KR20240051086A - An apparatus for driving with multiple degrees of freedom to inspect the wall of a common duct, and a method for inspecting the wall of a common duct using the same - Google Patents

Abstract

One embodiment of the present invention provides a technology that facilitates the detection of cracks created on the wall inside a narrow common hole where a plurality of facilities are installed and multiple obstacles are formed. A multi-degree-of-freedom driving device for inspecting a tool wall surface according to an embodiment of the present invention includes a robot unit provided with a plurality of links and driven with multiple degrees of freedom; A detection unit coupled to one end of the robot unit and detecting cracks created on the wall of the cavity from a long or short distance based on a reference distance; A robot support unit coupled to the other end of the robot unit and supporting the robot unit; A transfer unit coupled to the robot support unit and moving the robot unit; and a control analysis unit that transmits control signals to the robot unit and the transfer unit and receives detection information from the detection unit.

Description

Multi-degree-of-freedom driving device for inspecting the common conduit wall and method for inspecting the conduit wall using the same }

The present invention relates to a multi-degree-of-freedom driving device for inspecting the wall surface of a common hole and a method for inspecting the wall surface of a common hole using the same. More specifically, the present invention relates to cracks created on the wall inside a hollow hole where a plurality of facilities are installed and a plurality of obstacles are narrow and formed. It is about technology that facilitates detection.

A communal conduit is an urban infrastructure facility that jointly accommodates facilities such as power, communication, water, and heating in a certain space underground and manages them without damaging road facilities such as excavation. Accordingly, inside the communal conduit is a variety of facilities such as water pipes and wiring pipes. Facilities are installed.

As the number of utility ducts continues to increase and the aging of existing ducts increases, the frequency of detection of cracks occurring on the walls of such ducts is increasing, and the demand for accurate crack detection to increase utility repair efficiency is also increasing.

In the prior art, crack inspection technology on the wall of the tunnel is mainly used, but unlike the wall of the tunnel, various obstacles exist in the common tunnel due to the installation of various facilities as described above, so the space is narrow and the movement path within the common tunnel is complicated. Therefore, technology is needed to accurately detect wall cracks while avoiding multiple obstacles.

Republic of Korea Patent No. 10-1538763 (title of the invention: Tunnel crack inspection device and control method thereof) includes a plurality of cameras that acquire images of the inner surface of the tunnel; a lighting lamp that supplies light to the inner surface of the tunnel to acquire the image; A 3D laser scanner that irradiates a laser to the inner surface of the tunnel to obtain first information about the curvature of the inner surface of the tunnel; a control unit that analyzes cracks existing on the inner surface of the tunnel; a body on which the plurality of cameras, the lighting, the 3D laser scanner, and the control unit are mounted; and a moving means for moving the body along the tunnel. A tunnel crack inspection device including a is disclosed.

Republic of Korea Patent No. 10-1538763

The purpose of the present invention to solve the above problems is to facilitate the detection of cracks created on the wall inside a narrow common hole where a plurality of facilities are installed and a plurality of obstacles are formed.

And, the purpose of the present invention is to provide a device that enables unmanned inspection in a utility port that requires regular inspection.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

The configuration of the present invention for achieving the above object includes a robot unit having a plurality of links and operating in multiple degrees of freedom; A detection unit coupled to one end of the robot unit and detecting cracks created on the wall of the cavity from a long or short distance based on a reference distance; A robot support unit coupled to the other end of the robot unit and supporting the robot unit; A transfer unit coupled to the robot support unit and moving the robot unit; And a control analysis unit that transmits a control signal to the robot unit and the transfer unit and receives detection information from the detection unit, wherein the robot unit moves the detection unit to create a distance between the detection unit and the wall of the common sphere. is variable, and the robot unit includes: a robot body coupled to the robot support unit and performing a rotational movement; A lower link, one end of which is coupled to the robot body and performing rotational movement; and an upper link, one end of which is coupled to the other end of the lower link, and which performs rotational movement.

In an embodiment of the present invention, the detection unit includes a remote sensor unit that detects the crack from a distance; And it may be provided with a short-range sensor unit that detects the crack at a short distance.

In an embodiment of the present invention, the short-range sensor unit may be provided with a camera that captures images of the wall surface of the cavity.

In an embodiment of the present invention, the remote sensor unit may emit a laser beam to the wall of the cavity.

In an embodiment of the present invention, it may further include a position measurement unit that is coupled to the robot unit and measures the position of the detection unit.

