KR20140036897A - Integrated system for diagnosing and repairing painting condition of steel bridge, and method for the same - Google Patents

Abstract

Provided are an integrated system and method for diagnosing and repairing painting of a steel bridge capable of: synthetically, simply and economically diagnosing painting deterioration of a steel bridge and repairing the painting thereof using an integrated movable painting repairing device which is attached in the side surface and the lower surface of the steel bridge to be moved when diagnosing the painting deterioration of the steel bridge and repairing the painting thereof. [Reference numerals] (100) Integrated movable painting repairing device; (110,210) Wireless communication module; (120,320) Image photographing unit (Camera); (130) Lighting unit; (140) Painting diagnosing unit; (150) Painting repairing control unit; (160) Operation driving unit; (170) Painting repairing unit; (171) Surface treatment unit; (172) Primer paint painting unit; (173) Surfacer paint painting unit; (174) Topcoat paint painting unit; (175) Drying unit; (180) Battery; (200) Worker terminal; (220) Control unit; (230) Image processing unit; (300) Remote control device; (310) Remote control flight vehicle; (AA) Attachment

Description

[0001] INTEGRATED SYSTEM FOR DIAGNOSING AND REPAIRING PAINTING CONDITION OF STEEL BRIDGE, AND METHOD FOR THE SAME [0002]

More particularly, the present invention relates to a system and method for repairing and repairing an integrated coating paint for diagnosing and repairing corrosion and paint peeling of a steel bridge.

Generally, the coating film inspection for judging the reapplication time of the steel bridge coating is mainly performed through visual observation. As a result, a personal error occurs in the determination result depending on the presence or absence of knowledge or experience regarding the coating and paint. In addition, due to the lack of skilled personnel capable of performing accurate diagnoses, it is difficult to judge the appropriate reapplication time through the objective, quantitative, and scientific evaluation of the current steel bridge coating condition.

To solve these problems, a coating film diagnosis system capable of objectively and quantitatively determining the deterioration degree of the coating film and the appropriate re-coating time using an image processing technique has been developed.

On the other hand, steel used in various structures such as steel bridge is rapidly increasing in number and size, and is an indispensable material in modern civilization. On the other hand, these materials are deteriorated or corroded by the use environment. In particular, steel-based metal materials are inherently corrosive, which is unstable because they are converted into useful practical materials by applying a large amount of energy to ores, which are stable natural metal oxides (in the form of rust).

Generally, steel bridge girder (SBG) and steel plate girder (SPG) bridges are representative types of steel bridges applied to interstices and inter-story bridges. The inspection and non-destructive work on the steel bridge is performed visually (Paint peeling, painting change), and the cracks and corrosion of the steel surface are designated at arbitrary places, and the investigator directly conducts nondestructive tests such as UT and RT to derive the results.

However, as described above, it is not possible to check the painting state of the steel surface, corrosion, welding, cracking state, etc. only with the naked eye, and the inspection data can be known only by the inspector, There is a problem that it is difficult to review or analyze the inspection data in the future.

In the case of steel nondestructive survey, SBG bridges can be manually operated within a box girder. However, in the case of SPG bridges, it is required to install special facilities or equipment to be accessed by workers.

In addition, if the bridge bridge is high or the bridge space is river or sea, it can not be accessed through a scaffold or a ladder, and it is not easy to conduct inspection or nondestructive investigation by manpower.

Therefore, in recent years, corrosion of the surface of a steel box, welding, painting and cracks are photographed through a camera mounted on one end of the inflection boom while a bridge is being moved using a vehicle having a refraction boom, To conduct a survey of the appearance of.

However, when a street lamp is installed on one side of the bridge, it is difficult to move the vehicle having the inflection boom every time. In addition, when the inflection boom is shaken by a vehicle passing through a wind or a bridge, or by a load applied to the inflection boom, the images of the taken bridge are different from each other (for example, Corresponding coordinates), so that a large amount of error occurs in the processing of continuous images corresponding to the photographing position, and when the defect analysis is performed on the bridge based on the images, it is difficult to improve the reliability thereof.

On the other hand, as a conventional technique for solving the above-mentioned problems, Korean Patent Registration No. 10-1113240 discloses an invention named "a painting apparatus and a movable type automatic painting apparatus using the same ", which will be described with reference to FIG. 1 .

1 is a view showing a movable type automatic painting apparatus using a painting apparatus according to a conventional technique.

Referring to FIG. 1, a conventional movable automatic painting apparatus using a painting apparatus includes a painting apparatus 20, a moving apparatus 31, and a deflection boom 32.

The moving device 31 includes a hydraulic pressure generating device, an air pressure generating device, a power source, a control unit, and a dust collecting unit.

The inflection boom 32 or lift is mounted on top of the moving device 31 and has a plurality of joints or length adjusting means.

The coating mechanism 20 includes a casing 21 and the end boom 22 is connected to the end of the inflatable boom 32 or the lift to paint the side or bottom 11 of the amount of steel crossing 10.

According to the portable automatic painting apparatus using the painting apparatus according to the related art, there is no need for a separate installation apparatus and a temporary installation apparatus, and it is controlled by an automated system without a work force, so that it can be installed quickly and safely with a predetermined quality.

