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KR-102962180-B1 - Digital conduction inspection and formation control device and method for corrugated pipe using a smart 3D vision and sensing module for a three-legged ski track linear corrugated pipe

KR102962180B1KR 102962180 B1KR102962180 B1KR 102962180B1KR-102962180-B1

Abstract

In the case of the existing smart control device for underground pipeline combined traverse surveying filed and registered by the present applicant, it is primarily operated on general underground pipelines without corrugated pipes, making it unapplicable to underground pipelines containing corrugated pipes due to rattling and shaking; furthermore, it is difficult to acquire clear images because video recording shakes during movement; and most importantly, there is a lack of 3D Point Cloud Data information on the internal cross-section of the underground pipeline, which limits the realization of pipeline maintenance and digitization through the construction of a digital twin using 3D; internal damage and scratches occur in the underground pipeline due to friction of the towing rope (winch rope) used to maintain horizontal stability during pushing and pulling, causing pipeline subsidence and collapse; and consequently, the inflow of surface water and leachate leads to problems maintaining the pipeline's shape and shortening its life cycle; and in the case of existing technology, when moving inside corrugated pipes or over curved sections, the ski blade formed on one side of the body gets caught or scrapes against the curved sections, causing damage, in order to [address] the problem for a hybrid cable By configuring a DMI (Distance Measuring Instrument) drive unit (100), a winch motor drive unit for a terminal manhole (200), a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module (300), and an underground pipeline 3D map formation control module (400), the 4-channel ski track linear unit allows the corrugated pipe to be automatically folded for use in areas with a small diameter of 8cm to 16cm and automatically unfolded for use in areas with a large diameter of 17cm to 35cm, thereby increasing expandability and versatility by 1.5 to 2 times compared to existing systems. Furthermore, through the 4-channel structure, it can be formed to move forward without obstruction even in areas of flooding, damage, or foreign matter, and ensure conductivity within the internal space of the underground pipeline. Additionally, by configuring a MEMS type IMU (Inertial Measurement Unit) sensor module, it is designed based on MEMS, enabling miniaturization and stable operation even in extreme environments inside the underground pipeline. It is capable of simultaneously tracking the 3D movement direction and rotational motion of the 4-channel ski track linear moving main body, thereby providing accurate real-time data on tilt, rotation, and movement occurring inside the underground pipeline. By detecting changes in speed and rotation in real time, it enhances driving stability and prevents unnecessary shaking or twisting. Furthermore, the configuration of a smart control unit improves upon the existing technology's method of transmitting the entire data after continuous video capture, which often leads to unnecessary data accumulation and real-time processing burdens. By extracting and transmitting only necessary frames at 5cm intervals, it can improve data optimization and analysis efficiency by 80% compared to conventional methods. It enables the creation of an environment that tracks movement paths in the 3D space of the underground pipeline, rather than simple distance measurement. By integrating and transmitting point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position, and corrugated pipe image data through a single protocol, it facilitates real-time 3D map formation of the underground pipeline via an underground pipeline 3D map formation control module located above ground, and It is capable of displaying anomaly detections, and by configuring a 4-channel ski-track linear corrugated pipe smart 3D vision and sensing module, it can generate point cloud (3D point cloud) data analyzing the internal condition of the underground pipeline, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position, and corrugated pipe image data in real time. Through vibration and shaking correction, it can secure stable and high-quality video recording and sensor data that is 80% better than existing methods. Furthermore, by moving smoothly along the surface of the corrugated pipe via the 4-channel ski-track linear movement, it can increase measurement efficiency by 1.5 to 3 times. Most importantly, it can transmit data in real time to an underground pipeline 3D map formation control module located above ground. With the configuration of this module, the actual internal shape of the corrugated pipe can be reproduced as a 3D map shape, and through real-time anomaly detection and visualization, the efficiency of underground pipeline maintenance work is improved by 80% compared to existing methods, and accurate The purpose is to provide a digital continuity inspection and formation control device and method for corrugated pipes using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module that can establish future maintenance plans and utilize cloud analysis through coordinate-based anomaly detection records.

