KR20130137463A - Opto-laser tunnel scanning system for generating 3-dimensional tunnel modelling, and dada processing method for the same - Google Patents

Abstract

Provided in the present invention, as a mobile automatic detecting technology on a tunnel and a facility, are an opto-laser tunnel scanning system for generating a three dimensional tunnel modeling and a data processing method thereof in order to match scan data, detected from a laser scanner, with image data captured by an image capturing device. The present invention can construct make stable the opto-laser tunnel scanning system by enhancing the performance of a rail guided vehicle (RGV), can enhance a data matching process between the scanner data and the image data by improving the detection algorithm performance for tracking a crack or a symptom and improving the performance of an operating program in accordance with an SDK application for a three dimensional rendering, can extend a connectivity to a unified tunnel maintaining system by changing a geometric space map (GSM) database configuration based on the Oracle and systematizing the database for a time series analysis on the crack or the symptom, and can connect or extend a unified operating program to existing design or construction data by generating a CAD file, made of coordinate data, on the image matching data, merging the CAD file with template data, and generating the 3ds Max file on the three dimensional rendering data. [Reference numerals] (100) Opto-laser tunnel scanning system;(110) Rail guided vehicle (RGV);(120) Laser scanner;(130) Image capturing device (camera);(141) Laser scanner driver;(142) Image capturing driver;(150) Controller;(151) Laser scanner controller;(152) Image capturing controller;(160) Data matching part;(180) Data processing & analyzing part;(190) Integrated operating program;(200) Tunnel integration maintenance system;(AA) Link

Description

[0001] OPTO-LASER TUNNEL SCANNING SYSTEM AND DATA PROCESSING METHOD THEREOF [0002] OPTO-LASER TUNNEL SCANNING SYSTEM FOR GENERATING [0003] 3-DIMENSIONAL TUNNEL MODELING, AND DADA PROCESSING METHOD FOR THE SAME [

The present invention relates to an opto-laser tunnel scanning system, and more particularly, to a mobile automatic inspection technique for a tunnel and a facility, which comprises scanning data scanned by a laser scanner and image The present invention relates to an opto-laser tunnel scanning system for generating a three-dimensional tunnel model for matching data, and a data processing method thereof.

The need for safety inspection and diagnosis and the continuous increase of demand are expected according to the increase of the tunnel facilities, the enlargement of the tunnel facilities, and the tendency to intensify. However, there is a limit to the visual inspection by manpower as in the present, The maintenance system has limitations in monitoring the mid- to long-term behavior of tunnels and in identifying the factors that can have an immediate impact on the passage, such as the compensation and removal of concrete lining in tunnels.

Accordingly, a method using an image and a method using a laser are used to scan a tunnel in which a vehicle, a train, a subway, and the like are operated. In this case, the method using the image by the image shooting is implemented by installing lighting equipment suitable for the size and shape of the tunnel and photographing the wall surface of the tunnel lining at a constant speed by using a line camera or a video camera. In addition, in the case of using the laser, the state of the tunnel can be confirmed through the scanning result by the scanner.

1 is a photograph and a measurement view schematically showing tunnel scanning and measurement results according to a conventional technique.

FIG. 1 (a) is a photograph schematically showing a state of scanning a tunnel using image equipment, and FIG. 1 (b) is an image showing a measurement result scanned by an image equipment. In this way, when scanning a tunnel using an image, work such as installation of illumination is required in advance, and workability is low, and there is a problem that the amount of data to be read is considerably large due to scanning the entire cross section of the tunnel.

Fig. 1 (c) shows the subway tunnel, and Fig. 1 (d) shows the result of laser scanning. In the case of laser scanning, the result depends on the precision of the laser itself. In the case of laser data, although the accuracy is somewhat lower, it can be applied to the measurement of the internal displacement of the tunnel and the confirmation of the building limit line. Using the shape characteristic of the tunnel of reflection intensity, . However, there is a problem that the detection of fine cracks located in the tunnel is limited by laser scanning.

As a prior art for solving the above-mentioned problems, Korean Patent No. 10-898061, filed and registered by the applicant of the present invention, discloses an invention entitled "hybrid tunnel scanning device & .

2 is a perspective view schematically showing a conventional hybrid tunnel scanning apparatus.

2, a conventional hybrid tunnel scanning system 10 includes a laser scanner 11, an image acquisition device 12, an image acquisition device driver 13, and a self propelled truck 14.

The laser scanner 11 is primarily used for scanning the inside of tunnels, such as lining of tunnels and facilities, and is mounted on the front of the self-propelled truck 14 in the moving direction.

The image acquisition device 12 is for acquiring image data by scanning the defects in the tunnel two times after the primary scanning by the laser scanner 11. The image acquisition device 12 includes a self- (14). The image acquisition device 12 is for performing a secondary scanning after the laser scanning and is mounted to the rear of the laser scanner 11 with respect to the moving direction of the self propelling truck 14, Several cameras are installed for shooting and measuring the spot.

And a central processing unit for processing and analyzing the data obtained from the laser scanner and the image capturing apparatus, wherein the central processing unit comprises a laser scanner control unit for extracting the photographing point characteristics and coordinates through the data measured by the laser scanner, And an image acquisition device control unit for acquiring a local image through the image data acquired by the image acquisition device.

According to the conventional hybrid tunnel scanning apparatus, the inside of the tunnel is first scanned by the laser scanning, and the defective part and the additional photographing main part are photographed through the extraction data to obtain the image data, Scanning within the tunnel is faster and more accurate.

