KR102360388B1 - Underground pipiline 3d mapping system - Google Patents

Abstract

The present invention relates to an underground buried pipeline 3D mapping system capable of accurately confirming the position of a transport device that has entered the pipeline.
The underground pipeline 3D mapping system according to the present invention comprises: a base member constituting a body of a transfer device for transporting inside the pipeline, and an IMU sensor disposed in a preset area of the base member to obtain information related to movement of the transfer device; an image acquisition unit disposed on one surface of the base member to acquire image information; and a terminal executing a program to generate location information using the movement-related information obtained by the IMU sensor, and to map and store the image information obtained at the corresponding location.

Description

Underground pipeline 3D mapping system {UNDERGROUND PIPILINE 3D MAPPING SYSTEM}

The present invention relates to a 3D mapping system capable of accurately confirming the position of a transport device that has entered the underground 　 buried 　 pipeline.

In general, various types of pipelines are installed underground in various industrial fields, and these pipelines are installed and operated in a very suitable way to transport water, oil, liquefied gas, or similar types of fluids.

Such pipelines are being installed in various fields, such as, for example, water pipes, water and sewage pipes, district heating pipes, city gas pipes, and plant pipes of petrochemical plants.

In addition, the pipeline loses its function if it is damaged in even one place as a pipeline, and at the same time, in a pipeline in which flammable or toxic substances flow inside, loss of life and property may occur greatly due to damage to the pipeline. is required

As time passes after these pipelines are installed, damage may occur due to aging or corrosion, or damage to the pipeline may occur due to external impact due to proximity construction, which in turn may act as a cause of major accidents.

Therefore, during operation after the pipeline is constructed, maintenance work is performed to prevent accidents by checking the internal condition and cracks of the pipeline from time to time or at regular intervals.

However, as for the current condition of these pipelines, most of the pipelines are buried underground, so the potential difference measurement method and GPR survey are conducted to investigate the condition and location of the pipeline in an indirect way, and furthermore, the pipeline is buried under a building or stream. If there is, it is impossible to access the pipeline, so it is an undiscovered area.

In addition, the mobile CCTV robot for inspection inside the pipeline according to the prior art has a cumbersome problem of having to prepare a mobile robot according to the inner diameter of the pipeline when it needs to enter the inside of the pipeline of various diameters. There were cases where the investigation was 　 impossible.

Therefore, the existing 　 technology had a problem in that it was difficult to accurately grasp the overall deformation and the protruding height inside the 　 pipe, so that the work efficiency was lowered.

For the above reasons, in the related field, the mechanical components are simplified and a method to enter into the pipe of various diameters is being sought, but a satisfactory result has not been obtained so far.

An object of the present invention is to provide a 3D mapping system capable of accurately confirming a position in a pipeline of a transfer device (a pipeline inspection transfer device) on which an IMU sensor is disposed.

A 3D mapping system according to the present invention includes: a base member constituting a body of a transport device transported within a conduit; and an IMU sensor disposed in a preset area of the base member to obtain information related to movement of the transport device; an image acquisition unit disposed on one surface of the base member to acquire image information; and a terminal executing a program to generate location information using the movement-related information obtained by the IMU sensor, and to map and store the image information obtained at the location.

The transfer device may include a moving member rotatably coupled to the base member, respectively, and moving along the inside of the conduit in contact with the inner circumferential surface of the conduit; and a tension member connected to the base member and the moving member to elastically support the rotation of the moving member.

The base member may include a body portion having a cylindrical shape; a plurality of coupling protrusions formed to be spaced apart from each other at a distance along the circumference of one end of the body portion, and to which the moving member is rotatably coupled; A plurality of first fixing parts are formed to be spaced apart from each other at a distance along the circumference of the other end in the body part, and one end of the tension member is coupled thereto.