Inventors

  • 김동성
  • 김민

Assignees

  • 주식회사 지아이에스21

Dates

Publication Date
20260512
Application Date
20250731

Claims (20)

  1. A digital continuity inspection and formation control device for corrugated pipes, comprising a 4-channel structure that automatically folds and unfolds, which moves linearly along the interior of an underground corrugated pipe and forms point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated pipe image data, thereby controlling continuity inspection at 5cm movement intervals, wherein The above-mentioned digital continuity check and formation control device for corrugated pipes is A hybrid cable DMI (Distance Measuring Instrument) drive unit (100) located on the ground side of the starting manhole, which connects the hybrid cable by tying it to one side of a 4-channel type ski track linear corrugated pipe smart 3D vision/sensing module located on the surface of the corrugated pipe of the underground conduit after passing the starting manhole, and senses the entry distance of the hybrid cable entering the underground conduit while unwinding the hybrid cable through a constant rotational speed, and A winch motor drive unit (200) for a terminal manhole that is located on the ground side of the terminal manhole, and after the winch line passes through the terminal manhole and is connected to the other side of a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module located on the surface of the corrugated pipe of the underground pipeline, pulls the winch line through a constant rotational speed, and It is positioned inside the corrugated pipe of the underground pipeline and is formed as a horizontal longitudinal structure facing forward in a 4-channel linear ski track manner. The 4-channel ski track automatically folds and unfolds to match the diameter of the corrugated pipe, receiving release and pull forces from the hybrid cable and winch line connected to the body to form a straight line movement inside the underground pipeline like skiing via the 4-channel ski track. It scans the corrugated pipe wall located in the front direction, and based on the generated surface-unit point cloud (=3D point cloud) data and movement trajectory prediction data, it forms both 3D coordinate information (x,y,z) of the current position (Pose) relative to the body inside the corrugated pipe and corrugated pipe image data. Subsequently, it transmits the point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated pipe image data to the underground pipeline 3D map formation control module located on the ground. A 4-channel type ski track linear corrugated tube smart 3D vision and sensing module (300), and The 4-channel ski track linear corrugated pipe smart 3D is characterized by being composed of an underground pipe 3D map formation control module (400) that is located on the ground and connected to a hybrid cable, receives all of the point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) data of the current position (Pose), and corrugated pipe image data transmitted from the 4-channel ski track linear corrugated pipe smart 3D vision and sensing module via the hybrid cable, converts and generates 3-axis position (X,Y,Z in the coordinate system) data from the road surface to the underground pipe when viewed from the ground when the 4-channel ski track linear moving main body moves linearly (=linear motion) along the inside of the corrugated pipe of the underground pipe on the screen, and controls the formation of an underground pipe 3D map at 5cm movement intervals based on the converted and generated 3-axis position (X,Y,Z in the coordinate system) data. Digital continuity check and formation control device for corrugated pipes using a vision and sensing module.
