KR20220105079A - System for measuring moving distance - Google Patents

Abstract

A movement distance measurement system is provided according to an embodiment of the present invention. The system includes: a moving body traveling inside a pipe; an optical milometer provided in the moving body and generating a series of pipe surface images by photographing an inner wall of the pipe; and a control unit determining a travel distance of the moving body based on a change in image position of a pattern appearing in the pipe surface image and estimating a position of the moving body. An objective of the present invention is to provide the movement distance measurement system that improves the reliability of position estimation.

Description

Movement distance measurement system {SYSTEM FOR MEASURING MOVING DISTANCE}

The present invention relates to a moving distance measuring system, and more particularly, to a moving distance system for measuring a moving distance of a moving object traveling in a pipe.

Various types of piping are installed in various industries. For example, fluids such as water, oil, and gas are transported through water and sewage pipes, city gas pipes, and plant pipes of petrochemical plants. As time passes after these pipes are installed, defects may occur due to aging or corrosion, or damage to the pipes may occur due to external shocks due to construction, which may act as a cause of major accidents.

Therefore, maintenance work is performed to prevent accidents by checking the internal condition of the pipe from time to time or for a certain period of time. If it is buried, access to the pipe is impossible, so it takes a lot of money and manpower.

In order to solve this problem, the pipe inspection equipment moves in the pipe to inspect the damaged area.

An object of the present invention is to provide a moving distance measuring system that improves the reliability of position estimation.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to an embodiment of the present invention, a moving distance measuring system is provided. The system includes: a moving body traveling inside the pipe; an optical odometer provided in the movable body and generating a series of pipe surface images by photographing the inner wall of the pipe; and a control unit configured to determine a traveling distance of the movable body based on a change in image position of a pattern appearing in the pipe surface image and to estimate the location of the movable body.

In addition, the pipe surface image includes a first pipe surface image in which a first pattern appears and a second pipe surface image in which a second pattern appears, and the control unit determines a change vector between the first pattern and the second pattern. and extracting only the traveling direction vector from the change vector, the traveling distance of the moving object may be determined.

In addition, the controller may perform primary edge detection on the pipe surface image to extract a feature region constituting the pattern, and determine the change vector by analyzing a correlation between the feature regions.

In addition, the control unit may perform a secondary edge detection on the feature region to analyze the correlation between the feature region.

In addition, the optical odometer is composed of a plurality, each of the optical odometer is formed to extend from the moving body toward the inner wall of the pipe, the control unit, each of the optical odometer from the pipe surface image change of the first determine a mileage, and determine a second mileage based on a plurality of the primary mileage, wherein the secondary mileage is an average of at least a portion of the primary mileage or the second mileage is the primary mileage It may be the largest value among

In addition, the control unit may determine the validity of the first mileage, and determine the second mileage based on the effective first mileage.

In addition, the pipe through which the moving object travels includes at least one of a straight pipe, a horizontal curved pipe, a vertical curved pipe, a compound curved pipe, and a tee, and the control unit is based on the shape of the pipe and a plurality of the primary travel distances. Thus, the second mileage can be determined.

In addition, a contact-type odometer provided in the movable body and in close contact with the inner wall of the pipe to measure the moving distance of the movable body, wherein the control unit includes the moving distance of the contact-type odometer and the optical odometer The position of the moving object may be estimated based on the driving distance of .

In addition, the control unit estimates the position of the moving object based on the contact-type odometer, and when the contact-type odometer is spaced apart from the inner wall of the pipe, the position of the moving object is estimated based on the optical odometer. can

In addition, the controller may determine the validity of the mileage according to the optical odometer, and when the mileage is not valid, estimate the position of the moving object based on the contact-type odometer.

In addition, the contact-type odometer is formed in the same or adjacent direction to the optical odometer, and the control unit determines the position of the movable body from the average of the movement distance of the contact-type odometer and the travel distance of the optical odometer. can be estimated

In addition, the contact-type odometer is formed in the same or adjacent direction to the optical odometer, and the control unit determines the movement distance of the contact-type odometer and the travel distance of the optical odometer from the larger value of the moving object. location can be estimated.

In addition, the contact-type odometer may include a support portion extending outwardly from the movable body; an odometer rotatably coupled to an end of the support; and a bent part recessed along the circumference of the support part at a position adjacent to the odometer in the support part, so that the odometer is in close contact with the inner wall of the pipe or the odometer faces the running direction while the bent part is bent can do.

