KR20150092574A - defect information detection image processing system using robot - Google Patents

defect information detection image processing system using robot Download PDF

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Publication number
KR20150092574A
KR20150092574A KR1020140013103A KR20140013103A KR20150092574A KR 20150092574 A KR20150092574 A KR 20150092574A KR 1020140013103 A KR1020140013103 A KR 1020140013103A KR 20140013103 A KR20140013103 A KR 20140013103A KR 20150092574 A KR20150092574 A KR 20150092574A
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KR
South Korea
Prior art keywords
defect
robot
image
pattern information
unit
Prior art date
Application number
KR1020140013103A
Other languages
Korean (ko)
Inventor
황보승
김종권
Original Assignee
호남대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 호남대학교 산학협력단 filed Critical 호남대학교 산학협력단
Priority to KR1020140013103A priority Critical patent/KR20150092574A/en
Publication of KR20150092574A publication Critical patent/KR20150092574A/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D5/00—Protection or supervision of installations
    • F17D5/02—Preventing, monitoring, or locating loss
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators

Abstract

The present invention relates to an in-tube defect information detection image processing system using a robot, comprising: a main body which enters a tube through which a fluid moves and can move; a robot which includes a camera mounted on the main body, takes an image of an inner wall in the tube, and transmits an image received from the camera, through a communication unit; and a defect detection processor which is connected to the communication unit of the robot through an interface unit, determines whether there is a defect from the image transmitted from the main body while comparing with defect pattern information stored in a defect pattern information storing unit, extracts a frame determined as a defect, and stores the frame in a defect detection storing unit. According to such an in-tube defect information detection image processing system using a robot, it is determined whether there is a defect by an image comparing process between the previously stored defect pattern information and the taken image, thereby rapidly performing a defect determining process.

Description

[0001] The present invention relates to a defect information detection image processing system using a robot,

[0001] The present invention relates to a defect information detection system using a robot and, more particularly, to a defect information detection system using a robot that can quickly detect whether a defect is generated from an image picked up by a camera mounted on the robot Processing system.

Pipes for transferring fluids such as city gas pipes, sewer pipes, petrochemical plant pipes, steam pipes used for cogeneration power plants, etc. may crack or corrode due to the passage of time or vibration or impact applied from the outside.

Such pipes may be damaged by cracks or corrosion, and leakage of a fluid such as a flammable gas to the outside may cause a serious disaster.

Therefore, it is required to inspect and diagnose the state of the pipe at appropriate intervals to ensure the safety of the facility.

A robot for exploring the inside of the pipe is disclosed in Korean Patent No. 10-0289812.

However, there is an inconvenience in that the inspector must check the defects of the images photographed in the tube using the camera mounted on the robot.

An object of the present invention is to provide an in-pipe defect information detection image processing system using a robot capable of rapidly detecting a defect portion from an image captured while traveling through a tube by image processing, There is a purpose.

In order to accomplish the above object, according to the present invention, there is provided a robot-based in-pipe defect information detecting image processing system, comprising: a main body for allowing a fluid to enter and move into a pipe to be transferred; A robot for transmitting an image received from the camera through a communication unit; A communication unit for communicating with the robot and an interface unit for comparing the image transmitted from the main body with the defect pattern information stored in the defect pattern information storage unit to extract a frame determined to be defective and storing the defect in the defect detection storage unit And a defect detection processor for detecting a defect.

Preferably, the defect pattern information stored in the defect pattern information storage unit of the defect detection processor is a color image.

According to the in-pipe defect information detection image processing system using the robot according to the present invention, it is possible to quickly perform defect determination processing by judging whether or not a defect is caused by image comparison processing of previously stored defect pattern information and a captured image to provide.

1 is a view showing a defect information detection image processing system using a robot according to the present invention,
2 is a block diagram of a control system of the defect detection processing unit of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a robot-based defect information detection image processing system using a robot according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of an in-pipe defect information detection image processing system using a robot according to the present invention, and FIG. 2 is a block diagram of a control system of the defect detection processing unit of FIG.

Referring to FIGS. 1 and 2, the in-pipe defect information detection image processing system 100 using a robot according to the present invention includes a robot 110 and a defect detection processor 150.

The robot 110 includes a main body 120, a travel driving part 125, a robot control part 127, a communication part 128, a camera 130, and a camera driving part 132.

The main body 120 of the robot 110 is mounted with a caterpillar 122 rotating as an endless track at the lower part thereof as a wheel.

The caterpillar 122 of the main body 120 is driven by the driving driving portion 125. [

In addition to the caterpillar 122 system shown in FIG. 1, a system for driving the main body 120 may be implemented in various ways such as a traveling structure by a joint motion, a structure using a wheel, and the like.

The robot controller 127 drives the travel driver 125 using the set travel trajectory information and drives the travel driver 125 according to the remote travel control signal received through the communication unit 128. [

When the camera 130 is installed on the main body 120 and enters the inspection target pipe 10, the camera 130 picks up the inner wall of the pipe. The captured image information is controlled by the robot control unit 127, And transmitted to the processor 150.