However, there is a problem that the movable automatic painting apparatus using the painting apparatus according to the related art is a large apparatus, which can not be utilized for fine painting repair, which takes a substantial amount of time.

On the other hand, as another prior art, Korean Patent Registration No. 10-1081375 discloses an invention entitled "Bridge Inspection and Nondestructive Tuning Robot capable of Surface Run of Steel Bridge ", which will be described with reference to FIGS. 2 and 3 do.

FIG. 2 is a perspective view of a bridge inspection and non-destructive inspection robot capable of traveling on a surface of a steel bridge according to a conventional technique, and FIG. 3 is a block diagram of a bridge inspection and non-destructive inspection robot capable of surface running of a steel bridge.

Referring to FIGS. 2 and 3, a bridge inspection and non-destructive inspection robot capable of traveling on the surface of a steel bridge according to the related art is characterized in that the robot main body 50 is mounted on the surface of the steel box 11 of the steel- A moving part 63 for moving the moving part 63; An appearance inspection and nondestructive inspection unit 64 for continuously photographing the surface of the steel box 11; A position calculation unit 66 for calculating the x / y / z axis coordinates by measuring the movement position of the robot main body 50 corresponding to the images continuously photographed by the appearance inspection and nondestructive inspection unit 64; A position recognition unit for receiving the continuously shot image and the x / y / z axis coordinates corresponding to the continuously captured image and generating an image capable of recognizing the actual crack elements corresponding to the image successively and recognizing the actual position coordinates of the image, (67); And a control unit 65 for controlling the components.

The moving unit 63 includes a wheel 51 for moving the robot main body 50 along the surface of the steel box 11 and a wheel 51 inserted into the disk of the wheel 51, The electromagnet wheel and the plurality of electromagnets 61 selectively controlling the intensity of the magnetic force so that the wheel 51 is attached to the surface of the steel box 11 through the plurality of electromagnets 61, And a magnetic force control module (62) for naturally rotatingly moving with respect to the surface of the rotor (11).

A bridge inspection and non-destructive inspection robot capable of traveling on the surface of a steel bridge according to the prior art has a plurality of electromagnets having an address along the outer peripheral surface of the mobile robot wheel so as to move on the girder surface of the steel bridge, The magnetism intensity of the electromagnet can be controlled based on the address of the electromagnet attached to the electromagnet.

However, since the robot main body 50 moves by the wheel 51 method, the bridge checking and non-destructive testing robot capable of traveling on the surface of the steel bridge according to the conventional technique is restricted in terms of the movement of the side surface or the lower surface of the steel bridge 10 In particular, there is a problem that it is difficult to move the bent portion in the perpendicular direction. In addition, bridge inspection and non-destructive inspection robots capable of running on the surface of a steel bridge according to the prior art do not provide a paint maintenance function as bridge inspection and non-destructive inspection.

On the other hand, the amount of steel bridge is mainly installed in a place where the corrosion environment is severe, and the amount of steel bridge which has once eroded is difficult to be repaired. Therefore, unlike general steel structure, In addition, since the steel bridge requires a high level of aesthetics, it is required to exhibit long-lasting and visually beautiful appearance in a corrosive environment.

Various attempts have been made to automatically grasp the state of the coating film and the corrosion state of such a steel bridge member, and this is a field undergoing steady research.

However, the automation technique for maintenance after recognizing the state of the coating film is not dealt with deeply. This technique of automation painting is mainly used in manufacturing industry and there is no case applied to coating of steel bridge. As for the coating of the steel bridge, the procedure of the steel bridge coating is briefly explained in the scrap data of the National Construction and Industrial Safety Association of Japan, and there is no progress in the automation of the steel bridge coating.

Specifically, the guidance system of the automation repair equipment according to the prior art is not a form in which the result of the machine vision is controlled, but the condition evaluation and the maintenance work are performed as separate tasks, and there is no integrated system. In addition, there are various state evaluation techniques using optical sensors, but the accuracy has not been verified clearly.

1) Republic of Korea Patent No. 10-1067932 (Application Date: April 13, 2011), the title of the invention: "Repainting method of steel structures" 2) Republic of Korea Patent No. 10-1113240 (Application Date: July 21, 2011), the title of the invention: "Painting device and a mobile automatic coating device using the same" 3) Republic of Korea Patent No. 10-1081375 (Application Date: December 9, 2008), the title of the invention: "Robot inspection and non-destructive investigation robot that can run the surface of the steel bridge" 4) Republic of Korea Patent No. 10-1165090 (application date: August 12, 2011), the title of the invention: "Steel structure surface moving device using magnetic force" 5) Republic of Korea Patent No. 10-942911 (application date: March 21, 2008), the title of the invention: "Robot inspection robot inside the steel box using the rail"

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide an integrated paint diagnosis and repair system capable of integrally performing paint deterioration diagnosis and paint repair in a steel bridge.

It is another object of the present invention to provide an integrated paint diagnostics and repair system and method for performing a coating deterioration diagnosis and coating repair of a steel bridge easily and economically using an integrated mobile paint repair apparatus will be.