In addition, the contact-type odometer may include a first support portion and a second support portion extending outwardly from the movable body; an odometer rotatably coupled to an end of the first support; and a link connecting the first support part and the second support part on the odometer side, and at least one of the first support part and the second support part may be elastically deformed by an external force.

According to an embodiment of the present invention, a moving distance measuring system is provided. The system includes at least one processor; and a memory configured to store instructions executable by the at least one processor, wherein the processor executes the instructions so that the optical odometer captures the inner wall of the pipe to generate a pattern appearing in a series of pipe surface images. The traveling distance of the moving object may be determined based on the change in the image position, and the position of the moving object may be estimated.

According to the present invention, by using the optical odometer, it is possible to prevent a measurement error from occurring due to slip or wear of the contact odometer.

In addition, according to the present invention, it is possible to reduce the influence of the measurement error due to the direction error between the vector of the pipe center line and the speed measurement vector of the contact odometer.

According to the present invention, it is possible to improve the reliability of the mileage calculation and provide it to the navigation algorithm, thereby improving the accuracy of localization and providing accurate location-based defect information to enable efficient pipe integrity management. .

In order to more fully understand the drawings recited in the Detailed Description of the Invention, a brief description of each drawing is provided.
1 is a block diagram of a moving distance measuring system according to an embodiment of the present invention.
2 is a side view of a pipe moving device according to an embodiment of the present invention.
3 is a view for explaining a pattern analysis of a pipe surface image according to an embodiment of the present invention.
4 is a view for explaining a contact-type odometer according to an embodiment of the present invention.
5 is a view for explaining a contact-type odometer according to an embodiment of the present invention.

Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the contents described in the accompanying drawings. The same reference numbers or reference numerals in each figure indicate parts or components that perform substantially the same functions. For convenience described below, the up, down, left and right directions are based on the drawings, and the scope of the present invention is not necessarily limited to that direction.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related items or any one of a plurality of related items.

The terms used herein are used to describe the embodiments, and are not intended to limit and/or limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, the terms include or have is intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features, number, or step , it should be understood that it does not preclude in advance the possibility of the presence or addition of an operation, component, part, or combination thereof.

Throughout the specification, when it is said that a part is connected to another part, it includes not only a case in which it is directly connected, but also a case in which it is indirectly connected with another element interposed therebetween. In addition, when it is said that a part includes a certain component, this means that other components may be further included, rather than excluding other components, unless specifically stated to the contrary.

In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. .

1 is a block diagram of a moving distance measuring system according to an embodiment of the present invention, and FIG. 2 is a side view of a pipe moving device according to an embodiment of the present invention.

1 and 2, the moving distance measuring system 100 includes a moving object 110, an optical odometer 120, a contact odometer 130, an inertia measurement unit 140, an electromagnetic wave generator 150, and A control unit 160 may be included.

In the movement distance measurement system 100 , the movable body 110 , the optical odometer 120 , the contact odometer 130 , the inertia measurement unit 140 and the electromagnetic wave generator 150 are a pipe moving device (or a pipe inspection device). ), and in this case, the control unit 160 may be embedded in the pipe moving device or physically separated from the pipe moving device and spaced apart.

The movable body 110 is a part forming the body of the pipe moving device, and may have a size and shape that is movable by being inserted into the pipe.

In an embodiment, the movable body 110 may accommodate various components inside and outside (pipe inner wall cleaning device, magnetic leak detection device, measurement data collection/transmission device, pipe abnormality diagnosis device, battery pack, etc.). In addition, the movable body 110 may perform various functions such as examining the inside of the pipe while driving the inside of the pipe according to the pressure difference of the fluid inside the pipe that occurs between the front end and the rear end of the moving body 110. .

In an embodiment, one or a plurality of movable bodies 110 may be configured. When configured in plurality, the movable body 110 may be connected to each other through a link member such as a universal joint. For example, the first moving body at the front end may be in charge of running in the pipe, and the second moving body at the rear end may be in charge of the pipe inspection. However, the present invention is not limited thereto.