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  3. In claim 1, the 4-channel type ski track linear corrugated tube smart 3D vision and sensing module (300) is When viewed from the direction of the cross-section, the 4-channel type ski track linear movable main body (310) is formed as a 4-channel type ski track linear with a semi-major axis track structure to protect and support each device from external pressure, and An underground pipeline smart 3D vision unit (320) located at the center of the head direction of the 4-channel type ski track linear moving main body, and, when moving in the forward direction inside the corrugated pipe of the underground pipeline, scans the corrugated pipe wall located at the leading end while driving inside the corrugated pipe while looking in the forward direction, and generates surface-unit point cloud (=3D point cloud) data of feature points on the corrugated pipe wall, and A 4-channel ski track linear section (330) that is positioned in the outer direction relative to the underground pipeline smart 3D vision section and is formed as a 4-channel structure when viewed from the rear direction, automatically folds and unfolds, and moves linearly (=linear motion) inside the corrugated pipe of the underground pipeline like skiing through the 4-channel ski track, and A 4-channel type ski track automatic folding/unfolding drive unit (340) positioned between the 4-channel type ski track linear sections and formed in a rod shape on the internal space of the 4-channel type ski track linear moving main body, which drives the 4-channel type ski track linear section to automatically fold and unfold to match the diameter of the corrugated tube, and A MEMS-type IMU (Inertial Measurement Unit) sensor unit (350) located on one side of the internal space of the 4-channel type ski track automatic folding/unfolding drive unit and designed based on MEMS, which senses the movement speed, direction, and rotational state of the 4-channel type ski track linear moving main body moving inside the underground pipe and transmits all acceleration data, angular velocity data, and direction data to the smart control unit, and A communication and storage unit (360) located on one side of the internal space of a 4-channel type ski track automatic folding and unfolding drive unit, which stores all point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated tube image data, and then transmits all point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated tube image data to the outside through a hybrid cable according to a control signal of a smart control unit, and A power supply unit (370) located on one side of the communication and storage unit, which receives power through a hybrid cable and supplies power to each device, and A hybrid cable connection unit (380) located on one side of the power supply unit, with communication lines and power lines formed in a hybrid structure to supply electricity to each device of the 4-channel type ski track linear moving main body, and to transmit acceleration data, angular velocity data, direction data, corrugated pipe image data, 3D point cloud data, 3-axis (X, Y, Z) coordinate information data, and anomaly detection data to the underground conduit 3D map forming control module located on the ground according to the control signal of the smart control unit, and A first winch line connecting link (390) that generates a pulling force for the winch line, located on one side of the outer direction front of the underground pipeline smart 3D vision unit and connected to a winch motor drive unit for a terminal manhole located on the ground side of the terminal manhole, and A digital conductivity inspection control device for corrugated pipes using a 4-channel ski track linear type corrugated pipe smart 3D vision and sensing module, characterized by being composed of a smart control unit (390a) that controls the overall operation of each device, moves linearly along the inside of the corrugated pipe of the underground pipe, and forms point cloud data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position, and corrugated pipe image data, while controlling conductivity inspection at 5cm movement intervals, from the point manhole location to the current defect location, and to the location of the point pipe after passing the point.
  4. In paragraph 3, the underground pipeline smart 3D vision unit (320) is A stereo vision camera unit (321) that photographs the inside of the corrugated tube from different angles using two cameras on the left and right, calculates the depth through disparity, and generates feature points of the corrugated tube wall into surface-unit point cloud (=3D point cloud) data, and A structured light sensor-based vision camera unit (322) that intentionally illuminates light based on a structured light sensor, analyzes changes in the distorted pattern, calculates the depth (Z), and generates feature points of the corrugated pipe wall into surface-unit point cloud (=3D point cloud) data, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, characterized by selecting and configuring one of the following: a LiDAR sensor (Light Detection and Ranging Sensor) unit (323) that emits a laser beam with LiDAR, measures the time it takes for the laser beam to hit the inner wall of the corrugated pipe and reflect back to calculate the depth (Z), and then generates feature points of the corrugated pipe wall surface into surface-unit point cloud (=3D point cloud) data.
  5. In paragraph 4, the stereo vision camera unit (321) is A left camera unit (321a) located on one side of the left side when viewed from the front, forming a left reference view image of stereo vision, and A right camera unit (321b) located on one side of the right side when viewed from the front, which forms a right capture image by capturing the same scene from the right side at a different point in time from the reference image and applies it to a disparity calculation, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, characterized by comprising a stereo vision camera control unit (321c) that calculates depth through disparity based on a left reference view image of stereo vision transmitted from a left camera unit and a right capture image of the same scene transmitted from a right camera unit, and controls the generation of feature points of the corrugated pipe wall into surface-unit point cloud (=3D point cloud) data.