Another object of the present invention is to provide an integrated coating diagnosis and repair system capable of easily moving an integrated portable painting and repairing apparatus attached to side and lower surfaces of a steel bridge during diagnosis and coating repair of a steel bridge And a method thereof.

As a means for achieving the above-described technical problem, the integrated coating diagnosis and repair system for steel bridges according to the present invention, in the integrated coating diagnosis and repair system for steel bridges, the integrated coating diagnosis and repair of steel bridges Integrated removable painting repair device to perform; A remote control device that mounts an image capturing unit and captures a coating state of the steel bridge; And a worker terminal for remotely controlling the integrated portable painting repair device and the remote control device, wherein the worker terminal performs an appearance survey based on an image of a steel bridge photographed by the remote control device, and the integrated mobile painting repair is performed. The device may be attached to the side or bottom surface of the steel bridge and integrally perform painting diagnosis and repair of the steel bridge.

Here, the integrated mobile painting and repairing apparatus may further include: a wireless communication module for wirelessly communicating with the worker terminal; An image capturing unit which is implemented by an optical sensor or an infrared camera and checks the coating film state of the steel bridge or photographs the maintenance process; An illuminating unit for illuminating the image capturing unit so that the image capturing state of the coating amount can be photographed; A painting diagnosis unit for comparing the image photographed by the image photographing unit with a standard image to grasp the coating film state of the steel bridge and diagnosing whether coating film deterioration has occurred; A paint remover for repairing the paint repair area when the paint film state detected by the paint diagnosing part is deteriorated; A paint repairing controller for controlling the paint repair of the paint repairing part; A traveling driving unit for driving the integrated portable painting and repairing apparatus to travel along the surface of the steel bridge; And a battery providing power to the wireless communication module, the image photographing unit, the lighting unit, the painting diagnosis unit, the painting repair unit, the painting repair control unit, and the driving unit.

Here, the coating diagnosis unit may determine whether the paint film state of the steel amount is peeled off, cracked, or corroded according to a paint film diagnostic program when the photographed image is different from a predetermined standard image.

The coating and repairing unit may include: a surface treatment unit for treating the surface of the coating and repairing area, An undercoating paint coating part for coating the surface-treated paint repairs area with an anticorrosive primer as a undercoating paint; A middle paint coating unit for applying a middle paint to the paint repair area painted with the undercoating paint; An upper paint coating unit for coating the upper paint in a paint repair area painted with the intermediate paint; And a drying unit for drying the painted surface of the undercoating material, the coating of the intermediate coating material, and the surface of the topcoat material, respectively.

Here, the integrated mobile paint repair apparatus, the wireless communication module, the image photographing unit, the lighting unit, the coating diagnosis unit, the painting repair unit, the painting repair control unit, and a painting repair apparatus main body on which the battery is mounted; At least two of which are disposed on the front and rear surfaces of the main body of the paint repairing apparatus, respectively, and a plurality of bending foots for running the paint repairing apparatus; Steel bridge attachment electromagnets disposed at lower ends of the plurality of refraction feet and temporarily attached to the steel bridges; And a permanent magnet for fixing the coating repair device to the steel bridge during painting repair of the steel bridge.

Here, an operation in which, after the refraction foot disposed on the front of the plurality of refraction foots moves forward, the painting and repairing apparatus body moves along the back, and the refraction foot disposed on the rear surface among the plurality of refraction foots moves And is repeatedly performed.

Here, the steel bridge attachment electromagnet disposed at the lower end of the plurality of refraction foot is characterized in that at least one or more maintains the state attached to the steel bridge so that the paint repair device main body does not fall.

Here, the remote control device may include: a remote control air vehicle flying under the remote control of the operator terminal; And an image capturing unit, which is implemented as an optical sensor or an infrared camera, and captures a coating state of the steel bridge on the remote control aircraft.

Here, the worker terminal may include: a wireless communication module for wirelessly communicating with the integrated portable painting and repair apparatus; A controller for remotely controlling the integrated mobile painting and repair apparatus through the wireless communication module and remotely controlling the remote control apparatus; And an image processing unit for processing the image photographed by the image capturing unit of the remote control apparatus.

According to another aspect of the present invention, there is provided a method of diagnosing and repairing a coating amount of a steel bridge, comprising the steps of: a) disposing an integrated mobile painting repair apparatus at a predetermined position of a steel bridge; b) the integrated mobile painting repair device moving the surface of the steel bridge; c) photographing and grasping the coating state of the steel bridge by the integrated mobile painting repair apparatus: d) determining whether the identified coating state is a coating deterioration requiring painting repair; e) repairing the painting of the steel bridge by the integrated mobile painting repair device in case of coating film degradation requiring the painting repair; And f) moving the integrated portable paint repairs apparatus until the completion of painting recognition and repair, wherein the integrated portable paint repairs apparatus diagnoses the coating film condition of the articulated amount and performs paint repairs when maintenance is required .

Here, before the step (a) is performed, the state of film coating of the steel bridge is photographed and grasped by using a remote control flight vehicle equipped with a camera.

