WO2015170879A1

WO2015170879A1 - Monorail inspection apparatus

Info

Publication number: WO2015170879A1
Application number: PCT/KR2015/004531
Authority: WO
Inventors: 이광모; 홍사장; 지기환; 김수언
Original assignee: 주식회사 케이엠티엘; 이광모
Priority date: 2014-05-09
Filing date: 2015-05-07
Publication date: 2015-11-12
Also published as: KR101468172B1

Abstract

A monorail inspection apparatus is disclosed. According to one aspect of the present invention, provided is a monorail inspection apparatus coupled to a monorail traveling vehicle moving along a single track girder of a monorail so as to inspect a surface of the single track girder, the monorail inspection apparatus comprising: a main body coupled to the monorail traveling vehicle and covering an outer circumferential surface of the single track girder such that the inside thereof is spaced apart from the outer circumferential surface of the single track girder; a first photographing unit including a plurality of cameras coupled along the lengthwise direction of the main body so as to photograph a surface of the single track girder; a laser pointer emitting a laser beam onto the surface of the single track girder such that the laser beam is positioned in a photographing region of the first photographing unit; and an illumination unit coupled to the main body and emitting light at the photographing region of the first photographing unit.

Description

Monorail Inspection Device

The present invention relates to a monorail inspection device. More specifically, the present invention relates to a monorail inspection apparatus that can be mounted on a monorail moving vehicle moving along a monorail of a monorail and continuously photograph the monorail and process the photographed image to quickly and accurately inspect the monorail.

A monorail means a railway that runs on a single high-speed single track girder (hereinafter referred to as 'monopod') by rubber tires or forced wheels.

The monocle can be composed of a concrete structure or a steel structure, and safety inspection and precision safety diagnosis must be performed periodically, such as concrete structures such as bridges, roads, and tunnels.

In particular, when the monocle is made of a concrete structure, it is vulnerable to cracking, so it is necessary to periodically check the surface of the monocle made of concrete.

However, since the monorail has a long extension length and cannot be walked by a person, the conventional visual inspection method takes a long time, difficult to investigate objectively, and a huge cost budget.

* As a conventional technology, abnormality of the monorail system is observed by observing the rails and supports installed on the lower part through the inspection camera installed on the lower part of the monorail work vehicle with a professional inspection maintenance worker on the monorail car operating in the monorail system. Although the method of reading is disclosed in Korean Utility Model Publication No. 20-371912 (2005.01.10), this is also because the operator simply performs a visual inspection through the inspection camera, there is a disadvantage that a precise safety diagnosis can not be made.

[ Prior Art Document ]

[ Patent Literature ]

(Patent Document 1) Republic of Korea Registered Utility Model Publication No. 20-371912 (released Jan. 10, 2005)

The present invention provides a monorail inspection apparatus that can be mounted on a monorail moving vehicle moving along a monotone to continuously photograph the monotone according to the movement of the monorail moving vehicle and process the photographed image to quickly and accurately inspect the monotone. do.

According to an aspect of the present invention, a device coupled to a monorail moving vehicle moving along a monorail of a monorail and inspecting a surface of the monorail, coupled to the monorail moving vehicle, the inside of which is an outer circumferential surface of the monorail. A main body surrounding the outer circumferential surface of the monocle to be spaced apart from the main body; A first photographing unit including a plurality of cameras coupled along a longitudinal direction of the main body to photograph the surface of the monotone; A laser pointer for irradiating laser light onto a surface of the monotone so that laser light is located in a photographing area of the first photographing unit; It is coupled to the main body is provided with a monorail inspection apparatus including an illumination unit for irradiating light to the photographing area of the first photographing unit.

The main body has a pair of main plates formed in a horseshoe shape so as to surround the upper surface and both sides of the monocle, and are spaced apart from each other; Both ends may be coupled between the pair of main plates facing each other, and may include a plurality of first connection bars coupled along the longitudinal direction of the main plate.

The main body may further include a camera bracket connected to the pair of main plates, the camera bracket including a plurality of camera fasteners, and the camera may be selectively fastened to the plurality of camera fasteners. have

The main body comprises a pair of subplates formed in a horseshoe shape such that an inner side surrounds the upper surface and both side surfaces of the monocle, and is spaced apart from the outer side of the pair of main plates; Both ends may be coupled between the main plate and the subplate facing each other, and may further include a plurality of second connection bars coupled along the longitudinal direction of the subplate.

The camera may be interposed and coupled between the pair of main plates, and the lighting unit may be interposed and coupled between the main plate and the subplate, respectively.

