KR20220066758A - Tunnel and underground structure management method using aerial vehicle - Google Patents

Abstract

An objective of the present invention is to determine the state of a tunnel and an underground structure without disturbing the flow of vehicles even in a tunnel through which vehicles pass. A method for tunnel and underground structure management of a system for tunnel and underground structure management using an unmanned aerial vehicle comprises: a step of performing a first flight into a tunnel to identify a tunnel inside structure by a first unmanned aerial vehicle; a step of acquiring inside information of the tunnel through the first flight of the first unmanned aerial vehicle; a step of generating guide path information which is a flight path in the tunnel based on the acquired inside information of the tunnel; a step of performing a second flight into the tunnel based on the generated guide path information to acquire an image inside the tunnel by at least one second unmanned aerial vehicle; and a step of determining the state of the tunnel by the tunnel inside image acquired through the second flight of the second unmanned aerial vehicle.

Description

Tunnel and underground structure management method using unmanned aerial vehicle {TUNNEL AND UNDERGROUND STRUCTURE MANAGEMENT METHOD USING AERIAL VEHICLE}

The present invention relates to a tunnel management method, and more particularly, to a tunnel and underground structure management method using an unmanned aerial vehicle.

As industrialization accelerates, the development of underground spaces such as tunnels for roads and railways, electric power pits, mine shafts, waterway tunnels, pumping tunnels and underground structures is revitalized due to the depletion of underground resources and the expansion of social infrastructure.

These underground spaces deteriorate due to collapse accidents during construction and over time of use, and leakage, whitening, and cracks occur. risk of accidents caused by

Therefore, it is desirable to check in advance the point and direction with a high risk of collapse in order to minimize the damage caused by the collapse. Instead, the tunnel status and performance are recorded and used for tunnel maintenance.

In this way, in order to maintain the function of the aging tunnel and extend the lifespan, regular inspection of the inner wall of the tunnel is required.

Conventionally, due to the spatial closure of the tunnel, an inspector directly enters the tunnel, visually confirms it, and sketches or displays it.

However, when the inspector directly enters the tunnel, accurate and continuous inspection was difficult because there is a risk of suffocation and health due to the nature of the tunnel due to the nature of the tunnel.

In addition, the method of visual inspection by an inspector lacks objectivity because it relies on personal knowledge and experience. Damage caused to invisible parts such as inside or in parts that are difficult to access by manpower is not easy to detect even by experienced technicians.

In order to improve the shortcomings of such an inspector's visual inspection method, an image-based diagnosis apparatus using a vehicle has recently been proposed.

However, the image-based diagnostic device using a vehicle has the disadvantage of obstructing the flow of traffic due to the nature of the vehicle, and has the disadvantage that it is difficult to use during the construction or hollow of a tunnel.

In addition, since it is difficult to acquire high-resolution image information because an image-based diagnostic device using a vehicle is limited in close-up photography of a tunnel wall, it is difficult to detect minute damage.

Therefore, there is a need for a system and a management method for the effective management of tunnels and underground structures.

The present invention has been devised to solve the above problems, and an object of the present invention is to propose a method for managing tunnels and underground structures using an unmanned aerial vehicle.

The tunnel management method of the tunnel management system using an unmanned aerial vehicle includes the steps of: performing a first flight into the tunnel to understand the tunnel internal structure with a first unmanned aerial vehicle; obtaining internal information of the, generating guide route information that is a flight path inside the tunnel based on the obtained internal information of the tunnel, to acquire an image of the inside of the tunnel with at least one second unmanned aerial vehicle It may include performing a second flight into the tunnel based on the generated guide route information and determining the state of the tunnel by the image inside the tunnel obtained through the second flight of the second unmanned aerial vehicle. have.

Also, in performing the first flight, the first unmanned aerial vehicle may fly inside the tunnel based on the design drawing of the tunnel.

In addition, the guide route information is a flight route for the second unmanned aerial vehicle to fly inside the tunnel, and the guide route information includes at least one of a structure of the tunnel, an air flow of the tunnel, and an internal structure of the tunnel. can be created based on

In addition, in the step of performing the second unmanned aerial vehicle, the second unmanned aerial vehicle may adjust the flight speed in consideration of air resistance to achieve a constant speed flight.