In the step b), the integrated mobile painting and repair apparatus may move along the surface of the steel bridge or move along the surface of the steel bridge under the remote control of the operator terminal.

Wherein the step c) comprises the steps of: c-1) photographing the corresponding area on the traveling path of the steel bridge by the integrated mobile painting and repairing apparatus; c-2) processing the photographed image data according to a coating diagnostic program; c-3) comparing the photographed image with a pre-stored standard image; And c-4) diagnosing the coating film deterioration of the steel bridge if the photographed image is different from the pre-stored standard image.

Wherein the step e) comprises the steps of: e-1) treating the surface of the paint repair area; e-2) coating a rust-preventive primer as a undercoating paint on a repair area and drying it; e-3) coating the intermediate paint on the repair area painted with the undercoating paint and drying it; And e-4) coating the top coat in the repair area coated with the intermediate coat and drying the top coat.

Here, in the step e), the integrated removable painting repair device may perform painting repair in the painting repair area while maintaining a state in which the main body is attached to the steel bridge by a permanent magnet.

Here, in the step (a), the integrated mobile painting and repair apparatus is distributed and distributed in a plurality of areas allocated to the steel bridge.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to integrally perform paint degradation diagnosis and coating repair of a steel bridge amount.

According to the present invention, it is possible to easily and economically perform the paint deterioration diagnosis and coating repair using the integrated mobile paint repairing apparatus.

According to the present invention, at the time of diagnosis of coating deterioration and repairs of painting of a steel bridge, an integrated mobile paint repairing apparatus can be easily attached to side and lower surfaces of a steel bridge.

1 is a view showing a movable type automatic painting apparatus using a painting apparatus according to a conventional technique.
2 is a perspective view of a bridge check and non-destructive testing robot capable of traveling on a surface of a steel bridge according to a conventional technique.
3 is a block diagram of a bridge checking and non-destructive testing robot capable of running on the surface of a steel bridge in accordance with the prior art.
4 is a configuration diagram of an integrated paint diagnosis and repair system for a steel bridge according to an embodiment of the present invention.
FIG. 5 is a view illustrating a paint peeling diagnosis in a system for collecting and analyzing coating amounts of integrated steel according to an embodiment of the present invention. FIG.
6 is a view illustrating corrosion diagnosis of a paint in an integrated paint diagnosis and repair system according to an embodiment of the present invention.
FIG. 7 is a view illustrating an integrated mobile paint repair apparatus in an integrated paint diagnosis and repair system according to an embodiment of the present invention.
8 is a photograph illustrating a remote control apparatus in an integrated paint diagnosis and repair system according to an embodiment of the present invention.
FIG. 9 is a flowchart illustrating an integrated paint diagnosis and maintenance method for a steel bridge according to an embodiment of the present invention.
FIG. 10 is a specific operation flowchart of the paint film condition diagnosis process shown in FIG.
11 is a specific operation flowchart of the coating film repair process shown in FIG.

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, without excluding other components unless specifically stated otherwise.

First, an integrated paint diagnosis and repair system of a steel bridge amount according to an embodiment of the present invention is a system for diagnosing and repairing a coating state of a steel bridge coating (for example, a steel bridge coating method) by utilizing machine vision (state recognition using an optical sensor, , Peeling, cracking, etc.) and corrosion caused by the corrosion, and to repair it.

In this case, in the case of an optical sensor or an infrared camera for recognizing the state of the coating film, it can be mounted on a vehicle capable of remote-controlled wireless operation, which is an apparatus for easy access to the side and bottom of the bridge, . This technique of painting and corrosion repair automation equipment is developed by introducing the technique which is mainly used in the manufacturing industry to develop the access device which can access the side and lower part of the bridge and automatically perform the guiding of the coating robot to the peeling and corrosion part Equipment.

4 is a configuration diagram of an integrated paint diagnosis and repair system for a steel bridge according to an embodiment of the present invention.

Referring to FIG. 4, the system for diagnosing and repairing a coating amount of integrated steel according to an embodiment of the present invention includes an integrated mobile painting repair apparatus 100, a worker terminal 200, and a remote control apparatus 300.

The integrated portable painting and repairing apparatus 100 integrally performs painting diagnosis and repair of a steel bridge amount, and the integrated mobile painting and repairing apparatus 100 is constructed such that, as shown in FIG. 7 to be described later, So that the coating diagnosis and maintenance of the steel bridge 400 are integrally performed. Specifically, the integrated mobile painting and repair apparatus 100 includes a wireless communication module 110, an image capturing unit 120, an illumination unit 130, a painting diagnosis unit 140, a painting maintenance control unit 150, a driving driving unit 160, a painting and repair unit 170, and a battery 180.

The wireless communication module 110 of the integrated mobile painting and repair apparatus 100 communicates with the worker terminal 200 wirelessly. For example, the wireless communication module 110 may be a short-range wireless communication module, a Bluetooth module, or a ZigBee module, but is not limited thereto.

The image capturing unit 120 of the integrated portable painting and repair apparatus 100 is an image sensor or an infrared camera to check the coating state of the steel bridge 400 or take a maintenance process.

