KR102750009B1 - System for measuring underground pipelines - Google Patents

Abstract

An underground pipeline surveying system is disclosed. According to one embodiment, an underground pipeline surveying system may include: a tube portion arranged to be at least partially disposed inside an underground pipeline; a sensor portion moving along the inside of the tube portion; a wireless driving portion moving the sensor portion by injecting air into the inside of the tube portion or sucking in air present inside the tube portion; and a control portion generating a three-dimensional image of the underground pipeline using measurement data measured while the sensor portion moves inside the tube portion.

Description

{SYSTEM FOR MEASURING UNDERGROUND PIPELINES}

The present disclosure relates to an underground pipeline surveying system.

Underground pipelines refer to tubular passages installed underground, and various types of underground pipelines such as gas pipes, water pipes, oil transport pipes, and electric wire pipes are buried underground. Usually, since there are existing underground pipelines buried underground, great care must be taken not to damage the underground pipelines during excavation work, and if the underground pipelines buried underground are not clearly identified, there is a risk of damage to the underground pipelines and casualties during work.

In this regard, Korean Patent Publication No. 10-2330645 proposes a technology for detecting a corrugated pipe by inserting a detection device into the interior of the corrugated pipe buried underground. However, the existing surveying method of connecting the detection device to a tow rope and moving the detection device while pulling the tow rope has the problem that not only is the process of installing or removing the tow rope cumbersome, but as the length of the pipe increases, noise is generated due to the shaking of the tow rope, which reduces the measurement accuracy, and it is inconvenient to control the movement of the detection device.

In addition, if there is water, oil, or other obstacles inside the underground pipeline, the movement of the detection equipment moving inside the underground pipeline may be restricted by the surrounding environment, making measurement difficult or reducing the measurement accuracy. Therefore, the development of new technologies that improve the limitations of existing technologies is required.

The technical idea of the present disclosure is to solve the above-described problem, and its purpose is to provide a technology for easily identifying underground pipelines laid underground.

In addition, the technical idea of the present disclosure has another purpose of providing a technology capable of detecting the inside of an underground pipeline without using a tow line.

In addition, the technical idea of the present disclosure has another purpose of providing a technology capable of improving the accuracy of measurement data when detecting the inside of an underground pipeline.

In addition, another purpose of the technical idea of the present disclosure is to provide a technology that enables stable measurement without being restricted by the internal environment of an underground pipeline.

The problems to be solved by the present invention are not limited to the problems described above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which the present invention belongs from the contents described below.

In order to achieve this purpose, as one embodiment of the present invention, an underground pipeline surveying system may include: a tube portion arranged to be at least partially disposed inside an underground pipeline; a sensor portion moving along the inside of the tube portion; a wireless driving portion moving the sensor portion by injecting air into the inside of the tube portion or sucking in air that was inside the tube portion; and a control portion generating a three-dimensional image of the underground pipeline using measurement data measured while the sensor portion moves inside the tube portion.

In addition, the sensor unit includes at least one of a gyro sensor, a geomagnetic sensor, and an acceleration sensor, and the measurement data may include three-dimensional coordinate data.

And, the tube part includes a tube body part having an internal space formed so that the sensor part can pass through; and a steel wire part embedded between the outer surface and the inner surface of the tube body part; and the steel wire part has a structure that is wound around the circumference of the tube body part, and the steel wire part can have a spiral structure spaced apart at regular intervals.

In addition, the sensor unit includes a steel wire detection unit that detects the steel wire member when the sensor unit moves along the internal space of the tube body member; and a communication unit that transmits detection data generated by the steel wire detection unit to the control unit; and the control unit can analyze the detection data and derive the distance moved by the sensor unit by using the number of detections of the steel wire member and distance information per interval of the steel wire member.

In addition, the underground pipeline surveying system may further include a tube connecting portion connecting the tube portion and another tube portion; and a tube installation portion positioning the tube portion inside the underground pipeline.