The method may further include generating a 3D internal image of the tunnel by combining the acquired tunnel internal image based on the acquired tunnel internal information.

In addition, in the generating of the 3D internal image, the 3D internal image may be corrected by additionally considering a design drawing of the tunnel.

Also, in the performing of the second flight, the second unmanned aerial vehicle may perform a group flight at an interval determined according to the guide route information.

On the other hand, the unmanned aerial vehicle of the tunnel management system includes a first communication unit that communicates with the user terminal device, a camera unit that captures the inside of the tunnel to obtain an image inside the tunnel, and performs movement and posture control to fly inside the tunnel. A power unit, a sensor unit that detects the inside of the tunnel and acquires internal information of the tunnel, controls the power unit so that the unmanned aerial vehicle makes a first flight inside the tunnel in order to understand the structure inside the tunnel, and the obtained The control unit may include a control unit for controlling the first communication unit to transmit internal information of the tunnel to the user terminal device.

In addition, the controller may control the first flight inside the tunnel based on the design drawing of the tunnel.

In addition, the communication unit receives the guide route information from the user terminal device, the control unit the power unit to make a second flight into the tunnel based on the received guide route information to obtain an image of the inside of the tunnel can be controlled

In addition, the camera unit may acquire the image inside the tunnel in the second flight, and the communication unit may transmit the image inside the tunnel to the user terminal device.

In addition, the control unit may control the power unit to perform a group flight according to an interval determined according to the guide route information in the second flight.

On the other hand, the user terminal device of the tunnel management system is based on the communication unit receiving the internal information of the tunnel from the unmanned aerial vehicle that performed the first flight inside the tunnel to understand the internal structure of the tunnel, and the received internal information of the tunnel. and a guide route generator generating guide route information that is a flight route inside the tunnel, and a controller controlling the communication module to transmit the generated guide route information to the unmanned aerial vehicle.

In addition, the communication unit receives the image inside the tunnel from the unmanned aerial vehicle that performed the second flight into the tunnel based on the guide route information, and the control unit determines the state of the tunnel based on the received image inside the tunnel can do.

The method may further include a rendering unit generating a 3D interior image of the tunnel by combining the received tunnel interior images, wherein the controller may determine a state of the tunnel based on the 3D interior image of the tunnel.

According to the present invention, by using an unmanned aerial vehicle, it is possible to determine the state of a tunnel even in a tunnel under construction or an underground structure, and it is possible to determine the state of a tunnel and an underground structure without interfering with the flow of a vehicle even in a tunnel in which a vehicle travels. can have an effect.

In addition, the present invention has the effect of acquiring a more accurate and sophisticated tunnel interior image by grasping the inside of the tunnel by the first flight of the unmanned aerial vehicle and acquiring the image of the tunnel by performing the second flight based on this.

In addition, the present invention has the effect of more intuitively determining and managing the tunnel state by generating a 3D internal image of the tunnel using the image obtained from the unmanned aerial vehicle.

1 is an exemplary diagram illustrating a tunnel management system according to an embodiment of the present invention.
2 is a block diagram illustrating an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a block diagram illustrating a user terminal device according to an embodiment of the present invention.
4 is an exemplary view showing guide route information according to an embodiment of the present invention.
5 is an exemplary diagram illustrating a 3D interior image of a tunnel according to an embodiment of the present invention.
6 is a flowchart illustrating a tunnel management method according to an embodiment of the present invention.

The following is merely illustrative of the principles of the invention. Therefore, those skilled in the art can devise various devices that, although not explicitly described or shown herein, embody the principles of the invention and are included in the spirit and scope of the invention. In addition, it should be understood that all conditional terms and examples listed herein are, in principle, expressly intended only for the purpose of understanding the inventive concept and are not limited to the specifically enumerated embodiments and states as such. .

The above-described objects, features and advantages will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the invention pertains will be able to easily practice the technical idea of the invention. .

In addition, in the description of the invention, if it is determined that a detailed description of a known technology related to the invention may unnecessarily obscure the gist of the invention, the detailed description thereof will be omitted. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an exemplary view showing an underground structure tunnel management system 1000 according to an embodiment of the present invention.