The lighting unit 130 of the integrated portable painting and repair apparatus 100 provides illumination so that the image capturing unit 120 can photograph the coating state of the steel bridge 400.

The painting diagnosis unit 140 of the integrated portable painting and repair apparatus 100 compares the image photographed by the image photographing unit 120 with a standard image to grasp the state of the coating of the steel amount 400, . That is, when the photographed image is different from the predetermined standard image, the paint diagnosis unit 140 determines whether the paint film state of the steel amount 400 is paint peeling, crack, or corrosion according to a paint film diagnostic program.

The coating maintenance controller 150 of the integrated portable paint repairs apparatus 100 controls the paint repairs of the paint repairs unit 170.

The travel driving unit 160 of the integrated portable painting and repair apparatus 100 drives the integrated portable painting and repair apparatus 100 to travel along the surface of the steel bridge 400. A method of running the integrated portable type paint repair apparatus 100 along the surface of the steel bridge 400 will be described later with reference to FIG.

The battery 180 of the integrated mobile painting and repairing apparatus 100 is connected to the wireless communication module 110, the image pickup unit 120, the illumination unit 130, the paint diagnosis unit 1400, the paint repair unit 170, The control unit 150, and the driving driving unit 160, respectively.

The paint repairing part 170 of the integrated mobile paint repairing and repairing apparatus 100 repairs the paint repairing area when the paint film state detected by the paint diagnosing part 140 is deteriorated.

The coating and repairing unit 170 includes a surface treatment unit 171, a coating unit 172, a middle coating coating unit 173, a top coating coating unit 174, and a drying unit 175 .

Typically, the amount of steel coating is painted with a certain thickness so as to prevent corrosion of the surface and improve durability. However, as time goes on, the paint begins to peel off due to external factors such as salinity, humidity and sudden temperature change of the seawater. Therefore, it is necessary to periodically remove it and apply a new paint to prolong the lifetime of the steel bridge.

The surface treatment section 171 of the paint repair section 170 processes the surface so that the paint repair area where paint film deterioration has occurred can be repainted. The surface treatment of such a coating can be carried out using sand blasting, which is a general method, or a removing device using high frequency induction heating.

In addition, the paint used for the coating of the steel bridge is divided into the size paint, the intermediate paint and the top paint.

The coating part 172 of the coating and repairing part 170 of the coating and repairing part 170 paints a rust preventive primer as a coating material on the surface-treated coating repairing area. Specifically, the undercoating material is a rust-preventive primer, and a long-width etch primer or an inorganic zinc (inorganic zinc rich) primer is used. These undercoating paint is a coating material which adheres to the steel surface to block corrosive substances such as water, oxygen, and salts, inhibits corrosion by a steel material, and has adhesion and rust prevention properties.

In other words, an antirusting agent and a primer are applied to the surface layer to form a primary surface layer. In this case, the rustproofing agent is coated so that the surface of the steel bridge is not corroded, and chromate, phosphate, silicate, organic nitrogen, and sulfur compound are used, and paint is used to prevent contact with oxygen. The undercoating can be carried out at a thickness of 50 to 80 탆 and can be carried out at a temperature of 0 to 40 ° C and a relative humidity of 90% or less, and the first surface layer can be completely cured It can be done using a hot air fan, a drier or a far-infrared ray drying apparatus or naturally dried, and takes about 24 to 48 hours.

The intermediate paint coating unit 173 of the paint maintenance unit 170 paints the intermediate paint in the paint repair area coated with the undercoating paint. Specifically, the intermediate coating material is a coating material for securing a desired coating film thickness. The intermediate coating using such intermediate coating material is carried out at a thickness of 80 to 120 탆 so as to secure the thickness of the coating film. ℃, relative humidity 90% or less. At this time, drying takes about 48 hours.

The upper paint coating unit 174 of the paint repair unit 170 paints the upper paint in the paint repair area coated with the intermediate paint. Specifically, the top coat is used to block water, oxygen, salts, and the like, and to keep the appearance beautifully by enduring ultraviolet rays and the like, and the top coat is chlorinated rubber, non-yellowish acrylic urethane, and fluororesin-based paint. The top coating using the top coating is carried out at a thickness of 40 to 60 탆, and the drying time required for the top coating takes 10 to 14 hours.

The drying unit 175 of the coating and repairing unit 170 dries the painted surface when painting the undercoat paint, painting the intermediate paint, and painting the topcoat.

4, the worker terminal 200 remotely controls the integrated mobile painting repair apparatus and the remote control apparatus, and the worker terminal 200 controls the operation of the integrated movement type paint repair apparatus and the remote control apparatus, The image of the object is inspected. Specifically, the worker terminal 200 includes a wireless communication module 210, a control unit 220, and an image processing unit 230.

The wireless communication module 210 of the worker terminal 200 wirelessly communicates with the integrated portable painting and repair apparatus.

The control unit 220 of the worker terminal 200 remotely controls the integrated mobile painting and repair apparatus 100 through the wireless communication module 210 and remotely controls the remote control apparatus 300.

The image processing unit 230 of the operator terminal 200 processes the image photographed by the image photographing unit 320 of the remote control device 30.

