WO2013115454A1

WO2013115454A1 - Device for inspecting inside of sewer pipe using laser profiler

Info

Publication number: WO2013115454A1
Application number: PCT/KR2012/007906
Authority: WO
Inventors: 황환국; 한상종
Original assignee: 한국건설기술연구원
Priority date: 2012-02-03
Filing date: 2012-09-28
Publication date: 2013-08-08
Also published as: KR101311357B1; KR20130090280A

Abstract

The present invention provides a device for inspecting the inside of a sewer pipe using a laser profiler, which can prevent a part of a front image acquired by an image acquisition unit from being hidden by the laser profiler, which can adjust the height of the image acquisition unit and the laser profiler in the vertical direction and simultaneously adjust the laser beam radiation direction of the laser profiler, and which can allow the image acquisition unit to simultaneously acquire a front image and a side image. The inspection device of the present invention comprises: an image acquisition unit which is mounted on an inspection crawler, and which obtains front images and side images of the inside of a pipeline; a laser profiler which is positioned on the upper portion of the rear side of the image acquisition unit, and which scans using conical-shaped laser beams; an inclination adjusting member for adjusting the laser beam scanning direction of the laser profiler; a vertical height adjusting member for adjusting the heights of the image acquisition unit and the laser profiler; a side image light source for illuminating the side direction of the image acquisition unit; and a front image light source for illuminating the front direction of the image acquisition unit.

Description

Internal survey device of sewage pipe using laser profiler

The present invention relates to an internal exploration apparatus for sewage pipes, and more particularly, to an internal exploration apparatus for sewage pipes using a laser profiler for measuring image acquisition and pipe diameter strain in an internal state of a pipeline.

In general, in order to check the internal condition of the sewer pipes buried underground, a device for image acquisition is installed in an exploration car that travels inside the pipeline, and the image acquired while the exploration car is running receives and is analyzed. System has already been introduced and used.

One of them is a method of acquiring a shape of the sewer pipe while driving a pilot self-propelled vehicle (robot) capable of CCTV measurement in the pipeline. This is an analog method of video recording the inside of the pipeline using CCTV. According to the user's judgment, the camera observes the front and side of the abnormal spot, captures the abnormal spot and prepares a report. The grade was calculated, and this conventional method can only perform visual judgments such as relaxation of joints in the pipes and sedimentation of soil.

However, as the use of flexible pipes (PE, PVC, GRP) for sewage pipes has recently raised the problem of the diameter strain of sewage pipes due to the floor load and live load (traffic load), equipments for measuring the diameter strain of sewage pipes are required. have.

As an exploration system that can measure the diameter strain of the sewer pipe, there are a method using a laser beam and a method using a distance sensor.

An exploration system using a laser beam is a method of manually advancing a balance brush in contact with an inner surface of a sewer pipe by contacting an exploration housing provided outside. Therefore, there is a limitation that the exploration housing must be manually inserted into the pipeline, and in general, the exploration housing cannot be inserted into the sewer pipe or the pipe with the pipe diameter deformed due to other obstacles such as connecting protrusions or sedimentary soil. There is a problem that is difficult to use.

An exploration system using a distance sensor is a method of measuring the diameter of the sewer pipe at the same time as the CCTV photographing survey. The left and right distance sensor and the vertical distance sensor are located at the center of the sewer pipe to measure the vertical and horizontal distances of the pipe diameter. However, since the diameter strain can only be measured using a total of four points, there is a problem in that it is not possible to cope with various types of uneven pipe deformations (leftward deformation, rightward deformation), and furthermore, sediment inside the sewage pipe. If this exists, there is a problem that the measurement value of the distance sensor is distorted because it is mistaken that the diameter strain occurs.

The sewage pipe strain measuring device disclosed in Korean Patent Laid-Open Publication No. 10-2011-0040998 has been developed to overcome the limitation of measuring strain with an acquired value of 4 points in the above-described exploration system using a distance sensor. It is a technology that uses strain calculation module of sewage pipe applying least square method to acquire data and estimate prototype by using distance measuring sensor.

However, the exploration technology using a plurality of distance measuring sensors located in the cylindrical sensor mount can also be used to measure the diameter strain with the sewage pipe in perfect condition, and has a technical limitation of measuring the diameter strain by converting the acquired data in points. Therefore, there is a problem that it is difficult to obtain the actual diameter deformation state by various pipe internal conditions such as pipe deformation, pipe twist, pipe protruding, and sedimentary soil state generated inside the sewage pipe.