The camera 130 is driven by the camera driving unit 132 controlled by the robot control unit 127 so as to be able to take an image of the inner circumferential surface of the tube 10 while rotating in a direction perpendicular to the running direction, do.

The defect detection processor 150 is separated from the robot 110 and connected to the communication unit 128 via the interface unit 151 by a wire communication line 140. The defect detection processor 150 is connected to the main body 120 through a camera 130, And reads the image transferred through the communication unit 128 to see if there is any defect.

The defect detection processor 150 includes a defect detection processing unit 153, a defect pattern information storage unit 155, and a defect detection storage unit 157.

The defect detection processing unit 153 compares the defect detected by the camera 130 with the defect pattern information stored in the defect pattern information storage unit 155 to determine whether there is a defect in the moving image transmitted through the interface unit 151 And stores the extracted frame in the defect detection storage unit 155.

The joint detection processing unit 153 stores the frame information and the set additional information including the image pickup position information together with the image frame judged to be defective.

Here, the imaging position information can be constructed so as to record the traveling distance information from the initial position in which the robot 110 enters the tube 10, as the imaging position information.

The defect pattern information storage unit 155 stores various types of images of defect patterns.

The defect pattern image is obtained by manually inspecting defects in the various tubes by the operator, capturing the defective portion, and recording the defect pattern information in advance in the defect pattern information storage unit 155 as the combination pattern information .

Preferably, the defect pattern information stored in the defect pattern information storage unit 155 is stored as a color image.

The display unit 158 is controlled by the defect detection processing unit 153 to display the display information.

The operation unit 159 is capable of inputting a function supported by the defect detection processing unit 153. [

On the other hand, the defect detection processing unit 153 is constructed so that defect information stored in the defect detection storage unit 157 can be read through the display unit 158 through the operation of the operation unit 159. [

According to the in-tube defect information detection image processing system 100, the defect pattern information is constructed as image information for various defects generated in the tube in advance, In addition, since the defect is detected, the processing time for defect reading is quickly performed.

110: robot 120: body
125: Driving drive unit 127: Robot control unit
128: communication unit 130: camera
132: camera driving unit 150: defect detection processor
153: Defect detection processing unit 155: Defect pattern information storage unit
157: defect detection storage unit

Claims (2)

A robot having a body mounted on the body and adapted to capture an inner wall of the tube, and transmitting the image received from the camera through a communication unit;
A communication unit for communicating with the robot and an interface unit for comparing the image transmitted from the main body with the defect pattern information stored in the defect pattern information storage unit to extract a frame determined to be defective and storing the defect in the defect detection storage unit And a defect detection processor for detecting a defect in the in-pipe defect information using the robot. The system according to claim 1, wherein the defect pattern information stored in the defect pattern information storage unit of the defect detection processor is a color image.
KR1020140013103A 2014-02-05 2014-02-05 defect information detection image processing system using robot KR20150092574A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020140013103A KR20150092574A (en) 2014-02-05 2014-02-05 defect information detection image processing system using robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140013103A KR20150092574A (en) 2014-02-05 2014-02-05 defect information detection image processing system using robot

Publications (1)

Publication Number Publication Date
KR20150092574A true KR20150092574A (en) 2015-08-13

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KR1020140013103A KR20150092574A (en) 2014-02-05 2014-02-05 defect information detection image processing system using robot

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KR (1) KR20150092574A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106382433A (en) * 2016-11-02 2017-02-08 浙江理工大学 Underground comprehensive pipe gallery system based on autonomous maintenance of shape-shifting robot
CN109738460A (en) * 2019-01-28 2019-05-10 西京学院 A kind of evaluation detection system for civil engineering structure visual defects
CN110848500A (en) * 2019-12-12 2020-02-28 上海邦芯物联网科技有限公司 Flexible pipeline robot based on internet of things technology
CN114440054A (en) * 2022-02-11 2022-05-06 阜阳嘉瑞环境科技有限公司 Spiral propelling type all-terrain pipeline detection robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106382433A (en) * 2016-11-02 2017-02-08 浙江理工大学 Underground comprehensive pipe gallery system based on autonomous maintenance of shape-shifting robot
CN109738460A (en) * 2019-01-28 2019-05-10 西京学院 A kind of evaluation detection system for civil engineering structure visual defects
CN110848500A (en) * 2019-12-12 2020-02-28 上海邦芯物联网科技有限公司 Flexible pipeline robot based on internet of things technology
CN110848500B (en) * 2019-12-12 2021-04-09 上海邦芯物联网科技有限公司 Flexible pipeline robot based on internet of things technology
CN114440054A (en) * 2022-02-11 2022-05-06 阜阳嘉瑞环境科技有限公司 Spiral propelling type all-terrain pipeline detection robot

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