In an embodiment of the present invention, a terrain analysis unit formed in the transfer unit may further include a terrain analysis unit that collects topographic information, which is information about the surrounding terrain through which the transfer unit passes.

In an embodiment of the present invention, the robot unit may further include a rotating part that is coupled to the other end of the upper link and the detection unit and performs a rotational movement to vary the detection angle of the detection unit.

In an embodiment of the present invention, the robot body rotates around an axis perpendicular to the ground as a rotation axis, and each of the lower link and the upper link may rotate around an axis horizontal to the ground as a rotation axis.

In an embodiment of the present invention, the robot support unit may be provided with an elastic body that reduces vibration of the robot unit.

The configuration of the present invention for achieving the above object includes: a first step in which long-distance detection of the wall surface of the utility sphere is performed by the remote sensor unit while the transfer unit moves; When a crack in the wall of the utility hole is detected by the remote sensor unit, a second step of determining whether it is an existing crack or a new crack; If it is determined to be a new crack, a third step in which short-range detection of the wall of the cavity is performed by the short-range sensor unit; If it is determined to be an existing crack, a short-range detection of the wall surface of the cavity is selectively performed by the short-range sensor unit, or a fourth step in which the transfer unit passes through the corresponding location; and a fifth step of determining whether detection by the detection unit has ended.

The effect of the present invention according to the above configuration is that stable movement of the transfer part can be performed while avoiding a plurality of obstacles inside the tool tool, and unmanned control of the transfer part is possible, thereby improving the efficiency of inspecting cracks on the internal wall of the tool tool. There is.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 to 3 are perspective views of a driving device according to an embodiment of the present invention.
4 and 5 are front views of a driving device according to an embodiment of the present invention.
Figure 6 is a flowchart of an inspection method according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts unrelated to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

1 to 3 are perspective views of a driving device according to an embodiment of the present invention. Here, FIGS. 1 and 3 are for the case where the detection unit 100 moves close to the wall 10 of the cavity, and FIG. 2 is for the case where the detection unit 100 is located close to the robot body 230. It is about.

And, Figures 4 and 5 are front views of a driving device according to an embodiment of the present invention. Here, FIG. 4 relates to matters performed by the detection unit 100 by the far-field sensor unit 110, and FIG. 5 relates to matters performed by the detection unit 100 by the short-range sensor unit 120.

As shown in Figures 1 to 5, the driving device of the present invention includes a robot unit provided with a plurality of links and driven with multiple degrees of freedom; A detection unit 100 that is coupled to one end of the robot unit and detects cracks created on the wall 10 of the common sphere from a long or short distance based on a reference distance; A robot support unit 320 that is coupled to the other end of the robot unit and supports the robot unit; A transfer unit 310 coupled to the robot support unit 320 and moving the robot unit; and a control analysis unit 410 that transmits control signals to the robot unit and the transfer unit and receives detection information from the detection unit 100.

The transfer unit 310 is coupled to a plurality of wheels 311, a motor that transmits driving force to some or all of the plurality of wheels 311, and some or all of the plurality of wheels 311, and controls the direction of the transfer unit 310. It may be provided with a steering unit that controls.

In addition, the driving device of the present invention may further include a terrain analysis unit 420 formed on the transfer unit 310 to collect terrain information, which is information about the surrounding terrain through which the transfer unit 310 passes. The terrain analysis unit 420 may be equipped with a Lidar sensor, and the terrain analysis unit 420 may measure the shape of the terrain around the transfer unit 310 while the transfer unit 310 is moving.

Then, the terrain information measured by the terrain analysis unit 420 is transmitted to the control analysis unit 410, and the control analysis unit 410 uses the terrain information to transmit a control signal to the motor and steering unit, and the transfer unit 310 ) movement can be controlled. Accordingly, stable movement of the transfer unit 310 can be performed while avoiding the plurality of obstacles 20 inside the cavity, and as described above, unmanned operation of the transfer unit 310 is possible to inspect cracks on the inner wall 10 of the cavity. efficiency can be improved.

In the embodiment of the present invention, it is explained that the movement of the transfer unit 310 is performed automatically as described above, but it is not limited to this, and the driving device of the present invention can be remotely controlled from outside the driving device of the present invention. A unit is provided, and the user can transmit a control signal to the control analysis unit 410 using the control unit.