The moving member may include: a plurality of connecting members rotatably coupled to each of the plurality of coupling protrusions; a wheel member disposed at an end of the connecting member and in contact with the inner circumferential surface of the conduit; a second fixing part formed in a region of the connecting member in a direction in which the wheel member is disposed, and to which the other end of the tension member is coupled; a driving unit formed at an end of the connecting member in a direction in which the wheel member is disposed, electrically connected to the wheel member and transmitting a driving force to the wheel member when a current is applied from the outside; and a coupling shaft for rotatably fixing the coupling member to the coupling protrusion.

When the moving member is in contact with the inside of the conduit, the tension member is relaxed or contracted according to the moving direction of the base member, and the connecting member rotates about the coupling shaft.

A control unit for differently adjusting the elongation length of the tension member for each wheel member corresponding thereto is further included so that the IMU sensor moves while passing a virtual center line connecting the virtual center points in the conduit.

According to the present invention, using the pipeline 3D mapping system, it is possible to support the pipeline inspection apparatus to accurately check information on the location at which the image is acquired.

1 is a perspective view showing a 3D mapping system applied to a first pipe diameter according to an embodiment of the present invention.
2 is a perspective view showing a 3D mapping system applied to a second pipe diameter according to an embodiment of the present invention.
3 is a view showing a transfer device constituting a 3D mapping system according to an embodiment of the present invention.
Figure 4 is a perspective view showing a transfer device according to an embodiment of the present invention.
5 is a perspective view showing a base member according to an embodiment of the present invention.
Figure 6 is a schematic view showing the operating state of the joint member according to an embodiment of the present invention.
7 is a perspective view showing a moving member according to an embodiment of the present invention.
Figure 8 is a front view showing the front of the transfer device according to an embodiment of the present invention.
9 is a perspective view showing a joint member and a tension member according to an embodiment of the present invention.
10 is an operation view showing a process in which the transfer device according to an embodiment of the present invention is inserted into the conduit.
11 is a side view showing the side of the transfer device according to an embodiment of the present invention is inserted into the conduit.
12 is a front view showing the front of the conveying device according to an embodiment of the present invention is inserted into the conduit.
13 is a conceptual view showing the position confirmation using the transfer device to which the sonde of the present invention is attached.

Examples of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art, and the following examples may be modified in various other forms, and the scope of the present invention is as follows It is not limited to an Example. Rather, these examples are provided so that this disclosure will be more thorough and complete, and will fully convey the spirit of the invention to those skilled in the art. In addition, in the following drawings, each configuration is exaggerated for convenience and clarity of description, and the same reference numerals refer to the same elements in the drawings. As used herein, the term “and/or” includes any one and any combination of one or more of those listed items.

The terminology used herein is used to describe specific embodiments, not to limit the present invention.

As used herein, the singular form may include the plural form unless the context clearly dictates otherwise. Also, as used herein, “comprise” and/or “comprising” refers to specifying the presence of the recited shapes, numbers, steps, actions, members, elements, and/or groups thereof. and does not exclude the presence or addition of one or more other shapes, numbers, movements, members, elements and/or groups.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a 3D mapping system applied to a first pipe diameter according to an embodiment of the present invention, FIG. 2 is a perspective view showing a 3D mapping system applied to a second pipe diameter according to an embodiment of the present invention, FIG. 3 is a view showing a transport device constituting a 3D mapping system according to an embodiment of the present invention, Figure 4 is a perspective view showing a transport device according to an embodiment of the present invention, Figure 5 is an embodiment of the present invention 6 is a schematic view showing the operation state of the joint member according to an embodiment of the present invention, FIG. 7 is a perspective view showing a movable member according to an embodiment of the present invention, FIG. 8 is It is a front view showing the front of the pipe inspection transfer device according to an embodiment of the present invention, Figure 9 is a perspective view showing a joint member and a tension member according to an embodiment of the present invention, Figure 10 is an embodiment of the present invention It is an operational view showing a process in which the pipeline inspection and transport device is inserted into the pipeline, and FIG. 11 is a side view showing the state in which the pipeline inspection transport device according to an embodiment of the present invention is inserted into the pipeline, and FIG. 12 is the present invention. It is a front view showing the front of the state in which the pipeline inspection transfer device according to an embodiment of the present invention is inserted into the pipeline, and FIG. 13 is a conceptual view showing the position confirmation using the sonde-attached transfer device of the present invention.