However, in the hybrid tunnel scanning apparatus according to the related art, there is a problem that the performance of the detection algorithm for tracking cracks and anomalous indications is deteriorated because the constant-speed running performance of the self-propelled truck (RGV)

1) Korean Patent No. 10-925724 filed on Feb. 22, 2007, entitled " Apparatus for Detecting Facility Using Laser Scan Data, Method Therefor, and Tunnel Management System Using the Method & 2) Korean Registered Patent No. 10-640000 (Filing Date: August 4, 2006), entitled "Method of measuring inner surface of tunnel by laser scanning" 3) Korean Registered Patent No. 10-1097119 (filed on July 20, 2009), entitled "Method of inspecting the inner surface of a tunnel of a vision sensor system" 4) Korean Registered Patent No. 10-898061 filed on May 25, 2007, entitled "Hybrid Tunnel Scanning Device" 5) Japanese Laid-Open Patent No. 2004-53293 (Publication Date: Feb. 19, 2004), entitled "Surface Inspection Apparatus" 6) Korean Registered Patent No. 10-457245 (Filing Date: June 15, 2001), entitled "Automatic Measurement Analysis Method for Tunnel Maintenance" 7) Japanese Laid-Open Patent No. 1997-284749 (Publication Date: October 31, 1997), entitled " Method of photographing a wall in a tunnel and photographing device using the same "

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide a three-dimensional (3D) image display system capable of stabilizing an opto- laser tunnel scanning system by improving the performance of an RGV, To provide an opto-laser tunnel scanning system for generating a tunnel model and a data processing method thereof.

Another object of the present invention is to improve the performance of a detection algorithm for tracking cracks and anomalous indications and to improve the performance of an operating program according to application of an SDK for 3D rendering to achieve a data matching process between scanner data and image data And to provide an opto-laser tunnel scanning system and a data processing method thereof for generating a three-dimensional tunnel model.

It is another object of the present invention to provide a tunnel integrated maintenance system and a tunnel maintenance management system by changing the configuration of an Oracle based Geospatial Map (GSM) database and organizing a database for time series analysis of cracks and anomalies The present invention provides an opto-laser tunnel scanning system for generating a three-dimensional tunnel model and a data processing method thereof.

According to another aspect of the present invention, there is provided a computer readable medium storing a computer readable recording medium having embodied thereon a computer readable recording medium having embodied thereon a computer readable recording medium having embodied thereon a computer readable recording medium having embodied thereon, The present invention provides an opto-laser tunnel scanning system for generating a three-dimensional tunnel model capable of linking and extending with design and construction data, and a data processing method thereof.

According to an aspect of the present invention, there is provided an opto-laser tunnel scanning system for generating a three-dimensional tunnel model, comprising: a body frame type RGV equipped with a laser scanner and a photographing device; A laser scanner for detecting the interior of the tunnel while the RGV is moving to acquire three-dimensional coordinate data of the tunnel; A laser scanner controller for controlling the laser scanner and receiving scan data obtained from the laser scanner; A video photographing device for photographing the interior of the tunnel; A photographing apparatus driving unit for driving the image photographing apparatus; A video photographing device control unit for controlling the video photographing device and receiving video data photographed by the video photographing device; Using the laser scan data acquired by using the laser scanner and the heterogeneous image data obtained by using the imaging apparatus, one matched opto-laser data of the entire measurement section is generated and a geometric spatial map (GSM) is generated. A data matching unit for reconstructing laser scan data according to a database; And a data processing and analyzing unit for processing and analyzing the opto-laser data matched by the data matching unit. After the correction processing for each of the laser scan data and the image data is performed, matching data is formed to perform 3D rendering Thereby generating a three-dimensional tunnel model.

Here, the laser scanner is characterized in that to obtain three-dimensional coordinate data for the tunnel by using a scanning mirror that rotates 360 ° while the self-propelled bogie (RGV) is moving.

Here, the self-propelled truck is driven by a battery, and a double suspension-based drive shaft is applied to perform low-vibration self-running.

Here, the self-propelled truck has a speed accuracy of 1 cm / sec or less at the constant speed running in the tunnel section including the inclined plane, and enters the constant speed running mode within 3 seconds at the departure.

Here, the self-propelled truck is controlled based on a high-resolution encoder and a digital converter that measures an encoder pulse interval in units of 250 ps.

Here, the data matching unit is applied with a software development kit (SDK) for three-dimensional rendering, to which a detection algorithm for cracking and anomalous symptom tracking is applied.

Here, the data matching unit detects a fine crack of 0.5 mm according to a wavelet-based crack detection algorithm when the resolution of the image data and the laser scan data is 0.25 mm.

Here, the configuration of the Geospatial Map (GSM) database can be changed and linked with the tunnel integrated maintenance management system through time series analysis of cracks and abnormal symptoms.

In this case, a CAD file (coordinate data) for the image registration data is generated, merged with the template data, and a 3ds Max file for the 3D rendering data is generated.

