KR102096096B1 - Man hole investigation robot - Google Patents

Abstract

The manhole irradiation robot according to an embodiment of the present invention includes a manhole irradiation unit capable of irradiating the inside of a manhole while being inserted into the manhole, and a robot movement unit mounted on the manhole and configured to be movable toward the manhole. The manhole irradiation unit is connected to a lower portion of the imaging module configured to photograph the inside of the manhole, the imaging module, and detects the inside of the manhole by microwaves, processes and transmits information collected from the imaging module and the lidar module, It includes a communication module and a battery module to receive information from the outside. One embodiment of the present invention is configured to be easy to enter the manhole, it is possible to irradiate the inside of the manhole as a whole, and to provide a manhole irradiation robot that can be easily taken out from the manhole after irradiation.

Description

Manhole investigation robot {MAN HOLE INVESTIGATION ROBOT}

The present invention relates to a manhole irradiation robot, and more particularly, to a manhole irradiation robot capable of performing manhole irradiation.

Manholes are a type of ground opening that connects underground passages to the ground. On the manhole, there is a manhole cover for opening and closing the manhole, and opening the manhole cover allows entry into the manhole. Manhole investigations are primarily for inspection and maintenance of cables, sewage or waterways buried in underground passages.

When a person can enter the manhole passage, a person enters through the manhole to perform inspection and maintenance, but when the passage is narrow, an imaging device or a robot is used.

Manhole investigation is a difficult task for humans to perform. When the working space is inside a manhole where sewage and contaminants are present, the inner passage is often narrow, and it may be difficult to take an appropriate posture during visual inspection and measurement.

In addition, toxic gas may exist inside the manhole, and there is a risk of suffocation. According to a recently released Safety and Health Agency press release, there have been many deaths from suffocation in manholes over the past five years, accounting for 7 percent of deaths from suffocation disaster.

In order to prevent suffocation accidents, toxic gas inspection is always performed before manhole work, but it does not completely prevent suffocation accidents. In addition, a large number of small and large personnel accidents occur, such as a crash caused by ladder corrosion and a collision and scratch caused by work in a narrow space.

When measuring directly by a person, there is a possibility of error due to inaccurate measurement, and especially in the manhole, it may be difficult to take a comfortable posture due to space limitations.

For example, the length of a straight pipe of a manhole inner pipe may be difficult for a person to directly access, and measurement errors may increase, for example, when it is difficult to push a tape measure to the end or when bending of a tape measure occurs.

In addition, there is a risk that the measurement accuracy by hand varies depending on the person. The operation of opening and closing the manhole cover is also carried out by hand, and the manhole cover itself is heavy enough to handle a person alone, weighing about 40kg.

In particular, if the lid is closed for a long period of time, rust occurs in the crevice, foreign matter is stuck, or if the shape of the lid and the frame is partially distorted due to thermal expansion, a large force may be required to open the lid.

One embodiment of the present invention is to provide a manhole irradiation robot that is configured to facilitate entry into the manhole, and can inspect the interior of the manhole as a whole, and can be easily taken out of the manhole after irradiation.

Manhole irradiation robot according to an embodiment of the present invention, the manhole irradiation unit capable of irradiating the inside of the manhole while being introduced into the manhole; And a robot moving unit mounted on the manhole irradiation unit and configured to be movable toward the manhole, wherein the manhole irradiation unit comprises: an image photographing module configured to photograph the inside of the manhole; A lidar module connected to a lower portion of the image capturing module and detecting an inside of a manhole by microwave; A communication module configured to process and transmit information collected by the image capturing module and the lidar module, and receive information from the outside; And a battery module for supplying power to the image taking module, the lidar module, and the communication module, wherein the robot moving part is mounted so that the manhole irradiation part is mounted and moved up and down, and a movable body provided with wheels to be movable; And a winch connected to the manhole irradiator so that the manhole irradiator mounted on the moving body can be lowered or raised to the manhole.

The video imaging module includes: a shooting body; And a plurality of cameras disposed on all sides of the photographing body and capable of photographing images, wherein the photographing body includes an image collecting device that processes and stores images photographed by the plurality of cameras and transmits them to the communication module. Can be prepared.

The lidar module includes a cylindrical microwave transmission / reception body; And it is disposed inside the microwave transmission and reception main body, and includes a microwave configured to transmit and receive microwaves, the transmission and reception body is a data collection device for storing the data inside the manhole irradiated by the microwave, and transmitted to the communication module Can be prepared.

