Apparatus and method for inspecting tunnel lining

Abstract

A tunnel lining inspection device may include an inspection vehicle, line scan camera assemblies, and a control unit. The inspection vehicle may travel inside the tunnel. The line scan camera assemblies may be coupled to the inspection vehicle to photograph the inner surface of the tunnel. The control unit may control the line scan camera assemblies based on three-dimensional dimensional information regarding the inner surface of the tunnel. Each of the line scan camera assemblies may include a line scan camera, a rotation angle adjustment unit, a field of view adjustment unit, and a focus adjustment unit. The line scan camera may form a shooting area on the inner surface of the tunnel that extends in the circumferential direction of the tunnel. The rotation angle adjustment unit may adjust the rotation angle of the line scan camera in the circumferential direction of the tunnel. The field of view adjustment unit may adjust the field of view of the line scan camera in the circumferential direction of the tunnel. The focus adjustment unit may adjust the focus of the line scan camera.

Description

Technology Field

[0001] The present invention relates to a tunnel lining inspection device and method, and more specifically, to a tunnel lining inspection device and method capable of performing tunnel lining inspection through image analysis. Background Technology

[0002] As tunnels, like other underground structures, only their inner surface is exposed to the outside while the rest remains hidden; therefore, the assessment of their structural integrity is primarily carried out through inspections of the tunnel lining that forms the inner surface.

[0003] Here, the tunnel lining is typically composed of concrete as the inner wall of the tunnel exposed to the outside.

[0004] Tunnel lining inspections are conducted periodically to ensure the structural integrity of the tunnel.

[0005] Conventional tunnel lining inspection was carried out by specialized technicians visually inspecting the tunnel lining to determine whether cracks (or deformation) had occurred, and estimating the speed of crack propagation by periodically monitoring the cracked area once it was identified.

[0006] However, this method of visual inspection by professional technicians is inefficient because it inevitably presupposes on-site inspections by the technicians and close-range access to the structures under inspection.

[0007] In addition, in large tunnels where access to the upper part of the tunnel lining is difficult, additional equipment must be deployed to inspect the tunnel lining, which leads to partial traffic control or even complete closure of the tunnel, causing serious inconvenience to tunnel users.

[0008] Accordingly, technology is being developed recently to acquire images of tunnel linings using multiple cameras and perform tunnel lining inspection through image analysis. The problem to be solved

[0009] An embodiment of the present invention provides a tunnel lining inspection device and method capable of performing tunnel lining inspection through image analysis. means of solving the problem

[0010] A tunnel lining inspection device according to one aspect of the present invention may include an inspection vehicle, line scan camera assemblies, and a control unit. The inspection vehicle may travel inside a tunnel. The line scan camera assemblies may be coupled to the inspection vehicle to photograph the inner surface of the tunnel. The control unit may control the line scan camera assemblies based on three-dimensional specification information regarding the inner surface of the tunnel. Each of the line scan camera assemblies may include a line scan camera, a rotation angle adjustment unit, a field of view adjustment unit, and a focus adjustment unit. The line scan camera may form a shooting area extending in the circumferential direction of the tunnel on the inner surface of the tunnel. The rotation angle adjustment unit may adjust the rotation angle of the line scan camera in the circumferential direction of the tunnel. The field of view adjustment unit may adjust the field of view of the line scan camera in the circumferential direction of the tunnel. The focus adjustment unit may adjust the focus of the line scan camera.

[0011] According to one embodiment of the present invention, the control unit may include an operation control module.

[0012] The above operation control module can control the operation of the line scan camera assemblies.

[0013] According to one embodiment of the present invention, the operation control module can control the rotation angle adjustment unit so that, based on the three-dimensional specification information and the relative position information of the line scan camera with respect to the tunnel, when viewed in the driving direction of the inspection vehicle, the shooting area is positioned to partially overlap with another shooting area adjacent to the shooting area at a preset ratio.

[0014] According to one embodiment of the present invention, the operation control module can control the angle of view adjustment unit so that the length of the shooting area is less than or equal to the value obtained by multiplying the number of pixels of the line scan camera by a preset unit shooting length per pixel.

[0015] According to one embodiment of the present invention, the tunnel lining inspection device may further include a camera transfer unit. The camera transfer unit is coupled to the inspection vehicle and can transfer the line scan camera assemblies in the up-down and left-right directions. The control unit may further include a transfer control module. The transfer control module can control the camera transfer unit. The transfer control module can control the camera transfer unit so that when the shooting area determined after control of the angle of view adjustment unit becomes non-overlapping with another shooting area that was adjacent to and partially overlapping with the shooting area, it partially overlaps again.