As another means for achieving the above-described technical problem, the opto-laser tunnel scan data processing method according to the present invention, the laser scan data obtained by using a laser scanner and heterogeneous image data obtained by using an imaging apparatus A method for processing opto-laser tunnel scan data for generating a three-dimensional tunnel model, comprising: a) reconstruction using a geometric space map (GSM) to visualize laser-scan data measured by a laser scanner; step; b) generating cross-sectional data that is the GSM-based laser scan data; c) correcting the cross-sectional data; d) generating a database for processing the matching data of the laser-image which is opto-laser data; e) generating opto-laser data by laser and image data matching using the database; f) correcting and improving said opto-laser data; g) correcting dictionary data for three-dimensional rendering of data point-based data; And h) performing a post-processing operation for three-dimensional rendering of the data point-based data, wherein after correcting each of the laser scan data and the image data, forming registration data and performing 3D rendering .

Here, the geometric spatial map (GSM) arranges laser scan data and image data having physical coordinate values in logical spaces having the same interval. A post-correction process, image registration, and 3D rendering are performed in a space having the same logical and physical characteristics.

Here, the laser scan data stores Raw Data (raw data) obtained from a laser scanner in the Geometric Space Map (GSM) in order to generate a cross section based on a set resolution from data obtained in a spiral form do.

Here, the stored Raw Data type has a uniform size according to the set resolution of the y-axis and the z-axis, and each array value has x-axis information as spatial information and information on RGB values to be stored and stored .

Here, the cross-sectional data generated in the step b) is generated by selectively generating a cross-section according to the necessity of a user by adjusting the number of unit arrays included in one cross-section, and by performing laser data correction, Is adjusted.

According to the present invention, the performance evaluation system according to the field application can be constructed by stabilizing the opto-laser tunnel scanning system by improving the performance of the self-propelled truck (RGV), building a performance evaluation system, and creating a manual.

According to the present invention, it is possible to improve the performance of a detection algorithm for tracking cracks and anomalous indications, to improve the performance of an operating program by applying a software development kit (SDK) for 3D rendering, And the menu, it is possible to improve the data matching process between the scanner data and the image data.

According to the present invention, it is possible to expand the connection with the tunnel integrated maintenance system by changing the configuration of the database based on Oracle (Oracle) and structuring the database for time series analysis of cracks and anomalies have.

According to the present invention, a CAD file (coordinate data) for the image registration data is generated and merged with the template data, and a 3ds Max file for the 3D rendering data is generated, so that the integrated operation program is combined with the existing design and construction data Can be linked and extended.

1 is a photograph and a measurement view schematically showing tunnel scanning and measurement results according to a conventional technique.
2 is a perspective view schematically showing a conventional hybrid tunnel scanning apparatus.
FIG. 3 is a block diagram of an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention.
Figures 4A and 4B are diagrams showing the self propelled braking (RGV).
5 is a view showing a self propelled truck (RGV) equipped with a measuring module.
6 is a diagram schematically illustrating a data collecting process in an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention.
7 is a view showing a result of application of a crack detection algorithm applied to an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention.
FIGS. 8A and 8B are diagrams illustrating a result of applying a crack detection algorithm applied to an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention, and a tracking program implementation result.
9 is a diagram illustrating image matching and three-dimensional rendering results according to an embodiment of the present invention.
10 is a flowchart illustrating a method of processing an opto-laser tunnel scan data according to an exemplary embodiment of the present invention.
11 is a diagram illustrating a GSM-based data generation and matching process according to an embodiment of the present invention.
12A and 12B are views showing image registration data stored in the DXF file format and image registration data stored in the DS file format according to the embodiment of the present invention, respectively.
13 is a diagram illustrating an integrated operating program menu according to an embodiment of the present invention.
14A through 14G are diagrams illustrating a graphical user interface (GUI) of an integrated operating program according to an embodiment of the present invention, respectively.

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. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, except to exclude other components unless otherwise stated.

First, an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention is designed to operate and maintain a systematic tunnel by: i) stabilizing an opto-laser tunnel scanning system; Ⅱ) Improvement of data matching process, ⅲ) Extension of connection with integrated maintenance management system of tunnel, ⅳ) Automation of inspection and interpretation and storage of inspection contents through improvement of operating software for linking and expansion with existing design and construction data The present invention is intended to provide a technique that can be continuously used even though the operator is changed or the work environment is changed.

FIG. 3 is a block diagram of an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention.

Referring to FIG. 3, an optical-laser tunnel scanning system 100 for generating a three-dimensional tunnel model according to an embodiment of the present invention includes an RGV 110, a laser scanner 120, A laser scanner control unit 151, a data matching unit 160, a GSM (Geometric Space Map) database 170, Data processing and analysis unit 180 and an integrated operation program 190. The opto-laser tunnel scanning system 100 can be used in connection with the tunnel integrated maintenance system 200. [

The Opto-laser Scanner according to an embodiment of the present invention uses a laser scan data acquired using a laser scanner and image data acquired using a camera to obtain one matched data for the entire measurement interval Respectively.

Specifically, the RGV 110 is implemented as a frame body, and the laser scanner 120 and the image capturing apparatus 130 are mounted. The self-propelled truck 110 is driven by a battery and a double suspension-based drive shaft is applied to drive the autonomous vehicle at low speed.

The laser scanner 120 detects the inside of the tunnel while the RGV moves, and acquires three-dimensional coordinate data of the tunnel. For example, the laser scanner 120 may obtain three-dimensional coordinate data for the tunnel by using a scanning mirror that rotates at 360 ° while the self-propelled bogie 110 moves.

In such a laser scanner 120, laser scanning is a technique for allowing a user to easily understand a complex object by using laser point clouds, and is a technique in which a laser beam , The reflectance of the laser beam on the surface of the object and the receiving of the reflected laser beam to obtain spatial information. The distance is measured with a laser, and a plurality of X, Y, Z coordinates And a 3D model consisting of a set of points of view.