And, the wireless driving unit may include a first wireless driving unit connected to one end of the tube unit to inject air into the interior of the tube unit or to suck air from inside the tube unit; and a second wireless driving unit connected to the other end of the tube unit to inject air into the interior of the tube unit or to suck air from inside the tube unit.

In addition, the underground pipeline surveying system further includes a first display unit installed at a first point of the tube section; and a second display unit installed at a second point of the tube section; wherein the first point may be a point corresponding to one end of the underground pipeline, and the second point may be a point corresponding to the other end of the underground pipeline.

In addition, when the sensor unit reaches the first point or the second point, the sensor unit can detect the first display unit or the second display unit located at the corresponding point and transmit the detection result to the control unit.

And, when the sensor unit reaches the first point or the second point, the control unit corrects the measurement data measured by the sensor unit at the corresponding point, and corrects the measurement data using distance information measured in advance, and the distance information may include at least one of distance information from a first reference point on the ground to the first display unit and distance information from a second reference point on the ground to the second display unit.

In addition, the sensor unit may include a sensor body member having an accommodation space for accommodating the sensor; a first plate member having a predetermined area for contacting air emitted from the first wireless driving unit; a second plate member having a predetermined area for contacting air emitted from the second wireless driving unit; a vibration-proof member for fixing the sensor to prevent vibration of the sensor; a weight member having a predetermined weight; and a brush member formed by combining a plurality of hairs on an outer surface of the sensor body member.

The above-described problem solving means are merely exemplary and should not be construed as limiting the present invention. In addition to the above-described exemplary embodiments, there may be additional embodiments described in the drawings and detailed description of the invention.

As described above, according to various embodiments of the present invention, since the sensor unit can generate a three-dimensional image of an underground pipeline using measurement data measured while moving inside the tube unit, the underground pipeline laid underground can be easily identified, and information about the identified underground pipeline can be reflected in map data to produce a map including information about the underground pipeline.

In addition, according to various embodiments of the present invention, since the sensor part can freely move inside the tube part by the pneumatic pressure of the wireless driving part, there is no need to connect a tow rope to the sensor part, and compared to a surveying method using a tow rope, there is an advantage in that the installation and preparation process of the sensor part is convenient, and since noise generation due to shaking of the tow rope can be prevented, the accuracy of measurement data can be improved when detecting the inside of an underground pipeline.

And, according to various embodiments of the present invention, since the tube part is placed inside the underground pipe and the sensor part moves inside the tube part, even if water, oil, or other obstacles exist inside the underground pipe, the movement of the sensor part is not restricted, stable measurement is possible, and the measurement accuracy of the sensor part is prevented from being reduced by a specific obstacle.

The effects according to various embodiments of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

Figure 1 is a block diagram schematically illustrating an underground pipeline surveying system according to one embodiment of the present invention.
Figure 2 is a conceptual diagram schematically illustrating an underground pipeline surveying system according to one embodiment of the present invention.

A preferred embodiment of the present invention will be described in more detail with reference to the attached drawings, but technical details already known will be omitted or compressed for the sake of brevity.

It should be noted that references in this specification to “one” or “an” embodiment of the invention are not necessarily to the same embodiment, but rather mean at least one.

In the examples below, the terms first, second, etc. are not used in a limiting sense but are used for the purpose of distinguishing one component from another.

In the examples below, singular expressions include plural expressions unless the context clearly indicates a different meaning.

In the examples below, terms such as “include” or “have” mean that a feature or component described in the specification is present, and do not exclude in advance the possibility that one or more other features or components may be added.

FIG. 1 is a block diagram schematically illustrating an underground pipeline surveying system according to one embodiment of the present invention, and FIG. 2 is a conceptual diagram schematically illustrating an underground pipeline surveying system according to one embodiment of the present invention.

Referring to FIGS. 1 and 2, the underground pipeline surveying system (10) may include a tube section (100), a sensor section (200), a wireless driving section (300), a control section (400), a tube connecting section (500), a tube installation section (600), a first display section (700), a second display section (800), a first tube fixing section (910), and a second tube fixing section (920).