[0016] According to one embodiment of the present invention, the operation control module can control the focus adjustment unit based on the angle of view of the line scan camera determined after controlling the angle of view adjustment unit and the distance from the line scan camera to the shooting area formed by the line scan camera.

[0017] According to one embodiment of the present invention, the control unit may further include a database. Focus control information of the line scan camera may be stored in the database. The focus control information may be stored separately according to the field of view of the line scan camera and the distance from the line scan camera to the shooting area formed by the line scan camera. The operation control module may control the focus adjustment unit using the focus control information stored in the database.

[0018] According to one embodiment of the present invention, the tunnel lining inspection device may further include a shape measuring device. The shape measuring device may be coupled to the inspection vehicle to generate a point cloud for the inner surface of the tunnel. The control unit may further include a specification calculation module. The specification calculation module may calculate the three-dimensional specification information based on the point cloud.

[0019] According to one embodiment of the present invention, the tunnel lining inspection device may further include a mileage sensor. The mileage sensor may be coupled to the inspection vehicle to measure the mileage of the inspection vehicle. The operation control module may drive the line scan camera based on a detection signal that is periodically generated by the mileage sensor.

[0020] According to one embodiment of the present invention, the control unit may further include an image processing module. The image processing module can align and correct line images generated by the shooting of the line scan camera in the line scan camera assemblies to generate one image data for the entire tunnel lining.

[0021] A tunnel lining inspection method according to another aspect of the present invention may utilize a tunnel lining inspection device. The tunnel lining inspection device may include an inspection vehicle traveling inside a tunnel, and a shape measuring device and line scan cameras coupled to the inspection vehicle. The tunnel lining inspection method may include a tunnel specification calculation step, a camera motion control step, an image data acquisition step, and an image processing step. In the tunnel specification calculation step, a point cloud for the inner surface of the tunnel may be generated by the shape measuring device while the inspection vehicle travels inside the tunnel for the first time, and three-dimensional specification information for the inner surface of the tunnel may be calculated based on the point cloud. In the camera motion control step, the rotation angle, field of view, and focus of each of the line scan cameras may be adjusted based on the three-dimensional specification information. In the image data acquisition step, line images for the inner surface of the tunnel may be acquired by the line scan cameras while the inspection vehicle travels inside the tunnel for the second time. In the image processing step, the line images may be aligned and corrected to generate image data for tunnel lining inspection. Effects of the invention

[0022] According to an embodiment of the present invention, line images acquired by a plurality of line scan cameras can be aligned and corrected to generate image data for tunnel lining inspection.

[0023] As a result, tunnel lining inspection can be performed by analyzing image data acquired by the tunnel lining inspection device.

[0024] In particular, more precise inspection is possible by adjusting the rotation angle, field of view, and focus of each line scan camera based on 3D specification information of the inner surface of the tunnel. Brief explanation of the drawing

[0025] FIGS. 1 and 2 are drawings illustrating a tunnel lining inspection device according to an embodiment of the present invention, and FIG. 3 is a drawing showing the detailed configuration of the control unit of FIG. 2, and FIG. 4 is a flowchart showing a tunnel lining inspection method according to an embodiment of the present invention, and FIGS. 5 to 15 are drawings for explaining each step of the tunnel lining inspection method of FIG. 4. Specific details for implementing the invention

[0026] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0027] The attached drawings are not drawn to the actual scale to aid in understanding the invention, and the dimensions of some components may be exaggerated.

[0028] Terms used in the specification and claims of the present invention should not be limited to their ordinary or dictionary meanings, and should be interpreted in a meaning and concept consistent with the technical spirit of the present invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0029] In this specification, the singular form shall be deemed to include the plural form unless otherwise specifically stated.

[0030] In addition, if it is stated that a part "includes" a certain component, it means that the part may include additional components.

[0031] In addition, when a component is described as "up," it refers to the area above or below the component, and does not necessarily mean that it is located on the upper side relative to the direction of gravity.

[0032] In addition, where it is stated that a component is "connected" or "combined" to another component, this may include not only cases where the component is directly connected or combined to the other component, but also cases where the component is indirectly connected or combined through another component.

