KR20170020635A - Maintenance robot for drainpipe and method thereof - Google Patents

Maintenance robot for drainpipe and method thereof Download PDF

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KR20170020635A
KR20170020635A KR1020150114501A KR20150114501A KR20170020635A KR 20170020635 A KR20170020635 A KR 20170020635A KR 1020150114501 A KR1020150114501 A KR 1020150114501A KR 20150114501 A KR20150114501 A KR 20150114501A KR 20170020635 A KR20170020635 A KR 20170020635A
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signal
sewer
manipulator
sewage pipe
wall
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KR1020150114501A
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KR101779822B1 (en
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이승열
엄성훈
오대건
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재단법인대구경북과학기술원
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Publication of KR20170020635A publication Critical patent/KR20170020635A/en
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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F3/00—Sewer pipe-line systems
    • E03F3/06—Methods of, or installations for, laying sewer pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F3/00—Sewer pipe-line systems
    • E03F3/06—Methods of, or installations for, laying sewer pipes
    • E03F2003/065—Refurbishing of sewer pipes, e.g. by coating, lining

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • General Physics & Mathematics (AREA)
  • Biochemistry (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Electrochemistry (AREA)
  • Acoustics & Sound (AREA)
  • Hydrology & Water Resources (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Sewage (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a robot for the maintenance of sewer and a method thereof. According to the present invention, the robot for the maintenance of sewer includes: a manipulator wherein a nondestructive inspection module detecting a flooding part within a predetermined distance from an outer wall of the sewer by using nondestructive inspection signals and generating coordinates of the flooding unit and a repair module drilling the outer wall of the sewer and inputting a repairing material are mounted; a communication unit transmitting the coordinates of the flooding unit through a wireless communication with a remote control device and receiving control signals; a movable platform moved along the sewer and controlling the manipulator to be parallel to a horizontal plane; and a control unit controlling the movement of the movable platform by corresponding to the control signals received from the remote control device and controlling the manipulator to detect and repair the flooding part. According to the present invention, the robot for the maintenance of the sewer is capable of accurately detecting the flooding part formed around the outer wall of the sewer with the nondestructive inspection signals and remarkably improving safety and a working speed by drilling the outer wall of the sewer and inputting the repairing material right after inspection. In addition, the robot for the maintenance of the sewer is capable of detecting the repaired part again immediately after repairing the flooding unit and directly checking the repairing completion degree, thereby improving a completion degree of the repairing task.

Description

[0001] MAINTENANCE ROBOT FOR DRAINPIPE AND METHOD THEREOF [0002]

The present invention relates to a sewage pipe maintenance robot and a method thereof, and more particularly, to a sewage pipe maintenance robot for detecting and repairing a flooded part formed on an outer wall of a sewer pipe using a non-destructive inspection signal, and a method thereof.

Unlike natural factors originating from foreign countries, subsurface subsidence of sinks, ie, sink holes, is mainly caused by artificial factors such as underground burial damage and excavation works. Especially, sewer line damages account for about 85%.

When the underground waterway is formed around the backside of the sewer pipe, the sink hole due to the damage of the sewer pipe causes the groundwater to permeate the outer wall surface of the sewage pipe, causing corrosion and cracking of the concrete. As a result, groundwater and soil are introduced into the damaged sewer pipe through the outer wall, . Then, the ground in which the cavity is generated continues to fall on the damaged sewer pipe, the sewer pipe which fails to support the weight is damaged, and then the soil is dropped and the cavity is enlarged and the road is damaged.

However, sewage pipe repair and rehabilitation work is more labor intensive than other social infrastructural facilities maintenance and repair work, and it has high incidence of safety accidents such as suffocation, electric shock, and fall, labor intensity is high, labor productivity is low, It is getting bigger.

In order to solve these problems, it is urgent to automate sewer pipe maintenance and reinforcement work and to introduce robot technology.

The technology to be the background of the present invention is disclosed in Korean Patent No. 10- 1165509 (published on July 13, 2012).

SUMMARY OF THE INVENTION The present invention provides a sewage pipe maintenance robot for detecting and repairing a flooded part formed on an outer wall of a sewer pipe using a non-destructive inspection signal, and a method thereof.

