KR20200077632A - A System for Diagnosing a Underground Pipe Automatically And a Method for Verifying a Repairing Part with the Same - Google Patents

Abstract

The present invention relates to an automatic diagnosis system of an underground pipe and a method for confirming a repair position thereby, capable of confirming a repair position while automatically diagnosing a condition of an underground pipe on the basis of image information obtained in accordance with movement of an automatic robot. The automatic diagnosis system of an underground pipe of the present invention comprises: an operation control module (11) for controlling a diagnosis process of a drain pipe; a traveling control module (121) for controlling traveling of a diagnostic robot; an image control module (122) for controlling a process of obtaining an image from different positions of the diagnostic robot; an information-containing image information module (14) for combining traveling information and image information to generate and store the image information having position information; an image reproducing and repair position confirming module (15) for confirming a repair position while reproducing the stored image; and a repair image generating module (16) for extracting the image for the confirmed repair position to be combined with the position information so as to generate a repair image.

Description

{A System for Diagnosing a Underground Pipe Automatically And a Method for Verifying a Repairing Part with the Same}

The present invention relates to an automatic diagnosis system for an underground pipe and a method for confirming the repair location accordingly, and specifically, it is possible to check the repair location while automatically diagnosing the condition of the underground pipe based on the image information obtained according to the movement of the automatic robot. It relates to an automatic diagnosis system of a possible underground conduit and a method for confirming the maintenance location accordingly.

Sewer pipes, water supply pipes or similar transfer pipes can be buried underground, and defects can occur for various reasons. In particular, in the case of a sewer pipe, since sewage containing various foreign substances is transported, corrosion or cracking may occur, thereby causing problems such as water leakage or subsidence. Therefore, it is necessary to perform the repair for the part where the defect is generated or the point where there is a possibility of occurrence of such defect is diagnosed in advance, and the repair is required according to the diagnosis result. Patent Publication No. 10-1997-0014948 relates to an artificial intelligence robot for diagnosis, which is capable of diagnosing internal conditions such as water and sewage pipes or water pipes and transmitting the results as image data or processed numerical data. Disclosed is a diagnostic artificial intelligence robot capable of changing the distance between the wheels by the intelligent system according to the soil deposition condition in the pipe. Patent registration no. Disclosed is a diagnostic system and method. In addition, Patent Publication No. 10-2017-0137282 discloses an all-weather imaging device taking into account various adverse conditions in a sewer line that can measure the inner wall of a fluid state in a sewer line by ultrasonic scanning, and a method for diagnosing the sewer line. For the diagnosis of the condition of a sewer pipe or similar underground pipe, it is advantageous that a non-destructive test such as ultrasound or laser is performed while confirming an internal state in which a fluid flows on an image. At the same time, the point in need of repair needs to be confirmed by the image, but the prior art does not disclose such a technique.

The present invention is to solve the problems of the prior art has the following purposes.

Prior Art 1: Patent Publication No. 10-1997-0014948 (Tidiai Co., Ltd., released on April 28, 1997) Artificial Intelligence Robot for Diagnosis Prior Art 2: Patent Publication No. 10-1557865 (Korea Institute of Construction Technology, October 6, 2015 announcement) Ground subsidence diagnosis system and method using CCTV data of sewage pipelines and GPR data of upper ground Prior Art 3: Patent Publication No. 10-2017-0137282 (Sink Water Co., Ltd., published on December 13, 2017) All-weather imaging device system considering various adverse conditions in sewage pipelines and methods for diagnosing sewage pipelines

An object of the present invention is to obtain the positional information while acquiring the internal state image by a diagnostic robot movable along the inside of the sewer pipe, and the underground pipe which can confirm the repair location from the image information with the acquired positional information. It is to provide an automatic diagnosis system and a method for checking the maintenance location accordingly.

According to a preferred embodiment of the present invention, an automatic diagnosis system of an underground pipe and a method of confirming a repair position accordingly include an operation control module that controls a diagnostic process of a sewer pipe; A driving control module that controls the driving of the diagnostic robot; An image control module that controls a process in which images are acquired at different locations of the diagnostic robot; A video information module including information for generating and storing video information having location information by combining driving information and video information; An image reproducing and maintenance location checking module for checking the maintenance location while playing the stored image; And a repair image generation module that extracts an image of the identified repair location and combines it with location information to generate a repair image.