On the other hand, there is a technology using a laser profiler as an advanced technology of the pipe diameter strain measurement system of sewage pipes. That is, as shown in FIG. 1, the support rods 3 protruding forward are fixed to the front end of the surveying self-propelled vehicle 2 in which the CCTV 1 is installed, and the laser profiler 4 is attached to the ends of the support rods 3. In the attached configuration, a circular laser formed by acquiring the front image by CCTV while driving the exploration self-propelled vehicle 2 in the pipeline, and the laser profiler 4 is scanned by the laser beam on the inner circumference of the sewer pipe. After obtaining the profile and removing the noise of the image pattern, it is possible to calculate the sediment volume as shown in FIG. 2 or to calculate the diameter strain by comparing the normal diameter of the sewer pipe with the obtained circular laser profile as shown in FIG. It contains an algorithm that can be used.

However, such a prior art has a problem of image acquisition because the laser profiler 4 protrudes long in front of the exploration independent vehicle 2 and is located in front of the CCTV 1, so that a part of the front image is obscured. The laser profiler (4) must remain parallel to the center of the sewer pipe while driving, but the center of the laser profiler (4) or the self-propelled self-propelled vehicle (2) and the sewer pipe cannot be kept parallel. When tilted, there is a disadvantage in that the diameter of the laser beam is distorted by acquiring a distorted circular laser profile.

In addition, when the operator inserts the probe into the pipeline, the laser profiler 4 protrudes long in front of the exploration self-propelled vehicle 2, making it difficult to insert through the manhole from the ground, and sometimes the investigator enters the manhole directly. It is cumbersome to attach the laser profiler 4 to perform irradiation, and above all, the method of using the laser profiler 4 in the prior art must dim the illumination of the front image to improve the recognition accuracy of the image pattern. Since it is possible to obtain a circular laser profile, there is a disadvantage that can not be combined with the CCTV image acquisition function for the internal condition investigation of the sewer pipe.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and its object is to adopt a method of scanning a cone-shaped laser beam as a laser profiler installed in an exploration independent vehicle to position the laser profiler behind an image acquisition unit. By making it possible, a part of the front image acquired by the image acquisition unit can be prevented from being obscured by the laser profiler, and by placing the laser profiler close to the exploration self-propelled vehicle to reduce the overall size of the device, the operator can enter the pipeline. The operation is convenient when the probe is inserted, and the internal probe of the sewage pipe using the laser profiler can be eliminated that the investigator can enter the manhole directly and attach the laser profiler.

Another object of the present invention is to adjust the height of the image acquisition unit and the laser profiler installed in the exploration independent vehicle up and down, and also to control the laser beam irradiation direction of the laser profiler of the sewage pipe. Optimized internal image and circular laser beam profile can be obtained according to the diameter, and the installation height of the image acquisition unit and the laser profiler and the laser beam irradiation direction of the laser profiler can be adjusted even while the exploration car is running. Therefore, to provide an internal probe of the sewer pipe using a laser profiler capable of acquiring an accurate internal image and a circular laser beam profile with minimal distortion in response to the internal condition of the sewer pipe.

Still another object of the present invention is to enable the image acquisition unit to acquire the front image and the side image at the same time, so that the sewer pipe state evaluation image data of the advanced form of the panoramic method can be obtained, and the light source for the side image and the light source for the front image When the laser profiler is operated, the laser profile can acquire a circular laser beam profile by dimming or turning off the light source for the front image and the function of acquiring the internal state image of the sewer pipe by the light source for the side image. To provide an internal survey of sewage pipes using

In order to achieve the above object, the present invention, the internal exploration device of the sewer pipe using a laser profiler, the drive motor is mounted on the exploration self-propelled vehicle traveling along the sewer pipe; An image acquisition unit installed in the exploration self-propelled vehicle and acquiring an internal image of a pipeline; A laser profiler installed at the probe self-propelled vehicle so as to be positioned above the rear side of the image acquisition unit, and configured to scan a conical laser beam forward; And it is characterized in that the internal exploration apparatus of the sewer pipe using a laser profiler including a tilt adjustment mechanism for adjusting the laser beam scanning direction of the laser profiler.