[0033] In addition, terms such as "first," "second," etc., may be used to describe a component; however, these terms are intended merely to distinguish the component from other components and are not intended to limit the essence, order, or sequence of the component.

[0034] In this specification, the driving direction and left / right direction of the inspection vehicle may be defined. The driving direction of the inspection vehicle may refer to the longitudinal direction of the inspection vehicle and may be a direction perpendicular to the cross-section of the tunnel. The left / right direction of the inspection vehicle may refer to the lateral direction of the inspection vehicle and may be a direction perpendicular to the up / down direction.

[0035] FIGS. 1 and FIGS. 2 are drawings illustrating a tunnel lining inspection device according to an embodiment of the present invention.

[0036] Referring to FIGS. 1 and 2, a tunnel lining inspection device (10) according to one embodiment of the present invention may include an inspection vehicle (100), line scan camera assemblies (200), and a control unit (600), and may further include a camera transport unit (300), a shape measuring device (400), and / or a driving distance sensor (500).

[0037] The inspection vehicle (100) can drive inside the tunnel to obtain image data of the tunnel lining.

[0038] The remaining components of the tunnel lining inspection device (10) can be mounted on the inspection vehicle (100).

[0039] The inspection vehicle (100) can be driven by manual control of the driver as an example that is not limited.

[0040] In this case, the inspection vehicle (100) may be equipped with a display device that guides the driver with visual or auditory signals to drive the inspection vehicle (100) along a pre-set path, for example, a center line.

[0041] Line scan camera assemblies (200) are coupled to an inspection vehicle (100) to photograph the inner surface of the tunnel.

[0042] The line scan camera assemblies (200) may include first line scan camera assemblies (210) and second line scan camera assemblies (220).

[0043] The first line scan camera assemblies (210) can be configured to capture an area from the top to the bottom left of the tunnel when viewed in the direction of travel of the inspection vehicle (100).

[0044] The first line scan camera assemblies (210) are arranged in a line in the driving direction of the inspection vehicle (100) so as to eliminate mutual interference when the line scan cameras rotate as described below.

[0045] The second line scan camera assembly (220) can be configured to capture an area from the top to the bottom right of the tunnel when viewed in the direction of travel of the inspection vehicle (100).

[0046] The second line scan camera assemblies (220) are arranged in a line in the driving direction of the inspection vehicle (100) so as to eliminate mutual interference when the line scan cameras rotate as described below.

[0047] The second line scan camera assemblies (220) can be arranged side by side with the first line scan camera assemblies (210) along the left and right directions of the inspection vehicle (100).

[0048] As a result, the mounting space of the line scan camera assemblies (200) can be minimized.

[0049] In this embodiment, the first line scan camera assemblies (210) and the second line scan camera assemblies (220) are each shown as four, but are not necessarily limited thereto, and the number may vary depending on the size of the tunnel, the specifications of the line scan camera, etc.

[0050] Each of the line scan camera assemblies (200) may include a line scan camera (201), a rotation angle adjustment unit (202), a field of view adjustment unit (203), and a focus adjustment unit (204).

[0051] The line scan camera (201) can be configured to form a shooting area extending in the circumferential direction of the tunnel on the inner surface of the tunnel.

[0052] Here, the shooting area may refer to an area captured by a line scan camera (201).

[0053] In an embodiment of the present invention, the line scan camera (201) may be positioned to face the inner surface of the tunnel and may be extended in a direction perpendicular to the circumferential direction of the tunnel or the driving direction of the inspection vehicle (100).

[0054] The rotation angle adjustment unit (202) can be configured to adjust the rotation angle of the line scan camera (201) in the circumferential direction of the tunnel.

[0055] In an embodiment of the present invention, the rotation angle adjustment unit (201) can rotate the line scan camera (201) around a rotation axis parallel to the driving direction of the inspection vehicle (100).

[0056] The angle of view adjustment unit (203) can be configured to adjust the angle of view of the line scan camera (201) in the circumferential direction of the tunnel.

[0057] As a result, the length of the shooting area by the line scan camera (201) can be adjusted.

[0058] The focus adjustment unit (204) can be configured to adjust the focus of the line scan camera (201).

[0059] The rotation angle adjustment unit (202), the viewing angle adjustment unit (203), and the focus adjustment unit (204) may each be motor-driven, but are not necessarily limited thereto.