According to another suitable embodiment of the present invention, the operation control module includes a display unit, a control module for adjusting the operation of the driving and image acquisition means, and a winch module for moving the diagnostic robot.

According to another suitable embodiment of the present invention, preparing a diagnostic robot movable along the inside of the sewer pipe; Setting a moving path of the diagnostic robot in the sewer pipe; Generating location information for the set movement path; Step of acquiring an image of the interior of the underground pipe while the diagnostic robot moves along the set movement path; Generating location-related image information in which location information and image information are combined; As the location-related image information is reproduced, whether or not it corresponds to a special portion is searched to identify a repair portion; And extracting and storing the image according to the confirmation result.

The automatic diagnosis system according to the present invention enables diagnosis of the internal condition of the underground pipe based on the image information obtained by the diagnostic robot that can move to any path inside the underground pipe. In addition, by combining the driving information or location information of the diagnostic robot with the image information, it is possible to determine the defect location while checking the repair location inside the underground pipe. Also, while reproducing the image information acquired by the diagnostic robot, the repair location and the image are extracted to automatically generate the underground conduit diagnostic reporter for the selection of the repair method.

1 shows an embodiment of an automatic diagnosis system of an underground pipe according to the present invention.
Figure 2a shows an embodiment of a diagnostic control module applied to the automatic diagnostic system according to the present invention.
Figure 2b shows an embodiment of a winch module and a diagnostic robot applied to the automatic diagnostic system according to the present invention.
Figure 3 shows an embodiment of a method for confirming the repair position of the sewer pipe by the diagnostic robot according to the present invention.
Figure 4 shows an embodiment of the underground reporter diagnostic reporter generated by the method for checking the repair location according to the present invention.

Hereinafter, the present invention will be described in detail with reference to the embodiments presented in the accompanying drawings, but the embodiments are intended for a clear understanding of the present invention and the present invention is not limited thereto. In the following description, components having the same reference numerals in different drawings have similar functions, and are not described repeatedly unless necessary for understanding of the invention, and well-known components are briefly described or omitted, but the present invention It should not be understood as being excluded from the embodiment.

1 shows an embodiment of an automatic diagnosis system of an underground pipe according to the present invention.

1, the automatic diagnosis system of the underground pipe includes an operation control module 11 for controlling the diagnostic process of the sewer pipe; A driving control module 121 that controls the driving of the diagnostic robot; An image control module 122 that controls a process in which images are acquired at different locations of the diagnostic robot; An image information module 14 including information that generates and stores image information having location information by combining driving information and image information; An image reproducing and maintenance location checking module 15 for checking the maintenance location while playing the stored image; And a repair image generation module 16 that extracts an image of the identified repair position and combines it with position information to generate a repair image.

Operation of the diagnostic robot forming the diagnostic system by the operation control module 11, image acquisition, location information generation, image information processing, combination of location information and image information, maintenance of the sewer pipe according to the search and search results of the location The reporter creation process can be controlled. The operation control module 11 may include various hardware and software for such control or processing. The operation of the diagnostic robot may be controlled by the driving control module 121. The diagnostic robot may have a structure that can be moved along the inside of the underground pipe, and may include image acquisition means such as a camera. The image acquisition means may be various types of image acquisition devices capable of reproduction according to CCTV or similar continuous image acquisition and storage, and the present invention is not limited thereto. The diagnostic robot may be moved to an arbitrary position of the underground pipe by the driving control module 121, and an image may be acquired by controlling the operation of the image acquisition means such as a camera by the image control module 122. By the image control module 122, images of the inside of the underground pipe can be obtained at different locations, and images of the underground pipe of all directions can be obtained at all locations. The driving control information by the driving control module 121 may be transmitted to the location information generating module 131. The location information generation module 131 may generate location information of the diagnostic robot based on the transmitted driving information. For example, the relative coordinates of the diagnostic robot are calculated based on the driving information, and absolute coordinates for a predetermined reference position can be generated. In addition, the location information may include time information according to the location, and coordinate information and time information of the diagnostic robot may be transmitted to the image acquisition and location information interlocking module 132. Control information for the image acquisition means by the image control module 122 may also be transmitted to the image acquisition and location information interlocking module 132. For example, direction information of the image acquisition means or distance information on the object may be transmitted to the image acquisition and location information interworking module 132. In addition, the time information on which the image is acquired may be transmitted to the image acquisition and location information interlocking module 132. The diagnostic robot and the image acquisition means may each include a visual measurement means, and the visual information may be synchronized in advance to check whether the measurement time is synchronized during the driving process of the diagnostic robot. The image acquisition and location information interworking module 132 may divide and store the location of the diagnostic robot, the image acquisition time, and the image acquisition direction in units of predetermined frames. Then, the image information having the location information can be transmitted to the image storage module 14 including information, and the location information includes time information and direction information.