The moving body includes a pair of upper and lower plates formed with holes through which the manhole irradiation unit can pass, and a first body frame having a hexahedral frame structure so that the upper and lower plates are spaced apart from each other and fixed to each other; A second body frame connected to the first body frame and configured to be lower than the first body frame, and configured to have the wheels; A plurality of first rollers disposed on the top plate to guide the wires; A plurality of second rollers disposed on the second body frame to guide the wires; A winding roller disposed under the second body frame, constituting the winch, and winding and unwinding a wire; And a winch motor that drives the winding roller, and the wire can be connected to the manhole irradiator.

The bottom parts of the first body frame and the second body frame make it possible to mount the ground, and mounting bars to prevent slipping on the ground may be provided on both sides.

The wheel is configured to be driven, and protrusions for preventing slippage may be formed.

At the bottom of the manhole irradiator, a floor sensor for detecting the bottom of the manhole may be provided.

Three connecting members may be provided at an upper portion of the manhole irradiation unit so as to enable three-point connection to the winch.

An embodiment of the present invention described as described above is configured to be easy to enter into the manhole, it is possible to irradiate the inside of the manhole as a whole, and to provide a manhole irradiation robot that can be easily taken out from the manhole after irradiation.

1 is a perspective view of a manhole irradiation robot according to an embodiment of the present invention.
FIG. 2 is a manhole irradiation unit of FIG. 1.
3 is a robot moving part of FIG. 1.

Hereinafter, various embodiments of the present invention will be described by specific embodiments illustrated in the accompanying drawings. Differences in the embodiments should be understood as not mutually exclusive, and specific shapes, structures, and characteristics described in connection with one embodiment may be implemented in other embodiments without departing from the spirit and scope of the present invention. You can.

It should be understood that the position or arrangement of individual components according to embodiments of the present invention can be changed, and similar reference numerals in the drawings may refer to the same or similar functions across various aspects, such as length, area, thickness, etc. The form may be exaggerated for convenience in description.

The direction and position of the drawings are described by assuming an XYZ orthogonal coordinate system, the upper and lower left and right sides are identical to the XY coordinate plane system, and the front and rear left and right sides are assumed to match the YY coordinate plane system. In the drawings of the embodiments, it is assumed that each unit, module, part, and member in which the sub-elements are not described includes conventional sub-elements for each having a given function, but is not limited to the sub-elements shown in the drawing. . It should be understood that components illustrated but are not normally described are included in the embodiments.

The terms used should be understood to have the lexical meaning of ordinary Chinese characters, Korean or English, or attributes consistent with terms used in the field, except for terms that are specifically defined. "Include, consist, or equip" can have other components, "fixed and constrained" movement and movement are limited, "rotation and hinge" means that some or all of the object is rotated It means that it can be moved.

1 to 3, main components of a manhole irradiation robot according to an embodiment of the present invention will be described.

1 to 3, the manhole irradiation robot according to an embodiment of the present invention is equipped with a manhole irradiation unit 100 and a manhole irradiation unit 100 capable of irradiating the inside of a manhole while being inserted into the manhole, and is movable to the manhole side It includes a robot moving unit 150 configured.

1 and 2, the manhole irradiation unit 100 is connected to the lower portion of the imaging module 110 and the imaging module 110 configured to photograph the inside of the manhole, and is a line that detects the inside of the manhole by microwave. It includes a module 120.

The manhole irradiation unit 100 includes a communication module 130 and a battery module 140 to process and transmit information collected by the image capturing module 110 and the lidar module 120 and receive information from the outside. .

The image capturing module 110 is configured to photograph the inside of the manhole while the manhole irradiation unit 100 is introduced into the manhole irradiation unit 100 by the winch 161 to be described later.

The image capturing module 110 may be configured with lighting so that it can be photographed in a dark space.

The image photographing module 110 includes a photographing body 111 and a plurality of cameras 112 disposed on all sides of the photographing body 111 and capable of photographing images.

The photographing body 111 may be provided with an image collection device 115 that processes and stores images captured by a plurality of cameras 112 and transmits them to the communication module 130.

The lidar module 120 is configured to irradiate microwaves such as lasers.

The lidar module 120 measures physical properties such as distance, concentration, speed, and shape of a measurement object from time, intensity, frequency change, and polarization state change when the scattered or reflected laser returns by emitting a laser. You can.

Just as a radar uses a microwave to determine the distance by observing the round trip time to an object, a rider can measure the distance using the same principle using a laser.

This rider is a device that can predict the distribution and diffusion of chemical and radioactive agents by firing a laser beam into the atmosphere. The measurement distance is 300m ~ 10km, and the monitoring capability is 180 ㅀ horizontal and 90 ㅀ vertical.

The lidar module 120 may be equipped with a function (three-dimensional mapping) for automatically tracking a target point using the CCD camera 112.

