KR20230063140A - Robot for Safety Inspection of Structure wall and ceiling - Google Patents

Abstract

In the present invention, defects such as cracks on the surface of walls, beams and slabs are photographed while rapidly moving inside the ceiling of a narrow space that is difficult for a person to directly check in architectural structures such as buildings and bridges, and the captured images are wireless communication means Through this, the wall and ceiling of the structure are transmitted to the control unit to diagnose and apply the appropriate repair method, so that the safety of the building can be secured by quickly measuring the defect of the wall or ceiling of the structure that is difficult for workers to access. It is about a robot for scene safety diagnosis.
In order to achieve the above object, the present invention is a safety diagnostic robot for diagnosing the safety of a structure by taking pictures of the inside of the ceiling of a building structure, forming a body frame, and a control unit 2 for controlling movement, shooting, and transmission of the robot A robot body (1) equipped with: a rotating disc (10) rotatably installed on top of the robot body (1) and: installed on top of the rotating disc (10) to prevent cracks on the wall or ceiling surface A photographing unit 20 for acquiring an image by photographing and transmitting the obtained image to a server: a rotating disc on which the photographing unit 20 is installed so that the entire inner wall of the ceiling can be photographed through the photographing unit 20 ( 10) and a disc rotating means 30 for rotating 360 °: storing the image acquired and transmitted through the photographing unit 20, converting it into a stereoscopic image for diagnosis, cracks in the converted stereoscopic image, etc. It consists of a server 3 for diagnosing the state of the inner surface of the ceiling and a moving means 50 installed below the robot body 1 to move the body 1.

Description

Robot for Safety Inspection of Structure wall and ceiling}

The present invention relates to a robot for diagnosing the safety of walls and ceiling surfaces of structures, and more particularly, in architectural structures such as buildings and bridges, such as inside ceilings, which are difficult to be directly checked by humans, in a narrow space that is difficult to check by a person. By carefully photographing the state of facility defects such as cracks and damages on the floor surface, transmitting the recorded images, diagnosing them, and applying the appropriate repair method, it is possible to quickly fix defects on the wall or ceiling surface of structures that are difficult for workers to access. It relates to a robot for diagnosing the safety of walls and ceilings of structures that can be measured to ensure the safety of buildings.

In general, large-scale structures such as high-rise buildings and apartment buildings, which are gradually increasing, have defects such as cracks, peeling, exfoliation, efflorescence, and corrosion due to vibration, shock, and deterioration caused by natural or environmental factors.

When a defect occurs in a structure, physical and human damage occurs, such as weakening strength, collapse, or safety accident. Therefore, it is necessary to regularly or frequently perform continuous and efficient safety inspection and maintenance work on structures in order to maintain the function and extend the life of aging facilities.

In addition, the majority of buildings, such as buildings and bridges, are rapidly deteriorating due to environmental stress caused by secular changes, earthquakes, and natural environment changes, and thus, legal inspection duties are regulated.

The most basic investigation item in performing these inspections and diagnoses is the exterior investigation. Among exterior inspections, inspections for cracks and damages, in particular, evaluate the state of the inside and outside of the facility, and act as a very important factor in determining the items, procedures, and methods of the next detailed safety inspection.

The existing representative exterior inspection method for cracks and damages is a manual inspection method, but in the case of a narrow space in a building structure where it is difficult for a person to check directly, such as a ceiling, it is difficult for workers to directly perform a safety diagnosis on the structure. Therefore, in recent years, there are many cases in which an image is taken using a robot or the like in a dangerous work field, and a safety diagnosis is performed by analyzing the image.

However, when inspecting the inside of the ceiling using such a robot, it is cumbersome to change the direction of the robot in a cramped ceiling space, causing problems in inspection using the robot. In other words, in the case of wall inspection, there is no problem in taking pictures of the front and rear surfaces, which are the moving directions of the robot. It is necessary, and due to the narrow space inside the ceiling, it is difficult to change the direction, making it difficult to inspect the front, back, left and right sides.