The detection unit 100 includes a remote sensor unit 110 that detects cracks from a distance; And it may be provided with a short-range sensor unit 120 that detects cracks at a short distance. Here, the short-range sensor unit 120 may be provided with a camera that captures images of the wall surface 10 of the cavity. And, the remote sensor unit 110 can fire a laser beam to the wall 10 of the cavity.

By the above-mentioned configuration, in the driving device of the present invention, after performing long-distance detection using the far-distance sensor unit 110 on the wall 10 of the cavity, short-distance detection is performed using the short-range sensor unit 120. You can. Here, the far distance and the near distance are distinguished by the reference distance, and the reference distance can be set in advance as a distance to an arbitrary position away from the wall surface 10 of the common sphere and stored in the control analysis unit 410.

Then, the detection unit 100 avoids the obstacle 20 in the common cone by the operation of the robot unit, and the transfer unit 310 moves while the detection unit 100 is spaced further than the standard distance from the wall surface 10 of the conduit. In this case, the remote sensor unit 110 operates to detect the wall surface 10 of the common conduit. And, when the remote sensor unit 110 detects that there is a crack in the wall surface 10 of the common conduit, the operation of the transfer unit 310 is stopped and the detection unit 100 moves further than the standard distance from the wall surface 10 of the conduit conduit. The robot unit operates so that it is in a close state, and precise detection of cracks in the wall 10 of the cavity can be performed using the short-range sensor unit 120 of the detection unit 100.

As described above, by performing long-distance detection using the short-range sensor 120 after long-distance detection using the long-distance sensor unit 110, after rapid detection of the wall surface 10 of the common sphere by long-distance detection, the wall surface 10 of the common sphere ), if a crack created in the cavity is detected, precise detection of the crack can be performed using short-range detection, thereby reducing the crack inspection time on the wall 10 of the cavity, and a detection method optimized for the cavity. It is possible to increase the effect of detecting cracks in the wall 10 of the common conduit.

The remote sensor unit 110 includes a laser beam emitter that generates a laser beam and irradiates the laser beam to the wall 10 of the cavity to be measured, and a laser beam that receives the laser beam that is emitted from the wall 10 of the cavity and then reflected. A laser beam receiver may be provided. 3D scan data for the wall 10 of the cavity can be generated by the laser beam generator and the laser beam receiver.

In addition, the control analysis unit 410, which has received the 3D scan data as described above, can acquire a real-time image of the cavity wall 10 by imaging the 3D scan data, and the control analysis unit 410 can use the pre-stored By comparing the reference image, which is an image of the wall surface 10 of the hollow sphere without cracks, with the real-time image of the wall surface 10 of the hollow sphere 10 based on 3D scan data, it is possible to determine whether cracks are created on the wall surface 10 of the hollow sphere. .

In this way, when it is detected that a crack has been created through long-distance detection using the remote sensor unit 110, the transport unit 310 is stopped and the robot unit operates, and the detector detects that a crack has occurred while avoiding the obstacle 20. It can move close to the wall 10 of the common cone, and thus, precise detection can be performed by the short-range sensor unit 120 at a short distance with respect to the wall 10 of the cone.

Here, the camera of the short-range sensor unit 120 performs high-resolution imaging of the crack in the wall 10 of the cavity, and the captured crack image is transmitted to the control analysis unit 410 and then displayed on the display formed on the outside of the cavity. It can be transmitted to the subnet and expressed on the screen. Users can view the crack image displayed on the display and perform a detailed analysis of the crack.

The robot unit includes a robot body 230 that is coupled to the robot support unit 320 and performs a rotational movement; A lower link (220), one end of which is coupled to the robot body (230) and performing a rotational movement; And an upper link 210, one end of which is coupled to the other end of the lower link 220, and which performs a rotational movement. In addition, the robot unit may further include a rotation unit 240 that is coupled to the other end of the upper link 210 and the detection unit 100 and performs a rotational movement to vary the detection angle of the detection unit 100. Here, it is natural that motors, pulleys, etc. that transmit driving force to each link can be formed.

Here, the rotating part 240 can rotate because the rotating axis is formed at the other end of the upper link 210, and the detection part 100 can be coupled to the end of the rotating part 240. Accordingly, the rotation angle of the detection unit 100 with respect to the longitudinal central axis of the upper link 210 may vary due to the rotation of the rotation unit 240.

In addition, the driving device of the present invention may further include a position measurement unit 430 that is coupled to the robot unit and measures the position of the detection unit 100. Here, the position measuring unit 430 may be installed adjacent to the detection unit 100. Specifically, the position measuring unit 430 may be formed in a region adjacent to the other end of the upper link 210.