Referring again to FIG. 4, the remote control apparatus 300 mounts the image capturing section and captures the coating film state of the steel bridge. Specifically, the remote control apparatus 300 includes a remote control air vehicle 310 and a photographing unit 320.

The remote control flight unit 310 of the remote control apparatus 300 is under the remote control of the operator terminal 200 and the image capturing unit 320 of the remote control apparatus 300 receives the remote control flight unit 310, And photographs the coating film state of the steel amount 400. At this time, the image capturing unit 320 may be an optical sensor or an infrared camera.

As a result, according to the integrated paint diagnosis and repair system of a steel bridge amount according to an embodiment of the present invention, it is possible to integrally perform the paint degradation diagnosis and paint repair of the steel bridge amount. In addition, it is possible to easily and economically perform the paint deterioration diagnosis and paint repair of the steel bridge amount by using the integrated mobile paint repairing apparatus. Further, when diagnosing the coating deterioration of the steel bridge and repairing the paint, And can be easily moved.

FIG. 5 is a view illustrating a paint stripping diagnosis in FIG. 5, and FIG. 6 is a diagram illustrating corrosion detection of paint in an integrated paint coating diagnosis and repair system according to an embodiment of the present invention.

Fig. 5 shows the result of detection of peeling of the steel amount. Specifically, Fig. 5 (a) shows the captured original image, and Fig. 5 (b) shows the resulting image. In Fig. 5A, reference numeral A denotes a peeling portion.

FIG. 6 shows the result of applying the corrosion detection process to the actual image, wherein the corrosion (or rust) of the steel bridge is represented by white and the corrosion candidate is represented by gray. Specifically, FIG. 6 (b) shows an image showing corrosion and corrosion candidates by applying a corrosion extraction algorithm to the image of FIG. 6 (a). At this time, it can be seen that the initially probable early corrosion zone is at the center of the corrosion candidates, and the low-probability corrosion candidates surround it. Figure 6 (c) shows the result of the corrosion region being expanded as the second step of the corrosion extraction algorithm. In other words, it can be seen that it gradually expands into a corrosion candidate region having a corrosion region in the peripheral region. 6 (d) shows the final corrosion detection result.

Meanwhile, FIG. 7 is a diagram illustrating an integrated mobile painting repair apparatus in an integrated paint diagnosis and repair system according to an embodiment of the present invention.

Referring to FIG. 7, in the integrated paint diagnosis and repair system according to the embodiment of the present invention, the integrated mobile paint repair apparatus 100 includes a paint repair apparatus main body 101, refraction foots 102a to 102d, The electromagnets 103a to 103d for attaching the steel bridge, the permanent magnet 104 for fixing the body, the image capturing unit 120, and the illumination unit 130, and the like.

The coating and repairing apparatus main body 101 includes the wireless communication module 110, the image capturing unit 120, the illumination unit 130, the paint diagnosis unit 140, the paint repairing unit 170, A battery 150, and a battery 180 are mounted.

At least two refraction pawls 102a to 102d are disposed on the front and rear surfaces of the painting and repairing apparatus main body 101, respectively, for driving the painting and repair apparatus 100. At this time, after the refraction foot 102a, 102b disposed on the foreground out of the plurality of refraction foots 102a to 102d moves forward, the painting and repairing apparatus main body 101 moves along its back, Movement of the refraction foots 102c and 102d disposed on the rear side among the foots 102a to 102d may be repeatedly performed.

The electromagnets 103a to 103d for attaching the steel bridges are respectively disposed at the lower ends of the plurality of bending feet 102a to 102d and temporarily attached to the steel bridges 400. [ That is, at least one or more of the electromagnets 103a to 103d for attaching steel-clad arranged on the lower ends of the plurality of bending feet 102a to 102d are attached to the steel-clad body 400 so that the paint- .

The main body fixing permanent magnet 104 attaches the painting repair and maintenance main body 101 to the side surface or lower surface of the steel amount 400. Accordingly, the integrated type portable painting and repairing apparatus 100 can perform painting repair in the painting maintenance area while maintaining the state that the main body is attached to the steel amount 400 by the permanent magnet 104. In addition, the main body fixing permanent magnet 104 is installed so as to be able to move up and down by a cylinder or the like, so that it is forcibly separated from the steel amount 400 when the integrated type portable painting and repairing apparatus 100 is moved.

Meanwhile, FIG. 8 is a photograph illustrating a remote control apparatus in an integrated paint diagnosis and repair system according to an embodiment of the present invention.

In the integrated coating diagnosis and repair system according to the embodiment of the present invention, the remote control apparatus 300 mounts the image capturing section and captures the coating film state of the steel bridge as shown in FIG. The remote control aircraft 310 of the remote control device 300 may fly under the remote control of the operator terminal 200 and the image capturing unit 320 may be an optical sensor or an infrared camera, 310 to photograph the coating film state of the steel bridge 400.

The remote control device 300 substantially captures the coating state of the steel bridge 400 and is specifically read by the operator terminal 200 to determine whether or not the steel bridge 400 has suffered a coating deterioration.