The optical odometer 120 is provided in the moving body 110, and may generate a series of pipe surface images by photographing the inner wall of the pipe. For example, the pipe surface image may include a first pipe surface image in which the first pattern appears and a second pipe surface image in which the second pattern appears. The first pipe surface image and the second pipe surface image may be generated by continuous or discrete imaging. The traveling distance of the movable body 110 may be determined based on a change in position (particularly, in units of pixels or pixels) of a pattern appearing in the pipe surface image, and further, the location of the movable body 110 may be estimated.

In an embodiment, the optical odometer 120 may include a camera unit for generating a pipe surface image by photographing the inner wall of the pipe. According to an embodiment, the optical odometer 120 may further include a lighting unit for irradiating light toward the inner wall of the pipe to be photographed by the camera unit. In this case, the light may be laser light, LED light, etc., but is not limited thereto.

In the embodiment, the optical odometer 120 is composed of a plurality, and each optical odometer 120 may be formed to extend from the movable body 110 toward the inner wall of the pipe in different directions. A plurality of pipe surface images may be generated from the plurality of optical odometers 120 , and the mileage of the movable body 110 may be determined therefrom. At this time, a plurality of travel distances are determined for each of the plurality of optical travel odometers 120 , and the final travel distance is determined by processing them, and further, the position of the moving object 110 may be estimated.

The contact-type odometer 130 is provided on the movable body 110 and can measure the moving distance of the movable body 110 by being in close contact with the inner wall of the pipe. The contact-type odometer 130 may be composed of one or a plurality of pieces. For example, the contact-type odometer 130 may be formed of three or four.

In an embodiment, the contact odometer 130 may include a support portion extending outwardly from the movable body 110 and an odometer formed at an end of the support portion. The support part may be rotatably coupled to the movable body 110 , and the odometer may be rotatably coupled to the support part. Through this, the error in the direction of the vector of the pipe center line and the speed measurement vector of the contact odometer is reduced. The odometer is in close contact with the inner wall of the pipe, and may rotate along the inner wall when the movable body 110 moves. In this case, the odometer may include a wheel part in close contact with the inner wall of the pipe and a rotation measuring part measuring the rotation amount of the wheel part. For example, the rotation measuring unit may include a magnetic sensor that rotates together with the wheel and measures the amount of rotation of the wheel. For example, the rotation measuring unit may include an incremental encoder. However, the present invention is not limited thereto, and various technologies capable of measuring the moving distance of the moving object 110 may be applied to the contact-type odometer 130 .

In an embodiment, the optical odometer 120 and the contact odometer 130 may be formed adjacent to each other. For example, the optical odometer 120 may be formed adjacent to the odometer at the end of the support portion of the contact odometer 130 .

In an embodiment, the contact odometer 130 may be formed in the same or adjacent direction to the optical odometer 120 . For example, the optical odometer 120 may be extended to be symmetrical with respect to the contact odometer 130 with respect to the center of the movable body 110 .

The inertia measuring unit 140 may be provided in the moving body 110 to measure and record changes in inertia according to the movement of the moving body 110 when the moving body 110 travels on the inner wall of the pipe. To this end, the inertia measurement unit 140 detects an acceleration sensor that detects movement in three axes, forward, backward, left and right, up and down in the pipe, and the three-axis rotational angular velocity of pitch, roll, and yaw. It may include a gyroscope sensor.

The electromagnetic wave generator 150 is provided in the moving body 110, generates electromagnetic waves, and a time based market system (TBMS) installed on an above ground marker (AGM) detects it, and the time passed by the moving body 110 and the location of the AGM to provide coordinates. The TBMS maintains time synchronization with the moving body 110 and may be installed on the ground surface directly above the pipe. Here, the AGM location coordinates can be obtained by measuring through GPS at the place where the TBMS is installed.

The controller 160 may determine the travel distance of the moving object 110 and estimate the location of the moving object. To this end, the controller 160 may, for example, execute a program stored in the memory and operate accordingly. For example, the controller 160 may include at least one processor. The processor may be configured to process at least one instruction by performing basic arithmetic, logic, and input/output operations for the operation of the movement distance measurement system 100 . The above-described instructions may be provided to the processor from a memory. That is, the processor may be configured to execute instructions according to program code stored in a recording device such as a memory. Alternatively, the instruction may be received by the moving distance measuring system 100 through the communication unit and provided to the processor.