The transfer device 1 according to an embodiment of the present invention transfers the first tube diameter ф400 or the second tube diameter ф800 inside the pipeline, and the IMU sensor determines where the position corresponding to the image acquired by the camera 180 is. It can be verified using the information obtained using

An inertial measurement unit (IMU) capable of measuring speed, direction, and gravitational acceleration is disposed inside the base member 100 , and a 360 degree rotatable angle sensor is provided on the base member 100 or its outer surface. sensor) to detect the pipe diameter and adjust the moving pipe diameter of the conveying device according to the pipe diameter.

The information acquired using the IMU sensor of the transfer device 1 is connected to an external server and transmitted, and the external server maps and stores the information acquired using the IMU sensor and the image acquired using the camera, so that the inside of the pipeline It supports to check the exact location information of the point where the crack occurred.

Alternatively, the information obtained using the IMU sensor is analyzed by the server (or terminal), location information is obtained, and image information for the location is mapped and stored together.

The transfer device 1 may be connected to the winch 1001 and guided by a connected line to be transferred.

The transfer device according to an embodiment of the present invention includes a base member 100 , a joint member 200 , a moving member 300 , and a tension member 400 .

The base member 100 forms the body of the transfer device 1 .

It is possible that the base member 100 is basically formed as a single housing, and as another example, as shown, the base member 100 is made of a pair and is spaced apart from each other in the direction of the inner circumferential surface of the conduit. It is possible.

Specifically, the base member 100 includes the first base part 100_1, the first base member 100, and the second base part 100_2 in which the battery for applying power to the moving member 300 is mounted. is done

As described above, it is also possible that the image acquisition unit, the IMU sensor, and the battery are mounted in the base member 100 forming one housing.

The inspection equipment may be a camera capable of photographing the inside of the pipe or a detection sensor capable of detecting cracks generated inside the pipe.

And, as described above, the first base part 100_1 and the second base part 100_2 are disposed to be spaced apart from each other at a distance.

The base member 100 includes a body part 110 , a coupling protrusion 120 , and a first fixing part 130 .

The body part 110 constitutes the body of the first body part 110 and the second body part 110 constituting the base member 100, and preferably has a cylindrical shape.

When the body portion 110 enters the inside of the conduit, it forms a concentric circle with the conduit.

The coupling protrusion 120 is formed in plurality, and the plurality of coupling protrusions 120 are spaced apart from each other at a distance along the circumference of one end of the body portion 110 .

And, the moving member 300 is rotatably coupled to the coupling protrusion 120 .

Specifically, the coupling protrusion 120 extends outwardly from the circumferential surface in the direction of one end of the body portion 110 .

And, the coupling protrusion 120 is preferably formed in the shape of a plate material close to a square.

The moving member 300 is rotatably coupled to the coupling protrusion 120 .

The first fixing part 130 is made of a plurality, and the other end direction from the body part 110, that is, along the circumference of the opposite direction to the direction in which the coupling protrusion 120 is formed, a plurality of pieces are formed to be spaced apart from each other at a distance.

And, one end of the tension member 400 is coupled to the first fixing part 130 .

Specifically, the first fixing part 130 extends outward from the circumferential surface of the other end direction of the body part 110 .

And, the first fixing part 130 is preferably formed in a plate shape close to a square.

One end of the tension member 400 is coupled to the first fixing part 130 .

The joint member 200 connects the pair of base parts, that is, the first base part 100_1 and the second base part 100_2 to each other.

That is, one end of the joint member 200 is fixed to one surface of the first base part 100_1 , and the other end is fixed to a surface facing the first base part 100_1 in the second base part 100_2 .