9 is a flowchart illustrating an operation of a method for diagnosing and repairing an integrated coating of a steel bridge according to an embodiment of the present invention. FIG. 10 is a flowchart illustrating a detailed operation of the paint film condition diagnosis process shown in FIG. FIG. 2 is a flowchart illustrating a concrete procedure of a coating film repair process according to an embodiment of the present invention.

9 to 11, a method of diagnosing and repairing a coating amount of integrated steel according to an embodiment of the present invention includes the steps of: (a) preparing a remote control aircraft 300 equipped with a camera 320, 310) is used to photograph and grasp the coating film state of the steel bridge 400 ( S110 ). The photographing of the state of the coating amount 400 of the steel bridge 400 using the remote controller 300 is for roughly grasping the coating state of the steel bridge 400.

Next, the integrated portable painting and repair apparatus 100 is disposed at a predetermined position of the steel bridge ( S120 ). Here, the integrated portable painting and repair apparatus 100 is disposed at a position close to the portion where the coating film deterioration of the steel-coating amount 400 occurs in the step S110 described above. At this time, the integrated portable painting and repairing apparatuses may be distributed in a large number in the allocated area of the steel bridge 400.

Next, the integrated mobile painting repair device 100 autonomously moves the surface of the steel bridge ( S130 ). Alternatively, the integrated mobile painting and repair apparatus 100 may be moved along the surface of the steel bridge 400 under the remote control of the worker terminal 200.

Next, the integrated portable painting and repairing apparatus 100 photographs and grasps the coating film state of the steel bridge ( S140 ).

Specifically, as shown in FIG. 10, the integrated portable painting and repair apparatus 100 photographs the corresponding area on the traveling route of the steel bridge (S 141 ), and thereafter processes the photographed image data in accordance with the coated film diagnostic program ( S142 ). Next, the photographed image is compared with the standard image ( S143 ), and then deterioration of the coating film of the steel amount, for example, whether or not the steel amount coating film is peeled or corroded is diagnosed ( S144 ).

Next, as shown in Fig. 9, it is judged whether coating film deterioration is required for coating repair ( S150 ). If coating film deterioration is required for coating repair, coating of the amount of steel coating is repaired ( S160 ). At this time, the integrated portable painting and repairing apparatus 100 can perform painting repair in the painting maintenance area while maintaining the state where the main body is attached to the amount of the steel bridge by the permanent magnet.

Specifically, as shown in Fig. 11, the surface of the paint repair area is treated ( S161 ), and then the anti-rust primer as a undercoating paint is applied to the repair area and dried ( S162 ). Thereafter, the intermediate paint is applied to the repair area painted with the undercoating paint, followed by drying ( S163 ). Then, the upper paint is applied to the repair area painted with the intermediate paint and dried ( S164 ).

Next, as shown in FIG. 9, it is checked whether the painting grasp and repair is completed, and the steps S130 through S160 are repeatedly performed until the painting grasp and repair is completed ( S170 ).

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: Integrated mobile paint remover
200: worker terminal
300: Remote control device
400: Steel bridge
110: Wireless communication module
120: image capturing unit (camera)
130:
140:
150:
160:
170:
180: Battery
210: Wireless communication module
220:
230:
310: Remote pilot aircraft
320: image capturing unit (camera)
101: main body of coating repairing apparatus
102a to 102d: a refraction foot
103a to 103d: electromagnets
104: permanent magnet for fixing the main body
171:
172: undercoating (anticorrosive primer) coating part
173: Heavy paint coating part
174: Top paint coating part
175:

Claims (16)