[0060] The camera transport unit (300) can be coupled to the inspection vehicle (100) and can transport line scan camera assemblies (200) in the left-right and up-down directions of the inspection vehicle (100).

[0061] In an embodiment of the present invention, the camera transfer unit (300) may include a horizontal transfer unit (310), a first vertical transfer unit (320), and a second vertical transfer unit (330).

[0062] The horizontal transfer unit (310) can transfer the entire line scan camera assembly (200) in the left and right directions of the inspection vehicle (100). The first vertical transfer unit (320) can transfer the entire first line scan camera assembly (210) in the vertical direction. The second vertical transfer unit (330) can transfer the entire second line scan camera assembly (220) in the vertical direction.

[0063] Each of the horizontal transfer unit (310), the first vertical transfer unit (320), and the second vertical transfer unit (330) may include a linear motor, but is not necessarily limited thereto.

[0064] The shape measuring device (400) is coupled to the inspection vehicle (100) and can measure the internal shape of the tunnel.

[0065] The shape measuring device (400) can generate a point cloud for the inner surface of the tunnel.

[0066] The shape measuring device (400) may include a lidar, but is not necessarily limited thereto.

[0067] A distance measuring instrument (DMI) (500) is coupled to an inspection vehicle (100) to measure the driving distance of the inspection vehicle (100). In an embodiment of the present invention, the distance measuring instrument (500) can measure the driving distance by detecting the number of wheel rotations of the inspection vehicle (100).

[0068] The driving distance sensor (500) can periodically generate a detection signal according to the number of wheel rotations.

[0069] As a result, as described below, the detection signal of the driving distance sensor (500) can be used as a control signal to drive the line scan camera (201).

[0070] The control unit (600) can control the line scan camera assemblies (200) and the camera transfer unit (300) using the point cloud generated by the shape measuring device (400) and the detection signal of the travel distance sensor (500). This will be explained in detail below.

[0071] Figure 3 is a diagram showing the detailed configuration of the control unit of Figure 2.

[0072] Referring to FIG. 3, the control unit (600) may include a database (610), a specification calculation module (620), a motion control module (630), a transfer control module (640), and an image processing module (650).

[0073] Focus control information of the line scan camera (201) can be stored in the database (610).

[0074] Here, focus control information can be stored separately according to the angle of view of the line scan camera (201) and the distance from the line scan camera (201) to the shooting area. This is because the camera angle of view and the distance to the subject can affect the focus.

[0075] Focus control information may be a result obtained or calculated by changing the camera angle of view and the distance to the subject in advance and stored in a database (610).

[0076] The specification calculation module (620) can calculate three-dimensional specification information for the inner surface of the tunnel based on a point cloud for the inner surface of the tunnel generated by the shape measuring instrument (400).

[0077] As a result, even if the actual specifications of the tunnel differ from the design specifications due to construction errors or ground subsidence over time, precise camera motion control can be achieved by reflecting these differences.

[0078] The operation control module (630) can control the operation of the line scan camera assemblies (200).

[0079] Specifically, the motion control module (630) can control the rotation angle adjustment unit (202) so that when viewed in the driving direction of the inspection vehicle (100), the shooting area partially overlaps with another adjacent shooting area by a preset ratio, for example, 20%, based on the three-dimensional specification information calculated by the specification calculation module (620) and the relative position information of the line scan camera (201) for the tunnel.

[0080] As a result, tunnel lining inspection can be performed on the inner surface of the tunnel without any missed areas.

[0081] Additionally, the motion control module (630) can control the angle of view adjustment unit (203) so that the length of the shooting area determined after controlling the rotation angle adjustment unit (202) is less than or equal to the value obtained by multiplying the number of pixels of the line scan camera (201) by a preset unit shooting length per pixel. Here, the unit shooting length per pixel may be the value obtained by dividing the maximum length of the shooting area, which enables identification of a crack of minimum length to be verified in the captured image of the line scan camera (201), by the number of pixels.

[0082] As a result, it is possible to identify cracks of the minimum length desired on the inner surface of the tunnel.

[0083] If the value obtained by dividing the length of the shooting area by the number of pixels is greater than the unit shooting length per pixel, it may not be possible to identify cracks of the minimum length to be verified.

[0084] In an embodiment of the present invention, the operation control module (630) is described as controlling the angle of view control unit (203) after controlling the rotation angle control unit (202), but it is not necessarily limited thereto, and the angle of view control may be performed before the rotation angle control.