According to an aspect of the present invention, there is provided a sewage pipe maintenance robot for inspecting and repairing a sewage pipe around a sewage pipe, A manipulator having a nondestructive inspection module for generating coordinates, a manipulator having a repair module for inserting a repairing material into the outer wall of the sewage pipe, a communication unit for transmitting coordinates of the immersion unit via a wireless communication with the remote control unit and receiving a control signal, A moving platform for moving the manipulator so as to control the manipulator to maintain the manipulator horizontally horizontal with respect to the horizontal plane, and a controller for controlling the movement of the moving platform in response to a control signal received from the remote control device, Control agent It includes parts.

And an image pickup unit for photographing the sewer line to generate real time photographing information and transmitting the real time photographing information to the remote control device.

The nondestructive inspection signal may include at least one of a radiation signal, an ultrasonic signal, a laser beam signal, and an electric energy signal.

The flooded part coordinates may be three-dimensional coordinates including depth information of the detected flooded part.

The manipulator may have a dual arm structure including a first arm and a second arm, the nondestructive inspection module may be mounted on the first arm, and the repair module may be mounted on the second arm .

The nondestructive inspection module can detect the flooded part by making the nondestructive inspection signal incident on the outer wall of the sewage pipe, and then comparing the reflected signal and the stored reflected signal with each other.

The moving platform can control using the tilt sensor to keep the manipulator horizontal with the horizontal plane.

A sewage pipe maintenance method using a sewage pipe maintenance robot according to another embodiment of the present invention includes the steps of receiving a control signal from a remote control device and moving along a sewer pipe in response to the control signal, Detecting a flooded portion within a predetermined distance from an outer wall of the sewage pipe to generate coordinates of the flooded portion and transmitting the coordinates of the flooded portion to the remote control device, And inserting the repairing material.

As described above, according to the present invention, it is possible to accurately detect the flooded part formed near the outer wall of the sewage pipe using the robot, through the nondestructive inspection signal, to drill the outer wall of the sewage pipe immediately after the detection and to input the repair material, . In addition, after completion of repair work, the repair point can be re-detected and the completion level of repair can be checked immediately, thus improving the completeness of the repair work.

1 is a view for explaining a sewer line maintenance system according to an embodiment of the present invention.
2 is a configuration diagram of a sewer line maintenance robot according to an embodiment of the present invention.
3 is a view for explaining a sewer line maintenance robot according to an embodiment of the present invention.
4 is a flowchart of a sewer pipe maintenance method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out 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 an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

First, a sewer line maintenance system using a sewage pipe maintenance robot according to an embodiment of the present invention will be described with reference to FIG. 1 is a view for explaining a sewer line maintenance system according to an embodiment of the present invention.

First, the sewage pipe maintenance robot 100 is connected to the remote control device 200 by wire or wireless communication, and moves the sewage pipe according to a control signal received from the remote control device 200. Then, the sewage pipe maintenance robot 100 enters the nondestructive inspection signal toward the outer wall of the sewage pipe, analyzes the reflection signal reflected, and detects the flooded part (hereinafter referred to as the cavity) of the outer wall of the sewage pipe. The sewage pipe maintenance robot 100 generates three-dimensional coordinates of the detected water immersion area and transmits the three-dimensional coordinates to the remote control device 200.

Then, the sewage pipe maintenance robot 100 punctures the outer wall of the sewage pipe according to a control signal, and replenishes the water immersion unit by inserting a repair material (hereinafter referred to as " leaked material "). After the repair is completed, a nondestructive inspection signal is applied to the maintenance point, and the reflected signal is received and analyzed to check the maintenance status of the flooded part.

The remote control device 200 is connected to the sewage pipe maintenance robot 100 by wire or wireless communication and transmits a control signal to the sewage pipe maintenance robot 100 and the control signal from the sewage pipe maintenance robot 100 The coordinates of the flooded part and the real-time photographing information of the sewage pipe maintenance robot 100 taken by the camera or the like. The remote control device 200 can control the movement and operation of the sewage pipe maintenance robot 100 using coordinates of the flooded part and real-time photographing information.

In addition, the remote control device 200 may include a remote control module, which may collect the work orders of the remote controller through the remote control module and provide the work environment information to the remote controller.