In addition, the present invention is characterized in that the internal exploration device of the sewer pipe using a laser profiler further comprises a vertical adjustment mechanism for adjusting the installation height of the image acquisition unit and the laser profiler is provided in the exploration self-propelled vehicle.

In addition, the upper and lower adjustment mechanism of the present invention, the image acquisition unit and the laser profiler is installed together, the one end is rotatably connected to the exploration self-propelled vehicle and the other end is inclined support fixed to the holder and the cylinder body The rotatable freely connected to the exploration self-propelled vehicle and the cylinder rod is rotatably connected to the inclined support in the sewer pipe internal exploration apparatus using a laser profiler made of a pneumatic cylinder to rotate the inclined support around the end of the inclined support There is a characteristic.

In addition, the present invention is the inclination adjustment mechanism, one end is rotatably connected to the fixing stand of the up and down adjusting mechanism, the laser profiler is placed on the upper surface, and the adjustment screw for screwing the upper end to support the support stand A rod, a driven gear fixed to the adjusting screw rod, a driving gear fixed to the rotating shaft rotatably installed on the fixing rod, the driven gear fixed to the driven gear, a worm gear fixed to the rotating shaft, and the worm gear It is characterized by a sewer pipe internal exploration apparatus using a worm and a laser profiler made of an electric motor for rotating the worm.

In addition, the present invention is installed on the fixing unit of the upper and lower control mechanism for the side image light source for illuminating the lateral direction of the image acquisition unit, and the front image for illuminating the front of the image acquisition unit is installed at the tip of the exploration self-propelled vehicle A light source, wherein the image acquisition unit is characterized in that the sewer pipe internal exploration apparatus using a laser profiler equipped with a lens adapter and a digital camera for acquiring the front and side images in the pipeline at the same time.

According to the present invention having the above-described configuration, the laser profiler, which is configured to scan the cone-shaped laser beam forward, is located in the upper part of the rear side of the image acquisition unit installed in front of the exploration car, and thus acquired by the image acquisition unit. It can be obtained in an intact state without obstructing the front image, and as the overall size of the probe is reduced by installing the laser profiler as close as possible to the probe, the work is very difficult when the operator inserts the probe into the pipeline. There is a convenient advantage.

In addition, the present invention, the laser beam scanning direction of the laser profiler is adjusted by the inclination adjustment mechanism, and the height of the image acquisition unit and the laser profiler is adjusted by the up and down adjustment mechanism, so as to correspond to the diameter size of the sewer pipe Not only can it be used, but also accurate internal image and circular laser beam profile can be obtained at the optimum position, and it is possible to remotely control the inclination control device and the up / down control device outside the sewer pipe. According to the internal condition, the height of the image acquisition unit and the laser profiler and the laser beam scanning direction of the laser profiler are adjusted to obtain a circular laser beam profile with minimum internal image and distortion.

In addition, the present invention is able to acquire the front and side images of the inner surface of the pipeline through the lens adapter and the digital camera of the image acquisition unit at the same time, it is possible to obtain the advanced state of the sewer pipe state evaluation data of the panoramic method, for the side image Since the light source and the light source for the front image can illuminate the front and the side, respectively, during operation of the laser profiler, the function of acquiring a circular laser beam profile by darkening or turning off the light source for the front image and the light source for the side image It is a useful invention that it is possible to perform the function of acquiring the internal state image of sewage pipe by the same.

1 is a state of use of the exploration apparatus using a conventional laser profiler.

2 is a sedimentary soil automatic analysis screen by a conventional exploration apparatus.

Figure 3 is an automatic diameter screen strain analysis by a conventional probe.

Figure 4 is a perspective view from the front of the inner probe of the sewage pipe using a laser profiler according to the present invention.

5 is a perspective view from behind of an internal probe of a sewer pipe using a laser profiler according to the present invention;

6 is a side view of an exploration apparatus according to the present invention.

Figure 7 is an enlarged cross-sectional view of the image acquisition unit in the exploration apparatus according to the present invention.

Figure 8 is a side view of the main part showing the tilt adjustment mechanism of the laser profiler in the exploration apparatus according to the present invention.

9 is a state diagram used in the exploration apparatus according to the present invention.

10 is a photograph showing the zero point of the laser profiler in the probe according to the present invention.

11 is a panoramic screen obtained from the image acquisition unit of the probe according to the present invention.