And, the joint member 200 is preferably made of an elastic spring.

Accordingly, as shown in FIG. 6 , the joint member 200 is bent along the shape of the curved region when the conveying device of the present invention passes through the curved region inside the conduit.

That is, the joint member 200 is bent along the curved area when the transfer device passes the curved area inside the conduit, so that the first base portion 100_1 and the second base portion 100_2 constituting the base portion are connected to the conduit. Allows for easy passage of internal curved areas.

The movable member 300 is made of a plurality, and is rotatably coupled to the base member 100 made of a pair.

Specifically, the moving member 300 is coupled to the coupling protrusions 120 respectively formed on the first base part 100_1 and the second base part 100_2, respectively.

Therefore, the moving member 300 is made of a number corresponding to the engaging projection (120).

Then, the moving member 300 moves along the inside of the pipe in contact with the inner peripheral surface of the pipe.

On the other hand, the moving member 300 is a plurality of moving members coupled to the first base portion 100_1 as shown in FIG. The member 300 and the plurality of movable members 300 coupled to the second base part 100_2 have a structure that does not overlap each other.

For this reason, the moving member 300 firmly supports the base portion from the inner surface of the conduit to be able to move firmly along the conduit.

The moving member 300 includes a connecting member 310 , a coupling shaft 320 , a wheel member 330 , a second fixing unit 340 , and a driving unit 350 .

The connecting member 310 is made of a plurality, and one end is rotatably coupled to the plurality of coupling protrusions 120 , and the wheel member 330 and the driving unit 350 are coupled to the other end thereof.

That is, the connecting member 310 is rotatably coupled to the coupling protrusion 120 , so that the base member 100 on which the coupling protrusion 120 is formed can be rotated around one end of the connecting member 310 .

On the other hand, a stopper 140 is formed on the coupling protrusion 120 to which the connecting member 310 is coupled.

The stopper 140 is formed in the direction in which the second fixing part 340 of the movable member 300 to be described later is disposed on the coupling protrusion 120 , and a connecting member 310 rotatably coupled to the coupling protrusion 120 . limit the rotation of

To this end, the outer diameter of the stopper 140 is made of the same outer diameter as the extended length of the coupling protrusion 120 extending from the circumferential surface of the body portion (110).

For this reason, when the connecting member 310 rotatably coupled to the engaging protrusion 120 rotates in the direction in which the second fixing part 340 is disposed with respect to the engaging protrusion 120 , the connecting member moves to the stopper 140 . ) in contact with the rotation of the connecting member 310 is limited.

The coupling shaft 320 passes through the coupling protrusion 120 and the coupling member 310 to rotatably fix the coupling member 310 to the coupling protrusion 120 .

And, it is natural that the coupling shaft 320 is made of a number corresponding to the connecting member 310 and the coupling protrusion 120 .

The wheel member 330 is disposed at the end of the connection member 310, protrudes in the direction of the inner side of the pipe, and comes into contact with the inner circumferential surface of the pipe.

In particular, as described above, the movable member 300 is formed in plurality along the circumference of the base member 100 .

Accordingly, the wheel member 330 comes into contact with the inner circumferential surface of the conduit by the number of moving members 300 .

Due to this, the wheel member 330 can easily move the base member 100 along the conduit.

The second fixing part 340 is formed in the region of the connecting member 310 in the direction in which the wheel member 330 is disposed, and the other end of the tension member 400 coupled to the first fixing part 130 is coupled to one end. do.

Specifically, the second fixing part 340 extends inwardly from the surface of the connecting member 310 in the direction in which the wheel member 330 is disposed.

And, the second fixing part 340 is preferably formed in a plate shape close to a square.

In addition, the other end of the tension member 400 is coupled to the second fixing part 340 .

The driving unit 350 is preferably made of a driving motor or the like, and is formed at an end of the connecting member 310 in a direction in which the wheel member 330 is disposed.