The information-bearing image storage module 14 may generate image information having location information, for example, location information may be displayed in a predetermined frame unit, or location information may be exposed to the image by appropriate means. The location-incorporated image generated as described above may be stored in a storage medium and transmitted to other electronic devices as necessary. The repaired location can be confirmed while the stored information-combined image is reproduced by the image reproducing and maintenance positioning module 15. The video reproducing and repairing position checking module 15 may check the repairing position by a search program, and may search the repairing position by, for example, a pre-generated reference image. The search program may search for a repair position based on a change in shape, a change in contrast, a change in reflectance, or a similar image discontinuity, and may transmit the repair position to the repair image generation module 16 along with search results and position information. The reward image generation module 16 may extract an image according to the search result and finally determine whether it corresponds to the reward location. Optionally, the repair image generation module 16 may store information on a predetermined defect type and information on a repair method according to the defect type. In addition, information on a defect type and a repair method may be added to an image extracted according to a search result and determined as a repair position. Afterwards, a diagnostic report for the sewage pipeline may be created and stored based on the extracted repair image.

The operation control module 11 or the diagnostic robot may be made of various structures and is not limited to the presented embodiments.

Figure 2a shows an embodiment of a diagnostic control module applied to the automatic diagnostic system according to the present invention.

Referring to FIG. 2A, the operation control module 11 includes an operation including a display unit DS, an adjustment module 20 for controlling operation of the driving and image acquisition means, and a winch module 30 for moving the diagnostic robot. The control module can be, for example, a computer structure to which additional means are connected, and can be fixed inside the diagnostic vehicle. The diagnostic control module 11 may be installed inside a box-shaped sealed housing, and may be installed in a diagnostic vehicle and moved to various locations. The display unit DS may be coupled to the inside of the cover of the sealed housing. The control module 20 may form the body of the sealed housing, for example, the control module 20 includes a control body 21 having a function of a body of a computer; It may be made of an image processing module 22 disposed under the adjustment body 21. A keyboard, button, switch, operation bar or similar operation means for operation of the operation control module 11 may be disposed on the upper surface of the adjustment body 21. For example, the input means 23, such as a keyboard on the upper surface of the adjustment body 21; Moving operation means (24) for adjusting the moving or moving direction of the diagnostic robot; A display means 25 for displaying the operation state of the diagnostic robot, the image acquiring means or the control module 20; Or it may include, but is not limited to, a diagnostic robot, an image acquisition means, or an operation switch 26 for operation of the winch module 30. The image processing module 22 may be disposed under the adjustment body 21, and the image acquired by the image acquisition means by the image processing module 22 may be processed and stored. In addition, as the stored image is played, the detection program is activated to detect the repair location, and the repair location can be confirmed. Various adjustment means 221 for image processing may be disposed on the image processing module 22, and the winch module 30 may be coupled to the side of the adjustment module 20.

The winch module 30 has an engaging frame 31 that is coupled to the sealed housing while having a box shape as a whole; A rotating drum 32 rotatably installed on the coupling frame 31; A guiding unit 33 guiding the guiding string 34 wound on the rotating drum 32 to a diagnostic robot; An engagement unit 331 engaged with the induction unit 33 to induce the induction string 34; Adjusting the tension of the induction string 34 guided through the induction unit 33, or limiting unit 331a to limit induction; And a positioning unit 332 for setting the position of the induction unit 33 or adjusting rotation. A diagnostic robot may be connected to the induction string 34 and operation may be controlled by the adjustment module 20.