The main body is made of a material containing a titanium alloy, the surface of the titanium alloy may be coated with carbon.

The laser pointer may include a line laser pointer for irradiating a laser line crossing a photographing area of the plurality of cameras.

The laser pointer may further include a plurality of spot laser pointers that irradiate a laser spot to each of the photographing regions of the plurality of cameras.

The laser pointer may include a plurality of spot laser pointers for irradiating a laser spot. In this case, the plurality of laser spots irradiated from the plurality of spot laser pointers may be linear to cross the photographing areas of the plurality of cameras. Can be set to shout.

An anti-vibration member for vibration insulation may be interposed between the monorail moving vehicle and the main body.

The camera includes a camera body for photographing an image; An assembly device coupled to the outer circumference of the camera body in a longitudinal direction; A tubular inner case having an inner circumferential surface formed with a slide hole through which the assembling device is slidably coupled, and the assembling device slidingly coupled with the slide hole with the camera body inserted into and coupled to the slide hole; A dustproof tube for vibration isolation is formed on the inner circumferential surface, and the inner case may include a tube-shaped outer case inserted into and coupled to the inner case.

A plurality of fastening grooves are formed on the inner circumferential surface of the outer case in the longitudinal direction, and fastening protrusions are formed on the outer circumferential surface of the inner case in the longitudinal direction corresponding to the fastening grooves, respectively, so that the fastening protrusions slide along the fastening grooves. The inner case may be inserted into and coupled to the inside of the outer case.

The lighting unit includes a plurality of insulating casings interposed between the main plate and the sub plate, respectively, and disposed along a length direction of the sub plate; It may be mounted inside the insulating casing, and may include an LED lighting module for irradiating the LED light to the photographing area of the first photographing unit.

The laser pointer may include a plurality of tube-shaped insulating passes disposed along the longitudinal direction of the main body; Laser irradiators respectively inserted into the insulating cylinders to irradiate laser light onto the surface of the monotonic arm; It may include an insulating cap for closing the rear end of the insulating cylinder.

The monorail inspection device may further include a GPS device coupled to the main body and configured to measure and record location information of the main body.

The monocleus is supported by a shoe of a pier, and in this case, the monorail inspection apparatus may include a camera for photographing the appearance of the shoe and further include a second photographing unit coupled to the main body. have.

The second photographing unit includes: a linear guide elastically coupled to the shoe from the main body; The camera may be coupled, and may include a tilting unit coupled to the end of the linear guide so as to be tiltable. The monorail inspection apparatus may include inspection processing on a surface of the monotone based on an image captured by the first photographing unit. The processing system may further comprise.

Monorail inspection apparatus according to an embodiment of the present invention, mounted on a monorail moving vehicle that moves along the monotone, continuously photographing the monotone in accordance with the movement of the monorail moving vehicle and processing the captured image to quickly and accurately the monotone Can be checked

1 is a front view briefly showing a monorail inspection apparatus according to an embodiment of the present invention.

Figure 2 is a side view briefly showing a monorail inspection apparatus according to an embodiment of the present invention.

Figure 3 is a plan view briefly showing a monorail inspection apparatus according to an embodiment of the present invention.

Figure 4 is a view showing a part of the main body of the monorail inspection apparatus according to an embodiment of the present invention.

5 is a cross-sectional view taken along the line A-A of FIG.

6 is a cross-sectional view taken along the line B-B in FIG.

7 is a view for explaining the configuration of the camera of the monorail inspection apparatus according to an embodiment of the present invention.

8 is a cross-sectional view of the camera of the monorail inspection apparatus according to an embodiment of the present invention.

9 is a view showing a device for assembling the monorail inspection apparatus according to an embodiment of the present invention.

10 is a view showing a modification of the monorail inspection apparatus according to an embodiment of the present invention.

Figure 11 is a state of use of the monorail inspection apparatus according to an embodiment of the present invention.

12 is a view for explaining a process of correcting the distortion of the image obtained by the monorail inspection apparatus according to an embodiment of the present invention.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, an embodiment of a monorail inspection apparatus according to the present invention will be described in detail with reference to the accompanying drawings, in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and duplicated thereto. The description will be omitted.