[0085] Additionally, the operation control module (630) can control the focus control unit (204) based on the angle of view of the line scan camera (201) determined after control of the angle of view control unit (203) and the distance from the line scan camera (201) to the shooting area captured by the line scan camera (201).

[0086] In an embodiment of the present invention, the operation control module (630) can control the focus adjustment unit (204) using focus control information stored in the database (610).

[0087] In this case, the motion control module (630) may use interpolation to obtain actual focus control information from focus control information stored in the database (610).

[0088] Additionally, the motion control module (630) can periodically drive the line scan camera (201).

[0089] At this time, a detection signal that occurs periodically from the driving distance sensor (500) can be used.

[0090] As a result, the line images generated by the line scan camera (201) can cover the entire inner surface of the tunnel without any missing areas along the length of the tunnel.

[0091] The transfer control module (640) can control the camera transfer unit (300).

[0092] Specifically, the transfer control module (640) can control the camera transfer unit (300) so that when the shooting area does not overlap with another adjacent shooting area, it partially overlaps again.

[0093] For example, if the shooting area of ​​the line scan camera (201) in the first line scan camera assembly (210) is reduced in length due to a reduction in the angle of view after control by the angle of view adjustment unit (203) and thus does not overlap with other adjacent shooting areas, the camera transfer unit (300) can transfer the first line scan camera assembly (210) to the left or up and down direction so that it partially overlaps again.

[0094] As a result, it is possible to prevent the occurrence of missed inspection areas due to the reduction in the length of the shooting area after adjusting the field of view.

[0095] The image processing module (650) can generate a single image data for the entire tunnel lining by aligning and correcting line images generated by the shooting of the line scan camera (201) in the line scan camera assemblies (200). A detailed explanation of this will be provided in the tunnel lining inspection method using the tunnel lining inspection device (10) described later.

[0096] Meanwhile, the detailed configurations of the control unit (600) described above may be implemented by computer hardware and computer software running on the computer hardware, but are not necessarily limited thereto.

[0097] FIG. 4 is a flowchart showing a tunnel lining inspection method according to one embodiment of the present invention.

[0098] Referring to FIG. 4, a tunnel lining inspection method according to one embodiment of the present invention may include a tunnel specification calculation step (S100), a camera motion control step (S200), an image data acquisition step (S300), and an image processing step (S400).

[0099] The tunnel lining inspection method according to an embodiment of the present invention can be performed using the tunnel lining inspection device (10) described in relation to FIGS. 1 to 3, and accordingly, some of the repeated descriptions regarding the configuration and operation of the tunnel lining inspection device (10) may be omitted.

[0100] FIGS. 5 to 15 are drawings for explaining each step of the tunnel lining inspection method of FIG. 4.

[0101] First, in the tunnel specification calculation step (S100), a point cloud for the inner surface of the tunnel is generated by a shape measuring device (400) while driving through the tunnel for the first time by an inspection vehicle (100) (see FIG. 5), and three-dimensional specification information for the inner surface of the tunnel can be calculated based on the point cloud (see FIG. 6).

[0102] In an embodiment of the present invention, three-dimensional specification information may include the radius and center angle for the upper region of the tunnel, the radius and center angle for each of the left region and right region of the tunnel, etc.

[0103] In this case, the radius and center angle of the left region of the tunnel may be the same as the radius and center angle of the right region of the tunnel, and may be smaller than the radius and center angle of the upper region of the tunnel.

[0104] In FIG. 6, the square box marked in the center of the tunnel may represent an inspection vehicle (100), and CAM 00 to CAM 07 may each be for marking a shooting area by a line scan camera (201).

[0105] Specifically, CAM 00 to CAM 03 may indicate areas captured by the line scan camera (201) of the first line scan camera assemblies (210), and CAM 04 to CAM 07 may indicate areas captured by the line scan camera (201) of the second line scan camera assemblies (220).

[0106] Next, in the camera motion control step (S200), the rotation angle, field of view, and focus of each of the line scan cameras (201) can be adjusted based on three-dimensional specification information of the inner surface of the tunnel (see FIGS. 7 to 10).

[0107] Referring to FIG. 7, the rotation angle of each line scan camera (201) in the circumferential direction of the tunnel is adjusted by a rotation angle adjustment unit (202), so that the shooting area can partially overlap with an adjacent shooting area at a preset ratio, for example, 20%.