In addition, conventional robots are mainly formed to photograph the front or side walls, and in the case of the ceiling surface, a photographing means is not provided, so that a separate photographing means must be provided to photograph the ceiling.

In addition, in order to photograph and diagnose cracks inside the ceiling, the inside of the ceiling must be bright to obtain accurate images. .

Therefore, there was a need for a device capable of effectively performing a safety inspection through accurate imaging and diagnosis of the wall or ceiling inside the ceiling of a building structure.

Republic of Korea Patent Registration No. 10-0990180 (registered on October 20, 2010) Republic of Korea Patent Registration No. 10-0888861 (2009. 03. 09. Registration)

Therefore, the present invention was created to solve the above problems, and its main purpose is to quickly drive inside the ceiling of a narrow space that is difficult for people to directly check in architectural structures such as buildings and bridges, while the surface of walls, beams and slabs floor To secure the safety of a building by quickly measuring defects on the wall or ceiling of structures that are difficult for workers to access by applying appropriate repair methods through photographing, transmission, and diagnosis of defective areas such as cracks. It is to provide a robot for diagnosing wall and ceiling safety of a structure.

In addition, the present invention rotates 360 ° through a rotating disk on which a photographing unit is installed for photographing the inside of the ceiling, so that defects such as cracks on the inner wall of the ceiling can be quickly measured to secure the safety of the building. It is to provide a robot for scene safety diagnosis.

Another object of the present invention is to quickly measure defects such as cracks on the upper surface of the ceiling by rotating the photographing unit for photographing cracks inside the ceiling in the direction of the ceiling surface, thereby securing the safety of the building wall and It is to provide a robot for safety diagnosis on the ceiling surface.

Furthermore, the present invention transmits the captured image to a server through wireless communication means to diagnose and apply an appropriate repair method, thereby quickly measuring defects on the wall or ceiling of a structure that is difficult for workers to access, thereby improving the safety of the building. It is to provide a robot for diagnosing wall and ceiling safety of a structure so as to secure

In order to solve the above object, the present invention,

In a safety diagnosis robot for diagnosing the safety of a structure by taking a picture of the inside of the ceiling of a building structure,

A robot body forming a body frame and equipped with a control unit for controlling movement, shooting, and transmission of the robot;

A rotating disk rotatably installed on the upper part of the robot body;

A photographing unit installed on the upper part of the rotating disc to acquire an image by photographing a wall or a crack in the ceiling inside the ceiling, and transmitting the obtained image to a server;

A disc rotating means for rotating the rotating disc on which the filming unit is installed by 360° so that the entire inner wall of the ceiling can be photographed through the filming unit, and

A photographing unit rotating means for rotating the photographing unit in the direction of the ceiling surface so that the entire ceiling surface inside the ceiling can be photographed through the singgi photographing unit

A server for storing the image obtained and transmitted through the photographing unit, converting the image into a stereoscopic image for diagnosis, and diagnosing a state of the inner surface of the ceiling such as a crack in the converted stereoscopic image;

It is installed below the robot body and is composed of a moving means for moving the body.

At this time, a cover is formed on the upper part of the robot body to protect the device inside the robot body from the introduction of foreign substances or facilities inside the ceiling, but is formed transparently so that shooting is possible even when the cover is covered.

A lighting device is installed on the upper part of the rotating disc to photograph cracks on the inner surface of the ceiling, and a lighting device is formed around the camera lens so that the photographing area can be smoothly illuminated.

The disk rotation means for rotating the rotary disk is composed of a drive motor installed at the bottom of the rotary disk, a drive gear installed in the drive motor, and a drive gear and driven gear installed at the bottom of the disk.

The photographing unit rotating means for rotating the photographing unit in the direction of the ceiling surface is installed on the side surface of the support for supporting the camera of the photographing unit at the top of the rotating disk, and a drive motor for rotating the photographing unit to the ceiling surface, and a drive motor installed on the support end and It consists of a drive motor shaft coupled to penetrate through the shaft hole of the bracket where the support is installed.