In an integrated paint diagnosis and repair system of a steel bridge,
An integrated mobile painting repair device for integrally performing painting diagnosis and repair of the steel bridge;
A remote control device that mounts an image capturing unit and captures a coating state of the steel bridge; And
Operator terminal for remote control of the integrated mobile painting repair device and the remote control device
≪ / RTI >
The worker terminal performs an appearance survey based on the image of the steel bridge taken by the remote control device,
The integrated portable painting repair device is integrated coating diagnosis and repair system for a steel bridge, characterized in that to perform the coating diagnosis and repair of the steel bridge integrally while driving attached to the side or bottom surface of the steel bridge. The apparatus of claim 1, wherein the integrated mobile paint remover comprises:
A wireless communication module for wirelessly communicating with the worker terminal;
An image capturing unit, which is implemented by an optical sensor or an infrared camera so as to check the coating film state of the steel bridge or photograph the maintenance process;
An illuminating unit for illuminating the image capturing unit so that the image capturing state of the coating amount can be photographed;
A painting diagnosis unit for comparing the image photographed by the image photographing unit with a standard image to grasp the coating film state of the steel bridge and diagnosing whether coating film deterioration has occurred;
A paint remover for repairing the paint repair area when the paint film state detected by the paint diagnosing part is deteriorated;
A paint repairing controller for controlling the paint repair of the paint repairing part;
A traveling driving unit for driving the integrated portable painting and repairing apparatus to travel along the surface of the steel bridge; And
A battery for providing power to the wireless communication module, the image capturing unit, the illuminating unit, the paint diagnosing unit, the painting repairing unit, the painting repairing control unit,
The integrated paint diagnostics and repair system of the steel bridge. 3. The method of claim 2,
Wherein the coating diagnosis unit determines whether the coating state of the steel amount is paint peeling, cracking, or corrosion according to a coating film diagnostic program when the photographed image is different from a preset standard image. system. [3] The apparatus of claim 2,
A surface treatment unit for treating a surface of the coating repair area in which the coating deterioration has occurred so that the coating can be repainted;
An undercoating paint coating part for coating the surface-treated paint repairs area with an anticorrosive primer as a undercoating paint;
A middle paint coating unit for applying a middle paint to the paint repair area painted with the undercoating paint;
An upper paint coating unit for coating the upper paint in a paint repair area painted with the intermediate paint; And
A drying unit for drying the painted surface during the painting of the undercoat paint, the painting of the intermediate paint and the painting of the upper paint,
The integrated paint diagnostics and repair system of the steel bridge. The method of claim 2, wherein the integrated mobile painting repair device,
A painting repair device main body on which the wireless communication module, an image photographing unit, an lighting unit, a painting diagnosis unit, a painting repair unit, a painting repair control unit, and a battery are mounted;
At least two of which are disposed on the front and rear surfaces of the main body of the paint repairing apparatus, respectively, and a plurality of bending foots for running the paint repairing apparatus;
Steel bridge attachment electromagnets disposed at lower ends of the plurality of refraction feet and temporarily attached to the steel bridges; And
A fixing permanent magnet for attaching the main body of the painting repair apparatus to the amount of steel crossing during repairing of the steel bridge amount;
Integrated coating diagnosis and repair system for steel bridges further comprising. 6. The method of claim 5,
After the refraction foot disposed on the front side of the plurality of refraction feet moves forward, the painting repair apparatus main body moves along the back, and the refraction foot disposed on the rear side of the plurality of refraction feet moves repeatedly. Integrated coating diagnosis and repair system for steel bridges, characterized in that performed. The method according to claim 6,
The steel bridge attachment electromagnets disposed on the lower ends of the plurality of refractive feet, respectively, so that at least one or more of the steel bridges are attached to the steel bridges so as not to fall down. The remote control apparatus according to claim 1,
A remote control air vehicle flying under the remote control of the operator terminal; And
An image pickup unit which is implemented by an optical sensor or an infrared camera and which is mounted on the remote control aircraft and photographs the coating film state of the steel bridge,
The integrated paint diagnostics and repair system of the steel bridge. 9. The system according to claim 8,
A wireless communication module for wirelessly communicating with the integrated mobile painting repair apparatus;
A controller for remotely controlling the integrated mobile painting and repair apparatus through the wireless communication module and remotely controlling the remote control apparatus; And
An image processing unit for processing an image photographed by the image capturing unit of the remote control apparatus,
The integrated paint diagnostics and repair system of the steel bridge. a) disposing an integrated mobile painting repair apparatus at a predetermined position of a steel bridge;
b) the integrated mobile painting repair device moving the surface of the steel bridge;
c) photographing and grasping the coating state of the steel bridge by the integrated mobile painting repair device:
d) determining whether the detected coating film condition is coating film deterioration requiring coating repair;
e) repairing the painting of the steel bridge by the integrated mobile painting repair device in case of coating film degradation requiring the painting repair; And
f) moving said integrated mobile paint remover until completion of painting grasp and repair
, ≪ / RTI &
Wherein the integrated mobile paint repairing apparatus diagnoses a coating film state of a steel bridge amount and performs repair work when maintenance is required. 11. The method of claim 10,
Wherein the coating state of the steel bridge is photographed and grasped by using a remote control flight vehicle equipped with a camera before performing the step a). 11. The method of claim 10,
Wherein in the step b), the integrated portable painting and repair apparatus autonomously moves along the surface of the steel bridge or moves along the surface of the steel bridge under the remote control of the operator terminal. 11. The method of claim 10, wherein step c)
c-1) photographing the corresponding area on the traveling path of the steel bridge by the integrated mobile painting and repairing apparatus;
c-2) processing the photographed image data in accordance with a coating film diagnostic program;
c-3) comparing the photographed image with a pre-stored standard image; And
c-4) diagnosing the coating film deterioration of the steel bridge when the photographed image is different from the pre-stored standard image
And a method of repairing and repairing an integrated paint. 11. The method of claim 10, wherein step (e)
e-1) treating the surface of the paint repair area;
e-2) coating a rust-preventive primer as a undercoating paint on a repair area and drying it;
e-3) coating the intermediate paint on the repair area painted with the undercoating paint and drying it; And
e-4) coating the top coat in the repair area painted with the intermediate coat and drying the top coat
And a method of repairing and repairing an integrated paint. 11. The method of claim 10,
In the step e), the integrated removable coating repair apparatus performs painting repair in the painting repair area while maintaining the state in which the main body is attached to the steel bridge by a permanent magnet. . 11. The method of claim 10,
Wherein the integrated mobile painting and repairing apparatuses are distributed in a plurality of areas allocated to the steel bridge in the step a).

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