The image photographing apparatus 130 photographs the interior of the tunnel to acquire image data. The image photographing apparatus 130 is used in an external environment and currently uses an analog camera, but it can be used in place of a high-resolution digital camera.

The laser scanner driver 141 drives the scanning mirror of the laser scanner 120 to rotate 360 °, and the image capturing apparatus driver 142 drives the image capturing apparatus.

The control unit 150 includes a laser scanner control unit 151 and a photographing apparatus control unit 152. The laser scanner control unit 151 controls the laser scanner 120, And receives scan data. The image capturing apparatus control unit 152 controls the image capturing apparatus 130 and receives image data photographed from the image capturing apparatus 130.

The data matching unit 160 uses the laser scan data acquired by using the laser scanner 120 and one matched to the entire measurement section using heterogeneous image data obtained by using the image photographing apparatus 130. Opto-laser data is generated and reconstructed in the laser scan data according to the Geometric Space Map (GSM) database 170. At this time, the data matching unit 160 applies a detection algorithm for tracking cracks and anomalies, and applies a software development kit (SDK) for 3D rendering. In addition, when the resolution of the image data and the laser scan data is 0.25 mm, the data matching unit 160 can detect a fine crack of 0.5 mm according to a wavelet-based crack detection algorithm.

The data processing and analysis unit 180 processes and analyzes the opto-laser data matched by the data matching unit 160.

The integrated operation program 190 generates a CAD file (coordinate data) for the image registration data, merges it with the template data, and generates a 3ds Max file for the 3D rendering data. This allows the integrated operating program 190 to be linked to and extended with existing design and construction data.

Therefore, in the opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to the embodiment of the present invention, the laser scan data and the image data are corrected, respectively, Dimensional tunnel model.

In addition, an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention can change the configuration of the geometry map (GSM) database and perform tunnel integration maintenance through time series analysis of cracks and anomalies Can be associated with the management system (200).

Table 1 shows specifications of the opto-laser tunnel scanning system according to the embodiment of the present invention.

The opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention can be applied to a tunnel, which can check not only the surface state but also the geometry of the tunnel lining using image data and individual characteristics of the laser scanner. Provides mobile automatic detection technology for facilities. Particularly, by realizing the light weight of the self-propelled lorry 110 in the form of a frame body, stability and mobility can be improved, and user convenience and detection reliability can be improved to improve utility in the field installation.

In addition, a complex processing technique is required to process large-capacity data (1 GB / m) having different characteristics caused by fusion of heterogeneous sensors. For this purpose, an opto-laser tunnel for generating a three-dimensional tunnel model according to an embodiment of the present invention The scanning system physically implements a new conceptual geometric space map (GSM) by database, and simultaneously implements image data having regular array characteristics in a three-dimensional space and irregular laser scan data at the same time High-speed processing can be operated.

In addition, the opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention can realize a three-dimensional digital tunnel through fusion of laser and image data, And it is possible to evaluate and maintain the state of the tunnel as compared with the existing method because it can be confirmed on the dimension plane.

In addition, the opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention can be applied to various fields (scanning system for railway vehicle inspection, concrete track inspection system, etc.) , Especially by replacing the wheels, it is possible to carry out field measurements on tunnels under construction as well as tunnels currently in use. Accordingly, it is possible to secure connection with the integrated tunnel maintenance management system 200 by improving operation software according to the development of GSM-based mass data processing technology and 3D rendering algorithm.

Figs. 4A and 4B show the self-propelled bogie (RGV), and Fig. 5 shows the self propelled bogie (RGV) equipped with the measurement module.

Referring to FIGS. 4A and 4B, in an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention, the RGV 110 is implemented as a frame body, The laser scanner 120 and the image capturing apparatus 130 are mounted.

The self-propelled truck 110 is driven by a battery and a double suspension-based drive shaft is applied to drive the autonomous vehicle at low speed. In comparison with a general electric vehicle driven by a battery and a DC motor, the RGV is operated in a rail guided manner without a steering device, and in an operation mode in which the accelerator pedal and the maintenance pedal Instead of controlling the start, acceleration and stop with an electric control signal, it has a function and a driving method similar to a general electric vehicle.

Accordingly, the self-propelled truck 110 secures a speed accuracy of 1 cm / sec or less at a constant speed in a tunnel section including an inclined plane, enters a constant speed running mode within 3 seconds of departure, Operation can be controlled based on a high-resolution encoder and a digital converter that measures the encoder pulse interval in units of 250 ps.

Meanwhile, FIG. 6 is a diagram schematically illustrating a data collecting process in an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention.

In the opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention, the performance evaluation procedure for the self-propelled truck (RGV) 110 is as follows from a performance evaluation method applied to a general electric vehicle As the three evaluation items, the acceleration acceleration test, the maximum speed test and the running mode test were derived.

The data collection system in the performance evaluation for the self-propelled truck (RGV) 110 may be configured as shown in FIG. 6 to investigate the state and change of the self-propelled braking during driving, , The motor rotation speed, the terminal voltage of the variable resistor supplied to the motor controller, the voltage supplied to the motor, and the motor controller variable resistance signal were directly measured because the data acquisition system was measurable, and the current supplied to the motor was 110A Because it is a high current, it can be measured using a shunt resistor and a transducer. In addition, the motor speed is measured using a Hall sensor.