According to the embodiment, the control unit 160 is embedded in the moving body 110 and referred to as a part of the pipe moving device, or physically separated from and spaced apart from the moving body 110, for example, implemented in the form of a server, a control device, etc. can be In the latter case, various data measured by the optical odometer 120 and the like may be transmitted to the controller 160 through, for example, a communication unit. However, the present invention is not limited thereto.

In an embodiment, the controller 160 may calculate the position, speed, and posture of the moving object 110 based on the inertia change measured by the inertia measurement unit 140 . From this, the control unit 160 may estimate the position of the moving object 110 from the moving distance of the moving object 110 (a pure navigation calculation) and estimate the position of the pipe. According to an embodiment, the controller 160 may correct the position according to the pure navigation calculation based on at least one of the optical odometer 120 , the contact odometer 130 , and the electromagnetic wave generator 150 .

In an embodiment, the controller 160 may use the movement distance measured by the optical odometer 120 to correct the speed or position according to the pure navigation calculation. Specifically, the controller 160 may determine the traveling distance and/or direction of the movable body 110 based on the image position change of the pattern appearing in the pipe surface image, and estimate the location of the movable body 110 . In this case, the controller 160 may directly utilize the mileage of the optical odometer 120 for position estimation, or calculate a speed by differentiating the mileage, and then utilize this for estimating the position.

In the embodiment, the control unit 160 determines a change vector between the first pattern of the first pipe surface image and the second pattern of the second pipe surface image, and extracts only the running direction vector from the change vector to control the movement of the moving body 110 . You can determine the mileage. A vector in a direction different from the traveling direction is generated by, for example, rotation of the movable body 110 , and is for removing a vector that does not affect the traveling of the movable body 110 .

In an embodiment, the controller 160 may determine a change vector between patterns after changing the pipe surface image by performing edge detection on the pipe surface image. This is to correct the pipe surface image to be suitable for pattern detection through edge detection, and various image processing algorithms applicable in the art may be applied to edge detection.

In an embodiment, the controller 160 may perform edge detection once or a plurality of times. When edge detection is performed multiple times, different edge detection algorithms may be applied.

In an embodiment, the controller 160 may perform primary edge detection to extract a feature region forming a pattern, perform secondary edge detection on the feature region to analyze the correlation between the feature regions, and then determine a change vector have. In this case, the association may include identity between the feature regions, a change in position, and the like. That is, at least one feature region can be detected from the entire rear surface image through the primary edge detection, and the texture or inner shape of each detection region is analyzed more precisely through the secondary edge detection to ensure the identity and the same between the feature regions. A change in the position of the feature region can be analyzed. For example, the first edge detection may be performed by a Canny edge detection algorithm effective in identifying the overall boundary and/or the second edge detection may be performed by an LBP (local binary pattern) algorithm effective in identifying a texture. . However, the present invention is not limited thereto.

In the embodiment, when there are a plurality of optical odometers 120 , the control unit 160 determines the primary mileage from a change in the pipe surface image of each optical odometer 120 , and based on the plurality of primary mileage Thus, the second mileage can be determined. The second mileage may be an average of at least a portion of the first mileage, or the second mileage may be a largest value among the first mileage.

In an embodiment, the control unit 160 may determine the validity of the pipe surface image taken by the optical odometer (120). If the resolution of the pipe image is too low to determine the pattern, or if the optical odometer 120 rapidly moves away from the inner wall of the pipe and it is difficult to accurately calculate the change in position, it may be determined that the pipe surface image is invalid. In this case, the controller 160 may exclude an invalid pipe surface image in determining the mileage. Additionally, when the pipe surface image is not valid, the controller 160 may estimate the position of the movable body 110 based on the contact odometer 130 .

In an embodiment, the controller 160 may determine the validity of the first mileage measured from the plurality of optical odometers 120 . The controller 160 may determine the second mileage based on the effective primary mileage. For example, when the deviation between the primary mileage calculated from the plurality of optical odometers 120 is large, the control unit 160 may control 2 You can determine the mileage of the car.