Referring to FIG. 1 , a tunnel and underground structure management system 1000 is an image-based tunnel and underground structure management device for maintaining functions and extending lifespan of tunnels and underground structures. The tunnel and underground structure management system 1000 may include the unmanned aerial vehicle 100 and the user terminal device 200 . Here, the tunnel may be a tunnel for a road or railway, a mine shaft, an electric power outlet, a mine development, a waterway tunnel, or a pumping tunnel, and the underground structure may include an underground drainage canal, an underground tank, a sewage treatment facility, an underground power plant, etc. . Hereinafter, the description will be made based on the tunnel, but the function of each configuration is not limited to the tunnel and may be a concept including an underground structure.

The unmanned aerial vehicles 100-1, 100-2, 100-3 … 100-4: 100 may perform a function of photographing the inside of the tunnel while flying through the tunnel. Here, the unmanned aerial vehicle 100 may autonomously fly according to a preset flight method, and may fly by receiving a flight command directly from the user terminal device 200 . Here, the preset flight method may include a tunnel blueprint, a flight method based on GPS of the unmanned aerial vehicle 100, a flight method based on guide route information, and the like.

In addition, the unmanned aerial vehicles (100-1, 100-2, 100-3 ... 100-4: 100) may perform a group flight as well as a solo flight.

In addition, the unmanned aerial vehicle 100 is illustrated as a drone that is a quadcopter including four propellers, but is not limited thereto, and may be provided with various types of aircraft.

The user terminal device 200 may control the unmanned aerial vehicle 100 or perform a function of image processing and analyzing an image captured by the unmanned aerial vehicle 100 . Here, the user terminal device 200 may be a smartphone, a PDF, a tablet, a notebook computer, or the like. In addition, the user terminal device 200 is not limited to the above-described example, and may include any device capable of wirelessly communicating with the unmanned aerial vehicle 100 .

Next, the unmanned aerial vehicle 100 will be described in more detail with reference to FIG. 2 .

2 is a block diagram illustrating an unmanned aerial vehicle 100 according to an embodiment of the present invention.

2 , the unmanned aerial vehicle 100 includes a first communication unit 110 , a first storage unit 120 , a camera unit 130 , a power unit 140 , a sensor unit 150 , a lighting unit 160 , Some or all of the first control unit 170 may be included.

The first communication unit 110 may perform a function of communicating with an external device. Specifically, the first communication unit 110 may transmit/receive various data through wireless communication with the user terminal device 200 . For example, the first communication unit 110 may transmit an image of the inside of the tunnel or underground structure photographed by the user terminal device 200 . Also, the first communication unit 110 may receive, in real time, a control command for controlling the flight movement and posture control of the unmanned aerial vehicle 100 , guide route information, and the like, from the user terminal device 200 .

Here, the first communication unit 110 is a wired/wireless communication module that communicates in a wireless or wired manner through a local area network (LAN) and an Internet network, and a USB interface module that communicates through a USB (Universal Serial Bus) port. , 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evoloution), etc. according to various mobile communication standards such as mobile communication module, Wi-Fi, Bluetooth (bluetooth), etc. It may be implemented with the same short-distance wireless communication module.

The first storage unit 120 may perform a function of storing various data necessary for the operation of the unmanned aerial vehicle 100 . Specifically, the first storage unit 120 may store design drawings of tunnels and underground structures necessary for flight, map information of tunnels and underground structures, flight methods, guide route information, tunnel interior images, underground structures interior images, and the like. . Also, the first storage unit 120 may store photographed images of tunnels and underground structures, tunnel mapping information, and the like.

Here, the first storage unit 120 includes a random access memory (RAM), a flash memory, a read only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable and programmable ROM (EEPROM), a register, a hard disk, and a removable disk. , a memory card, a built-in storage device such as a USIM (Universal Subscriber Identity Module), etc., as well as a removable storage device such as a USB memory, may be implemented.

