenance device; And A connection line interconnecting the sewer maintenance device and the sewer maintenance support device to provide the control and measurement data, power and high pressure water; Integrated sewer pipe maintenance system comprising a. According to claim 1, The sewage pipe maintenance device, Body; Is formed on the front of the body, the shooting unit for photographing the inside of the sewage pipe; A dredging part formed on the front of the body and dredging the sludge of the sewage pipe based on the photographed screen; It is formed on the rear of the body, the strain measuring unit for measuring the strain inside the sewage pipe dredged sludge; And Is formed on the side of the traveling portion for driving the sewage pipe maintenance device back and forth inside the sewage pipe Integrated sewer pipe maintenance system comprising a. The method of claim 2, The running unit is a sewer pipe maintenance system, characterized in that the caterpillar running along the pipe wall of the sewage pipe. The method of claim 3, The caterpillar integrated sewage pipe maintenance system, characterized in that attached to the four positions of the body side so that the sewage pipe maintenance device is not pushed back by the reaction force according to the injection of the high pressure water. The method of claim 2, The dredging part is an integrated sewage pipe maintenance system, characterized in that the jet-cleaner type high pressure water injection nozzle. The method of claim 5, The high pressure water injection nozzle is disposed in the upper and side minority of the sewage pipe, the integrated sewage pipe maintenance system, characterized in that disposed in the lower portion of the sewage pipe. The method of claim 2, A buffer part connected between the body and the running part to contract or relax according to the inner radius of the sewage pipe. Integrated sewer pipe maintenance system further comprising. The method of claim 7, wherein The shock absorbing part is an integrated sewer pipe maintenance system, characterized in that the hydraulic shock absorber (Shock Absorber) type legs. The method of claim 1, The sewage pipe maintenance support device, integrated sewage pipe maintenance system including a computer system that can perform the quality control function by grasping the CCTV investigation work status, storage and output of the survey image, image analysis. 10. The method of claim 9, The computer system may be configured to input basic information on the sewage pipe to be surveyed, to monitor the captured image in real time, to notify the user in case of an accident, and to execute a field program for analyzing real-time quality data, and to reproduce and store the captured image and acquired data. And integrated sewage pipe maintenance system characterized in that it is operated by a program for analysis of the office. The method of claim 1, wherein the connection line, A data transmission line for transmitting control data of the sewage pipe maintenance support device to the sewage pipe maintenance device, and transmitting photographing data and strain measurement data photographed by the sewage pipe maintenance device to the sewage pipe maintenance support device; A high pressure water supply line for supplying the high pressure water stored in the high pressure water tank of the sewage pipe maintenance support device to the sewage pipe maintenance device when dredging the sewage pipe maintenance device; And Power supply line for transmitting power from the sewage pipe maintenance support device to the running portion of the sewage pipe maintenance device so that the running portion of the sewage pipe maintenance device can run. Integrated sewer pipe maintenance system comprising a. The method of claim 1, The sewage pipe maintenance support device is an integrated sewage pipe maintenance system, characterized in that the control of the sewage pipe maintenance device can be switched to the remote manual mode or automatic mode according to the adaptive (Adaptive) method according to the maintenance work characteristics. In the sewage pipe maintenance method according to the integrated sewage pipe maintenance system composed of sewage pipe maintenance device and sewage pipe maintenance support device, a) transporting and arranging the sewage pipe maintenance apparatus into the sewage pipe; b) driving the sewer pipe maintenance device along the pipe wall of the sewer pipe; c) photographing the interior of the sewer pipe; d) dredging the sewage pipe using high pressure water provided from the sewage pipe maintenance support device based on the internal screen of the sewage pipe taken; And e) measuring the strain of the dredged sewer pipe Integrated sewer pipe maintenance method comprising a. The method of claim 13, Step a) is the integrated sewage pipe maintenance method, characterized in that to relax until the running portion of the sewage pipe maintenance device reaches the pipe wall of the sewage pipe corresponding to the radius of the sewage pipe. The method of claim 13, wherein step c) c-1) adjusting the position of the CCD camera mounted on the sewage pipe maintenance apparatus; c-2) photographing the inside of the sewage pipe using the CCD camera; And c-3) processing an internal photographing image of the sewage pipe so as to be identified by CCTV formed in the sewage pipe maintenance support device; Integrated sewer pipe maintenance method comprising a. The method of claim 15, wherein the d) step, d-1) recognizing a treatment target to be dredged according to the internal photographed image of the sewage pipe; d-2) adjusting the spray angle and the spray pressure of the high pressure water nozzle when the treatment object to be dredged is recognized; And d-3) dredging the inside of the sewage pipe by spraying the high pressure water provided from the sewage pipe maintenance support device through the nozzle in which the injection angle and the injection pressure are adjusted; Integrated sewer pipe maintenance method comprising a. The method of claim 16, If the treatment object is not recognized in step d-1), the sewage pipe maintenance service management method further comprises the step of transferring the situation to the sewage pipe maintenance device operator, and switching to the remote manual operation mode to reset the section repeat and conditions. . The method of claim 13, wherein step e) e-1) adjusting a laser meter according to the radius of the sewer pipe; e-2) measuring the strain of the sewer pipe using the laser meter; And e-3) outputting the strain measurement result as an image by processing the measured data in the sewage pipe maintenance support device; Integrated sewer pipe maintenance method comprising a. The method of claim 18, wherein the step e-3), Examining the limit deformation of the sewer pipe according to the measurement data; And Imaging the measurement cross section of the sewer pipe and graphing the measurement diameter; Integrated sewer pipe maintenance method comprising a. The method of claim 13, and f) dredging the sewer pipe by advancing the sewer pipe maintenance device to a predetermined position, and then photographing the dredging state of the sewer pipe while retreating to the original position.

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