Next, a sewage pipe maintenance robot 100 according to an embodiment of the present invention will be described with reference to FIGS. 2 and 3. FIG. FIG. 2 is a configuration diagram of a sewerage line maintenance robot according to an embodiment of the present invention, and FIG. 3 is a view for explaining a sewer line maintenance robot according to an embodiment of the present invention.

The sewage pipe maintenance robot 100 according to the embodiment of the present invention may include the manipulator 110, the communication unit 120, the moving platform 130 and the control unit 140 and may further include the image pickup unit 150 .

First, the manipulator 110 includes a nondestructive inspection module 111 and a maintenance module 112. As shown in FIG. 3, the manipulator 110 may have a dual arm structure including a first arm and a second arm, and the first arm and the second arm may perform different operations corresponding to the control signals. Can be performed. When the manipulator 110 has a dual arm structure, the nondestructive inspection module 111 may be mounted on the first arm and the maintenance module 112 may be mounted on the second arm.

Next, the nondestructive inspection module 111 is a module for determining the existence and position of the outside wall watering part of the sewage pipe, and the nondestructive inspection signal is inputted toward the outside wall of the sewage pipe, and the reflected signal returned is used to determine the presence / I understand. The nondestructive inspection module 111 generates a three-dimensional coordinate corresponding to the position of the submerged portion using the reflected signal, wherein the three-dimensional coordinate includes depth information from the indicator to the detected submerged portion.

Next, the maintenance module 112 punctures the sewer pipe in response to the control signal, and replenishes the sewer pipe by inserting the repair material. Specifically, according to a control signal, the second arm of the manipulator 110 on which the maintenance module 112 is mounted moves to a point where maintenance is required, the perforator or the like included in the maintenance module 112 is operated to puncture the sewer pipe, After drilling, the repair material is injected through the hole.

Next, the communication unit 120 transmits the coordinates of the water immersion unit through the wireless communication with the remote control device 200 and receives the control signal. At this time, the control signal includes the movement path of the sewage pipe maintenance robot 100 and the operation information of the manipulator 110. The communication unit 120 can also transmit the shooting information shot by the imaging unit 150 to the remote control device 200. [

Next, the moving platform 130 is configured to correspond to the driving unit of the sewage pipe maintenance robot 100, and moves along the sewage pipe, and controls the manipulator 110 to maintain the horizontal position with respect to the horizontal plane. Specifically, the movement platform 130 moves the sewer line according to the movement route included in the control signal. As shown in FIG. 3, the moving platform 130 can control the manipulator 110 to keep the manipulator 110 horizontal with respect to the horizontal plane by using a tilt sensor when the moving platform 130 is tilted due to an obstacle at the bottom.

The control unit 140 controls movement of the moving platform 130 and operation of the manipulator 110 according to the received control signal. Then, the photographing operation of the image sensing unit 150 can be controlled.

Next, the image sensing unit 150 photographs the sewage line to generate real-time photographing information, and transmits real-time photographing information to the remote control device 200. At this time, the image sensing unit 150 can transmit the real-time image sensing information to the remote control device 200 using the communication unit 120. [

The imaging unit 150 can be rotated 360 degrees in all directions up and down and right and left. The real-time imaging information includes a process of moving the sewer pipe and a process of inserting the repair material after the sewer pipe is punched.

Hereinafter, a sewer pipe maintenance method using the sewage pipe maintenance robot 100 according to an embodiment of the present invention will be described with reference to FIG. 4 is a flowchart of a sewer pipe maintenance method according to an embodiment of the present invention.

First, the sewage pipe maintenance robot 100 receives a control signal from the remote control device 200 (S410), and moves along the sewer pipe in response to the control signal (S420). The control signal received from the remote control device 200 includes information about the movement path of the sewage pipe maintenance robot 100, and the sewage pipe maintenance robot 100 moves along the movement path in accordance with the control signal.

At this time, when the sewage pipe maintenance robot 100 tilts due to an obstacle at the bottom, the manipulator 110 of the sewage pipe maintenance robot 100 can be controlled to be kept horizontal with the horizontal plane by using the tilt sensor.

The sewage pipe maintenance robot 100 detects the flooded part formed on the outer wall of the sewage pipe using the nondestructive inspection signal while moving in response to the control signal (S430).