In one embodiment, the tube portion (100) may be at least partially placed inside an underground pipe (20) that is buried underground. For example, a part or all of the tube portion (100) may be inserted inside the underground pipe (20). According to one specific example, the tube portion (100) may be formed of a material that is elastic and flexible. For example, the tube portion (100) may be formed of a material such as polyurethane, silicone, soft polyvinyl chloride, or fluororesin, but is not limited to the types described above.

In one embodiment, the tube member (100) may include a tube body member (110) and a steel wire member (120). The tube body member (110) is a tube having an internal space formed so that a sensor member (200) to be described later can pass through. A steel wire member (120) may be embedded between the outer surface and the inner surface of the tube body member (110).

The steel wire member (120) may be formed in a structure that is wound around the circumference of the tube body member (110). In one specific example, the steel wire member (120) may be formed to rotate and be wound around the circumference of the tube body member (110), and to extend in the longitudinal direction of the tube body member (110). In addition, the steel wire member (120) may have a spiral structure in which adjacent steel wire members (120) are spaced apart at a constant interval (W). That is, in the spiral structure of the steel wire member (120), the interval (W) between any steel wire member (120) and adjacent steel wire members (120) may be maintained constant.

According to one embodiment, the wire member (120) may be formed of a conductive metal material. For example, the conductive metal may include at least one of silver, copper, gold, aluminum, tungsten, zinc, nickel, iron, and alloys thereof.

In one embodiment, the sensor unit (200) can move along the interior of the tube unit (100). The sensor unit (200) can generate measurement data using a single or multiple sensors (231) built into the sensor unit (200). For example, the sensor unit (200) can include at least one of a gyro sensor, a geomagnetic sensor, and an acceleration sensor, and can generate three-dimensional coordinate data through these sensors (231).

In one embodiment, the wireless driving unit (300) can move the sensor unit (200) located inside the tube unit (100) by injecting air into the inside of the tube unit (100) or by sucking air that was inside the tube unit (100). According to one embodiment, the wireless driving unit (300) can include a first wireless driving unit (310) and a second wireless driving unit (320). The first wireless driving unit (310) is connected to one end of the tube unit (100) and can inject air into the inside of the tube unit (100) or suck air that was inside the tube unit (100). The second wireless driving unit (320) is connected to the other end of the tube unit (100) and can inject air into the inside of the tube unit (100) or suck air that was inside the tube unit (100).

According to one specific example, when the first wireless driving unit (310) injects air into the interior of the tube unit (100), the second wireless driving unit (320) may not operate or may suck air inside the tube unit (100). If the second wireless driving unit (320) sucks air when the first wireless driving unit (310) injects air, the moving speed of the sensor unit (200) can be increased to move the sensor unit (200) more quickly. When the second wireless driving unit (320) injects air into the interior of the tube unit (100), the first wireless driving unit (310) may not operate or may suck air inside the tube unit (100). If the first wireless driving unit (310) sucks air when the second wireless driving unit (320) injects air, the sensor unit (200) can be moved more quickly.

Each wireless driving unit can control the movement speed of the sensor unit (200) and the position of the sensor unit (200) by controlling the injection pressure and suction pressure. Depending on the implementation, the operation of each wireless driving unit can be controlled manually or automatically by the control unit (400).

In one embodiment, the control unit (400) can generate a three-dimensional image of the underground pipeline (20) using measurement data measured by the sensor unit (200) while moving inside the tube unit (100). In one embodiment, the control unit (400) can include a communication device (410) that communicates through at least one communication network, a display (420) that outputs screen information, a memory (430) that stores computer-executable instructions, and a processor (440) that is electrically connected to the memory (430) and executes the computer-executable instructions.

In one embodiment, the sensor unit (200) may include a wire detection unit (210), a communication unit (220), a sensor body unit (230), a first plate unit (240), a second plate unit (250), a dustproof unit (260), a weight unit (270), and a brush unit (280). In one embodiment, the wire detection unit (210) may detect a wire member (120) embedded in the tube body unit (110) when the sensor unit (200) moves along the internal space of the tube body unit (110).