In addition, the driving unit 350 is electrically connected to the wheel member 330 .

Accordingly, the driving unit 350 transmits the driving force to the wheel member 330 when current is applied from the outside, that is, the second base unit 100_2 on which the battery is mounted.

That is, the driving unit 350 can easily operate the transfer device from the outside of the pipeline under the control of the user.

The tension member 400 is connected to the base member 100 and the moving member 300 to elastically support the rotation of the moving member 300 .

Specifically, the tension member 400 has one end fixed to the first fixing part 130 and the other end fixed to the second fixing part 340 as described above.

The tension member 400 elastically pulls the movable member 300 around the base member 100 in the initial state.

That is, the connecting member 310 is perpendicular to the body 110 of the base member 100 by the tension member 400 .

And, when the transfer device enters the inside of the conduit, the tension member 400 elastically presses the moving member 300 while the wheel member 330 of the moving member 300 comes into contact with the inside of the conduit to elastically press the wheel member. (330) to be firmly in contact with the inner circumferential surface of the conduit.

To this end, the diameter of the pipe is thin in FIG. 12 in a state in which the connecting member 310 is perpendicular to the body 110 of the base member 100 by the tension member 400 before the transfer device enters the pipe. It is preferable to have a size smaller than the outermost outer diameter of the wheel member 330 expressed by a solid line.

Accordingly, when the wheel member 330 of the moving member 300 comes into contact with the inside of the conduit, the tension member 400 is relaxed and the connecting member 310 rotates around the coupling protrusion 120 .

For this reason, the wheel member 330 is elastically and firmly pressed against the inner circumferential surface of the conduit by the tension member 400 , so that the wheel member 330 can be easily moved along the inner circumferential surface of the conduit.

The moving member 300 according to another embodiment of the present invention is composed of an omni wheel, and a plurality of rollers are arranged in parallel to form a single wheel in a direction perpendicular to the rotational driving direction.

According to another embodiment of the present invention, it is possible to secure high movement efficiency and minimize the rotation radius by using the moving member 300 composed of an omni wheel. While a normal robot performs rotational movement using the rotational direction of the driving wheel, the difference in rotational speed, and a steering device, linear and rotational movements can be independently performed by applying the moving member 300 composed of an omni wheel. , it can move in all directions.

According to an embodiment of the present invention, it is preferable that the IMU sensor continuously passes through the center line connecting the virtual center points inside the conduit.

To this end, according to an embodiment of the present invention, it is possible for a separate control unit to control the elongation length of each tension member by using information obtained from an angle sensor.

For example, when an obstacle is located on the bottom surface of the pipe, the transfer device 1 will temporarily reduce the moving pipe diameter to pass over the bottom surface.

At this time, the control unit of the transport device 1 confirms that an obstacle is located on the floor through the camera 180, and does not control whether or not the extension length of each tension member is equally reduced, but rather on the wheel member facing the floor. The extension length of the corresponding tension member is controlled to be reduced, and the extension length of the tension member corresponding to the wheel member facing upward is controlled to be maintained.

As another example, when the control unit of the transfer device 1 confirms that an obstacle is located on the upper surface of the inside of the conduit through the camera 180, the control unit does not control whether or not the extension length of each tension member is equally reduced, but rather the wheel member facing the upper surface. The extension length of the tension member corresponding to the is controlled to decrease, and the extension length of the tension member corresponding to the wheel member toward the floor is controlled to be maintained.

Through this, the control unit controls the IMU sensor disposed in the transfer device 1 to be continuously positioned on the center line connecting the virtual center point inside the pipeline.

Meanwhile, the transfer device of the present invention may further include a transmitting member 500 and a receiving member 600 .

The transmitting member 500 is mounted on the base member 100 and transmits a position signal.

The transmitting member 500 is preferably made of a sonde (SONDE).

And, the receiving member 600 receives the position signal transmitted by the transmitting member 500 mounted on the base member 100 as the outside of the pipeline, specifically, as possessed by the operator.