Winch module 30 is made of a variety of structures can be coupled to the control module 20 is not limited to the presented embodiment.

Figure 2b shows an embodiment of a winch module and a diagnostic robot applied to the automatic diagnostic system according to the present invention.

Referring to Figure 2b, the winch module 30 is a coupling frame 31 that is coupled to the sealed housing while having a box shape as a whole; A rotating drum 32 rotatably installed on the coupling frame 31; A guiding unit 33 guiding the guiding string 34 wound on the rotating drum 32 to a diagnostic robot; An engagement unit 331 engaged with the induction unit 33 to induce the induction string 34; A limiting unit 331a for adjusting the tension of the induction string 34 guided through the induction unit 33 or limiting induction; And a positioning unit 332 for setting the position of the induction unit 33 or adjusting rotation. The coupling frame 31 may be detachably coupled to the adjustment module by the coupling bracket 35. The induction unit 33 may be composed of a pair of rollers connected in series, and each roller may be connected to the positioning unit 332 by means of a fixed connector 36. The positioning unit 332 is movable along the width direction of the coupling frame 31 along the threaded adjustment shaft 332a, whereby the induction unit 33 is moved along the longitudinal direction of the rotating drum 32 Can be. In addition, the engagement unit 331 engaged with the guide unit 33 may be moved along a movement guide member extending in parallel with the adjustment shaft 332a. Also, a power supply means 37 such as a capacitor may be disposed on the coupling frame 31. And the diagnostic robot 40 may be connected to the induction string 34.

The diagnostic robot 40 includes a robot body 41; A cylinder-shaped direction adjustment unit 42 coupled to the robot body 41 to enable direction adjustment in the front; A rotation adjustment unit 43 coupled to be rotatable relative to the direction adjustment unit 42; It may include an image acquiring means 44 coupled to the rotation adjustment unit 43 to enable direction adjustment. A driving motor may be disposed on the robot body 41, and power to the driving motor may be supplied by the power control unit 47, and rotated on the rotating shaft 451 by the driving motor to turn the wheel 45 Can be rotated. Lighting units L1 and L2 that emit light in a direction in which the image acquiring means 44 such as a camera is directed may be disposed on both sides of the direction adjusting unit 42. The diagnostic robot 40 may be moved in various directions, and may be moved in the front-rear direction or the left-right direction by controlling the power supply by the power control unit 47. Image information about the inside of the sewer pipe can be obtained by the diagnostic robot 40 having the above structure, and the repair position of the sewer pipe can be confirmed based on the acquired image information.

Figure 3 shows an embodiment of a method for confirming the repair position of the sewer pipe by the diagnostic robot according to the present invention.

Referring to FIG. 3, a method of confirming a maintenance position from an image acquired by a diagnostic robot includes preparing a diagnostic robot movable along the inside of a sewer pipe (P31); Setting a moving path of the diagnostic robot in the sewer pipe (P32); Generating location information for the set movement path (P33); A step in which an image of the inside of the underground pipe is acquired while the diagnostic robot moves along the set moving path (P34); Generating location-related image information in which location information and image information are combined (P36); As the location-related image information is reproduced, whether or not it corresponds to the special portion is searched to identify a repair portion (P38); And extracting and storing the image according to the confirmation result (P39).

The diagnostic robot may have the above-described structure, but is not limited thereto, and may have various structures capable of acquiring image information while moving along the inside of the sewer pipe. When the diagnostic robot is connected to the control module and prepared (P31), a movement path may be set (P32). The travel path can be preset. The movement path may be set by the diagnostic robot (P32). Alternatively, a movement map may be created by being modified according to image information obtained in a process of moving along a predetermined movement path. The location information may be generated while the movement path is previously created or is created in the movement process (P33). The location information may be generated during the movement of the diagnostic robot, may include time information, and may optionally include direction information of the image acquisition means. As the diagnostic robot travels along the sewer pipe, an image may be acquired, and the image information may have time information synchronized with time information related to the location of the diagnostic robot. When image information is acquired according to the movement of the diagnostic robot (P34). The location information and the image information may be combined (P35), and the location combined image information may be generated and stored (P36). The location combined image information refers to image information combined such that location information including time information is displayed on the image information or location information is exposed as necessary. When the location-coupled image information is generated and reproduced as described above, the image may be reproduced, and a specific region may be searched by the search program described above (P37). The search may be performed based on a predetermined number of frames, and it may be determined whether the searched part corresponds to a repair position (P38). The determination as to whether the repair position is applicable may be made in a way that the reference image and the acquired image in various directions are compared, and if the repair part corresponds (YES), the corresponding image is extracted and stored together with the position information and direction information. It can be (P39). On the other hand, if it does not correspond to the repair part, the search for other parts may continue (P37). And a sewage pipe diagnostic report may be generated based on the extracted and stored repair location image.