In the opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention, the self-propelled truck (RGV: 110) has a speed accuracy of less than 1 cm / sec at constant speed running in a tunnel section including an inclined plane The present invention provides a low-vibration autonomous travel apparatus for stabilizing a traveling system so as to enter a constant-speed traveling mode within 3 seconds upon departure, applying a double-suspension-based driving shaft, and driving the vehicle with a battery. In addition, a high-speed DSP precise operation control system based on a high-resolution encoder and a digital converter that measures the encoder pulse interval in units of 250 ps can be implemented to ensure operation stability and reliability when driving a self-propelled truck (RGV: 110).

Therefore, according to the embodiment of the present invention, the performance evaluation system according to the field application can be established by stabilizing the opto-laser tunnel scanning system by improving the performance of the self-propelled truck (RGV), building a performance evaluation system, .

On the other hand, the improvement work of the data matching process improves the performance of the detection algorithm for tracking cracks and anomalous indices, improves the performance of the operating program according to the application of the SDK for 3D rendering, Can be performed mainly on the menu configuration.

Here, the performance improvement of the detection algorithm for tracking cracks and anomalous indices is improved by improving the performance of the crack detection algorithm for detection of micro cracks of 0.5 mm, and the morphology-based detection algorithm for detecting anomalous signs in the tunnel such as leakage, It is also possible to perform performance improvement by applying detection algorithm and to perform detailed tracking of abnormality symptom by specifying detailed items such as type, shape, size, and degree of lesion when tracking an abnormal symptom, .

In addition, the improvement of the operating program according to the application of the SDK for the 3D rendering is performed by integrating the function developed in a separate external program and the algorithm developed in the integrated operation program for the 3D rendering of the matching data, The processing of the operation program is performed so that the postprocessing process of the operation program can be performed on a routine basis. In particular, it is possible to derive the adjustment parameters for the image registration and the 3D rendering process, thereby improving the function of the program so that the result can be outputted according to the user's purpose.

In addition, the GUI and menu configuration for improving the field application ability and the user convenience can be classified into functional units such as field measurement and post-processing, data management, and system status check by functionally categorizing all operating programs , It is possible to construct a systematic menu and configure the menu and GUI so that it can be operated by the touch screen in the field measurement. Thus, it is possible to operate the equipment, Which can be verified with the operating program.

On the other hand, in the case of the previous crack detection algorithm, the texture of the wall material is excessively large in the crack detection image, and it is somewhat difficult to detect the micro crack. In the case of binarization to remove the texture, And it is difficult to predict the growth direction using the trend line such as time series analysis and to grasp the accurate state of the progress degree.

A straight line equation for cracks extracted from the whole cracks can be obtained. The reconstruction can be performed by connecting the straight lines to obtain the trajectory of the entire crack. The cracks having no connection point or having a short length are regarded as noise components and can be removed It is possible to obtain an improved crack detection image.

In this case, the result of applying the crack detection algorithm is as shown in Fig. 7, and in particular, Fig. 7 (d) shows that the improvement effect is excellent by comparing the results of the old method and the newly applied crack detection algorithm .

7 is a diagram showing a result of applying a crack detection algorithm applied to an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention. FIG. 7A shows an original image, ) Represents a crack detection image by the Maxima Map, FIG. 7C shows a binary image, and FIG. 7D shows a result of applying a crack detection algorithm. 8A and 8B are diagrams showing results of application of a crack detection algorithm and implementation of a tracking program applied to an opto-laser tunnel scanning system for generating a three-dimensional tunnel model according to an embodiment of the present invention, FIG. 5 is a diagram illustrating image matching and three-dimensional rendering results according to an embodiment of the present invention. FIG.

The characteristics of the opto-laser scanner measurement data according to the embodiment of the present invention are as follows.

Specifically, the laser scan data acquires three-dimensional coordinates for each measuring point by a scanning mirror rotating at 360 ° during the measurement, and the entire data obtained during the RGV movement has the same shape as the data set obtained by the spiral scanning method. Have On the other hand, the image data is continuously photographed during RGV movement, and a segment image is obtained from each photographed image, and one panorama image is generated for the entire measurement region using the segment image. However, the laser scan data and the image data have coordinate data for the same three-dimensional space, but their characteristics are very different. Therefore, they are very difficult to map and match by using a one-to-one correspondence or a linear calculation formula.

As described above, the laser scanner acquires three-dimensional coordinate data for the tunnel using a scanning mirror that rotates 360 degrees while the RGV is moving. At this time, the three-dimensional data for each measuring point is measured at regular intervals when the laser scanner rotates at 360 ㅀ. For example, when the laser scanner is rotating at a speed of 1,200 RPM, and the sampling interval of the laser scan data is 10 microseconds, the laser scanner takes 50 ms to make one revolution. In this case, one sample, that is, 5,000 samples are measured per section, and each sample is measured every 0.072 ms. However, the measurement proceeds at regular time intervals, but the values of x, y, and z may vary depending on the distance between each measurement point and each measurement data of the laser scanner.

As described above, the panorama image data matched with the laser scan data is obtained by extracting one image segment from each image captured during the movement and merging the image segment. At this time, each image segment, that is, each photographed image, is acquired with a predetermined time interval, such as laser scan data, and is acquired at a predetermined interval in the three-dimensional space.