The camera unit 130 may be positioned on one side of the unmanned aerial vehicle 100 to perform a function of photographing the inside of the tunnel or the inside of an underground structure. Specifically, the camera unit 130 may be composed of at least one or more cameras to photograph the inside of the tunnel. For example, the camera unit 130 may include a three-dimensional depth camera (Depth Camera), an infrared camera, a thermal imaging camera, etc. capable of determining the distance and depth.

Also, the camera unit 130 may acquire an image inside the tunnel by photographing the inside of the tunnel by selectively using a type of camera according to a user's control command or the environment inside the tunnel. Here, an example of the tunnel interior image may be a UHD (Ultra-HD) level high-resolution image.

The power unit 140 may perform a function of providing power to perform movement and posture control of the unmanned aerial vehicle 100 .

Specifically, the power unit 140 may perform movement and posture control of the unmanned aerial vehicle 100 under the control of the first controller 170 .

The power unit 140 may be provided in various ways, and the power unit 140 may be a jet engine emitting a jet stream, or a turboprop engine in which a propeller and a turbo engine are combined, depending on the method of carrying out the present invention. Preferably, the unmanned aerial vehicle 100 may be a multi-copter or a quadcopter including a plurality of propellers. In the case of a multicopter or quadcopter, attitude control in the air is advantageous compared to other types of unmanned aerial vehicles, and hovering that can maintain a continuous air flight state at a specific location at a specific altitude is also possible. In this case, the power unit 140 may include at least one propeller and driving means such as a motor for driving the propeller.

The sensor unit 150 may perform a function of detecting the inside of the unmanned aerial vehicle 100 , a tunnel or an underground structure, and acquiring various data.

Specifically, the sensor unit 150 may include at least one sensor or a sensing device. For example, the sensor unit 150 uses the same principle as a radar to acquire desired information without direct contact with an object, which is a type of active remote sensing (LiDAR: Light Detection and Ranging). may include Here, the LiDAR sensor can be implemented as a laser scanner that shoots a laser at a target to acquire information and detects the parallax and energy change of electromagnetic waves that are reflected from the target and acquire desired information. In this case, according to the flight of the unmanned aerial vehicle 100 , the sensor unit 150 provides point cloud data, which is a set of a large amount of points having three-dimensional spatial coordinates (ie, real world x, y, z information) for the inside of the tunnel. can be obtained.

In addition, the lidar of the sensor unit 150 may perform not only the distance to the target object, but also the moving speed and direction, temperature, analysis of surrounding atmospheric substances and concentration measurement.

Also, the sensor unit 150 may include an Inertial Measurement Unit (IMU) that measures the speed and direction, gravity, and acceleration of the unmanned aerial vehicle 100 . In addition, the sensor unit 150 may include an illuminance sensor for determining the ambient brightness of the unmanned aerial vehicle 100 . In addition, the sensor unit 150 may sense the air flow and air resistance of the tunnel.

The lighting unit 160 may perform a function of providing light around the unmanned aerial vehicle 100 . Specifically, the lighting unit 160 may be controlled by the first control unit 170 based on the illuminance value detected by the sensor unit 150 . For example, the lighting unit 160 may provide light to have a constant brightness around the unmanned aerial vehicle 100 . Through this, the unmanned aerial vehicle 100 may acquire an image inside the tunnel with a constant brightness.

In addition, the lighting unit 160 may adjust the direction and intensity of the light so that no shadow is formed in the photographing direction of the unmanned aerial vehicle 100 .

The first control unit 170 may perform a function of overall controlling the operation of the unmanned aerial vehicle 100 . Specifically, the first controller 170 may control the movement and posture of the unmanned aerial vehicle 100 according to a pre-stored flight method. Here, the pre-stored flight method may be a solo flight or a group flight. For example, the first control unit 170 may control the power unit 140 to fly inside the tunnel or inside the underground structure based on the design of the tunnel or the design of the underground structure.

Also, the first controller 170 may control the flight of the unmanned aerial vehicle 100 based on a control command received from the user terminal device 200 .

Also, the first control unit 170 may control the power unit 170 to make a second flight into the tunnel based on the guide route information. For example, the first control unit 170 may control the power unit 140 to perform group flight according to an interval determined according to the guide route information.