  6. In paragraph 5, the stereo vision camera control unit (321c) is A left and right image acquisition control unit (321c-1) that controls the simultaneous output of video recording signals to the left camera unit and the right camera unit to acquire and store the left reference view image of the stereo vision transmitted from the left camera unit and the right capture image of the same scene transmitted from the right camera unit, and A stereo matching control unit (321c-2) that controls the calculation of disparity between two images by finding and matching points at the same location in the left reference view image and the right capture image for all pixels among the images acquired from the left and right image acquisition control units, and A depth calculation control unit (321c-3) that controls the calculation of depth (Z) through the focal length, the distance between the left camera unit and the right camera unit, and the parallax calculated through the stereo matching control unit, and A digital conductivity inspection and formation control device for a corrugated tube using a 4-channel type ski track linear type corrugated tube smart 3D vision and sensing module, characterized by being composed of a stereo vision type point cloud formation control unit (321c-4) that controls the formation of a point cloud of feature points by converting the 2D position (u,v) of each pixel and the depth (Z) calculated and controlled through the depth calculation control unit into coordinates (X,Y,Z) in 3D space.
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  9. In paragraph 4, the above LiDAR sensor (Light Detection and Ranging Sensor) unit (323) A rotating scanning head part (323a) positioned on the head part of the equipment, which scans the internal space of the corrugated tube while rotating in a horizontal or vertical direction, and A laser transmitter (323b) located on one side of the rotating scanning head and transmitting a short high-power laser beam toward the inner wall of the corrugated tube, and A laser receiver (323c) located on the other side of the rotating scanning head unit and receiving a laser beam that strikes and reflects off the inner wall of the corrugated tube, and A Time-of-Flight (ToF) unit (323d) that measures the time it takes for a laser beam to strike the inner wall of a corrugated tube and be reflected back, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel type ski track linear type corrugated pipe smart 3D vision and sensing module, characterized by comprising a LiDAR sensor type point cloud formation control unit (332e) that calculates the distance (D) to an object through the time it takes for a laser beam to strike the inner wall of the corrugated pipe and reflect back, acquires angle (direction) information, and then uses the distance (D) to the object and the angle (direction) information to convert the feature points of the corrugated pipe wall surface into surface-unit point cloud (=3D point cloud) data.
  10. In claim 9, the above LiDAR sensor-type point cloud formation control unit (332e) is A distance calculation control unit (332e-1) that controls the calculation of distance (D) for each laser beam, and An angle information acquisition control unit (332e-2) that controls the laser beam to rotate 360 degrees through a rotating scanning head unit and acquire information regarding the emitted horizontal scan angle θ and vertical angle Φ, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, characterized by being composed of a 3D spatial coordinate conversion control unit (332e-3) that converts and controls the distance calculated and controlled by the distance calculation control unit and the angle information calculated and controlled by the angle information acquisition control unit into a 3D spatial position (X, Y, Z).
  11. In paragraph 3, the 4-channel type ski track linear section (330) is A first ski track linear (331) that is located on one side of the upper outer direction relative to the underground pipeline smart 3D vision section, comes into contact with the corrugated surface located on one side of the ceiling portion of the corrugated pipe, and moves linearly like skiing, and A second ski track linear (332) that is positioned parallel to one side of the first ski track linear and moves linearly like skiing while in contact with the corrugated surface located on the other side of the ceiling portion of the corrugated tube, and A third ski track linear (333) that is located on one side of the lower outer direction relative to the underground pipeline smart 3D vision section, comes into contact with the corrugated surface located on one side of the bottom portion of the corrugated pipe, and moves linearly like skiing, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, characterized by being composed of a 4th ski track linear (334) that is positioned parallel to one side of the 3rd ski track linear and moves linearly like skiing while in contact with the corrugated surface located on the other side of the bottom part of the corrugated pipe.