1 is a front view briefly showing a monorail inspection apparatus according to an embodiment of the present invention, Figure 2 is a side view briefly showing a monorail inspection apparatus according to an embodiment of the present invention, Figure 3 is an embodiment of the present invention Fig. 1 is a plan view briefly showing a monorail inspection apparatus according to an example. Figure 4 is a view showing a part of the main body of the monorail inspection apparatus according to an embodiment of the present invention, Figure 5 is a cross-sectional view taken along the line AA of Figure 4, Figure 6 is a cross-sectional view taken along the line BB of Figure 4 . 7 is a view for explaining the configuration of the camera of the monorail inspection apparatus according to an embodiment of the present invention, Figure 8 is a cross-sectional view of the camera of the monorail inspection apparatus according to an embodiment of the present invention, Figure 9 is a present invention Figure is a view showing a device for assembling the monorail inspection apparatus according to an embodiment of. And, Figure 10 is a view showing a modification of the monorail inspection apparatus according to an embodiment of the present invention.

11 is a state diagram used in the monorail inspection apparatus according to an embodiment of the present invention. And, Figure 12 is a view for explaining the process of correcting the distortion of the image obtained in the monorail inspection apparatus according to an embodiment of the present invention.

1 to 11, the monocle 12, the monorail moving vehicle 14, the main body 16, the first photographing unit 18, the camera 20, the lighting unit 22, and the camera fastener 24. , First camera bracket 26, second camera bracket 28, link box 30, GPS device 32, laser pointer 34, main plate 36, first connecting bar 38, sub Plate 40, second connecting bar 42, dustproof member 44, processing system 46, camera body 48, inner case 50, dustproof tube 52, outer case 54, inside Cap 56, outer cap 58, assembly device 60, slide hole 62, fastening groove 64, fastening protrusion 66, slot 68, insulating casing 70, LED lighting module 72, insulating tube 74, laser irradiator 78, cap 80, DC terminal 82, laser spot 84, image 86, piers 88, shoes (90) 2, the second photographing unit 92, the first rod 93, the second rod 94, the linear guide 95, and the tilting unit 96 are illustrated.

The monorail inspection apparatus according to the present embodiment is a device for inspecting the monorail 12 coupled to the monorail vehicle 14 moving along the monorail 12 (i) of the monorail, and the monorail vehicle 14 Coupled to the main body 16 surrounding the outer circumferential surface of the monocle 12 so that an inner side thereof is spaced apart from the outer circumferential surface of the monocle 12; A first photographing unit 18 including a plurality of cameras 20 coupled along the inner side of the main body 16 so as to photograph the surface of the monocle 12; A laser pointer 34 for irradiating a laser light to the surface of the monotone 12 such that the laser beam is positioned in the photographing region of the first photographing unit 18; The lighting unit 22 is coupled to the main body 16 and irradiates light to the photographing area of the first photographing unit 18.

Monorail 12 of the monorail may be made of a concrete structure or steel structure such as reinforced concrete, prestressed concrete. In the present embodiment will be described with respect to the monocle 12 made of a concrete structure.

Even if the monocle 12 is made of a steel structure, when the surface of the steel structure needs to be inspected, the monorail inspection apparatus according to the present embodiment may be used.

The monorail moving vehicle 14 is a vehicle moving along the monorail 12 and includes an inspection vehicle that is driven for maintenance of the monorail 12.

The monorail inspection apparatus according to the present embodiment is coupled to the front end of the monorail moving vehicle 14 to continuously photograph and acquire the surface of the monorail 12 while the monorail moving vehicle 14 moves along the monotonic rail 12. The image 86 is processed to inspect the surface of the monotonic 12.

The main body 16 is coupled to the monorail moving vehicle 14 and surrounds the outer circumferential surface of the monocle 12 so that the inner side thereof is spaced apart from the outer circumferential surface of the monocle 12. The main body 16 supports the first photographing unit 18, the laser pointer 34, the illuminating unit 22, and the like for inspecting the surface of the monocle 12.

The monocle 12 is a concrete structure having a cross section of type I. As the monorail moving vehicle 14 moves, the main monorail 12 moves to examine the surfaces of the top, both sides, and the lower surface of the monocle 12 at the same time. The body 16 may be disposed in a form surrounding the outer circumferential surface of the monocle 12.

The monorail is largely suspended by the vehicle overhanging the monocle 12 and hanging suspension (

In the case of over seating, the surface of the upper surface and both sides of the monocle 12 can be inspected, and the surface of the lower surface and the both sides of the monocle 12 can be inspected in the suspension type.

The monorail according to the present embodiment is an overseat type so that the monorail moving vehicle 14 is placed on the upper portion of the monotonic rail 12 to move along the monorail 12. Accordingly, the main body 16 according to the present embodiment is coupled to the plurality of cameras 20 to be described later along the longitudinal direction of the main body 16 so that the upper surface and both sides of the monotone 12 can be simultaneously photographed. It forms a U-shaped horseshoe.