According to one specific example, the steel wire detection member (210) may include at least one of a camera and a Hall sensor. If the steel wire detection member (210) is implemented as a camera, the camera is equipped with a light source so that the steel wire member (120) can be clearly captured even in a dark environment. When the control unit (400) receives image data created by the camera capturing the steel wire member (120), the control unit (400) can analyze the image data and check the number of steel wire members (120) captured.

When the wire detection member (210) is implemented as a Hall sensor, the Hall sensor can detect a magnetic field flowing in the wire member (120) to identify the wire member (120). For example, when current is applied to the wire member (120), a magnetic field is formed in the wire member (120), and when the sensor unit (200) moves, the Hall sensor can detect the wire member (120) by measuring the magnetic field flowing in the wire member (120). When the control unit (400) receives the magnetic field data measured by the Hall sensor, the control unit (400) can analyze the magnetic field data to determine how many wire members (120) exist in the section through which the sensor unit (200) passed.

In one embodiment, the communication unit (220) can transmit detection data (e.g., image data, magnetic field data, etc.) generated by the wire detection unit (210) to the control unit (400) in a wired or wireless manner.

According to one embodiment, distance information per interval of the steel wire member (120) may be stored in advance in the memory (430) of the control unit (400). In addition, an image identification program that identifies an image of the steel wire member (120) included in the image data may be pre-stored in the memory (430). In addition, a program that generates a three-dimensional image using three-dimensional coordinate data may be pre-stored in the memory (430).

In one embodiment, the control unit (400) analyzes the detection data transmitted from the communication unit (220) and can derive the distance moved by the sensor unit (200) using the number of detections of the steel wire member (120) and the distance information per interval of the steel wire member (120).

For example, the processor (440) of the control unit (400) may analyze the detection data detected by the camera using an image identification program, check how many steel wire members (120) exist in the section in which the sensor unit (200) moved, and then derive the distance moved by the sensor unit (200) using the intervals between the steel wire members (120). As a specific example, if the number of detections of the steel wire members (120) confirmed by the processor (440) is 3, the distance moved by the sensor unit (200) may be calculated by multiplying the distance per interval of the steel wire members (120) (for example, 1 mm) by 2.

In one embodiment, the sensor body member (230) is a housing having an accommodation space for accommodating the sensor (231). In one embodiment, the first plate member (240) is installed on the front side of the sensor body member (230) and may be formed in a plate shape having a predetermined area for contact with air emitted from the first wireless driving unit (310). In one embodiment, the second plate member (250) is installed on the rear side of the sensor body member (230) and may be formed in a plate shape having a predetermined area for contact with air emitted from the second wireless driving unit (320).

In one embodiment, the vibration-proof member (260) can support or fix the sensor (231) to prevent the sensor (231) from shaking when the sensor unit (200) moves. Since the sensor (231) installed in the sensor unit (200) is prevented from vibrating by the vibration-proof member (260), stable measurement is possible even when the sensor unit (200) moves, so that the accuracy and reliability of the measurement value measured by the sensor (231) can be improved.

In one embodiment, the weight member (270) has a constant weight and can be mounted on the inner bottom of the sensor body member (230). According to one embodiment, since the center of gravity of the sensor unit (200) is directed downward by the weight member (270), even if the sensor unit (200) moves quickly within the tube unit (100), the sensor unit (200) is prevented from rotating 360 degrees, and stable measurement can be achieved.

In one embodiment, the brush member (280) may be formed by combining a plurality of bristles (281) on the outer surface of the sensor body member (230). In one embodiment, the bristles (281) may include at least one of natural bristles and artificial bristles. According to one embodiment, the brush member (280) may minimize shaking of the sensor member (200) when the sensor member (200) moves, thereby maintaining the center of the sensor (231), and assist in stable movement of the sensor member (200).

Meanwhile, the sensor unit (200) may further include a storage member (not shown) that stores measurement data measured while moving inside the tube unit (100), a temperature sensor (not shown) that measures the surrounding temperature, and an infrared camera (not shown) that captures infrared images when the sensor unit (200) moves.