In addition, the first control unit 170 may control the first communication unit 110 to transmit the tunnel interior image or tunnel interior information acquired by the camera unit 130 and the sensor unit 150 to the user terminal device 200 . have.

Also, the first controller 170 may control the brightness of the lighting unit 160 to maintain a constant brightness around the unmanned aerial vehicle 100 based on the illuminance value detected by the sensor unit 150 .

Next, the user terminal device 200 will be described with reference to FIG. 3 .

3 is a block diagram illustrating a user terminal device 200 according to an embodiment of the present invention.

Referring to FIG. 3 , the user terminal device 200 includes a second communication unit 210 , a display unit 220 , a guide path generation unit 240 , a rendering unit 230 , a second storage unit 250 , and a second All or part of the control unit 260 may be included.

The second communication unit 210 may perform a function of wirelessly communicating with the unmanned aerial vehicle 100 . Specifically, the second communication unit 210 may receive the tunnel interior image, the underground structure interior image, the tunnel interior information, etc. obtained from the unmanned aerial vehicle 100 . Also, the second communication unit 210 may transmit various control commands to the unmanned aerial vehicle 100 . Here, the control command may be a control command related to the operation of the unmanned aerial vehicle 100 .

The display 220 may perform a function of providing a visual output to the user. Specifically, the display unit 220 may visually output an image obtained by the unmanned aerial vehicle 100 , point cloud data, and the like.

In addition, the display unit 220 may output the operation state of the unmanned aerial vehicle 100 and the acquired data in real time so that the user can monitor in real time.

The guide route generator 240 may generate guide route information that is a flight route (movement route) inside the tunnel based on the tunnel internal information received from the unmanned aerial vehicle 100 . Here, the tunnel internal information includes an image of the tunnel obtained from the camera unit 130 and the sensor unit 150, the structure of the tunnel, point cloud data, the air flow of the tunnel, the structure located inside the tunnel, and the unmanned aerial vehicle (100). It may include at least one or more of the obstacles that interfere with the flight.

In this regard, it will be further described with reference to FIG. 4 .

Referring to FIG. 4 , the guide route generator 240 may generate guide route information (b) that is a flight route inside the tunnel (a). Here, at least one guide route information (b) may be generated according to the number of unmanned aerial vehicles 100 . Also, the guide route information (b) may be a flight route optimized for the unmanned aerial vehicle 100 to photograph the inside of the tunnel (a). In addition, the guide route information may include interval information between the plurality of unmanned aerial vehicles 100 during group flight.

Meanwhile, although only guide route information passing through the tunnel is exemplified in FIG. 4 , the guide route generator 240 may generate guide route information that circulates through the tunnel or goes back and forth in a specific section according to the type of the tunnel.

Also, the guide route generator 240 may generate guide route information with additional reference to the operation method of the unmanned aerial vehicle 100 .

For example, when the unmanned aerial vehicle 100 is operated in a group flight method, the guide route generator 240 may generate guide route information such that a predetermined interval is maintained between each unmanned aerial vehicle 100 .

In addition, the guide path generator 240 takes into account the shadow direction so that the shadow of the unmanned aerial vehicle 100 or structures inside the tunnel (ex: fan, electric sign, etc.) are not taken when the unmanned aerial vehicle 100 is photographing the inside of the tunnel. Guide route information can also be generated.

The rendering unit 230 may perform a function of generating a 3D internal image of the tunnel based on information obtained from the unmanned aerial vehicle 100 .

Specifically, the rendering unit 230 may generate a 3D internal image of the tunnel by combining the acquired tunnel internal image based on the acquired tunnel internal information. In this case, the rendering unit 230 may combine the obtained tunnel interior images in consideration of the tunnel curvature.

For example, the rendering unit 230 may calculate a curvature of the tunnel based on the point cloud data and combine the tunnel interior images to generate a 3D interior image of the tunnel.

Also, the rendering unit 230 may generate a 3D interior image of the tunnel by combining the tunnel interior images based on the curvature of the tunnel design diagram.

In this regard, referring to FIG. 5 , the rendering unit 230 may generate a 3D interior image as shown in FIG. 5 by combining the tunnel interior images photographed by the unmanned aerial vehicle 100 .