That is, the main body 16 according to the present embodiment includes a pair of side end frames spaced apart from both side surfaces of the monocle 12, and end portions of the pair of side end frames spaced apart from the upper surface of the monocle 12. Consists of the upper frame to form a horseshoe form, the monorail monocle 12 of the monorail is located inside the main body 16 of the horseshoe form.

The first photographing unit 18 is a device for acquiring the image 86 by photographing the surface of the monotone 12, and is coupled along the inside of the main body 16 to photograph the surface of the monotone 12. It includes a plurality of cameras 20 to be.

Camera 20 is coupled to a plurality of side frames and the top frame of the main body 16, the camera 20 is coupled to the side frame is photographed the side of the monotone 12, the camera coupled to the top frame 20 photographs the upper surface of the monocle 12.

In this embodiment, two cameras 20 are installed in each side frame, and one camera 20 is installed in the upper frame.

In the case where the height and width of the monocle 12 are large, more cameras 20 may be coupled to the side frame and the upper frame in order to photograph the surface of the monocle 12 in one shot. In this case, the cameras 20 may be arranged so that a part of the photographing area of each camera 20 overlaps each other.

The camera 20 includes an image 86 sensor such as a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS), and each camera 20 covers an area of the surface of the monotonic 12. Photographing acquires an image 86.

The laser pointer 34 irradiates a laser light to the surface of the monotongue 12 so that the laser beam is located in the imaging area of the first imaging unit 18. The laser light irradiated to the photographing area is photographed together with the surface of the monotonic 12 according to the photographing of the camera 20, and serves as a reference position for bonding images captured by the plurality of cameras 20 to each other.

When the size of the monocle 12 is so large that one camera 20 cannot capture the entire upper surface or side surface of the monocle 12 at a time, the plurality of cameras 20 so that a part of the photographing area of the camera 20 overlaps with each other. ), The images 86 captured by the respective cameras 20 need to be joined to each other to represent the upper surface or the entire side surface of the monocle 12. In this case, a reference point or a reference position is required to bond the images 86 photographed by the respective cameras 20 to each other, and the laser light irradiated from the laser pointer 34 and reflected from the surface of the monotone 12 is monomodal ( The images 86 photographed by the respective cameras 20 may be bonded to each other by using the laser light photographed and photographed together with the surface of FIG. 12 as a reference position.

The lighting unit 22 is coupled to the main body 16 and irradiates light to the photographing area of the first photographing unit 18. When photographing the surface of the monotone 12 in the camera 20, the lighting unit 22 emits light to the photographing area of the first photographing unit 18 in order to accurately acquire the image 86 of the surface of the monotone 12. Investigate. The lighting unit 22 is irradiated with light on the surface of the monotongue 12 to maintain a constant illuminance for each photographing area of the monotongue 12.

The upper surface of the main body 16 supplies power to the first photographing unit 18, the illumination unit 22, and the laser pointer 34, including the camera 20, and simultaneously transmits a control signal to the first photographing unit 18. Link box 30 for receiving an image signal, etc. may be mounted. The link box 30 is connected to a processing system 46 which will be described later.

Hereinafter, each configuration of the monorail inspection apparatus according to the present embodiment will be described in detail.

The main body 16 according to the present embodiment has a horseshoe shape so as to surround the upper surface and both sides of the monocle 12, and a pair of main plates 36 spaced apart from each other, as long as they face each other. Both ends may be coupled between the pair of main plates 36, and may be configured by a plurality of first connection bars 38 coupled along the longitudinal direction of the main plate 36 to reduce weight.

The first connection bar 38 is disposed in plural, and the plurality of first connection bars 38 are spaced apart from each other along the longitudinal direction of the main plate 36 to connect the pair of main plates 36. The first connecting bar 38 may be formed in a pipe shape to reduce weight, and a device such as a camera 20, a lighting unit 22, or the like may be coupled to the main body 16 using the first connecting bar 38. have.

On the other hand, at both ends of the main structure consisting of a pair of main plate 36 and the first connecting bar 38 includes a plurality of camera fasteners 24 divided into a plurality of sections along the height direction of the monotongue 12 1 camera bracket 26 may be coupled, the camera is divided into a plurality of along the width direction of the monotongue 12 on the upper end of the main structure consisting of a pair of main plate 36 and the first connecting bar 38 The second camera bracket 28 including the fastener 24 may be coupled.

The camera 20 is selectively attached to the plurality of camera fasteners 24 of the first camera bracket 26 and the second camera bracket 28 such that the lens of the camera 20 faces the surface of the monotone 12. Can be.