The position measurement unit 430 can transmit information about the location of the detection unit 100 based on the terrain analysis unit 420 to the control analysis unit 410 in real time, and the control analysis unit 410 can transmit information about the location of the detection unit 100 based on the terrain analysis unit 420. A control signal can be transmitted to the transfer unit 310 and the robot unit using the terrain information provided by the analysis unit 420, the location information of the detection unit 100, and the location information of the transfer unit 310. Here, the location information of the transfer unit 310 may be generated by the location information of the terrain analysis unit 420.

Specifically, the control analysis unit 410 may determine the inner shape of the hollow hole and the location of each obstacle 20 using terrain information, and the control analysis unit 410 may determine an obstacle 20 avoidance path using terrain information. A control signal is transmitted to the transfer unit 310 so that the transfer unit 310 moves along, and in addition, the control analysis unit 410 controls the robot so that the detection unit 100 avoids the obstacle 20 when the transfer unit 310 is transferred. Control signals can be transmitted to the terminal. As described above, the position of the detection unit 100 is automatically changed according to the movement of the transfer unit 310, so that long-distance detection of cracks in the wall 10 of the cavity can be continuously performed while the transfer unit 310 moves. there is.

The robot body 230 rotates using an axis perpendicular to the ground as a rotation axis, and each of the lower link 220 and the upper link 210 can rotate using an axis horizontal to the ground as a rotation axis. Accordingly, when the combination of each link is folded so that the longitudinal central axis of the upper link 210 and the longitudinal central axis of the lower link 220 are parallel, a plurality of obstacles 20 are formed by minimizing the volume of the robot part. It can be easy to move the driving device of the present invention inside the common hole.

In addition, three-dimensional movement of the detection unit 100 is possible by the rotation of the robot body 230 and the operation of the upper link 210 and the lower link 220, and the detection unit 100 by the operation of the rotation unit 240. ) is added to the rotation, so that when the detection unit 100 is close to the crack in the wall 10 of the cavity and performs short-range detection, the focus of the camera provided in the short-range sensor unit 120 is aligned with the crack in the wall 10 of the cavity. Since the position of the catalog detection unit 100 can be varied, high-resolution imaging of cracks in the wall surface 10 of the cavity is possible.

The robot support unit 320 may be provided with an elastic body that reduces vibration of the robot unit. Specifically, the elastic body is coupled to the lower part of the robot body 230, and vibration generated when the transfer unit 310 moves or the robot unit operates can be absorbed by the elastic body. Accordingly, the vibration of the detection unit 100 is attenuated during long-distance detection by the long-distance sensor unit 110 or short-distance detection by the short-range sensor unit 120, and the operating error of the detection unit 100 can be reduced. And, as described above, the robot body 230 and each link are formed by combining them into a simple structure, thereby minimizing the vibration generated in the robot unit when the robot unit operates.

A tool wall inspection system including the driving device of the present invention can be constructed. Specifically, a communication unit that performs wireless or wired communication with the control analysis unit 410, a data processing unit that processes data transmitted from the communication unit, and the above-mentioned control unit and display unit connected to the data processing unit may be formed outside the utility tool. And, a system can be constructed using each of these configurations and the driving device of the present invention.

Figure 6 is a flowchart of an inspection method according to an embodiment of the present invention. Hereinafter, a method for inspecting the tool wall surface 10 using the driving device of the present invention will be described.

First, while the transfer unit 310 moves, the remote sensor unit 110 may perform long-distance detection of the wall surface 10 of the utility sphere (S10). And, cracks in the wall surface 10 of the common conduit can be detected by the remote sensor unit 110 (S20). In this case, it can be determined whether the crack is an existing crack or a new crack (S30).

Specifically, detection of the wall 10 of the utility conduit may be performed multiple times, and existing detection information, which is information about multiple detections of the same conduit, may be stored in the control analysis unit 410. And, when a crack is detected by detection of the wall surface 10 of the common conduit by the remote sensor unit 110, the control analysis unit 410 determines whether the crack at that location is a previously detected crack using existing detection information. By comparing the crack location in and the crack location detected in real time, it is possible to determine whether it is an existing crack or a new crack.

If the crack detected by long-distance detection is determined to be a new crack by the judgment of the control analysis unit 410 as described above, short-distance detection on the wall 10 of the hollow sphere will be performed by the short-range sensor unit 120. (S40).