  12. In paragraph 3, the above 4-channel type ski track automatic folding/unfolding drive unit (340) is An automatic folding and unfolding drive body (341) formed in a longitudinal rod shape to protect and support each device from external pressure, and An intaglio guideline part (342) located on one side of the upper rear end of the 4-channel type ski track linear moving main body and formed with an intaglio groove structure to guide the ring-shaped rack to move forward or backward, and A ring-shaped rack part (343) located on one side of an intaglio guideline part and formed in a ring shape, receiving automatic unfolding driving force from an automatic folding/unfolding driving force generating part and moving forward along the intaglio guideline part to form the 4-channel type ski track linear part unfolding, and receiving automatic folding driving force from an automatic folding/unfolding driving force generating part and moving backward along the intaglio guideline part to form the 4-channel type ski track linear part folding, and An elastic spring part (344) located on one side of the shear direction of the ring-shaped rack part, which forms an elastic force to cause the 4-channel type ski track linear part to unfold when the ring-shaped rack part moves forward, and forms a restoring force to cause the 4-channel type ski track linear part to fold when moving backward, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel type ski track linear type corrugated pipe smart 3D vision and sensing module, characterized by converting rotational motion into linear motion and generating an automatic folding driving force that automatically folds the 4-channel type ski track linear part to the diameter of the corrugated pipe and an automatic unfolding driving force that automatically unfolds it.
  13. In paragraph 12, the automatic folding/unfolding driving force generating unit (345) is A ball screw type rotary motor (345a) located at one side of the rear end of the ball screw, which generates rotational force and transmits it toward the ball screw, and A ball screw (345b) located on one side of the tip of a ball screw-type rotary motor and formed along the horizontal longitudinal direction, which converts rotational motion into linear motion and causes the ball nut portion for the folding hinge portion to move linearly, and A ball nut part (345c) for a folding hinge part that is formed in a "=" shape having a ball nut structure on a ball screw, and generates an automatic folding driving force that automatically folds and an automatic unfolding driving force that automatically unfolds on the folding hinge part of a 4-channel type ski track linear part when the folding hinge part of the 4-channel type ski track linear part is connected, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, characterized by being composed of a support slide guide part (345d) positioned on both sides based on the ball screw and guiding the ball nut part for the folding hinge part to perform linear movement.
  14. In paragraph 3, the smart control unit (390a) is An image frame formation control unit (390a-1) that controls the formation of image frames by converting corrugated pipe image data transmitted from the underground pipeline smart 3D vision unit into image frames at 5cm intervals during linear (=linear motion) movement of the 4-channel type ski track linear moving main body, and A PID control algorithm engine unit (390a-2) that stabilizes the attitude and position of a 4-channel type ski track linear moving main body using acceleration data, angular velocity data, and direction data transmitted from a MEMS type IMU (Inertial Measurement Unit) sensor unit, and controls the central axis and horizontal maintenance to face the front direction inside the corrugated tube through PID control, and A multi-sensor fusion algorithm engine unit (390a-3) that calculates and controls the 3D coordinate information (x,y,z) of the current position (Pose) of the 4-channel ski track linear movable main body located within the corrugated pipe based on point cloud (=3D point cloud) data transmitted from the underground pipeline smart 3D vision unit and movement trajectory prediction data of the 4-channel ski track linear movable main body transmitted from the MEM type IMU (Inertial Measurement Unit) sensor unit, and A digital conductivity inspection and formation control device for corrugated pipes using a 4-channel type ski track linear type corrugated pipe smart 3D vision and sensing module, characterized by being composed of a data transmission control unit (390a-4) that controls the transmission of point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated pipe image data to an underground pipe 3D map formation control module located on the ground.
  15. In claim 14, the multi-sensor fusion algorithm engine unit (390a-3) is A motion prediction control unit (390a-3a) that generates motion trajectory prediction data of a 4-channel linear moving main body using acceleration data, angular velocity data, and direction data transmitted from a MEMS type IMU (Inertial Measurement Unit) sensor unit, and controls the motion to predict the motion by linearly modeling the predicted position (Pose) at the next point in time, and An observation control unit (390a-3b) that extracts point cloud (=3D point cloud) data transmitted from the underground pipeline smart 3D vision unit and controls the formation of a point cloud of feature points used for the current position and map configuration of the 4-channel type ski track linear type moving main body, and A digital conductivity inspection and formation control device for a corrugated pipe using a 4-channel ski track linear type corrugated pipe smart 3D vision and sensing module, characterized by being composed of a sensor fusion and state estimation control unit (390a-3c) that minimizes the error between point cloud (=3D point cloud) data transmitted from an underground pipeline smart 3D vision unit and movement trajectory prediction data of a 4-channel ski track linear type moving main body transmitted from a MEMS type IMU (Inertial Measurement Unit) sensor unit to computationally control 3D coordinate information (x,y,z) of the current position (Pose).