The monorail inspection apparatus according to the present exemplary embodiment may perform surface inspection on the monocle 12 of various sizes, for photographing the side and the upper surface of the monocle 12 according to the size change of the monocle 12. Since the number and arrangement of the cameras 20 may be different, the camera 20 bracket having the camera fasteners 24 divided into a predetermined number is provided in advance so that the camera 20 can be selectively installed.

In addition, the main body 16 has a horseshoe shape, the inner side of which covers the upper surface and both sides of the monocle 12, and a pair of subplates spaced apart from each other outside the pair of main plates 36 ( 40 and a plurality of second connection bars 42 coupled to both ends of the main plate 36 and the subplate 40 facing each other and coupled along the longitudinal direction of the subplate 40. Can be.

The substructure composed of the subplate 40 and the second connecting bar 42 is coupled to both sides of the pair of main plates 36, and a plurality of LED lighting devices are coupled to the substructure along the longitudinal direction. LED light is irradiated on the top and both sides of the track 12.

The main body 16 including the main plate 36, the subplate 40, the first connecting bar 38, the second connecting bar 42, and the like may be made of a material including a titanium alloy, and may be formed of a titanium alloy. The surface may be coated with carbon. Since the titanium alloy is lightweight and has good rigidity, the weight can be reduced while maintaining the rigidity of the main body 16. Carbon is coated on the titanium alloy surface to prevent abrasion of the main body 16 surface.

The main body 16 is coupled to the front end of the monorail moving vehicle 14, the vibration may occur while the monorail moving vehicle 14 is moving. Since the vibration of the monorail moving vehicle 14 may be transmitted to the main body 16 to generate an error during inspection of the surface, the anti-vibration member for vibration insulation between the monorail moving vehicle 14 and the main body 16 ( 44) may be intervened.

The laser pointer 34 irradiates a laser light to the surface of the monotongue 12. The laser light irradiated from the laser pointer 34 is photographed by the camera 20 together with the surface of the monotone 12, and the laser light photographed together with the surface of the monotone 12 is distorted in the photographed image 86. It can be used to correct.

In order to facilitate distortion correction of the captured image 86, the laser pointer 34 may use a line laser pointer 34 for irradiating a laser line across the photographing area of each of the plurality of cameras 20. .

The line laser pointer 34 is a device for irradiating a straight line laser line, and the laser line irradiated to the line laser pointer 34 is irradiated in a straight line form on the surface of the monotone 12, and the laser line And the surface of the monotone 12 are photographed together. When the laser line photographed in the acquired image 86 is deformed without forming a straight line, distortion of the photographed image 86 may be corrected such that the laser line forms a straight line. In this case, the laser line is irradiated to cross the photographing areas of the plurality of cameras 20 adjacent to each other.

In addition to the line laser pointer 34, the laser pointer 34 may further include a plurality of spot laser pointers 34 that irradiate the spot lasers to the photographing regions of the plurality of cameras 20.

The spot laser pointer 34 is a device for irradiating the laser spot 84 in the form of dots, and the laser spot 84 irradiated from the plurality of spot laser pointers 34 irradiates each of the photographing areas of the plurality of cameras 20. do. As described above, the laser spot 84 irradiated with the photographing area of each camera 20 is photographed together with the surface of the monotone 12 according to the photographing of the camera 20, and the images photographed by the plurality of cameras 20. It serves as a reference position for joining each other.

On the other hand, the laser pointer 34 may be composed of a plurality of spot laser pointer 34 for irradiating the laser spot 84, in this case, as shown in Figure 11, a plurality of spot laser pointer 34 The plurality of laser spots 84 to be irradiated at may be irradiated onto the surface of the monotone 12 so as to cross the photographing areas of the plurality of cameras 20 in a linear manner.

The laser spot 84 irradiated from the plurality of spot laser pointers 34 is irradiated in the form of a straight line on the surface of the monotone 12, and the cameras are formed on the surfaces of the laser spot 84 and the monotone 12 forming a straight line. When the laser spots 84 photographed in the image 86 obtained by photographing 20 are deformed without forming a straight line, as shown in FIG. 12, the image captured so that the laser spots 84 form a straight line ( The distortion of 86 can be corrected. In this case, since the laser spots 84 are irradiated to cross the photographing areas of the plurality of cameras 20 adjacent to each other, it is also possible to bond the images photographed by the plurality of cameras 20 to each other using the laser spots 84. .