In an embodiment, the controller 160 may determine the secondary mileage based on the shape of the pipe and the plurality of primary mileage. At this time, the pipe may be classified into a straight pipe, a horizontal curved pipe, a vertical curved pipe, a compound curved pipe, a tee, etc. depending on the shape, and the composite curved pipe means a curved pipe including both horizontal and vertical changes. The shape of the pipe may be determined by the control unit 160 from the change in the posture of the movable body 110 measured by the inertia measurement unit 140 . However, the present invention is not limited thereto. For example, when the moving object 110 moves intuition, the controller 160 may determine a driving distance having the largest value among a plurality of primary driving distances as the second driving distance. Also, for example, when the moving body 110 moves through a curved tube, an average of at least some of the plurality of primary driving distances may be determined as the secondary driving distance.

In an embodiment, the controller 160 may correct the moving distance measured by the contact-type odometer 130 according to the pure navigation calculation. Such position correction may be made in addition to or alternatively to position correction by the optical odometer 120 . In this case, the controller 160 may directly calculate the mileage from the movement distance of the contact-type odometer 130 , or calculate the speed by differentiating the movement distance, and then use this for location estimation.

In an embodiment, the controller 160 may calculate the mileage based on the measurement value of the contact odometer 130 . When a plurality of contact-type odometers 130 are formed, a mileage may be calculated by processing a plurality of measured values. In addition, the controller 160 may calculate the travel distance by additionally considering the shape of the pipe.

In an embodiment, the controller 160 may estimate the position of the moving object 110 based on the moving distance of the contact-type odometer 130 and the driving distance of the optical odometer 120 . For example, the controller 160 may estimate the position of the moving object 110 from the average of the moving distance of the contact-type odometer 130 and the driving distance of the optical odometer 120 . Also, for example, the controller 160 may estimate the position of the moving object 110 from a larger value of the moving distance of the contact-type odometer 130 and the driving distance of the optical odometer 120 . Such position estimation may be made when the contact-type odometer 130 is formed in the same or adjacent direction to the optical odometer 120 , but is not limited thereto.

In the embodiment, the control unit 160 estimates the position of the moving object 110 based on the contact-type odometer 130, but it is difficult for the contact-type odometer 130 to measure the movement distance properly (for example, When the contact-type odometer 130 is spaced apart from the inner wall of the pipe, etc.), when the reliability of the measured movement distance is low, the position of the movable body 110 may be estimated based on the optical odometer 120 .

Although not shown in FIGS. 1 and 2 , according to an embodiment, the moving distance measuring system 100 may further include a pipe shape measuring unit. For example, the pipe shape measuring unit may be provided in the moving body 110 to photograph a pipe positioned in front of the moving body 110 and determine the shape of the pipe from the captured image. For example, the pipe shape measuring unit may determine the shape of the pipe by irradiating the laser forward and the observation unit observing the laser reflected according to the topography of the inside of the pipe. However, the present invention is not limited thereto.

Although not shown in FIGS. 1 and 2 , according to an embodiment, the movement distance measuring system 100 may further include a posture measuring unit. The posture measuring unit may be provided in the moving body 110 to measure the distance between the moving body 110 and the inner wall of the pipe to measure the posture of the moving body 110 . The posture measuring unit may include at least one distance measuring sensor, and may be disposed at a front end and a rear end of the movable body 110 in vertical, left, and right directions, respectively. However, the present invention is not limited thereto.

Although not shown in FIGS. 1 and 2 , according to an embodiment, the moving distance measuring system 100 may further include a communication unit. The communication unit is provided for direct connection with the inside and/or outside or connection through a network, and may be a wired and/or wireless communication unit. Specifically, the communication unit may transmit data from the memory, the control unit 160, etc. by wire or wirelessly, or may receive data from the outside by wire or wirelessly and transmit it to the control unit 160 or store it in the memory. For example, the communication unit is a Bluetooth communication unit, a BLE (Bluetooth Low Energy) communication unit, a near field communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an infrared (IrDA, infrared Data Association) communication unit, a WFD ( It may include a Wi-Fi Direct communication unit, an ultra wideband (UWB) communication unit, and the like, but is not limited thereto. The communication unit may be implemented as at least one module or chip.

Although not shown in FIGS. 1 and 2 , the moving distance measuring system 100 may further include a memory according to an embodiment. The memory may store a program for performing an operation of the moving distance measuring system 100, data according to the operation, and the like. For example, the memory may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg SD or XD memory, etc.), RAM (Random Access Memory) SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic It may include at least one type of storage medium among a disk and an optical disk.