In one embodiment, the tube connecting portion (500) can connect the tube portion (100) to another tube portion. For example, the tube portion (100) can be formed to a certain length (for example, 10 meters), and a plurality of tube portions can be connected to each other by the tube connecting portion (500).

In one specific example, when three tube sections are connected and used, the first tube section, the second tube section, and the third tube section are connected to each other by the tube connection section (500), and the second tube section can be placed inside the underground pipe (20). In this case, the first wireless driving section (310) can be connected to the first tube section, and the second wireless driving section (320) can be connected to the third tube section. When a plurality of tube sections are connected and used, there is an advantage in that the tube sections can be easily installed and removed, thereby improving workability.

In one embodiment, the tube installation unit (600) can transport the tube portion (100) and position the tube portion (100) inside the underground pipe (20). In one specific example, the tube installation unit (600) can be applied as a towing device that can tow the tube portion (100) and position it inside the underground pipe (20). Before burying the underground pipe (20) underground, the tube installation unit (600) can be used to position the tube portion (100) inside the underground pipe (20), or the tube portion (100) can be inserted inside the underground pipe (20) while the underground pipe (20) is buried underground.

In one embodiment, the first display unit (700) and the second display unit (800) are identification devices that can be identified by the sensor unit (200). The first display unit (700) can be installed at a first point (P1) of the tube unit (100), and the second display unit (800) can be installed at a second point (P2) of the tube unit (100). In one specific example, the first display unit (700) and the second display unit (800) can be applied as magnetic materials. In another specific example, the first display unit (700) and the second display unit (800) can be applied as RF transmitters that transmit RF (Radio Frequency) signals to the sensor unit (200). In another specific example, the first display unit (700) and the second display unit (800) can be applied as NFC (Near Field Communication) transmitters that transmit NFC (Near Field Communication) signals to the sensor unit (200).

In one embodiment, the first point (P1) may be applied as a point corresponding to one end of the underground pipe (20), and the second point (P2) may be applied as a point corresponding to the other end of the underground pipe (20). According to one embodiment, when the sensor unit (200) reaches the first point (P1) or the second point (P2), the sensor unit (200) may detect the first display unit (700) or the second display unit (800) located at the corresponding point and transmit the detection result to the control unit (400). In one embodiment, when the control unit (400) receives the detection result of the first display unit (700) or the second display unit (800), the control unit (400) may stop the operation of at least one of the first wireless driving unit (310) and the second wireless driving unit (320).

In one embodiment, the first tube fixing unit (910) installed on the ground can support and fix one end of the tube unit (100) at the bottom of the tube unit (100) to prevent the tube unit (100) from bending. The second tube fixing unit (920) installed on the ground can support and fix the other end of the tube unit (100) at the bottom of the tube unit (100) to prevent the tube unit (100) from bending. According to one embodiment, since one end and the other end of the tube unit (100) are stably supported by the first tube fixing unit (910) and the second tube fixing unit (920), the tube unit (100) is prevented from bending when it rises from underground to the ground, and air injection by each wireless driving unit can be performed smoothly.

According to one embodiment, when the sensor unit (200) reaches the first point (P1) or the second point (P2), the control unit (400) receives the measurement data measured by the sensor unit (200) at the corresponding point and corrects the same, and may correct the measurement data using distance information measured in advance. Here, the distance information measured in advance may include at least one of the first distance information from the first reference point (S1) on the ground to the first display unit (700) and the second distance information from the second reference point (S2) on the ground to the second display unit (800). In addition, the first distance information and the second distance information may be pre-stored in the memory (430).

According to one embodiment, the memory (430) may pre-store first location coordinate information and second location coordinate information measured by a GPS (Global Positioning System). The first location coordinate information is location information for the first reference point (S1), and the second location coordinate information is location information for the second reference point (S2). In addition, the first distance information from the first reference point (S1) to the first display unit (700) and the second distance information from the second reference point (S2) to the second display unit (800) may also be measured in advance and pre-stored in the memory (430).