The nondestructive inspection refers to a method of inspecting the exterior of a product without destroying defects such as pores and cracks inside the object and internal defects of the welds. In the present invention, the nondestructive inspection signal is transmitted to the exterior of the sewer pipe And includes a radiation signal such as a χ line, a γ ray, and a β ray, an ultrasonic signal, a laser beam signal, and an electric energy signal.

Specifically, in operation S430, the sewage pipe maintenance robot 100 makes a nondestructive inspection signal incident on the outer wall of the sewage pipe. Then, the sewage pipe maintenance robot 100 receives the reflected signal and analyzes the reflected signal to detect the flooded part formed on the outer wall of the sewer pipe. At this time, since the magnitude and wavelength of the signal vary depending on the kind of the medium, the sewage pipe maintenance robot 100 compares the characteristics of the previously stored reflected signal with the reflected signals reflected after the incident and detects the flooded part .

Then, the sewage pipe maintenance robot 100 generates coordinates of the flooded part and transmits it to the remote control device 200 (S440). Specifically, the sewage pipe maintenance robot 100 analyzes the reflected signal to detect a flooded portion formed within a predetermined distance from the outer wall of the sewer pipe, and generates three-dimensional coordinates (x, y, z) corresponding to the detected flooded portion .

At this time, the three-dimensional coordinates can be generated by generating the coordinate values of the z-axis from the ground to the maintenance robot 100 through the sewer pipe, that is, depth information, and generating the three-dimensional coordinates using the position of the remote control device 200 as the origin . The generated three-dimensional coordinates are transmitted to the remote control device through wired / wireless communication.

Then, in response to the control signal, the sewage pipe maintenance robot 100 punctures the outer wall of the sewage pipe at the spot where the water immersion unit is formed, and inputs the repair material (S450).

Specifically, the sewage pipe maintenance robot 100 transmits the three-dimensional coordinates of the flooded part to the remote controller 200, and receives the control signals generated from the remote controller 200 using the three-dimensional coordinates. At this time, the control signal includes operation information of the sewage pipe maintenance robot 100 for drilling the outer wall of the sewage pipe and inputting the repair material.

The sewage pipe maintenance robot 100 punctures the outer wall of the sewage pipe using a perforator or the like in response to the operation information included in the control signal. Then, the sewage pipe maintenance robot 100 injects the repair material into the hole formed through the punch until the space of the flooded portion is filled.

Also, the sewage pipe maintenance robot 100 generates real-time photographing information photographed with the sewer line, and transmits the real-time photographing information to the remote control device 200. [ At this time, the photographing information includes the movement and maintenance work process of the sewage pipe maintenance robot 100 and the like. At this time, the real-time photographing information may be used by the remote control device 200 to generate the control signal. For example, when there is an obstacle that can not be moved on the movement route through the shooting information, the remote control device 200 can generate and transmit a control signal including a movement stop command and another movement route.

After the repair work is completed by filling the space of the flooded part with the repair material, the sewage pipe maintenance robot 100 makes a nondestructive inspection signal incident on the repair point and analyzes the reflection signal reflected back to confirm whether the repair work is completed (S460 ). If the space of the water immersion area is not filled with the analysis result, the sewage pipe maintenance robot 100 may pierce the point again to inject the repair material (S470).

As described above, according to the embodiment of the present invention, it is possible to accurately detect the water immersion area formed near the outer wall of the sewage pipe using the robot by the nondestructive inspection signal, to drill the exterior wall of the water pipe immediately after the detection, The speed is greatly improved. In addition, after completion of repair work, the repair point can be re-detected and the completion level of repair can be checked immediately, thus improving the completeness of the repair work.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: sewage pipe maintenance robot 110: manipulator
111: nondestructive inspection module 112: maintenance module
120: communication unit 130: mobile platform
140: control unit 150:
200: remote control device

Claims (15)