Therefore, when the characteristics of the image data and the laser scan data are compared, each pixel data constituting the image data is arranged such that each measurement point on the three-dimensional space is uniformly distributed at a geometrically uniform interval in the two- do. On the other hand, the characteristics of the laser scan data are different because each measurement point on the three-dimensional space is stored as three-dimensional space coordinates.

The operation of visualizing the data measured by the opto-laser scanner according to the embodiment of the present invention is performed as shown in FIG. 10, and after the laser scan data and the image data are corrected, the registration data is formed, And then proceeds to rendering. In this case, even if the two heterogeneous data are not matched, there arises a problem in which the result of the matching can not be taken into consideration when the correction for each data proceeds, so that the measurement data is arranged on the logical space having the same characteristics and the operation is performed shall.

10 is a flowchart illustrating a method of processing an opto-laser tunnel scan data according to an exemplary embodiment of the present invention.

Referring to FIG. 10, the method for processing opto-laser tunnel scan data according to an exemplary embodiment of the present invention may include three-dimensional information about laser scan data acquired using a laser scanner and heterogeneous image data obtained using an image photographing apparatus. As an opto-laser tunnel scan data processing method for generating a tunnel model, first, the laser-scan data measured by a laser scanner is reconstructed using a geometric space map (GSM) (S110). Here, the geometric spatial map (GSM) arranges laser scan data and image data having physical coordinate values in logical spaces having the same spacing, and performs post-correction processing and image registration in a space having the same logical and physical characteristics. You will perform 3D rendering.

Next, cross-sectional data which is laser scan data is generated based on the GSM-based data (S120), and the cross-sectional data is corrected (S130).

Next, a database for processing registration data of laser-images, which are opto-laser data, is generated (S140), and opto-laser data is generated by matching laser and image data using the database (S150).

Next, the opto-laser data is corrected and improved (S160), and preliminary data for 3D rendering of the data point-based data is corrected (S170).

Next, by performing post-processing for three-dimensional rendering of the data point-based data (S180), after performing the correction operation for each of the laser scan data and the image data to form a registration data to proceed to the three-dimensional rendering do.

On the other hand, the geometric space map (GSM) arranges the laser scan data and the image data having the physical coordinates on the logical space having the same interval, and performs post-processing such as correction on the space having the same logical and physical characteristics, By performing a 3D rendering operation, it is possible to maximize the quality of work results and the reality. Particularly, in the case of laser data, even if data correction is performed to improve the resolution in the Z-axis direction, it is difficult to find the data points located at the same position on the same cross section and the data of the same cross section. It is also used as an indispensable measure for improvement.

In the case of laser scan data, the raw data acquired from the laser scanner is stored in the Geometric Space Map to generate a cross section based on the set resolution from the data acquired in the helical form. At this time, the stored shape has a uniform size according to the set resolution of the y-axis and the z-axis, and each array value has information about x-axis information as spatial information and RGB values to be obtained and stored from the image data later. This is because substantially the image data exists on the coordinate plane of YZ as compared with the laser scan data.

In addition, by generating the data for each cross section and by adjusting the number of unit arrays included in one cross section, it is possible to dynamically adjust the resolution of the laser data by selectively generating the cross section according to the user's need and performing laser data correction And has a uniform pixel interval, and exhibits excellent functionality for bonding and post-processing with arranged image data. A schematized outline thereof is as shown in Fig. 11 is a diagram illustrating a GSM-based data generation and matching process according to an embodiment of the present invention.

According to the embodiment of the present invention, the performance of the detection algorithm for tracking cracks and anomalous indices is improved, the operating program performance is improved by applying a software development kit (SDK) for 3D rendering, and the field application ability and user convenience are improved , The data matching process between the scanner data and the image data can be improved.

Meanwhile, the operation software (integrated operation program) according to the embodiment of the present invention is a work for improving the data compatibility between the measurement result and the other application programs. The operation software generates a CAD file (coordinate data) And 3ds Max file creation function for 3D rendering data.

Here, the CAD file (coordinate data) generation for the image registration data and the merging with the template data are realized by loading the existing design and construction data in the form of a CAD file for the measurement tunnel in the operation program and using the same as template data In addition, the tunnel scanning results are compared with the tunnel scanning results using the template data of the existing design and construction data, or the tunnel scanning results can be used as the analysis data such as the change in the internal limit of the tunnel through the merging of the two data. It implements the function to generate separate CAD files. Therefore, the integrated operation program implements the functions that have the scalability that can be utilized in connection with other programs related to the tunnel.

In this case, the 3ds Max file creation function for the 3D rendering data is created by using the 3D data generated from the tunnel scanning result in the 3ds Max program, so that the 3D data file can be read in 3ds Max to perform various tasks Function.

In addition, among the files used in CAD programs, * .dxf among the file formats that can process 3-D data is most commonly used. Therefore, functions for generating data files in * .dxf format have been developed and integrated It will be installed in the operating program.

This is because existing design and construction data are prepared for CAD program. Therefore, if cross-section or volume data of measurement data is exported in the form of * .dxf format, It is possible to grasp the exact position that has occurred.

In this case, the measurement data can be directly changed to the DXF file format, but there are many file formats used for the three-dimensional data. Of these, the SAT file format is a format capable of exporting data as an ASCII value. The SAT file format is easy to convert to the DXF file format. The measurement data can be temporarily stored in the SAT file format, and then stored and exported in the DXF file format.