In this case, the rendering unit 230 may combine each of the tunnel interior images so that one region overlaps.

Also, the rendering unit 230 may generate a 3D internal image as shown in FIG. 5 by combining the tunnel internal images after equally correcting stepping on the plurality of tunnel internal images.

Also, when combining the tunnel interior image, the rendering unit 230 may generate a 3D interior image by generating the structure in 3D in consideration of the location and size of the structure located inside the tunnel based on the tunnel interior information.

The second storage unit 250 may perform a function of storing various data necessary for the operation of the user terminal device 200 . For example, an algorithm for generating a 3D internal image, damage type data, a blueprint of a tunnel, etc. may be stored in the second storage unit 250 , and tunnel internal information received from the unmanned aerial vehicle 100 may be stored. can

The second controller 260 may control the overall operation of the user terminal device 200 .

For example, the second controller 260 may control the display 220 to output a 3D internal image of the created tunnel. The second control unit 260 may control the second communication unit 210 to transmit guide route information to the unmanned aerial vehicle 100 .

Also, the second controller 260 may determine the tunnel state based on the tunnel interior image or the 3D interior image of the tunnel.

Specifically, the second control unit 260 may determine the state of the tunnel interior image or the 3D interior image of the tunnel based on the damage type data. That is, the second control unit 260 may determine the state inside the tunnel based on the damage type data.

Here, the damage type data refers to the various types of tunnel damage that can occur in the tunnel, including cracks, debris exposure, breakage/scouring, water leakage, surface deterioration, foreign material deposition, reticulated cracks, corrosion/lifting, peeling/exfoliation, rebar May include exposure, material separation, efflorescence, aggregate exposure, and the like.

In addition, the second control unit 260 may control the display unit 220 so that a portion corresponding to the damage type data is enlarged and output so that the user can recognize it.

Through this, there is an effect that the state inside the tunnel can be checked more efficiently.

Next, a tunnel management method of the tunnel management system using the unmanned aerial vehicle 100 will be described with reference to FIG. 6 .

The tunnel management system 1000 may perform a first flight into the tunnel in order to grasp the structure inside the tunnel with the first unmanned aerial vehicle 100 ( S100 ). Here, the first unmanned aerial vehicle 100 may be at least one or more, and may be a solo flight or a group flight.

Specifically, in the step of performing the first flight ( S100 ), the first unmanned aerial vehicle 100 may fly inside the tunnel based on the tunnel design drawing or the tunnel map. Also, the first unmanned aerial vehicle 100 may fly under the control of a real-time user.

Also, the tunnel management system 1000 may acquire internal information of the tunnel through the first flight of the first unmanned aerial vehicle 100 ( S200 ). Here, the first unmanned aerial vehicle 100 may acquire internal information of the tunnel using the sensor unit 150 and the camera unit 130 . Here, the information inside the tunnel may include at least one of an image of the tunnel, a structure of the tunnel, point cloud data, an air flow of the tunnel, a structure located inside the tunnel, and an obstacle that interferes with the flight of the unmanned aerial vehicle 100 . .

Also, the tunnel management system 1000 may generate guide route information, which is a flight route inside the tunnel, based on the obtained internal information of the tunnel ( S300 ). Here, the guide route information is a flight route for the second unmanned aerial vehicle 100 to fly in the tunnel, and the guide route information is based on at least one of a tunnel structure, an air flow in the tunnel, and an internal structure of the tunnel. can be created

Also, the tunnel management system 1000 may perform a second flight into the tunnel based on the guide route information generated to acquire an image inside the tunnel with at least one second unmanned aerial vehicle 100 ( S400 ). . Specifically, in the step of performing the second flight ( S400 ), the second unmanned aerial vehicle 100 may perform a cruise flight by adjusting the flight speed in consideration of air resistance. In addition, in the step of performing the second flight ( S400 ), the second unmanned aerial vehicle 100 may perform a group flight according to an interval determined according to the guide route information.

Also, the tunnel management system 1000 may generate a 3D internal image of the tunnel by combining the acquired tunnel internal image based on the acquired tunnel internal information (S500). In addition, in generating the 3D internal image ( S500 ), the user terminal device 200 may correct the 3D internal image by additionally considering the design of the tunnel.