In one embodiment, the position coordinates of the first display unit (700) may be applied as a point spaced apart from the position coordinates of the first reference point (S1) by a specific distance, and the position coordinates of the second display unit (800) may be applied as a point spaced apart from the position coordinates of the second reference point (S2) by a specific distance. For example, when the distance between the first reference point (S1) and the first display unit (700) is 2 meters, the position coordinates of the first display unit (700) may be stored in the memory (430) as a point spaced apart from the position coordinates of the first reference point (S1) by 2 meters.

Similarly, when the distance between the second reference point (S2) and the second display unit (800) is 2 meters, the position coordinates of the second display unit (800) can be stored in the memory (430) as a point 2 meters away from the position coordinates of the second reference point (S2).

Here is an example of a case where the sensor unit (200) starts from the first point (P1) and reaches the second point (P2) (i.e., moves in the B direction). After the sensor unit (200) reaches the second point (P2), if the control unit (400) receives the measurement data (for example, 3D coordinate data) measured at the second point (P2), the control unit (400) can check the measurement data and determine whether to correct it. That is, the control unit (400) can determine whether the measurement data matches the position coordinates of the second display unit (800), and if it exceeds a certain error range, the control unit (400) can change the measurement data measured at the second point (P2) to the position coordinates of the second display unit (800). Accordingly, even if an error occurs in the measurement data measured when the sensor unit (200) is located at the second point (P2), the position of the second point (P2) can be accurately corrected based on the position coordinates of the second reference point (S2), thereby preventing the problem of the accuracy and reliability of the sensor (231) being lowered due to drift error.

Here is an example of a case where the sensor unit (200) starts from the second point (P2) and reaches the first point (P1) (i.e., moves in the direction A). After the sensor unit (200) reaches the first point (P1), if the control unit (400) receives the measurement data (for example, 3D coordinate data) measured at the first point (P1), the control unit (400) can check the measurement data and determine whether to correct it. That is, the control unit (400) can determine whether the measurement data matches the position coordinates of the first display unit (700), and if it exceeds a certain error range, the control unit (400) can change the measurement data measured at the first point (P1) to the position coordinates of the first display unit (700). Accordingly, even if an error occurs in the measurement data measured when the sensor unit (200) is located at the first point (P1), the position of the first point (P1) can be accurately corrected based on the position coordinates of the first reference point (S1).

As described above, according to various embodiments of the present invention, since the sensor unit can generate a three-dimensional image of an underground pipeline using measurement data measured while moving inside the tube unit, the underground pipeline laid underground can be easily identified, and information about the identified underground pipeline can be reflected in map data to produce a map including information about the underground pipeline.

In addition, according to various embodiments of the present invention, since the sensor part can move quickly and freely inside the tube part by the pneumatic pressure of the wireless driving part, there is no need to connect a tow rope to the sensor part, and compared to a surveying method using a tow rope, there is an advantage in that the installation and preparation process of the sensor part is convenient, and since noise generation due to shaking of the tow rope can be prevented, the accuracy of measurement data can be improved when detecting the inside of an underground pipeline.

In addition, according to various embodiments of the present invention, since multiple measurements can be made in a short period of time, measurement reproducibility can be secured, and it can be applied to various underground pipes such as water pipes, water transmission pipes, oil pipes, and power line pipes.

And, according to various embodiments of the present invention, since the tube part is placed inside the underground pipe and the sensor part moves inside the tube part, even if water, oil, or other obstacles exist inside the underground pipe, the movement of the sensor part is not restricted, stable measurement is possible, and the measurement accuracy of the sensor part is prevented from being reduced by a specific obstacle.

In addition, according to various embodiments of the present invention, since the distance moved by the sensor part can be accurately measured using the steel wire member of the tube part, it is easy to determine the internal state of the underground pipeline.

As described above, the specific description of the present invention has been made by way of examples. However, the above-described examples have only been described as preferred examples of the present invention. Therefore, the present invention should not be understood as being limited to the above-described examples, and the scope of the rights of the present invention should be understood by the claims described below and their equivalents.