Figure 4 shows an embodiment of the underground reporter diagnostic reporter generated by the method for checking the repair location according to the present invention.

Referring to FIG. 4, repair images for various locations of the sewer pipe P may be generated, and the repair images may include location information, defect status, time information, or similar information. Each repair image may include information on various repair positions P1 to PN of the sewer pipe P. The diagnostic report may include various information, such as status information for the maintenance positions P1 to PN, and may be automatically generated by the diagnostic system.

The reward image can be made in various forms and is not limited to the presented embodiment.

The automatic diagnosis system according to the present invention enables diagnosis of the internal condition of the underground pipe based on the image information obtained by the diagnostic robot that can move to any path inside the underground pipe. In addition, by combining the driving information or location information of the diagnostic robot with the image information, it is possible to determine the defect location while checking the repair location inside the underground pipe. Also, while reproducing the image information acquired by the diagnostic robot, the repair location and the image are extracted to automatically generate the underground conduit diagnostic reporter for the selection of the repair method.

The present invention has been described in detail with reference to the presented embodiments, but those skilled in the art will be able to make various modifications and modified inventions without departing from the technical spirit of the present invention with reference to the presented embodiments. . The present invention is not limited by such modified and modified inventions, but is limited by the appended claims.

11: Operation control module 14: Video information module with information
15: Video playback and maintenance location check module
16: Complementary image creation module 20: Adjustment module
21: adjustment body 22: image processing module
23: input means 24: moving operation means
25: display means 26: operation switch
30: winch module 31: mating frame
32: rotating drum 33: induction unit
34: induction string 35: coupling bracket
36: fixed connector 37: power supply means
40: diagnostic robot 41: robot body
42: direction adjustment unit 43: rotation adjustment unit
44: image acquisition means 45: wheels
47: power control unit 121: driving control module
122: image control module 131: location information generation module
132: image acquisition and location information linking module
221: adjusting means 331: engaging unit
331a: limit unit 332: positioning unit
332a: adjustment axis 451: rotation axis
DS: Display unit L1, L2: Lighting unit
P: sewer pipes P1 to PN: repair position

Claims (3)

An operation control module 11 for controlling the diagnostic process of the sewer pipe;
A driving control module 121 that controls the driving of the diagnostic robot;
An image control module 122 that controls a process in which images are acquired at different locations of the diagnostic robot;
A video information module 14 including information for generating and storing video information having location information by combining driving information and video information;
An image reproducing and maintenance location checking module 15 for checking the maintenance location while playing the stored image; And
Automatic diagnosis system of the underground pipe including a repair image generation module (16) that extracts an image of the identified repair location and combines it with location information to generate a repair image. The underground control pipe according to claim 1, wherein the operation control module (11) includes a display unit (DS), a control module (20) for adjusting the operation of the driving and image acquisition means, and a winch module (30) for moving the diagnostic robot. Automatic diagnosis system. In the method for confirming the repair position from the image acquired by the diagnostic robot,
Preparing a diagnostic robot movable along the inside of the sewer pipe;
Setting a moving path of the diagnostic robot in the sewer pipe;
Generating location information for the set movement path;
Step of acquiring an image of the interior of the underground pipe while the diagnostic robot moves along the set movement path;
Generating location-related image information in which location information and image information are combined;
As the location-related image information is reproduced, whether or not it corresponds to a special portion is searched to identify a repair portion; And
Method for checking the repair position by the diagnostic robot, including the step of extracting and storing the image according to the verification result.

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