Also, the tunnel management system 1000 may determine the state of the tunnel based on the tunnel interior image obtained through the second flight of the second unmanned aerial vehicle 100 or the 3D interior image of the tunnel ( S600 ). Specifically, in the step of determining the state of the tunnel ( S600 ), the user can directly determine the state by looking at the tunnel interior image or the 3D interior image of the tunnel. In addition, in the step of determining the state of the tunnel ( S600 ), the user terminal device 200 may determine the state inside the tunnel by itself based on the damage type data, and according to the result of the state inside the tunnel, the user can intuitively see it. It may be output to the display unit 220 so that

That is, the tunnel management method of the tunnel management system acquires the internal information of the tunnel through the first flight of the unmanned aerial vehicle 100, generates guide route information based on the obtained tunnel internal information, and uses the generated guide route information 2 You can get an image of the inside of the tunnel by flying.

On the other hand, in the present invention, by using the unmanned aerial vehicle 100, it is possible to determine the state of a tunnel or an underground structure even in a tunnel or underground structure under construction, and the state of the tunnel without interfering with the flow of the vehicle even in a tunnel through which a vehicle travels. has the effect of judging

In addition, the present invention can acquire a more accurate and sophisticated tunnel interior image by grasping the tunnel interior or underground structure with the first flight of the unmanned aerial vehicle 100 and acquiring an image of the tunnel by making a second flight based on this. It works.

In addition, the present invention has the effect of more intuitively determining and managing the tunnel state by generating a 3D internal image of the tunnel or underground structure using the image obtained from the unmanned aerial vehicle 100 .

Meanwhile, in the specification and claims, terms such as "first", "second", "third", and "fourth" are used to distinguish between similar elements, if any, and this is not necessarily the case. Used to describe a specific sequence or sequence of occurrences. It will be understood that the terms so used are interchangeable under appropriate circumstances to enable the embodiments of the invention described herein to operate, for example, in sequences other than those shown or described herein. Likewise, where methods are described herein as comprising a series of steps, the order of those steps presented herein is not necessarily the order in which those steps may be performed, and any described steps may be omitted and/or Any other steps not described may be added to the method.

Also, terms such as "left", "right", "front", "behind", "top", "bottom", "above", "below" in the specification and claims are used for descriptive purposes, It is not necessarily intended to describe an invariant relative position. It will be understood that the terms so used are interchangeable under appropriate circumstances to enable the embodiments of the invention described herein to operate otherwise than, for example, as shown or described herein. As used herein, the term “connected” is defined as being directly or indirectly connected in an electrical or non-electrical manner. Objects described herein as being "adjacent" to one another may be in physical contact with one another, in proximity to one another, or in the same general scope or area as appropriate for the context in which the phrase is used. The presence of the phrase “in one embodiment” herein refers to the same, but not necessarily, embodiment.

In addition, in the specification and claims, references to 'connected', 'connecting', 'fastened', 'fastening', 'coupled', 'coupled', etc., and various variations of these expressions, refer to other elements directly It is used in the sense of being connected or indirectly connected through other elements.

In addition, the suffixes "module" and "part" for components used in this specification are given or used in consideration of ease of writing the specification, and do not have a meaning or role distinct from each other by themselves.

In addition, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, 'comprise' and/or 'comprising' means that a referenced component, step, operation and/or element is the presence of one or more other components, steps, operations and/or elements. or addition is not excluded.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes and substitutions within the scope without departing from the essential characteristics of the present invention. will be.

Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: unmanned aerial vehicle 110: first communication unit
120: first storage unit 130: camera unit
140: power unit 150: sensor unit
160: lighting unit 170: first control unit
200: user terminal device 210: second communication unit
220: display unit 230: rendering unit
240: guide path generation unit 250: second storage unit
260: second control unit

Claims (17)