The moving means formed at the bottom of the robot body to move the robot body can be any means such as wheels or tracks.

Applying the present invention as described above has the following effects.

First, in architectural structures such as buildings and bridges, photographing, transmitting, and diagnosing defects such as cracks on the surface of walls, beams, and slabs while quickly driving inside the ceiling (ceiling finishing material) in a narrow space that is difficult for people to directly check. By applying an appropriate repair method accordingly, there is an advantage in securing the safety of the building by quickly measuring defects on the wall or ceiling surface of the structure that is difficult for workers to access.

Second, there is an advantage in securing the safety of the building by quickly measuring defects such as cracks on the entire inner wall of the ceiling by rotating the cracks inside the ceiling 360 ° through a rotating disk on which a photographing unit is installed for taking pictures.

Third, there is an advantage in that the safety of the building can be secured by quickly measuring defects such as cracks on the upper surface of the ceiling by rotating the shooting unit for photographing cracks inside the ceiling in the direction of the ceiling.

Fourth, by transmitting the captured images to the server through wireless communication means to diagnose and apply appropriate repair methods, quickly measure defects on the walls or ceilings of structures that are difficult for workers to access to secure the safety of the building. There are advantages to doing so.

1 is a partially enlarged perspective view showing a robot for diagnosing wall and ceiling safety of a structure according to the present invention.
Figure 2 is a longitudinal cross-sectional view showing the rotating operation of the rotating disc of the robot for diagnosing wall and ceiling safety of a structure according to the present invention.
Figure 3 is an operating state showing the rotational operation of the photographing unit in the wall and ceiling surface safety diagnosis robot of the structure according to the present invention.

A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The robot for diagnosing wall and ceiling safety of a structure according to the present invention is for diagnosing the safety of a structure through taking pictures of the inside of the ceiling of a building structure. and a robot body 1 equipped with a control unit 2 for controlling shooting, transmission, and the like.

At this time, a cover 4 is formed on the upper part of the robot body 1 to protect the device inside the robot body 1 from the introduction of foreign substances or facilities inside the ceiling, but the cover 4 is transparent so that shooting is possible to form

Next, the rotating disc 10 is rotatably installed on the upper part of the robot body 1, and the upper part of the rotating disc 10 captures a crack in the wall or ceiling inside the ceiling to obtain an image, and the acquired image is displayed. The photographing unit 20 for transmitting to the server is installed.

At this time, the photographing unit 20 is composed of a support 22 having one end fixed to the bracket 21 of the upper portion of the rotating disk 10 and a camera 23 installed at the other end of the support 22.

In addition, the support 22 supporting the photographing unit 20 may be formed in multiple stages so that the state of the wall surface can be photographed more closely and the crack state can be more accurately confirmed.

In addition, the lighting device 24 is formed in the photographing unit 20 so that shooting in a dark place is smooth, but the camera 23 illuminates the place where the camera 23 shoots from inside the ceiling so that the camera 23 can be smoothly illuminated at the place to be photographed. (23) to be formed around the lens.

Subsequently, at the lower end of the rotating disc 10, a disc rotating means 30 for rotating the rotating disc 10 on which the filming unit 20 is installed so that the entire inner wall of the ceiling can be photographed through the filming unit 20 by 360 ° to install

At this time, the disk rotating means 30 for rotating the rotary disk 10 includes a drive motor 31 installed at the bottom of the rotary disk 10 and a drive gear 32 installed in the drive motor 31, and a rotary disk (10) It consists of a driven gear 32 and a driven gear 33 that are reduced at the bottom.

In addition, in the photographing part 20 on the upper part of the rotating disk 10, a photographing part rotating means 40 for rotating the photographing part 20 in the direction of the ceiling surface so that the entire ceiling surface inside the ceiling can be photographed through the photographing part 20. ) is installed.