The DXF (Drawing eXchange Format) data format is an exchange file developed by AutoDesk for the exchange of drawing data between AutoCAD and other CAD systems. It is composed of ASCII text files. When stored in ASCII format, it is a simple structure in which a group code and a list of values are stored. However, because of the list structure of the group codes and the corresponding values, a storage capacity of one line is also occupied. The basic unit of a DXF file is a group, in which several groups form a single section, and these sections are assembled into a DXF file.

12A and 12B are views showing image registration data stored in a DXF file format and image registration data stored in a DS file format according to an embodiment of the present invention. FIG. 12A shows image registration data stored in a DXF file format, 12B shows image registration data stored in the DS file format.

13 is a diagram illustrating an integrated operating program menu according to an embodiment of the present invention.

13, the integrated operation software according to the embodiment of the present invention includes an operation control part for on-site measurement, a data processing part for data post-processing on the measurement result, a crack detection using image registration and three- , And an analysis part for time series analysis. The overall menu structure is as shown in Table 2 and Table 3. [0100]

The functions performed in the submenus belonging to the four main menus described above are implemented such that a user can easily operate the functions using a separate window. When a GUI for a representative menu among all menus is displayed, Respectively.

14A and 14B are diagrams showing a graphical user interface (GUI) of an integrated operating program according to an embodiment of the present invention. More specifically, FIG. 14A shows a GUI for setting and driving RGV operation, Fig. 14C shows a GUI for processing, Fig. 14C shows output of laser data processing results for the entire measurement period, Fig. 14D shows a GUI for image data processing, Fig. 14E shows a GUI for creating a panorama image, Shows a GUI for detecting cracks, and FIG. 14G shows a GUI for 2D texture and 3D volume rendering.

13, the configuration submenu in the system control main menu shown in FIG. 13 is used to set up and operate the system for operation of the opto-laser tunnel scanning system and acquisition of the detection data, as shown in FIG. 14A It can perform system setting for laser scanner such as Laser Power and Max Range, and perform all functions related to system operation such as moving distance and speed of RGV.

In addition, it is possible to adjust the number of frames for image acquisition, adjust the resolution and acquisition mode, and store laser scan data and image data. Includes a panorama preview function to check the camera settings at the measurement site, so that errors in the measurement data can be grasped on the spot.

Next, as shown in Fig. 14B, the laser data processing submenu in the data processing main menu shown in Fig. 13 analyzes the acquired laser scan data, You can check the processing results by applying correction algorithm and digital filter for data correction and resolution improvement.

In particular, the analysis result for checking the validity of the measured laser scan data is displayed on the GUI and stored as an analysis file, so that the user can intuitively determine the measurement result, It can also be useful in the process of post-processing such as application and generating cross-sectional data. Further, as shown in Fig. 14C, a function for displaying the processing result for the entire measurement section is provided.

Next, in the main menu of the data processing main menu shown in FIG. 13, the image data processing submenu applies a lossless compression technique in order to efficiently store image data of 16 bits obtained from the camera during field measurement dt file with an extension of. Therefore, the Data Convert menu is required to convert to a commonly used image file, and thus converts the dt file stored in the measurement into a jpg or raw format file.

As shown in FIG. 14D, Image Data Correction can perform an image quality improvement operation by displaying images acquired from each camera and applying brightness and contrast correction and various digital image processing algorithms. Can be used to perform more analytical work. In addition, various image filters for improving image quality can be implemented and applied, and an image segment for generating a panoramic image can be generated using an image having an optimal image quality.

Next, as shown in FIG. 14E, the Panorama Image submenu in the main menu of the data processing main processing shown in FIG. 13 includes an image set for image correction and image quality improvement of a raw image acquired from each camera The image set is loaded in a thumbnail form so that the panorama image can be created, and the position of each image is set and displayed in the vertical direction. At this time, by simply double-clicking the image for each camera, the corresponding image can be automatically moved to the window for obtaining the position offset, thereby maximizing the user's convenience.

In addition, as described above, when positional offset values of each image are acquired, when the image arrangement is completed, a movement controller of the program is used to move each image to create a panoramic image. At this time, the position offset value of each image according to the positional shift of each image may be collectively applied to the process of generating the panoramic image by combining the image segments acquired from each image stored in the program, And can be used continuously.

Next, as shown in FIG. 14F, the Crack Detection submenu in the main menu of the data processing main menu shown in FIG. 13 has a function of applying an algorithm for crack detection based on image data and a function of crack data visualization to provide. This makes it possible to carry out a crack detection on a specific region or a region of interest (ROI) as well as perform an overall crack detection on the entire measurement region. In particular, by applying a separate pseudo-color mapping technique, as shown in FIG. 14F, color mapping according to the thickness of the crack can be performed, so that the user can easily grasp the current state of the crack.

Next, the 2D Texture Rendering and 3D Volume Rendering submenus in the main menu of the data processing shown in FIG. 13 can display the rendering result of the image matching data using the GSM database as shown in FIG. 14G . As described above, the Coin3d library and the 3D accelerator are used, and a method of adjusting the degree of visualization, that is, the number of points or pixels expressed through the reference resolution for visualization, is implemented by adjusting the dynamic method The processing speed can be minimized and the modification and change operation of the visualized data can proceed quickly.

For example, in the case of visualizing data for the entire measurement period, the reference resolution is 10 cm, so that the calculation speed and the use of the graphics memory can be minimized by appropriately reducing the number of points to be calculated. On the contrary, when only a partial section of the entire measurement section is visualized, the reference resolution is lowered, and the number of points used for rendering and displaying are increased, so that the resolution according to the visualization result is maintained at an appropriate level, It can be kept constant.