  16. In claim 1, the underground pipeline 3D map formation control module (400) is A data receiving unit (410) that receives all point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated tube image data transmitted from a 4-channel type ski track linear corrugated tube smart 3D vision and sensing module via a hybrid cable, and A ground-based 3-axis position transformation generation control unit (420) for an underground pipeline that generates 3-axis position (X, Y, Z in the coordinate system) data from the road surface to the underground pipeline when viewed from the ground, and A 3D map generation engine unit (430) that generates all of the point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), corrugated pipe image data, and ground-based 3-axis position transformation generation control unit for underground pipes, and controls the formation of a 3D terrain model inside the corrugated pipe in the form of a map at 5cm intervals through a SLAM (Simultaneous Localization and Mapping) algorithm based on 3-axis position (X,Y,Z in the coordinate system) data from the road surface to the underground pipe when viewed from the ground, and An anomaly detection visualization display control unit (440) that controls the visualization of anomaly detection data in real time on a 3D map, and A digital conductivity inspection and formation control device for corrugated pipes using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, characterized by being composed of a storage and transmission unit (450) that stores the constructed corrugated pipe 3D map and analysis data and transmits it remotely when necessary.
  17. Step (S10) of positioning a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module inside the corrugated pipe of an underground pipeline, connecting a hybrid cable supplied from a DMI (Distance Measuring Instrument) drive unit for a hybrid cable to the hybrid cable connection part of the 4-channel ski track linear corrugated pipe smart 3D vision and sensing module, and tying and connecting a winch line supplied from a winch motor drive unit for a terminal manhole to the first winch line connection part of the 4-channel ski track linear corrugated pipe smart 3D vision and sensing module; A step (S20) in which a winch motor drive unit for a terminal manhole is driven to pull a winch wire connected by tying it to the first winch wire connecting link of a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module, and a DMI (Distance Measuring Instrument) drive unit for a hybrid cable is driven to release a hybrid cable connected to the hybrid cable connection part of a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module, thereby moving linearly along the inside of the corrugated pipe; In a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module, the 4-channel ski track is automatically folded and unfolded to match the diameter of the corrugated pipe, and a release and pulling force is received from a hybrid cable and a winch line connected to the body, thereby forming a straight line movement inside the corrugated pipe of the underground pipeline through the 4-channel ski track as if skiing; and In a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, a surface-unit point cloud (=3D point cloud) data generated by scanning the corrugated pipe wall located in the front direction and movement trajectory prediction data are used to form both 3D coordinate information (x,y,z) of the current position (Pose) and corrugated pipe image data based on the body inside the corrugated pipe, and then all of the point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated pipe image data are transmitted to an underground pipe 3D map formation control module located on the ground (S40). Digital conductivity for corrugated pipes via a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module, characterized by comprising the step (S50) of receiving all point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated pipe image data transmitted from the 4-channel ski track linear corrugated pipe smart 3D vision and sensing module via a hybrid cable, converting and generating 3-axis position data (X,Y,Z in the coordinate system) from the road surface to the underground pipe when viewed from the ground while the 4-channel ski track linear moving main body moves linearly (=linear motion) along the inside of the corrugated pipe of the underground pipe on the screen, and controlling the formation of an underground pipe 3D map at 5cm movement intervals based on the converted and generated 3-axis position data (X,Y,Z in the coordinate system). Inspection formation control method.