Alternatively, if the crack detected by long-distance detection is determined to be an existing crack according to the judgment of the control analysis unit 410 as described above, the short-range detection of the wall 10 of the cavity by the short-range sensor unit 120 is performed. This may be performed selectively, or the transfer unit 310 may pass through the corresponding location (S50). Here, in order to check whether the existing crack has grown through precise detection of the existing crack, if the user sets up the short-range detection of the existing crack in advance, selective short-range detection may be performed.

Next, after determining whether detection has ended, detection by the detection unit 100 may end. Thereafter, the driving device of the present invention can leave the common tool by moving the transfer unit 310.

As described above, if it is determined to be an existing crack using the existing detection information, the detection time for the wall 10 of the hollow hole is shortened by omitting the short-range detection for the location or allowing the short-range detection to be performed only selectively. Efficiency can be increased.

The remaining details of the inspection method of the present invention are the same as those described in the driving device of the present invention described above.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as single may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the patent claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

10: wall 20: obstacle
100: detection unit 110: remote sensor unit
120: short-range sensor unit 210: upper link
220: lower link 230: robot body
240: Rotating part 310: Transfer part
311: Wheel 320: Robot support
410: Control analysis unit 420: Terrain analysis unit
430: Position measurement unit

Claims (11)

A robot unit equipped with a plurality of links and driven with multiple degrees of freedom;
A detection unit coupled to one end of the robot unit and detecting cracks created on the wall of the cavity from a long or short distance based on a reference distance;
A robot support unit coupled to the other end of the robot unit and supporting the robot unit;
A transfer unit coupled to the robot support unit and moving the robot unit; and
It includes a control analysis unit that transmits a control signal to the robot unit and the transfer unit and receives detection information from the detection unit,
The robot unit moves the detection unit so that the distance between the detection unit and the wall of the tool is variable,
The robot unit includes a robot body coupled to the robot support unit and performing rotational movement; A lower link, one end of which is coupled to the robot body and performing rotational movement; and an upper link, one end of which is coupled to the other end of the lower link, and which performs a rotational movement.
In claim 1,
The detection unit,
A remote sensor unit that detects the crack from a distance; and
A multi-degree-of-freedom driving device for inspecting the wall of a hollow hole, comprising a short-range sensor unit that detects the crack at a short distance.
In claim 2,
A multi-degree-of-freedom driving device for inspecting the wall surface of the hollow sphere, wherein the short-range sensor unit includes a camera that captures images of the wall surface of the hollow sphere.
In claim 2,
The remote sensor unit is a multi-degree-of-freedom driving device for inspecting the wall of the cavity, wherein the remote sensor unit fires a laser beam to the wall of the cavity.
In claim 1,
A multi-degree-of-freedom driving device for inspecting a cavity wall surface, characterized in that it is coupled to the robot unit and further includes a position measurement unit that measures the position of the detection unit.
In claim 1,
A multi-degree-of-freedom driving device for inspecting the cavity wall surface, characterized in that it further comprises a terrain analysis unit formed in the transfer unit and collecting topographic information, which is information about the surrounding terrain through which the transfer unit passes.
In claim 1,
The robot unit is coupled to the other end of the upper link and the detection unit, and further includes a rotating unit that performs rotational movement to vary the detection angle of the detection unit.
In claim 7,
The robot main body rotates around an axis perpendicular to the ground as a rotation axis, and each of the lower link and the upper link rotates around an axis horizontal to the ground as a rotation axis. A multi-degree-of-freedom driving device for inspecting the cavity wall surface.
In claim 1,
A multi-degree-of-freedom driving device for inspecting a cavity wall, wherein the robot support unit includes an elastic body that reduces vibration of the robot unit.
A tool wall inspection system comprising a multi-degree-of-freedom drive device for inspecting the tool wall surface according to any one of claims 1 to 9.
In the method of inspecting the wall of the utility hole using a multi-degree-of-freedom drive device for inspecting the wall of the utility hole of claim 2,
A first step in which long-distance detection of the wall surface of the utility sphere is performed by the remote sensor unit while the transfer unit moves;
When a crack in the wall of the utility hole is detected by the remote sensor unit, a second step of determining whether it is an existing crack or a new crack;
If it is determined to be a new crack, a third step in which short-range detection of the wall of the cavity is performed by the short-range sensor unit;
If it is determined to be an existing crack, a short-range detection of the wall surface of the cavity is selectively performed by the short-range sensor unit, or a fourth step in which the transfer unit passes through the corresponding location; and
A fifth step of determining whether the detection by the detection unit has ended.