As a result, according to the embodiment of the present invention, the CAD file (coordinate data) for the image registration data is generated and merged with the template data, and the 3ds Max file for the 3D rendering data is generated, And can be linked to and extended with construction data.

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 entity may be distributed and implemented, and components described as being distributed may also 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.

100: Opto-Laser Tunnel Scanning System
110: Rail Guided Vehicle (RGV)
120: Laser Scanner
130:
141: laser scanner driving section
142:
150:
151: Laser scanner control section
152:
160: Data matching unit
170: Geometric space map (GSM) database
180: Data processing and analysis unit
190: Integrated Operations Program
200: Tunnel integrated maintenance system

Claims (14)

A frame body type self-propelled truck (RGV) equipped with a laser scanner and a photographing device;
A laser scanner for detecting the interior of the tunnel while the RGV is moving to acquire three-dimensional coordinate data of the tunnel;
A laser scanner controller for controlling the laser scanner and receiving scan data obtained from the laser scanner;
A video photographing device for photographing the interior of the tunnel;
A photographing apparatus driving unit for driving the image photographing apparatus;
A video photographing device control unit for controlling the video photographing device and receiving video data photographed by the video photographing device;
Using the laser scan data acquired by using the laser scanner and the heterogeneous image data obtained by using the imaging apparatus, one matched opto-laser data of the entire measurement section is generated and a geometric spatial map (GSM) is generated. A data matching unit for reconstructing laser scan data according to a database; And
A data processing and analysis unit for processing and analyzing the opto-laser data matched by the data matching unit,
Including,
Dimensional tunnel model to generate a 3D tunnel model by performing a correction operation on each of the laser scan data and the image data and then forming registration data and performing 3D rendering to generate a 3D tunnel model. . The method of claim 1,
The laser scanner acquires three-dimensional coordinate data for a tunnel by using a scanning mirror that rotates at 360 ° while the self-propelled bogie (RGV) moves, opto-laser tunnel scanning for generating a three-dimensional tunnel model. system. The method of claim 1,
Characterized in that the self-propelled truck is driven by a battery, and a double suspension-based drive shaft is applied to perform a low-vibration self-running. The method of claim 3,
Wherein the self-propelled bogie has a speed accuracy of less than 1 cm / sec at a constant speed in a tunnel section including an inclined plane, and enters a constant speed running mode within 3 seconds of departure. Laser Tunnel Scanning System. The method of claim 3,
Characterized in that the self-propelled bogie is operated based on a high resolution encoder and a digital converter that measures the encoder pulse interval in units of 250 ps. The opto-laser tunnel scanning system for generating a three-dimensional tunnel model. The method of claim 1,
Wherein the data matching unit is implemented with a detection algorithm for tracking cracks and anomalies and applying a software development kit (SDK) for three-dimensional rendering. Laser Tunnel Scanning System. The method of claim 1,
Wherein the data matching unit detects a fine crack of 0.5 mm according to a wavelet-based crack detection algorithm when the resolution of the image data and the laser scan data is 0.25 mm. Laser Tunnel Scanning System. The method of claim 1,
Characterized in that the geometry spatial map (GSM) database configuration is changed and linked to a tunnel integrated maintenance system through time series analysis of cracks and anomalies. The method of claim 1,
Dimensional coordinate system, and a CAD file (coordinate data) for the image registration data is generated and merged with the template data to generate a 3ds Max file for the 3D rendering data. . A method of processing an opto-laser tunnel scan data for generating a three-dimensional tunnel model for laser scan data acquired using a laser scanner and heterogeneous image data acquired using an imaging apparatus,
a) reconstructing using a geometric space map (GSM) to visualize laser-scan data measured by a laser scanner;
b) generating cross-sectional data that is the GSM-based laser scan data;
c) correcting the cross-sectional data;
d) generating a database for processing the matching data of the laser-image which is opto-laser data;
e) generating opto-laser data by laser and image data matching using the database;
f) correcting and improving said opto-laser data;
g) correcting dictionary data for three-dimensional rendering of data point-based data; And
h) Performing a post-processing operation for three-dimensional rendering of data point-based data
Including,
Wherein the correcting operation is performed on each of the laser scan data and the image data, and then the matching data is formed and the 3D rendering is performed. The method of claim 10,
The geospatial map (GSM) arranges laser scan data and image data having physical coordinate values in logical spaces having the same interval. A method for processing opto-laser tunnel scan data, comprising performing post-correction, image registration, and three-dimensional rendering in a space having the same logical and physical characteristics. The method of claim 10,
Wherein the laser scan data stores raw data (raw data) acquired from a laser scanner in the GSM (Geometric Space Map) to generate a cross section based on a set resolution from data obtained in a spiral shape. - Laser tunnel scan data processing method. The method of claim 12,
The stored raw data form has information on y-axis and z-axis having a uniform size according to the set resolution, and each array value has x-axis information which is spatial information and information on RGB values to be obtained and stored afterward from the image data Wherein the optical data is processed by an opto-laser tunnel scanning method. The method of claim 10,
The cross-sectional data generated in the step b) may be modified by adjusting the number of unit arrays included in one cross section so as to selectively generate a cross section according to the user's need and dynamically adjusting the resolution of the laser data by performing laser data correction Wherein the first and second wavelengths are different from each other.

Images