The camera 20 includes a camera main body 48 for capturing an image 86, an assembling device 60 coupled to the outer circumference of the camera main body 48 in the longitudinal direction, and an assembling device 60 on an inner circumferential surface thereof. A slide hole 62 is formed to be coupled to the slide, and the tubular inner case 50 into which the camera body 48 is inserted and coupled while the assembling device 60 is slidably coupled to the slide hole 62, The vibrationproof tube 52 for vibration isolation is formed on the inner circumferential surface, and the inner case 50 may include a tubular outer case 54 which is inserted into and coupled to the inner case 50.

Assembly device 60 is coupled to the outer periphery of the camera body 48 in the longitudinal direction to facilitate the coupling with the inner case 50 to be described later, the slot 68 along the longitudinal direction of the assembly device 60 ) Is penetrated, and is coupled to the camera 20 by passing a screw or the like through the slot 68 and fastening to a screw hole (not shown) of the camera body 48.

The inner case 50 is a tube shape provided with a hollow therein, the inner circumferential surface is formed with a slide hole 62 in the longitudinal direction. When the camera body 48 to which the assembling device 60 is coupled is pushed into the inner case 50, the assembling device 60 of the camera body 48 slides in the slide hole 62 of the inner case 50. By inserting and fastening, the camera body 48 is firmly coupled in the inner case 50.

The outer case 54 is also a tube shape provided with a hollow inside, the inner circumferential surface of the outer case 54 is formed with a dustproof tube 52 for vibration insulation. The inner case 50 in which the camera body 48 is mounted is inserted into the dustproof tube 52 in the outer case 54 and mounted inside the outer case 54.

On the other hand, in order to prevent the inner case 50 and the dustproof tube 52 and the like from turning in the circumferential direction, a plurality of fastening grooves 64 are formed on the inner circumferential surface of the outer case 54, the inner case 50 And the outer periphery of the vibration tube 52 is formed with a plurality of fastening projections 66 to be inserted into the fastening groove (64) protruding.

When the inner case 50 is pushed into the outer case 54, the fastening protrusion 66 of the inner case 50 slides along the fastening groove 64 of the outer case 54, and the inner case 54 of the outer case 54. 50 are combined.

In addition, an inner cap 56 is mounted on the rear end of the inner case 50 to protect the camera body 48, and an outer cap (2) on the rear end of the outer case 54 for double protection of the camera body 48. 58) is mounted.

The lighting unit 22 is interposed between the main plate 36 and the subplate 40 to be coupled to each other, and a plurality of insulating casings 70 disposed along the longitudinal direction of the subplate 40 and the insulating casing 70. It is mounted inside, and includes an LED lighting module 72 for irradiating the LED light to the shooting area.

The lighting unit 22 is coupled to a substructure consisting of a subplate 40 and a second connecting bar 42 which are respectively coupled to the outside of the pair of main plates 36, and in this embodiment, the lighting unit 22. As a plurality of LED lighting device as shown in the form of a continuously coupled along the longitudinal direction of the substructure. LED lighting apparatus according to the present embodiment is composed of an insulating casing 70 and the LED lighting module 72 mounted inside the insulating casing 70, the subplate (between the main plate 36 and the subplate 40) A plurality of insulating casings 70 are attached along the length of 40, and an LED lighting module 72 in which LED chips are arranged in a lattice form is installed inside the insulating casing 70.

Meanwhile, in the present exemplary embodiment, the linear laser spot 84 is formed on the surface of the monotone 12 by using the plurality of spot laser pointers 34, and the plurality of spot laser pointers 34 may be insulated casing 70. The main body 16 is installed on the outer side of the side along the installation direction of the insulating casing 70.

The laser pointer 34 is inserted into the insulating cylinder 74 and the plurality of tube-shaped insulating cylinders 74 disposed along the longitudinal direction of the main body 16 for protection from the external environment, respectively. It may include a laser irradiator 78 for irradiating the laser light to the surface of the (12), the insulating cap 80 for closing the rear end of the insulating cylinder (74). The insulating cylinder 74 prevents water or the like from entering the laser irradiator 78, and the laser irradiator 78 is inserted into the insulating cylinder 74. An insulating cap 80 for protecting the laser irradiator 78 is coupled to the rear end of the insulating cylinder 74.

In addition, the main body 16 may be combined with a GPS device 32 for measuring and recording the location information of the main body 16, and obtains the location information in real time from the GPS device 32 to correspond with the location information. Record the surface inspection results of the location.