The lidar module 120 includes a cylindrical microwave transmission / reception body 121 and an ultra-high frequency generator 122 disposed inside the microwave transmission / reception body 121 and configured to transmit and receive microwaves.

The transmission / reception body 121 may be provided with a data collection device 125 that stores data inside the manhole irradiated by microwaves and transmits the data to the communication module 130.

The communication module 130 transmits the information collected by the image capturing module 110 and the lidar module 120 to the outside or transmits the received information to each device to enable device control.

The communication module 130 is configured to enable wired and wireless communication, and wireless communication technology mounted on a smartphone such as Wi-Fi, Bluetooth and LTE may be used as the wireless communication.

The battery module 140 is configured to supply power to the image capturing module 110, the lidar module 120, and the communication module 130. As a battery, a lithium ion battery may be used, but it is not limited thereto, and it is revealed that a lightweight battery can be used.

1 and 3, the robot moving unit 150 includes a moving body 160 and a winch 161.

The moving body 160 is configured such that the manhole irradiator 100 is mounted to move up and down, and the wheel 151 is provided to be movable.

The winch 161 is to wind and unwind the wire connected to the manhole irradiator 100 so that the manhole irradiator 100 mounted on the moving body 160 can be lowered or raised to the manhole side. The wire is not shown, but is disposed across the first roller 181 and the plurality of second rollers 182, which will be described later in the winch 161.

In the winch 161, the arrangement pattern of the wires for the first roller 181 and the plurality of second rollers 182, which will be described later, may be modified according to the number of wires connected to the manhole irradiator 100 or the connection point. .

The moving body 160 includes a pair of upper plates 152 and lower plates 153 in which holes through which the manhole irradiation unit 100 can pass.

A first body frame 171 and a second body frame 172 for supporting the upper plate 152 and the lower plate 153 are configured in the movable body 160.

The first body frame 171 has a hexahedral frame structure so that the upper plate 152 and the lower plate 153 are spaced apart and fixed.

A plurality of first rollers 181 for guiding the wire are disposed on the top plate 152, and a plurality of second rollers 182 for guiding the wire are disposed on the second body frame 172.

The second body frame 172 is connected to the first body frame 171 and is configured to be lower than the first body frame 171 and the wheel 151 is configured.

Under the second body frame 172, a winch 161 for constituting the winch 161 and winding and unwinding the wire and a winch motor 190 for driving the winding roller 185 are disposed.

The wire can be unwound or wound on the winding roller 185 by the winch motor 190, and the manhole irradiator 100 is connected to the wire so that it can be introduced or lifted into the manhole.

The wire can be arranged in three strands on the winding roller 185, and is movably arranged along the first roller 181 and the second roller 182.

Three second rollers 182 are arranged in a row on a shaft configured to be rotatable on the second frame body, and the first rollers 181 are triangularly arranged on the top plate 152 corresponding to the second rollers 182. do.

The three strands of wire are guided by the three second rollers 182 and the first rollers 181 to be connected to three points on the top of the manhole irradiation unit 100. Three connecting members 195 may be provided on the upper portion of the manhole irradiation unit 100 to enable three-point connection to the winch 161.

The manhole irradiation unit 100 is horizontally disposed by being connected to three wires, and can be photographed and lidar irradiation while being introduced into the manhole.

On the other hand, referring to Figure 2, at the bottom of the manhole irradiator 100, a bottom detection sensor 196 for detecting the bottom of the manhole may be provided. The floor detection sensor 196 is installed to block the phenomenon that the manhole irradiation unit 100 crashes to the bottom of the manhole and is damaged.

Manhole irradiation robot according to an embodiment of the present invention, when the floor is detected by the floor detection sensor 196, the information is transmitted to the control unit for controlling the winch 161, the control unit of the winch 161 It can be implemented to stop the operation automatically. The control unit may be mounted on the manhole irradiation unit 100 or the moving body 160.

1 and 3, the robot moving unit 150 may be moved to the manhole side in a state where the manhole irradiation unit 100 is mounted, while the manhole irradiation unit 100 is input to the manhole side of the moving body 160 It is sufficiently mounted on the ground to prevent movement and movement.

That is, the bottom portions of the first body frame 171 and the second body frame 172 make it possible to mount the ground, and mounting bars 191 to prevent slipping on the ground may be provided on both sides.

Three mounting bars 191 may be disposed on each side of the first body frame 171 and one on each side of the second body frame 172. The lower portion of the mounting bars 191 may be provided with a pointed shape or protrusions to prevent slipping due to contact with the ground.