1. A sewage pipe maintenance robot for inspecting and repairing a sewer pipe periphery,
A manipulator having a nondestructive inspection module for detecting a flooded part within a predetermined distance from the outer wall of the sewage pipe using a nondestructive inspection signal and generating coordinates of the flooded part, and a repair module for drilling the outer wall of the sewage pipe,
A communication unit for transmitting the coordinates of the flooded part through wireless communication with the remote control device and receiving a control signal,
A moving platform that moves along the sewer line and controls the manipulator to stay horizontal with the horizon, and
And a control section for controlling movement of the moving platform in response to the control signal received from the remote control device and for controlling the manipulator to detect and repair the immersion section. The method according to claim 1,
Further comprising: an imaging section for photographing the sewage line to generate real-time photographing information and transmitting the real-time photographing information to the remote control device. The method according to claim 1,
The non-destructive inspection signal may include:
A sewage line maintenance robot comprising at least one of a radiation signal, an ultrasonic signal, a laser beam signal, and an electric energy signal. The method according to claim 1,
The flood-
Wherein the three-dimensional coordinates include depth information of the detected water immersion area. The method according to claim 1,
The manipulator includes:
Wherein the non-destructive inspection module is mounted on the first arm and the maintenance module is mounted on the second arm. The maintenance robot according to claim 1, wherein the first arm is a dual arm structure including a first arm and a second arm. The method according to claim 1,
Wherein the nondestructive inspection module comprises:
Wherein the nondestructive inspection signal is incident on the outer wall of the sewer pipe, and then the reflected signal is reflected and compared with characteristics of the stored reflection signal to detect the flooded part. The method according to claim 1,
The mobile platform comprises:
A sewage line maintenance robot for controlling the manipulator to maintain the horizontal position of the manipulator using a tilt sensor. 1. A sewage pipe maintenance method using a sewage pipe maintenance robot,
Receiving a control signal from a remote control device and moving along a sewer line in response to the control signal,
Detecting the flooded portion within a predetermined distance from the outer wall of the sewage pipe using the nondestructive inspection signal, generating coordinates of the flooded portion, and transmitting the coordinates of the flooded portion to the remote control device, and
And drilling the outer wall of the sewer pipe in response to the control signal received from the remote control device, and inputting a repair material. 9. The method of claim 8,
In the sewage pipe maintenance robot,
A sewage pipe maintenance method including a nondestructive inspection module for detecting a flooded part of the outer wall of the sewage pipe using the nondestructive inspection signal and generating a flooded part coordinate and a manipulator equipped with a repair module for piercing the outer wall of the flooded part of the flooded part, . 9. The method of claim 8,
Further comprising the step of controlling the manipulator to keep the manipulator horizontal with the horizontal plane using a tilt sensor. 9. The method of claim 8,
The non-destructive inspection signal may include:
Wherein the method comprises at least one of a radiation signal, an ultrasonic signal, a laser beam signal, and an electrical energy signal. 9. The method of claim 8,
The manipulator includes:
Wherein the non-destructive testing module is mounted on the first arm and the maintenance module is mounted on the second arm. The method of claim 1, wherein the first arm is a dual arm structure including a first arm and a second arm. 9. The method of claim 8,
Capturing the sewage line to generate real-time photographing information, and transmitting the real-time photographing information to the remote control device. 9. The method of claim 8,
The flood-
Wherein the three-dimensional coordinates include depth information of the detected water immersion area. 9. The method of claim 8,
The step of transmitting the flooded-
Inserting the nondestructive inspection signal toward the outer wall of the sewage pipe, and then receiving a reflection signal reflected and returned; and
And comparing the characteristics of the reflection signal and the stored reflection signal to detect the flooded part.
KR1020150114501A 2015-08-13 2015-08-13 Maintenance robot for drainpipe and method thereof KR101779822B1 (en)

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KR20190043748A (en) * 2017-10-19 2019-04-29 웅진고분자 주식회사 A System for Repairing a Pipe Using a Intelligent Repairing Robot
US20200061829A1 (en) * 2018-08-27 2020-02-27 Ascend Robotics LLC Automated construction robot systems and methods
KR20200133158A (en) 2019-05-18 2020-11-26 정희원 Proximity sensor using Bluetooth earphones to prevent an accident

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KR101494644B1 (en) * 2014-08-20 2015-02-25 포테닛 주식회사 Inspecting robot for regenerating superannuated pipes

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KR20190043748A (en) * 2017-10-19 2019-04-29 웅진고분자 주식회사 A System for Repairing a Pipe Using a Intelligent Repairing Robot
US20200061829A1 (en) * 2018-08-27 2020-02-27 Ascend Robotics LLC Automated construction robot systems and methods
KR20200133158A (en) 2019-05-18 2020-11-26 정희원 Proximity sensor using Bluetooth earphones to prevent an accident

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