***** Explanation of symbols for main parts of drawing *****

10: self exploration vehicle 20: video acquisition unit

21: lens adapter 22: digital camera

23: light source for the side image 24: light source for the front image

30: laser profiler 40: up and down adjustment mechanism

41: fixed support 42: inclined support

44: pneumatic cylinder 50: tilt adjustment mechanism

52: base 53: adjustment screw rod

54: driven gear 55: drive gear

56: rotation axis 57: worm gear

58: worm 59: electric motor

BEST MODE Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. 4 to 6 is a perspective view and a side view showing the internal navigation of the sewage pipe using the laser profiler according to the present invention, as shown in the present invention, the navigation autonomous vehicle 10, the image acquisition unit ( 20) and a laser profiler 30.

The exploratory self-propelled vehicle 10 is a drive motor (not shown) that is mounted inside and travels along an inner conduit of the sewer pipe, and a plurality of drive wheels 11 are disposed on both left and right sides thereof. The driving wheel 11 may be configured such that the axial length is adjustable so that the image acquisition unit 20 is located at the left and right centers of the pipeline in consideration of the diameter of the sewage pipe to be explored.

The image acquisition unit 20 is installed in the front part of the exploration independent vehicle 10 by the up and down adjustment mechanism 40 which will be described later, and the lens for simultaneously acquiring the front and side images inside the sewer pipe as shown in FIG. 7. It consists of an adapter 21 and a digital camera 22, details of which are described in Patent Registration No. 0657226 (Method and Apparatus for Simultaneous Front Video Output in a Tube).

The laser profiler 30 is configured to scan the cone-shaped laser beam forward, and the cone-shaped laser beam scanning angle θ is preferably in the range of 60 to 90 degrees, for example. The laser profiler 30 is installed in the upper portion of the rear side of the image acquisition unit 20 by a vertical adjustment mechanism 40 which will be described later. The laser profiler 30 moves the installation position so that the image acquisition unit 20 deviates from the laser beam scanning area. Set it.

The laser profiler 30 obtains a circular laser beam profile by irradiating a conical laser beam to the inner circumferential surface of the sewer pipe. The laser profiler 30 stores the sewer pipe previously stored through the circular laser beam profile and a computer irradiation analysis program. By comparing normal diameters, diameter strains can be measured automatically.

In addition, the present invention is the upper and lower adjustment mechanism 40 for adjusting the installation height of the image acquisition unit 20 and the laser profiler 30, the laser beam scanning direction of the laser profiler 30 in the exploration independent vehicle 10 It is equipped with a tilt control mechanism for adjusting the.

4 and 6, the upper and lower adjustment mechanism 40 has a holder 41 for fixing the image acquisition unit 20 and the laser profiler 30, the holder 41 is a rod The inclined support 42 of the shape is installed in the exploration self-propelled vehicle 10.

The inclined support 42 rotatably connects one end of the surveying self-propelled vehicle 10 to the surveying self-propelled vehicle 10 by a hinge shaft 43, and the other end of the supporter 41 is connected to the fixed support 41. It is fixedly installed and rotated by a predetermined angle around the hinge shaft 43 by the pneumatic cylinder 44 to increase the height of the image acquisition unit 20 and the laser profiler 30 installed on the fixed table 41 in the up and down directions. To be adjusted.

Pneumatic cylinder 44 is composed of a cylinder body (44a) and a cylinder rod (44b), the cylinder body (44a) is rotatably connected to the surveying self-propelled vehicle (10), the cylinder rod (44b) is inclined support 42 It is installed by rotatably connecting to the fixed portion (42a) formed in the), by applying a pneumatic pressure to the pneumatic cylinder 44, the inclined support 42 is centered on the hinge shaft (43) by letting out the cylinder rod (44b) The predetermined angle is rotated.

And the inclination adjustment mechanism 50, as shown in Figures 5 and 8 is installed between the holder 41 and the laser profiler 30 of the up and down adjustment mechanism 40, once in the holder 41 It is provided with the base 52 rotatably connected by this hinge shaft 51, and the laser profiler 30 is put and fixed to the upper surface. The other end of the base 52 is supported by the upper end of the adjustment screw rod 53, and the lower portion of the adjustment screw rod 53 is screwed through the fixing table 41.