Meanwhile, as shown in FIG. 2, a processing system 46 may be provided that performs inspection processing on the surface of the monotone 12 based on the image photographed by the first photographing unit 18. The processing system 46 may be disposed in the monorail moving vehicle 14, and may process an image 86 acquired during the movement of the monorail moving vehicle 14 to provide an inspection result in real time.

10 is a view showing a modification of the monorail inspection apparatus according to the present embodiment.

The monorail 12 of the monorail is placed on a shoe 90 of the pier 88. The monorail 12 of the monorail is in the surface inspection process of the monorail 12 according to the movement of the monorail moving vehicle 14. If it is necessary to perform a visual inspection for the), the monorail inspection apparatus according to the present modification can be used.

In this modified example, the second imaging unit 95 is added to the monorail inspection apparatus according to the embodiment, and the second imaging unit 95 captures the camera 20 for photographing the appearance of the shoe 90. It is included, is coupled to the main body (16). More specifically, as illustrated in FIG. 10, the second photographing unit 95 includes a linear guide 95 that is elastically coupled to the shoe 90 from the main body 16; The camera 20 is coupled, and includes a tilting portion 96 that is tiltably coupled to an end of the linear guide 95.

When the shoe 90 of the pier 88 is located below the lower end of the main body 16, the linear guide 95 moves the camera 20 downward toward the shoe 90 so that the camera 20 The appearance of 90 is photographed.

The linear guide 95 slides along the longitudinal direction of the first rod 93 and the first rod 93 coupled to the main body 16, and the camera 20 moves the tilting portion 96 to the end thereof. It consists of a second rod 94 coupled to each other.

The camera 20 is coupled to the tilting part 96 toward the shoe 90, and the tilting part 96 tilts the camera 20 with respect to the end of the second rod 94 so that the camera 20 is connected to the shoe ( Make sure you photograph the appearance of 90) accurately. The tilting unit 96 has a motor built therein and the camera 20 is coupled to the shaft of the motor to tilt the camera 20 according to the forward and reverse rotation of the motor.

* Hereinafter, look at the operation flow for the monorail inspection apparatus according to the present embodiment.

First, when the monorail moving vehicle 14 starts to travel along the monotonic rail 12, the LED lighting device of the lighting unit 22 illuminates the surface of the upper and both sides of the monorail 12 to brighten the surface. In the light, the laser pointer 34 irradiates a linear laser spot 84 so as to cross the photographing area of each camera 20. In this state, the plurality of cameras 20 simultaneously photographs the upper surface and the surface of both sides of the monotonic track 12.

The plurality of cameras 20 photographs the image 86 including the linear laser spot 84 by dividing the surface of the monotongue 12 into an area so that the ends of the photographing area overlap. ). In processing system 46, processing is performed to bond multiple images 86 using laser spots 84 to produce one bonded image.

Next, the processing system 46 compares the bond image with the predetermined crack calibration data as above, and proceeds to generate damage information for cracks in the surface of the monotonic 12 from the bond image.

More specifically, converting the bonded image into an 8 bit gray-scale image 86; Observing the junction image and selecting a crack area when there is a crack area; Calculating a width of the selected crack region by comparing the pixel gray level of the selected crack region with the pixel gray level of the crack calibration data; Calculating the length of the crack area by comparing the coordinate of the crack area with a corresponding coordinate of the crack calibration data; Processing of the processing system 46 involves generating damage information for cracks in the orbital altitude surface through the calculated width and length of the crack area.

As a result, the color information corresponding to the calculated width of the crack area is displayed in the crack area of the gray scale image, respectively, so that the measurer can easily check the surface crack state with respect to the track altitude.

Although the foregoing has been described with reference to specific embodiments of the present invention, those skilled in the art may vary the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. It will be understood that modifications and changes can be made.

Many embodiments other than the above-described embodiments are within the scope of the claims of the present invention.

[ Description of the Code ]

12: monogram 14: monorail moving vehicle

16: main body 18: the first photographing unit

20: camera 22: lighting unit

24: Camera closure 26, 28: Camera bracket

30: Link Box 32: GPS Device

34: laser pointer 36: main plate

38: first connecting bar 40: subplate

42: second connecting bar 44: dustproof member

46: processing system 48: camera body

50: inner case 52: dustproof tube

54: outer case 56: inner cap

58: outer cap 60: assembly device

62: slide hole 64: fastening groove

66: fastening protrusion 68: slot

70: insulated casing 72: LED lighting module

74: insulator 78: laser irradiator

80: cap 82: DC terminal

84: laser spot 86: image

88: pier 90: shoe

92: second photographing unit 95: linear guide

96: tilting part

Claims

An apparatus for inspecting the surface of the mono monopole coupled to a monorail mobile vehicle moving along a monorail supported by a shoe of a monorail pier,