The wheel 151 may be configured to be driven by an electric motor, and protrusions for preventing slip may be formed. The projections of the wheel 151 may be provided in a serration shape having a straight shape.

On the other hand, the first body frame 171 and the second body frame 172 is made of steel, and the manhole irradiator 100 may be of considerable weight, so that the wheels 151 are configured to be electrically driven to move. It can provide convenience.

1 and 2, while the wire of the winch 161 is released from the robot moving part 150, while the manhole irradiation part 100 is introduced into the manhole, it is located on all sides of the image taking module 110. The four cameras 112 can photograph the inside of the manhole at 90-degree intervals.

The inner wall of the circumferential shape of the manhole is completely photographed by the image capturing module 110, and image information is transmitted to the operator through the communication module 130.

In addition, the lidar module 120 collects and transmits data capable of three-dimensionally representing the shape of the manhole by irradiating a laser while passing through the manhole, receiving an radar, and converting the image.

As described above, the manhole irradiation robot according to an embodiment of the present invention may move to the manhole side by the winch 161 of the robot moving unit 150 and photograph the inside of the manhole in real time by the manhole irradiation unit 100 that can be elevated. In addition, since the lidar module 120 can detect and sufficiently inspect the inside of the manhole, it provides improved convenience, safety, precision, and the like, which has been improved in terms of work.

As described above, an embodiment of the present invention has been described, but on the basis of this, a person having ordinary knowledge in the relevant technical field may add, change, or change components within the scope of the present invention described in the claims. The present invention may be variously modified and changed by deletion or addition, and it will also be included within the scope of the present invention.

100: manhole irradiation unit 110: video recording module
111: shooting body 112: camera
115: image acquisition device 120: lidar module
121: transmission / reception body 122: microwave
125: data collection device 130: communication module
140: battery module 150: robot moving part
151: wheel 152: top
153: bottom 160: mobile body
161: winch 171: first body frame
172: second body frame 181: first roller
182: second roller 185: winding roller
190: winch motor 191: mounting bar
195: connecting member 196: floor detection sensor

Claims (8)

A manhole irradiation unit capable of irradiating the inside of the manhole while being introduced into the manhole; And
The manhole irradiation unit is mounted, and includes a robot moving unit configured to move to the manhole side,
The manhole irradiation unit,
An image taking module configured to shoot inside the manhole;
A lidar module connected to a lower portion of the image capturing module and detecting an inside of a manhole by microwave;
A communication module configured to process and transmit information collected by the image capturing module and the lidar module, and receive information from the outside; And
It includes a battery module for supplying power to the video imaging module, the lidar module, and the communication module,
The robot moving unit,
The manhole irradiation unit is mounted is configured to move up and down, the movable body is provided with a wheel to be movable; And
And a winch connected to the manhole irradiator so that the manhole irradiator mounted on the moving body can be lowered or raised to the manhole.
The mobile body includes a pair of upper and lower plates formed with holes through which the manhole irradiation unit can pass,
A first body frame having a hexahedral frame structure so that the upper and lower plates are spaced apart and fixed;
A second body frame connected to the first body frame and configured to be lower than the first body frame, and configured to have the wheels;
A plurality of first rollers disposed on the top plate to guide the wires;
A plurality of second rollers disposed on the second body frame to guide the wires;
A winding roller disposed under the second body frame, constituting the winch, and winding and unwinding a wire; And
Further comprising a winch motor for driving the winding roller,
The wire is a manhole irradiation robot connected to the manhole irradiation unit. According to claim 1,
The video shooting module,
Shooting body; And
It is disposed on all sides of the shooting body, and includes a plurality of cameras capable of taking an image,
A manhole irradiation robot in which the image collecting device for processing and storing the images captured by the plurality of cameras and transmitting them to the communication module is provided in the shooting body. According to claim 2,
The lidar module,
Cylindrical microwave transmission body; And
It is disposed inside the microwave transmission and reception body, and includes an microwave configured to transmit and receive microwaves,
The transmission / reception body stores a data inside a manhole irradiated by microwaves and transmits the data to the communication module. delete According to claim 1,
A manhole irradiation robot including bottom surfaces of the first body frame and the second body frame to enable mounting of the ground, and having mounting bars provided on both sides to prevent slipping on the ground. The method of claim 5,
The wheel is configured to be driven, a manhole irradiation robot in which protrusions for preventing slip are formed. According to claim 1,
At the bottom of the manhole irradiation unit, a manhole irradiation robot is provided with a floor detection sensor for detecting the bottom of the manhole. The method of claim 7,
A manhole irradiation robot is provided at the top of the manhole irradiation unit to provide three connection members to enable three-point connection to the winch.

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