A driven gear 54 is fixed to the adjustment screw rod 53, and a driving gear 55 meshed with the driven gear 54 is fixed to a rotating shaft 56 rotatably installed on the fixing table 41. In addition, the worm gear 57 is fixed to the rotary shaft 56, the worm 58 is meshed with the worm gear 57, and the worm 58 is fixed to the motor shaft 59a of the electric motor 59. .

Therefore, the rotational motion generated by driving the electric motor 59 in the forward and reverse rotation directions is decelerated through the worm 58 and the worm gear 57, and then driven by the drive gear 55 and the driven gear 54. Transmitted to the adjustment screw rod 53, the base 52 is rotated by a predetermined angle about the hinge axis 51 by the forward and reverse rotation of the adjustment screw rod 53, the laser beam irradiation of the laser profiler 30 You can adjust the direction. At this time, the axial length of the driven gear 54 and the drive gear 55 is maintained in the engagement state even if the axial position of the driven gear 54 is changed by the forward and reverse rotation of the adjustment screw rod 53. It is desirable to set so that.

Referring back to FIGS. 4 to 6, when halogen lighting is used to simultaneously acquire the front image and the lateral image in the image acquisition unit 20, the lighting overlap phenomenon of the front image and the side image is caused by the contrast difference according to the distance. There is a fear that the resolution is lowered.

Therefore, in the present invention, the LED light is used instead of the halogen light so that fine brightness can be controlled and the light source 23 for the side image and the front image light source 24 for maximizing the resolution are provided. The lateral image light source 23 is disposed at the rear of the image acquisition unit 20 and is disposed in the circumferential direction along the outer circumferential surface of the cylindrical light source fixture 45 fixed to the holder 41 to acquire the image acquisition unit 20. Is configured to illuminate the side of, the front image light source 24 is configured to illuminate the front of the image acquisition unit 20 by installing at the front end of the exploration independent vehicle (10).

Referring to the operation of the present invention made of such a configuration, as follows. First, before inputting the probe into the pipeline of the sewer pipe, zeroing is performed to set the height of the image acquisition unit 20 and the laser beam irradiation direction of the laser profiler 30.

That is, as shown in FIGS. 6 and 9, a zero point adjustment sewage pipe having the same inner diameter as the sewer pipe to be explored is prepared, a probe is inserted into the pipeline, and pneumatic cylinder 44 of the upper and lower control mechanism 40 is provided. When the cylinder rod 44b acts on and out, the inclined support 42 rotates a predetermined angle in the forward and reverse directions about the hinge axis 43, so that the image acquisition unit 20 is virtually positioned and shown in solid lines. The height is adjusted by moving between the positions shown in the line, thereby positioning the image acquisition unit 20 in the center of the diameter of the sewer pipe. This vertical height adjustment function has a very efficient and economical advantage because it enables the use of one probe to be compatible with other sewer pipe sizes of sewer pipes.

Subsequently, when the electric motor 59 of the inclination adjustment mechanism 50 is rotated to rotate the motor shaft in the forward and reverse directions as shown in FIG. 8, the worm 58 fixed to the motor shaft 59a rotates in the forward and reverse directions. The rotation speed of the rotary shaft 56 is decelerated by the interlocked worm gear 57, and the adjustment screw rod is driven by the driving gear 55 fixed to the rotary shaft 56 and the driven gear 54 engaged therewith. 53 rotates in the forward and reverse directions.

Since the adjusting screw rod 53 is screwed to the holder 41, the adjusting screw rod 53 is moved up and down by the forward and reverse rotation of the adjusting screw rod 53, and the laser profiler ( The pedestal 52 on which the 30 is placed is rotated by a predetermined angle in the forward and reverse directions about the hinge shaft 51.

Therefore, as shown in FIG. 9, the laser beam irradiation direction of the laser profiler 30 can be adjusted in the same manner as the irradiation direction shown by the solid line and the irradiation direction shown by the dotted line, and the laser beam shown as the irradiation direction shown by the solid line. The circular laser beam formed on the inner circumferential surface of the conduit can be zeroed by adjusting the beam to near the source (refer to the zero demonstration photograph of FIG. 10).

In this way, when the zero point is completed by adjusting the height of the image acquisition unit 20 and the laser beam irradiation direction of the laser profiler 30, a probe is inserted into an internal conduit of the sewer pipe to be explored. By using the lens adapter 21 and the digital camera 22 of the image acquisition unit 20 while illuminating the front and side inside the conduit with the light source 23 for the side image and the light source 24 for the front image. Acquire anterior image and lateral image inside the pipeline. As the front image and the side image acquired by the image acquisition unit 20, as shown in FIG. 11, the sewage pipe state evaluation data of the advanced form can be obtained.