[0108] Referring to FIG. 8, the rotation angle of each line scan camera (201) in the circumferential direction of the tunnel is adjusted by the rotation angle adjustment unit (202), so that the shooting area can be non-overlapping with other adjacent shooting areas. In this case, adjacent shooting areas can be in contact with each other.

[0109] Referring to FIG. 9, the angle of view (θ) of each line scan camera (201) can be adjusted by the angle of view adjustment unit (203).

[0110] Specifically, the motion control module (630) can control the angle of view adjustment unit (203) so that the length of the shooting area (A) is less than or equal to the value obtained by multiplying the number of pixels of the line scan camera (201) by a preset unit shooting length per pixel, thereby adjusting the angle of view (θ) of the line scan camera (201).

[0111] At this time, information regarding the distance (D) from the line scan camera (201) to the shooting area (A) can be utilized.

[0112] Referring to FIG. 10, focus control information can be stored in a table format in the database (610). As previously mentioned, the focus of each line scan camera (201) can be controlled using the focus control information stored in the database (610).

[0113] Meanwhile, as illustrated in FIGS. 11 to 13, during the camera motion control step (S200), or before or after thereafter, the driving position of the inspection vehicle (100) may be set or changed (see FIG. 11), and the left-right movement control (see FIG. 12) or up-down movement control (see FIG. 13) of the line scan camera assemblies (200, 210, 220) by the camera transport unit (300) may be performed.

[0114] Next, in the image data acquisition step (S300), line images of the inner surface of the tunnel can be acquired by line scan cameras (201) while the inspection vehicle (100) drives through the tunnel a second time.

[0115] At this time, the operation control module (630) can utilize the detection signal that is periodically generated from the travel distance sensor (500) for the periodic operation of the line scan cameras (201).

[0116] Meanwhile, if the inspection vehicle (100) moves away from the driving position set in the camera motion control step (S200), for example, the center of the tunnel, the driver can be guided to move to the pre-set driving position through a display device mounted on the inspection vehicle (100).

[0117] Next, in the image processing step (S400), the acquired line images can be aligned and corrected (see FIG. 14 and FIG. 15) to generate image data for tunnel lining inspection.

[0118] The image data generated in this way can cover the entire inner surface of the tunnel and can be utilized for tunnel lining inspection by analyzing it using any one of various known image analysis technologies. For example, the presence of cracks can be identified through image analysis.

[0119] Referring to Fig. 14, the color tone of each line image can be corrected to the same color tone.

[0120] This is because the RGB laser used as lighting for the line scan camera (201) may have different outputs for each camera due to hardware characteristics, and accordingly, the color tones of each line image may also be different from one another.

[0121] Specifically, the image processing module (650) can calculate the average of the RGB values ​​in the line images acquired along the driving direction of the inspection vehicle (100), calculate an RGB correction coefficient based on the preset reference RGB value of the tunnel lining, and perform color correction by applying the RGB correction coefficient to each of the RGB values ​​of the line images.

[0122] Referring to Fig. 15, the geometric position of each line image can be corrected during the alignment of line images.

[0123] Specifically, the ratio of the region of intersecting (ROI) between line images can be adjusted along the driving direction of the inspection vehicle (100), and each line image can be sheared for rotation correction. Each line image can be flipped for the driving direction of the inspection vehicle (100), and each line image can be flipped for the driving direction of the inspection vehicle (100). Each line image can be offset for moving the line images in the driving direction of the inspection vehicle (100) or in the circumferential direction of the tunnel. As a result, image data for the entire tunnel can be acquired.

[0124] Meanwhile, the inspection vehicle (100) may be equipped with a Global Positioning System (GPS), and the location information of the inspection vehicle (100) acquired from the GPS can be matched with three-dimensional specification information of the tunnel and line images or image data and used as a location label.

[0125] Although the present invention has been described above with reference to preferred embodiments, this is merely illustrative and does not limit the invention. A person skilled in the art may modify and change the embodiments in various ways by adding, changing, deleting, or adding components without departing from the technical spirit of the invention as described in the claims, and such modifications and changes are also to be considered to be included within the scope of the rights of the present invention. Explanation of the symbols

[0126] 10: Tunnel lining inspection device 100: Inspection vehicle 200, 210, 220: Line scan camera assembly 201: Line Scan Camera 202: Rotation angle adjustment unit 203: Angle of view adjustment section 204: Focus adjustment section 300: Camera transfer unit 310: Horizontal transfer unit 320: 1st Up-and-Down Transfer Unit 330: 2nd Up-and-Down Transfer Unit 400: Shape measuring instrument 500: Distance sensor 600: Control unit 610: Database 620: Specification Calculation Module 630: Operation control module 640: Transfer control module 650: Image processing module