The receiving member 600 is preferably made of a detector (DETECTOR).

That is, in the present invention, as shown in FIG. 13 , when the transmitting member 500 mounted on the base member 100 transmits a position signal, the receiving member 600 possessed by an operator outside the pipeline is the transmitting member. By receiving the position signal transmitted by the 500, the operator outside the pipeline can easily grasp the position of the transfer device of the present invention.

On the other hand, in one embodiment of the present invention, the moving member 300 and the tension member 400 is illustrated as being composed of three each with the base member 100 as the center, but the present invention is not limited thereto. 300 and the tension member 400 may be formed of three or more.

That is, it is preferable that the number of the moving member 300 and the tension member 400 increases as the diameter of the conduit increases.

For this reason, the base member 100 can be more firmly supported inside the conduit by the moving member 300 and the tension member 400 .

As described above, in the conveying device according to the embodiment of the present invention, when passing through the curved area inside the conduit, the joint member 200 is bent along the shape of the curved area, so that the conveying device moves the curved area inside the conduit. can easily pass by.

In addition, since the moving member 300 is elastically rotated by the tension member 400 , it can be used inside a conduit having various diameters.

As such, the embodiments disclosed in this specification should be considered from an exemplary point of view for description rather than a limiting point of view. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

1: transfer device
100: base member 110: body portion
120: coupling protrusion 130: first fixing part
140: stopper 100_1: first base part
100_2: second base unit 180: camera
200: joint member 300: movable member
310: connecting member 320: coupling shaft
330: wheel member 340: second fixing part
350: driving unit 400: tension member
500: transmitting member 600: receiving member
1001: winch

Claims (6)

a base member constituting the body of the conveying device for conveying inside the conduit;
an IMU sensor disposed in a preset area of the base member to obtain movement related information of the transfer device;
an image acquisition unit disposed on one surface of the base member to acquire image information; and
A terminal in which a program is executed to generate location information using the movement-related information obtained by the IMU sensor, and to map and store the image information obtained at the location
including,
The transfer device is
a moving member rotatably coupled to the base member, respectively, and moving along the inside of the conduit in contact with the inner circumferential surface of the conduit; and
and a tension member connected to the base member and the moving member to elastically support the rotation of the moving member,
The base member is
a body part having a cylindrical shape; and
A plurality of coupling protrusions are formed to be spaced apart from each other at a distance along the circumference of one end of the body portion, and the moving member is rotatably coupled;
The moving member is
a plurality of connecting members respectively rotatably coupled to the plurality of coupling protrusions; and
It is disposed at the end of the connection member, and includes a wheel member in contact with the inner circumferential surface of the conduit,
An underground buried pipeline including a control unit that adjusts the extension length of the tension member differently for each wheel member corresponding thereto so that the IMU sensor moves while passing through a virtual center line connecting the virtual center points inside the pipeline 3D mapping system.
delete According to claim 1,
The base member is
A plurality of first fixing parts are formed to be spaced apart from each other at a distance along the circumference of the other end in the body part, and to which one end of the tension member is coupled.
Underground pipeline 3D mapping system further comprising a.
4. The method of claim 3,
The moving member is
a second fixing part formed in a region of the connecting member in a direction in which the wheel member is disposed, and to which the other end of the tension member is coupled;
a driving unit formed at an end of the connecting member in a direction in which the wheel member is disposed, and electrically connected to the wheel member to transmit a driving force to the wheel member when a current is applied from the outside; and
Further comprising a coupling shaft for rotatably fixing the coupling member to the coupling projection
Phosphorus Underground Pipeline 3D Mapping System.
5. The method of claim 4,
When the moving member is in contact with the inside of the conduit, the tension member is relaxed or contracted according to the movement direction of the base member, and the connecting member rotates about the coupling axis.
Phosphorus Underground Pipeline 3D Mapping System.
delete

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