At this time, the photographing part rotating means 40 for rotating the photographing part 20 in the direction of the ceiling surface is on the side of the support 22 for supporting the camera 23 of the photographing part 20 from the top of the rotating disc 10. The driving motor 41 is installed to rotate the photographing unit 20 to the ceiling surface, and the drive motor 41 is coupled to the end of the support 22 and the shaft hole of the bracket 21 on which the support 22 is installed. It consists of a drive motor shaft 42 to be.

Subsequently, the server 3 is provided to store the image acquired and transmitted through the photographing unit 20, convert it into a stereoscopic image for diagnosis, and diagnose the state of the inner surface of the ceiling, such as a crack, in the converted stereoscopic image. .

In addition, a moving means 50 for moving the robot body 1 is installed below the robot body 1.

At this time, the moving means 50 formed at the bottom of the robot body 1 can use wheels or tracks, and in the present invention, it has been described as being limited to wheels, but it is not limited thereto, and any means capable of easy movement is used. possible.

Even if all the components constituting the embodiments of the present invention have been described as being combined or operated as one, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the components may be selectively combined with one or more to operate.

The operation of the robot for diagnosing wall and ceiling safety of a structure according to the present invention having such a configuration is as follows.

The robot body 1 equipped with the control unit 2 for controlling the robot's movement, shooting, transmission, etc. is moved inside the ceiling by a user remote control through the control unit 2.

At this time, when the cover 4 is put on the upper part of the robot body 1 moving inside the ceiling, foreign substances are introduced into the robot body 1 while moving inside the ceiling, or the robot body 1 from the facilities inside the ceiling If it is possible to protect the internal devices of the robot body 1 by preventing internal devices from being damaged, if the cover 4 is made transparent, it is possible to take pictures even with the cover 4 covered.

Subsequently, when the robot body 1 reaches the inner wall of the ceiling through the movement of the robot body 1 through the user's control, the support 22 ) The photographing unit 20 installed through the photographing of the wall surface to acquire images such as a crack state.

At this time, if the support 22 supporting the photographing unit 20 is formed in a protruding shape, it is possible to take a closer picture of the state of the inner wall of the ceiling, so that cracks and defects can be identified more accurately.

In addition, in the case of photographing a wall other than the moving direction of the robot body 1, the rotary disc 10 on which the photographing unit 20 is installed is rotated in a desired direction through the disc rotating means 30. That is, as the driving motor 31 installed at the bottom of the rotating disc 10 is driven, the driving gear 32 installed in the driving motor 31 is rotated, and the driving gear 32 and the shaft installed at the bottom of the rotating disc 10 are rotated. As the driven gear 33 rotates, the rotating disk 10 rotates in the desired direction, and through this, the entire wall surface other than the moving direction of the robot body 1 can be photographed, and the desired image such as the crack state of the entire wall inside the ceiling can be obtained.

In addition, as the lighting device 24 is formed around the lens of the camera 23 when photographing the ceiling wall through the photographing unit 20, the lighting device 24 faces the same direction as the camera 23 when photographing the inside of a dark ceiling. This makes it easier to shoot in a dark place, and through this, a more accurate image of the wall can be obtained.

In addition, when the entire ceiling surface inside the ceiling is to be photographed using the photographing part 20 installed on the bracket 21 on the upper part of the rotating disc 10 of the robot body 1 through the support 22, the photographing part rotating means Through (40), the photographing unit 20 is rotated in the direction of the ceiling surface to obtain an image such as a crack state of the entire ceiling surface inside the ceiling. That is, when the driving motor 41 installed on the side of the support 22 supporting the camera 23 of the photographing unit 20 is driven, the support supporting the camera 23 according to the driving of the driving motor 41 ( 22) rotates to the ceiling surface, and the entire ceiling surface inside the ceiling is photographed through the camera 23, so that original images such as cracks in the ceiling surface can be obtained.