In the tunnel management method of a tunnel management system using an unmanned aerial vehicle,
performing a first flight into the tunnel to understand the tunnel internal structure with a first unmanned aerial vehicle;
acquiring internal information of the tunnel through a first flight of the first unmanned aerial vehicle;
generating guide route information that is a flight route inside the tunnel based on the obtained internal information of the tunnel;
performing a second flight into the tunnel based on the generated guide route information to acquire an image inside the tunnel with at least one second unmanned aerial vehicle; and
The tunnel management method of a tunnel management system comprising a; determining the state of the tunnel by the image inside the tunnel obtained through the second flight of the second unmanned aerial vehicle. The method of claim 1,
In the step of performing the first flight,
The tunnel management method of the tunnel management system, characterized in that the first unmanned aerial vehicle flies inside the tunnel based on the design drawing of the tunnel. 3. The method of claim 2,
The guide route information is a flight route for the second unmanned aerial vehicle to fly inside the tunnel,
The guide route information is a tunnel management method of a tunnel management system, characterized in that the generated based on at least one of the tunnel structure, the air flow of the tunnel, and the internal structure of the tunnel. The method of claim 1,
In the step of performing the second unmanned aerial vehicle
The tunnel management method of the tunnel management system, characterized in that the second unmanned aerial vehicle adjusts the flight speed in consideration of air resistance to achieve a cruising speed. The method of claim 1,
The tunnel management method of the tunnel management system according to claim 1, further comprising the step of generating a 3D internal image of the tunnel by combining the acquired internal tunnel image based on the acquired internal information of the tunnel. 6. The method of claim 5,
The generating of the 3D internal image comprises correcting the 3D internal image by additionally considering the design of the tunnel. The method of claim 1,
In the step of performing the second flight,
The tunnel management method of the tunnel management system, characterized in that the second unmanned aerial vehicle performs group flights at intervals determined according to the guide route information. A program stored in a computer-readable recording medium for performing the tunnel management method of the tunnel management system according to any one of claims 1 to 7. A computer-readable recording medium storing a program for performing the tunnel management method of the tunnel management system according to any one of claims 1 to 7. In the unmanned aerial vehicle of the tunnel management system,
a first communication unit communicating with the user terminal device;
a camera unit for photographing the inside of the tunnel to obtain an image of the inside of the tunnel;
a power unit for controlling movement and posture to fly into the tunnel;
a sensor unit for detecting the inside of the tunnel to obtain information about the inside of the tunnel;
a control unit for controlling the power unit so that the unmanned aerial vehicle makes a first flight into the tunnel in order to understand the internal structure of the tunnel, and controlling the first communication unit to transmit the obtained internal information of the tunnel to a user terminal device; The unmanned aerial vehicle of the tunnel management system comprising a. 11. The method of claim 10,
The unmanned aerial vehicle of the tunnel management system, characterized in that the control unit controls the first flight inside the tunnel based on the design drawing of the tunnel. 11. The method of claim 10,
The communication unit receives guide route information from the user terminal device,
The control unit controls the power unit to make a second flight into the tunnel based on the received guide route information to obtain an image inside the tunnel. 13. The method of claim 12,
The camera unit acquires the image inside the tunnel in the second flight,
The unmanned aerial vehicle of the tunnel management system, characterized in that the communication unit transmits the image inside the tunnel to the user terminal device. 11. The method of claim 10,
In the second flight, the unmanned aerial vehicle of the tunnel management system, characterized in that the control unit controls the power unit to make a group flight according to the interval determined according to the guide route information. A user terminal device of a tunnel management system, comprising:
a communication unit configured to receive internal information of the tunnel from an unmanned aerial vehicle that has performed a first flight into the tunnel in order to understand the internal structure of the tunnel;
a guide route generator for generating guide route information, which is a flight route inside the tunnel, based on the received tunnel information; and
and a control unit controlling the communication unit to transmit the generated guide route information to the unmanned aerial vehicle. 16. The method of claim 15,
The communication unit receives an image inside the tunnel from the unmanned aerial vehicle that performed a second flight into the tunnel based on the guide route information,
The user terminal device of the tunnel management system, wherein the control unit determines the state of the tunnel based on the received tunnel image. 17. The method of claim 16,
A rendering unit for generating a 3D interior image of the tunnel by combining the received tunnel interior images; further comprising,
The user terminal device of the tunnel management system, characterized in that the control unit determines the state of the tunnel based on the 3D internal image of the tunnel.

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