However, not all of the components shown in FIGS. 1 and 2 are essential components for the moving distance measuring system 100 . According to an embodiment, the moving distance measuring system 100 may be implemented by more components than those shown in FIGS. 1 and 2 , and may have fewer components than those shown in FIGS. 1 and 2 . The moving distance measuring system 100 may be implemented by the

3 is a view for explaining a pattern analysis of a pipe surface image according to an embodiment of the present invention.

Referring to Figure 3 (a), the first pipe surface image 310 is shown. Three first feature regions are distributed in the first pipe surface image 310 , and a detailed shape of the first feature region and a positional relationship between the first feature regions form a first pattern 320 .

Similarly, referring to Figure 3 (b), the second pipe surface image 330 is shown. The second pipe surface image 330 follows from the first pipe surface image 310 , and like the first pipe surface image 310 , three second characteristic regions are distributed, and the details of the second characteristic region are A positional relationship between the shape and the second characteristic region forms the second pattern 340 .

Referring to (c) of FIG. 3 , a change vector 350 between the first pattern 320 and the second pattern 340 is obtained by comparing the first pipe surface image 310 and the second pipe surface image 330 . can decide The change vector 350 may be determined through an image position change between the first feature region and the second feature region.

Referring to FIG. 3D , only the driving direction vector 360 is extracted from the change vector 350 , and the driving distance of the moving object 110 may be determined based on this. The determination of the mileage may be based on the length of the extracted vector, the number of pixels or pixels corresponding thereto, the resolution of the pipe surface image, the angle of view of the camera, and the like. In (d) of FIG. 3, the running direction is shown as a horizontal direction in the pipe surface image, but is not limited thereto.

The pattern analysis shown in FIG. 3 is exemplary, and various configurations may be applied according to an embodiment to which the present invention is applied.

4 is a view for explaining a contact-type odometer according to an embodiment of the present invention.

Referring to FIG. 4 , the contact odometer 130 ′ includes a support 131 extending outwardly from the movable body 110 ; an odometer 132 rotatably coupled to an end of the support 131; and a bent part 133 recessed along the circumference of the support part 131 at a position adjacent to the odometer 132 in the support part 131 .

As the bent portion 133 is bent, the odometer 132 may be in close contact with the inner wall of the pipe or the odometer 132 may be directed in the traveling direction. This is to prevent the pipe direction vector and the measurement direction vector of the odometer 132 from being displaced due to the moving body 110 rotating while moving inside the pipe or the forward inclination of the moving body 110 .

The contact-type odometer 130 ′ shown in FIG. 4 is exemplary, and various configurations may be applied according to an embodiment to which the present invention is applied.

5 is a view for explaining a contact-type odometer according to an embodiment of the present invention.

Referring to FIG. 5 , the contact-type odometer 130 ″ includes a first support part 131'-1 and a second support part 131'-2 extending outwardly from the movable body 110; Odometer 132 rotatably coupled to the end of the first support (131'-1); The odometer 132 may include a link 134 connecting the first support part 131'-1 and the second support part 131'-2 on the side.

That is, a plurality of support parts 131'-1 and 131'-2 for rotatably supporting the odometer 132 are configured to support the odometer 132 more stably, and the odometer 132 is connected to the pipe. It can be attached to the inner wall of

At this time, in order to prevent rotational resistance from occurring in the odometer 132 by connecting the plurality of supports to the odometer 132 , the plurality of supports 131'-1 and 131'-2 are connected through a link 134 . can make it happen In particular, the link 134 may be rotatably connected to the first support part 131'-1 and the second support part 131'-2. Therefore, when the odometer 132 is in close contact with the inner wall of the pipe, the generated external force is transmitted to the link 134 and the second support part 131'-2 through the first support part 131'-1, the link ( As the 134 is rotated, the external force transmitted to the second support part 131'-2 may be partially resolved.

In addition, at least one of the first support part 131'-1 and the second support part 131'-2 is elastically deformed by an external force, so that even when the moving body 110 travels or slips, it actively responds to it. Thus, the odometer 132 can be in close contact with the inner wall of the pipe. For example, the first support part 131 '-1 on which the rotation axis of the odometer 132 exists may have higher elasticity than the second support part 131'-2. However, the present invention is not limited thereto, and the second support part 131'-2 may have higher elasticity than the first support part 131'-1.