  18. In Clause 17, the above step (S40) is In the power supply unit, a step (S41) of receiving power through a hybrid cable and supplying power to each device, and, Through the 4-channel ski track linear section, it is automatically folded and unfolded to fit the diameter of the underground pipeline, and then moves linearly (=linear motion) inside the corrugated pipe of the underground pipeline through the 4-channel ski track as if skiing (S42). At this time, in the 4-channel ski track automatic folding/unfolding drive unit, a step (S42) of forming a guide so that the 4-channel ski track linear section is automatically folded and unfolded, and In the underground pipeline smart 3D vision unit, when moving in the forward direction inside the corrugated pipe of the underground pipeline, while looking in the forward direction and driving inside the corrugated pipe, a step (S43) of scanning the corrugated pipe wall located at the leading edge to generate surface-unit point cloud (=3D point cloud) data of feature points on the corrugated pipe wall, and A step (S44) of sensing the inclination (roll, pitch, yaw) of a 4-channel ski track linear moving main body moving inside an underground pipeline in a MEMS type IMU (Inertial Measurement Unit) sensor unit, and transmitting all acceleration data, angular velocity data, and direction data to a smart control unit, and A step (S45) of controlling to perform a conductivity check at 5cm intervals by forming point cloud (3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position, and corrugated pipe image data while moving linearly along the inside of the corrugated pipe of the underground pipeline under the control of the smart control unit, from the starting manhole point to the current defect point location, and to the point pipeline location after passing the point, and A digital conductivity check and formation control method for a corrugated pipe using a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module, characterized by comprising the step (S46) of storing all point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose) and corrugated pipe image data in a communication and storage unit, and then transmitting all point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose) and corrugated pipe image data outward through a hybrid cable according to a control signal of a smart control unit.
  19. In paragraph 18, the above step (S45) is A step (S45a) of controlling, through an image frame formation control unit, to form image frames of corrugated pipe image data transmitted from an underground pipeline smart 3D vision unit at 5cm intervals during linear (=linear motion) movement of a 4-channel type ski track linear moving main body, and A step (S45b) of stabilizing the attitude and position of a 4-channel type ski track linear moving main body by using all acceleration data, angular velocity data, and direction data transmitted from a MEMS type IMU (Inertial Measurement Unit) sensor unit through a PID control algorithm engine unit, and controlling it to face the front direction inside the corrugated tube by PID control to maintain the center axis and horizontal alignment, and A digital continuity inspection and formation control method for a corrugated pipe using a 4-channel ski track linear type corrugated pipe smart 3D vision and sensing module, characterized by comprising the step (S45c) of calculating and controlling the 3D coordinate information (x,y,z) of the current position (Pose) of a 4-channel ski track linear type movable main body located inside the corrugated pipe, based on point cloud (=3D point cloud) data transmitted from the underground pipeline smart 3D vision unit and movement trajectory prediction data of a 4-channel ski track linear type movable main body transmitted from the MEM type IMU (Inertial Measurement Unit) sensor unit through a multi-sensor fusion algorithm engine unit.
  20. In Clause 19, the above step (S45c) is A step (S45c-1) of generating movement trajectory prediction data of a 4-channel linear moving main body of a ski track using acceleration data, angular velocity data, and direction data transmitted from a MEMS type IMU (Inertial Measurement Unit) sensor unit through a motion prediction control unit, and controlling to predict the motion by linearly modeling the predicted position (Pose) at the next point in time, and A step (S45c-2) of extracting point cloud (=3D point cloud) data transmitted from the underground pipeline smart 3D vision unit through the observation control unit and controlling to form a point cloud of feature points used for the current position and map configuration of the 4-channel type ski track linear type moving main body, and A step (S45c-3) of computationally controlling the 3D coordinate information (x,y,z) of the current position (Pose) by minimizing the error between the point cloud (=3D point cloud) data transmitted from the underground pipeline smart 3D vision unit and the movement trajectory prediction data of the 4-channel ski track linear moving main body transmitted from the MEMS type IMU (Inertial Measurement Unit) sensor unit through the sensor fusion and state estimation control unit; and A digital conductivity inspection and formation control method for a corrugated pipe using a 4-channel ski track linear corrugated pipe smart 3D vision and sensing module, characterized by comprising the step (S45c-4) of controlling the transmission of point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated pipe image data to an underground pipe 3D map formation control module located on the ground through a data transmission control unit.