On the other hand, the upper part of the rotating disc 10 is installed with a photographing unit 20 for photographing cracks on the wall or ceiling surface inside the ceiling, but it is not limited to this, and a laser instrument and laser drill are installed to measure cracks and carbonation. may be

The image acquired through the above operation by the photographing unit 20 and transmitted to the server 3 is converted into a stereoscopic image through a 3D implementation program in the server 3, thereby visually diagnosing and inspecting the state of the inner surface of the ceiling such as cracks. In addition, it is evaluated according to the guideline criteria for the evaluation of cracks and carbonation status, and the work of storing in DB storage data is carried out. Through this, the safety of the building can be secured by quickly measuring defects on the wall or ceiling of structures that are difficult for workers to access.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art will be able to make various modifications or / and variations without departing from the essential characteristics of the present invention. . Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed solely by the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

1: robot body 2: control unit
3: server 4: cover
10: rotating disc 20: shooting unit
21: bracket 22: support
23: camera 24: lighting device
30: disc rotation means 31: drive motor
32: drive gear 33: driven gear
40: photographing unit rotating means 41: drive motor
42: drive motor shaft 50: means of movement

Claims (7)

In a safety diagnosis robot for diagnosing the safety of a structure by taking a picture of the inside of the ceiling of a building structure,
A robot body 1 constituting a body frame and equipped with a control unit 2 for controlling movement, shooting, transmission, etc. of the robot:
The rotating disc 10 rotatably installed on the upper part of the robot body 1 and:
A photographing unit 20 installed above the rotating disk 10 to acquire an image by photographing a crack on a wall or ceiling surface inside the ceiling, and transmitting the obtained image to a server:
A disc rotating means 30 for rotating the rotating disc 10 on which the filming unit 20 is installed by 360° so that the entire inner wall of the ceiling can be photographed through the filming unit 20:
A server 3 for storing the image obtained and transmitted through the photographing unit 20, converting it into a stereoscopic image for diagnosis, and diagnosing a state of the inner surface of the ceiling such as a crack in the converted stereoscopic image:
A robot for diagnosing wall and ceiling safety of a structure, characterized in that it is installed under the robot body (1) and consists of a moving means (50) for moving the body (1).
According to claim 1,
The disk rotating means 30 includes a driving motor 31 installed at the bottom of the rotating disk, a driving gear 32 installed in the driving motor 31, and a driving gear 32 installed at the bottom of the rotating disk 10. A robot for diagnosing wall and ceiling safety of a structure, characterized in that it consists of a driven gear (33).
According to claim 1,
A lighting device 24 is installed outside the lens of the camera 23 of the photographing unit 20 for photographing cracks on the inner surface of the ceiling installed on the upper part of the rotating disk 10 so that shooting in a dark place is smooth. A robot for safety diagnosis of walls and ceilings of structures.
According to claim 1,
The photographing part 20 further includes a photographing part rotating means 40 capable of photographing the entire ceiling surface inside the ceiling by rotating the photographing part 20 in the direction of the ceiling surface Wall and ceiling surface of the structure, characterized in that Robot for safety diagnosis.
According to claim 4,
The photographing unit rotating means 40 is installed on the side of the support 22 for supporting the camera 23 of the photographing unit 20 at the upper part of the rotary disk 10 and is driven to rotate the photographing unit 20 to the ceiling surface. Characterized in that it consists of a motor 41 and a drive motor shaft 42 coupled to the end of the support 22 and the shaft hole of the bracket 21 on which the support 22 is installed by being built up on the drive motor 41 through A robot for safety diagnosis of walls and ceilings of structures.
According to claim 1,
The moving means 50 is a robot for diagnosing wall and ceiling safety of a structure, characterized in that consisting of wheels or tracks.
According to claim 1,
A transparent cover (4) is further formed on the upper part of the robot body (1) to protect the device inside the robot body (1) from the injection of foreign substances or facilities inside the ceiling. robot.

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