Claims

Claim 1 A tunnel lining inspection device comprising: an inspection vehicle traveling inside a tunnel; line scan camera assemblies coupled to the inspection vehicle and photographing the inner surface of the tunnel; and a control unit that controls the line scan camera assemblies based on three-dimensional specification information regarding the inner surface of the tunnel, wherein each of the line scan camera assemblies comprises: a line scan camera forming a shooting area extending in the circumferential direction of the tunnel on the inner surface of the tunnel; a rotation angle adjustment unit that adjusts the rotation angle of the line scan camera in the circumferential direction of the tunnel; a field of view adjustment unit that adjusts the field of view of the line scan camera in the circumferential direction of the tunnel; and a focus adjustment unit that adjusts the focus of the line scan camera. Claim 2 A tunnel lining inspection device according to claim 1, wherein the control unit comprises an operation control module that controls the operation of the line scan camera assemblies. Claim 3 A tunnel lining inspection device according to paragraph 2, wherein the operation control module controls the rotation angle adjustment unit so that, when viewed in the driving direction of the inspection vehicle based on the three-dimensional specification information and the relative position information of the line scan camera with respect to the tunnel, the shooting area is positioned to partially overlap with another shooting area adjacent to the shooting area at a preset ratio. Claim 4 In paragraph 3, the tunnel lining inspection device, wherein the operation control module controls the angle of view adjustment unit so that the length of the shooting area is less than or equal to the value obtained by multiplying the number of pixels of the line scan camera by a preset unit shooting length per pixel. Claim 5 A tunnel lining inspection device according to claim 4, further comprising a camera transfer unit coupled to the inspection vehicle and transferring the line scan camera assemblies in the up-down and left-right directions, wherein the control unit further comprises a transfer control module for controlling the camera transfer unit, and wherein the transfer control module controls the camera transfer unit to partially overlap the shooting area determined after control of the angle of view adjustment unit when the shooting area becomes non-overlapping with another shooting area that partially overlapped adjacent to the shooting area. Claim 6 In paragraph 4, the tunnel lining inspection device, wherein the operation control module controls the focus adjustment unit based on the angle of view of the line scan camera determined after controlling the angle of view adjustment unit and the distance from the line scan camera to the shooting area formed by the line scan camera. Claim 7 In claim 6, the control unit further includes a database in which focus control information of the line scan camera is stored, and the focus control information is stored separately according to the field of view of the line scan camera and the distance from the line scan camera to the shooting area formed by the line scan camera, and the operation control module controls the focus adjustment unit using the focus control information stored in the database, a tunnel lining inspection device. Claim 8 A tunnel lining inspection device according to paragraph 2, further comprising a shape measuring device coupled to the inspection vehicle and generating a point cloud for the inner surface of the tunnel, and the control unit further comprising a specification calculation module that calculates three-dimensional specification information based on the point cloud. Claim 9 A tunnel lining inspection device according to paragraph 2, further comprising a driving distance sensor coupled to the inspection vehicle to measure the driving distance of the inspection vehicle, and the operation control module driving the line scan camera based on a detection signal periodically generated from the driving distance sensor. Claim 10 In claim 9, the control unit further comprises an image processing module that aligns and corrects line images generated by shooting with the line scan camera in the line scan camera assemblies to generate one image data for the entire tunnel lining, a tunnel lining inspection device. Claim 11 A tunnel lining inspection method using a tunnel lining inspection device comprising an inspection vehicle driving inside a tunnel and a shape measuring device and line scan cameras coupled to the inspection vehicle, the method comprising: a tunnel specification calculation step of generating a point cloud for the inner surface of the tunnel by the shape measuring device while driving inside the tunnel by the inspection vehicle first, and calculating three-dimensional specification information for the inner surface of the tunnel based on the point cloud; a camera motion control step of adjusting the rotation angle, field of view, and focus of each of the line scan cameras based on the three-dimensional specification information; an image data acquisition step of acquiring line images for the inner surface of the tunnel by the line scan cameras while driving inside the tunnel by the inspection vehicle second; and an image processing step of aligning and correcting the line images to generate image data for tunnel lining inspection.

Images