The contact-type odometer 130'' shown in FIG. 5 is exemplary, and various configurations may be applied according to an embodiment to which the present invention is applied.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible by those skilled in the art from the above description. For example, even if components of the described system, structure, apparatus, circuit, etc. are combined or combined in a different form from the described method, or replaced or substituted by other components or equivalents, appropriate results may be achieved. In addition, each embodiment may be operated in combination with each other as needed. For example, the operation of the device may be operated by combining parts of one embodiment and another embodiment of the present invention. Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

100: moving distance measuring system 110: moving object
120: optical odometer 130, 130', 130'': contact odometer
131: support 131'-1: first support
131'-2: second support 132: odometer
133: bend 134: link
140: inertial measurement unit 150: electromagnetic wave generator
160: processor 310: first pipe surface image
320: first pattern 330: second pipe surface image
340: second pattern 350: change vector
360: travel direction vector

Claims (14)

A moving distance measurement system comprising:
a moving body traveling inside the pipe;
an optical odometer provided in the moving body and generating a series of pipe surface images by photographing the inner wall of the pipe; and
and a controller configured to determine a traveling distance of the movable body based on a change in image position of a pattern appearing in the pipe surface image and to estimate the location of the movable body. The method of claim 1,
The pipe surface image includes a first pipe surface image in which a first pattern appears and a second pipe surface image in which a second pattern appears,
The control unit determines a change vector between the first pattern and the second pattern, and extracts only a travel direction vector from the change vector to determine the travel distance of the moving object. 3. The method of claim 2,
The control unit performs primary edge detection on the pipe surface image to extract a feature region constituting the pattern, and analyzes a correlation between the feature regions to determine the change vector. 4. The method of claim 3,
The control unit analyzes the correlation of the feature region by performing secondary edge detection on the feature region. The method of claim 1,
The optical odometer is composed of a plurality, each of the optical odometer is formed extending from the moving body toward the inner wall of the pipe,
The control unit determines a first mileage from a change in the pipe surface image of each of the optical odometer, and determines a second mileage based on a plurality of the primary mileage, and the second mileage is the first mileage. and the average of at least a portion of the mileage or the second mileage is the largest of the primary mileage. 6. The method of claim 5,
The control unit determines the validity of the first mileage, and determines the second mileage based on the effective first mileage. 6. The method of claim 5,
The pipe through which the moving object travels includes at least one of a straight pipe, a horizontal curved pipe, a vertical curved pipe, a compound curved pipe, and a branch pipe (tee), and the control unit 2 based on the shape of the pipe and a plurality of the primary travel distances A system that determines the mileage of a car. The method of claim 1,
Further comprising a contact-type odometer provided on the movable body and in close contact with the inner wall of the pipe to measure the moving distance of the movable body,
The system, wherein the control unit estimates the position of the moving object based on the moving distance of the contact-type odometer and the traveling distance of the optical odometer. 9. The method of claim 8,
Wherein the control unit estimates the position of the moving object based on the contact-type odometer, and when the contact-type odometer is spaced apart from the inner wall of the pipe, estimating the position of the moving object based on the optical odometer. System, . 9. The method of claim 8,
The control unit determines the validity of the mileage according to the optical odometer, and if the mileage is not valid, estimates the position of the moving object based on the contact-type odometer. 9. The method of claim 8,
The contact-type odometer is formed in the same or adjacent direction to the optical odometer, and the control unit estimates the position of the moving object from the average of the movement distance of the contact-type odometer and the travel distance of the optical odometer. system. 9. The method of claim 8,
The contact-type odometer is formed in the same or adjacent direction to the optical odometer, and the control unit determines the position of the movable body from the greater of the movement distance of the contact-type odometer and the travel distance of the optical odometer. estimating system. 9. The method of claim 8,
The contact-type odometer may include a support portion extending outwardly from the movable body; an odometer rotatably coupled to an end of the support; and a bent part recessed along the circumference of the support part at a position adjacent to the odometer in the support part, so that the odometer is in close contact with the inner wall of the pipe or the odometer faces the running direction while the bent part is bent. to do, system. 9. The method of claim 8,
The contact-type odometer may include: a first support part and a second support part extending outwardly from the movable body; an odometer rotatably coupled to an end of the first support; and a link connecting the first support part and the second support part on the odometer side,
At least one of the first support portion and the second support portion is elastically deformed by an external force.

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