A main body coupled to the monorail moving vehicle and surrounding an outer circumferential surface of the monorail so that an inner side thereof is spaced apart from an outer circumferential surface of the monorail;

A first photographing unit including a plurality of cameras coupled along a longitudinal direction of the main body to photograph the surface of the monotone;

A laser pointer for irradiating laser light onto a surface of the monotone so that laser light is located in a photographing area of the first photographing unit;

An illumination unit coupled to the main body and radiating light to a photographing area of the first photographing unit; And

And a camera for photographing the exterior of the shoe and including a second photographing unit coupled to the main body.
The method of claim 1,

The main body,

A pair of main plates forming a horseshoe shape so as to surround the upper surface and both side surfaces of the monocle, and spaced apart from each other;

Both ends are coupled between the pair of main plates facing each other, characterized in that it comprises a plurality of first connecting bars coupled along the longitudinal direction of the main plate, monorail inspection apparatus.
The method of claim 2,

The main body,

A camera bracket connected to the pair of main plates, the camera bracket including a plurality of camera fasteners;

The camera,

A monorail inspection apparatus, characterized in that selectively binding to a plurality of the camera binding port.
The method of claim 2,

The main body,

A pair of subplates formed in a horseshoe shape so as to surround an upper surface and both sides of the monocle, and spaced apart from each other on the outside of the pair of main plates;

Both ends are coupled between the main plate and the subplate facing each other, and further comprising a plurality of second connecting bar coupled along the longitudinal direction of the subplate, monorail inspection apparatus.
The method of claim 4, wherein

The camera,

Interposed and coupled between the pair of main plates,

The lighting unit,

And interposed between the main plate and the sub plate, respectively, and coupled to each other.
The method of claim 4, wherein

The main body,

Made of a material containing a titanium alloy, characterized in that the surface of the titanium alloy is coated with carbon, monorail inspection apparatus.
The method of claim 1,

The laser pointer,

And a line laser pointer for irradiating a laser line across a photographing area of the plurality of cameras.
The method of claim 7, wherein

The laser pointer,

And a plurality of spot laser pointers for irradiating laser spots to respective photographing areas of the plurality of cameras.
The method of claim 1,

The laser pointer,

A plurality of spot laser pointer for irradiating the laser spot,

And a plurality of laser spots irradiated from the plurality of spot laser pointers are linear to cross the photographing areas of the plurality of cameras.
The method of claim 1,

A monorail inspection device, characterized in that the vibration-proof member for vibration isolation is interposed between the monorail moving vehicle and the main body.
The method of claim 1,

The camera,

A camera body for taking an image;

An assembly device coupled to the outer circumference of the camera body in a longitudinal direction;

A tubular inner case having an inner circumferential surface formed with a slide hole through which the assembling device is slidably coupled, and the assembling device slidingly coupled with the slide hole with the camera body inserted into and coupled to the slide hole;

A dustproof tube for vibration isolation is formed on the inner circumferential surface, and the inner case includes a tubular outer case which is inserted into and coupled to the inside, the monorail inspection apparatus.
The method of claim 11,

The inner circumferential surface of the outer case is formed with a plurality of fastening grooves in the longitudinal direction,

The outer circumferential surface of the inner case is formed with a fastening protrusion in the longitudinal direction corresponding to the fastening groove, respectively

And the inner case is inserted into and coupled to the outer case so that the fastening protrusion slides along the fastening groove.
The method of claim 4, wherein

The lighting unit,

A plurality of insulating casings interposed between the main plate and the sub plate, respectively, and disposed along a length direction of the sub plate;

And an LED lighting module mounted inside the insulating casing and irradiating LED light to a photographing area of the first photographing unit.
The method of claim 1,

The laser pointer,

A plurality of tube-shaped insulating passes disposed along the longitudinal direction of the main body;

Laser irradiators respectively inserted into the insulating cylinders to irradiate laser light onto the surface of the monotonic arm;

Monorail inspection apparatus, characterized in that it comprises an insulating cap for closing the rear end of the insulating cylinder.
The method of claim 1,

And a GPS device coupled to the main body and configured to measure and record location information of the main body.
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The method of claim 1,

The second photographing unit,

A linear guide elastically coupled to the shoe from the main body;

The camera is coupled, characterized in that it comprises a tilting portion coupled to the end of the linear guide, the monorail inspection device.
The method of claim 1,

And a processing system in which inspection processing is performed on the surface of the monotone based on the image photographed by the first photographing unit.