10: Underground pipeline surveying system
100 : Tube section
110 : Tube body member
120 : No steel wire
W: Spacing of steel wire members
200 : Sensor section
210 : No steel wire detection
220: Absence of communication
230 : Sensor body part
231 : Sensor
240: First plate member
250 : Second plate member
260 : Dustproofing material
270 : Weight Absence
280 : No brush
281 : Mother
300 : Wireless Driving Unit
310: 1st Radio Driving Unit
320: 2nd Radio Driving Unit
400 : Control Unit
410 : Communication device
420 : Display
430 : Memory
440 : Processor
500 : Tube joint
600 : Tube installation section
700 : 1st display section
800 : Second display section
910: 1st tube fixing part
920: 2nd tube fixing part
20: Underground pipeline
P1: First point
P2: 2nd point
S1: First reference point
S2: Second reference point

Claims (10)

A tube section designed to be placed at least partially inside an underground pipeline;
A sensor section moving along the inside of the above tube section;
A wireless driving unit that moves the sensor unit by injecting air into the inside of the tube unit or by sucking in air that was inside the tube unit; and
A control unit that generates a three-dimensional image of the underground pipeline using measurement data measured while the sensor unit moves inside the tube unit; characterized by including:
Underground pipeline surveying system. In the first paragraph,
The above sensor unit includes at least one of a gyro sensor, a geomagnetic sensor, and an acceleration sensor, and the measurement data is characterized in that it includes three-dimensional coordinate data.
Underground pipeline surveying system. In the first paragraph,
The above tube part
A tube body member having an internal space formed so that the sensor section can pass through; and
Including a steel wire member embedded between the outer surface and the inner surface of the above tube body member;
The above steel wire member is a structure wound around the circumference of the tube body member, characterized in that the steel wire member has a spiral structure spaced at regular intervals.
Underground pipeline surveying system. In the third paragraph,
The above sensor part
A steel wire detection member that detects the steel wire member when the sensor member moves along the internal space of the tube body member; and
A communication member for transmitting detection data generated by the above-mentioned steel wire detection member to the control unit;
The control unit analyzes the detection data and derives the distance traveled by the sensor unit by using the number of detections of the steel wire member and the distance information per interval of the steel wire member.
Underground pipeline surveying system. In the first paragraph,
The above underground pipeline surveying system
A tube connecting portion connecting the above tube portion and another tube portion; and
It is characterized by further including a tube installation part for positioning the tube part inside the above-mentioned underground pipe.
Underground pipeline surveying system. In the first paragraph,
The above wireless driving unit
A first wireless driving unit connected to one end of the tube part and injecting air into the inside of the tube part or sucking in air from the inside of the tube part; and
A second wireless driving unit is connected to the other end of the tube part and injects air into the inside of the tube part or sucks in air from the inside of the tube part; characterized by including:
Underground pipeline surveying system. In the first paragraph,
The above underground pipeline surveying system
A first display unit installed at a first point of the above tube unit; and
Further comprising a second display section installed at a second point of the above tube section;
The above first point is a point corresponding to one end of the underground pipe, and the above second point is a point corresponding to the other end of the underground pipe.
Underground pipeline surveying system. In Article 7,
When the sensor unit reaches the first point or the second point, the sensor unit detects the first display unit or the second display unit located at the point and transmits the detection result to the control unit.
Underground pipeline surveying system. In Article 8,
When the sensor unit reaches the first point or the second point, the control unit corrects the measurement data measured by the sensor unit at the corresponding point, and corrects the measurement data using distance information measured in advance, and the distance information includes at least one of distance information from the first reference point on the ground to the first display unit and distance information from the second reference point on the ground to the second display unit.
Underground pipeline surveying system. In Article 6,
The above sensor part
A sensor body member having a receiving space for receiving a sensor;
A first plate member having a constant area to be contacted by air emitted from the first wireless driving unit;
A second plate member having a constant area to be contacted by air emitted from the second wireless driving unit;
A vibration-proof member that fixes the sensor to prevent vibration of the sensor; and
A brush member formed by combining a plurality of hairs on the outer surface of the sensor body member; characterized by including:
Underground pipeline surveying system.

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