In addition, the laser profiler 30 acquires a circular laser beam profile formed on the inner circumferential surface of the sewer pipe by scanning the conical laser beam on the inner circumferential surface of the sewer pipe. The diameter of the strain can be measured by comparing with the normal diameter of the sewer pipe stored in advance through a computer survey analysis program.

At this time, the present invention is able to illuminate the front and the side by the light source 23 for the lateral image and the light source 24 for the front image, respectively, the operation of the front image light source 24 during the operation of the laser profiler 30 The function of acquiring a circular laser beam profile and the function of acquiring an internal state image of the sewer pipe by the light source 23 for the lateral image can be combined by darkening or extinguishing.

In addition, the vertical adjustment mechanism 40 for adjusting the height of the image acquisition unit 20 is operated by the pneumatic cylinder 44, the tilt adjustment mechanism 50 for adjusting the laser beam irradiation direction of the laser profiler 30. Is operated by the electric motor 59, so that the driving value of the present invention into the pipeline in the sewer pipe and run while the height of the image acquisition unit 20 and the laser beam of the laser profiler 30 according to the internal state of the pipeline. The direction of irradiation can be adjusted, thereby obtaining a circular laser beam profile that minimizes distortion and accurate internal image of the pipeline.

The embodiments described so far are merely illustrative of the preferred embodiments of the present invention, and the scope of the present invention is not limited to the described embodiments, and those skilled in the art within the technical spirit and claims of the present invention. It will be understood that various changes, modifications, or substitutions may be made thereto, and such embodiments are to be understood as being within the scope of the present invention.

As described above, according to the present invention, since the laser profiler, which is configured to scan a conical laser beam forward, is located above the rear side of the image acquisition unit installed in front of the exploration vehicle, the portion of the front image acquired by the image acquisition unit is not hidden. It can be obtained in an intact state, and as the overall size of the probe is reduced by installing the laser profiler as close as possible to the exploration car, the operator has a very convenient advantage when the operator inserts the probe into the pipeline.

Claims

In the internal survey device of the sewage pipe using a laser profiler,

A self-propelled self-propelled vehicle that is driven along a pipeline of a sewage pipe with a drive motor;

An image acquisition unit installed in the exploration self-propelled vehicle and acquiring an internal image of a pipeline;

A laser profiler installed at the probe self-propelled vehicle so as to be positioned above the rear side of the image acquisition unit, and configured to scan a conical laser beam forward; And

And an inclination adjusting mechanism for adjusting the laser beam scanning direction of the laser profiler.
The internal exploration apparatus of the sewer pipe using a laser profiler according to claim 1, further comprising a vertical adjustment mechanism provided in the exploration self-propelled vehicle to adjust the installation height of the image acquisition unit and the laser profiler.
The method of claim 2, wherein the vertical adjustment mechanism,

The fixing unit is installed together with the image acquisition unit and the laser profiler, one end is rotatably connected to the probe self-propelled vehicle and the other end is inclined support fixed to the holder, the cylinder body is rotatably connected to the probe self-propelled vehicle And a cylinder rod is rotatably connected to the inclined support, and the pneumatic cylinder which rotates the inclined support around one end of the inclined support is a sewer pipe internal exploration apparatus using a laser profiler.
According to claim 3, The inclination adjustment mechanism,

One end of the upper and lower adjustment mechanism is rotatably connected to one end and the laser profiler is placed on the upper surface, the adjustment screw rod is screwed to the support and the upper end supports the support, and the driven gear fixed to the adjustment screw rod And a drive gear fixed to the rotating shaft rotatably installed on the fixed base, the drive gear being meshed with the driven gear, the worm gear fixed to the rotating shaft, the worm meshed with the worm gear, and an electric motor for rotating the worm. Sewer pipe internal exploration apparatus using a laser profiler, characterized in that consisting of.
According to claim 3, The light source for the side image for illuminating the lateral direction of the image acquisition unit is installed on the fixing unit of the up and down control mechanism, and the front image for illuminating the front of the image acquisition unit is installed at the tip of the probe And a light source, wherein the image acquisition unit comprises a lens adapter and a digital camera for simultaneously acquiring the front and side images of the inside of the pipeline.