Description

Digital conduction inspection and formation control device and method for corrugated pipe using a smart 3D vision and sensing module for a three-legged ski track linear corrugated pipe The present invention relates to a digital continuity inspection control device and method for corrugated pipes using a 4-channel type ski track linear corrugated pipe smart 3D vision and sensing module, which is applied to corrugated pipes, ELP pipes, and underground conduit pipes among underground conduits, and more specifically, is composed of a 4-channel structure that automatically folds and unfolds, and moves linearly along the inside of the corrugated pipe of the underground conduit, forming point cloud (=3D point cloud) data, movement trajectory prediction data, 3D coordinate information (x,y,z) of the current position (Pose), and corrugated pipe image data, thereby enabling continuity inspection control at a 5cm movement interval. Korea Electric Power Corporation (KEPCO) lays hundreds to thousands of kilometers of conduits annually for the undergrounding of power lines. Following the construction of underground conduits, location surveying and continuity testing are conducted as part of a completion inspection according to the intended use. The Ministry of Land, Infrastructure and Transport conducts the location surveying, while KEPCO conducts the continuity tests in accordance with laws and regulations. The system is operated through public notices and usage certification. Meanwhile, the continuity test, which is the final inspection of the pipeline construction, is carried out in two stages. The first continuity test is conducted after the first backfill compaction is completed, and the second continuity test is conducted before the cable construction. However, since power cables are installed into the conduit a considerable time after the laying work, deformation of the conduit occurs due to ground subsidence, damage, etc. Therefore, there were many difficulties when running power cables into the conduit. To address these problems, prior Korean Registered Patent Publication No. 10-1695648 presented "a measurement method for measuring the inner diameter of a power conduit using measuring devices of different lengths," prior Korean Published Patent Publication No. 10-2017-0023896 presented "a curvature radius measuring device and method for securing three-dimensional continuity testing/underground geographic information using a gyro/accelerometer sensor," and prior Korean Registered Patent Publication No. 10-0942559 presented "an underground conduit inspection device equipped with a horizontal tilt sensor and a horizontal tilt acceleration sensor." However, since continuity inspection using existing continuity equipment is performed using a closed traverse surveying method in which, if a blockage occurs, the device cannot advance but immediately reverses to return to the starting manhole to generate the location of the conduit at the blockage point, it is difficult to ensure accuracy regarding the blockage point due to the characteristics of the gyro sensor, which is a component, and the National Geographic Information Institute A problem arose where the data was not recognized as survey data due to the difficulty of complying with the "Public Surveying Work Regulations." As a result, the reality is that related facility agencies are unable to ensure accuracy using existing surveying methods, causing significant disruption to the operation of spatial information systems. In addition, with existing continuity equipment, there were frequent instances where operations had to be halted because it was difficult to clear blockages when they occurred, which hindered the securing of stable power. To solve these problems, the "Smart Control Device for Underground Pipeline Combined Traverse Surveying and Digital Continuity Inspection Method Using the Same" in Korean Patent Publication No. 10-2721985, which was filed and registered by the present applicant, is performed on general pipes without corrugated pipes among underground pipes, and therefore cannot be applied to underground pipes with corrugated pipes due to rattling and shaking, and it is difficult to acquire clear images because video recording shakes during movement, and above all, there is a limitation in realizing pipe maintenance and digitization by constructing a digital twin using 3D because there is no 3D Point Cloud Data information on the internal cross-section of the underground pipe, and there is a problem in that internal damage and scratches occur in the underground pipe due to friction of the towing line (=winch line) for maintaining horizontality during pushing and pulling, which causes subsidence and sinkholes in the pipe, and as a result, problems in maintaining the shape of the pipe occur due to the inflow of surface water, leachate, etc., and the life cycle is shortened. In addition, when moving inside the corrugated pipe of an underground pipeline