Railroad tunnel damage detection system and method using unmanned multicopter and lighting

Abstract

A railway tunnel damage detection system using an unmanned multicopter and lighting according to an embodiment of the present invention comprises: an unmanned multicopter that automatically flies within a railway tunnel and is equipped with a camera for detecting damage identified within the railway tunnel; a plurality of internal lights arranged in a plurality of blocks of the railway tunnel, which are set by dividing the area within the railway tunnel into sections; and a plurality of lighting controllers provided within the railway tunnel, corresponding to the number of blocks, to control the operation of the internal lights arranged in each block, each controller having a built-in signal receiver to receive a first signal within the signal radius of the unmanned multicopter, and controlling the internal lights of each block to be on / off depending on whether the signal receiver receives a first signal from the unmanned multicopter within the signal radius of the unmanned multicopter. The system includes a communication unit that receives position information of the unmanned multicopter and attitude information of the camera from the unmanned multicopter, a carrier that tracks and moves the unmanned multicopter within the railway tunnel based on the position information of the unmanned multicopter, and a movable lighting system equipped with a rotating lighting device for illuminating light toward the shooting area of ​​the camera determined based on the attitude information of the camera; wherein the plurality of lighting controllers can generate light from the internal lighting of a block set to be controlled by a lighting controller located within the signal radius of the unmanned multicopter.

Description

Technology Field

[0001] The present invention relates to a railway tunnel damage detection system and method using an unmanned multicopter and lighting, and more specifically, to a railway tunnel damage detection system and method using an unmanned multicopter and lighting that can easily detect damage within a railway tunnel by linking attitude information of a camera mounted on an unmanned multicopter with internal lighting and mobile lighting installed within the railway tunnel. Background Technology

[0002] Generally, conventional railway tunnel damage inspections proceeded in a sequence where a worker entered the tunnel, visually inspected the damaged areas, and then repaired the identified areas using equipment. However, railway tunnel damage inspections based on visual inspection have the problem that the identification of damaged areas may be inaccurate.

[0003] Accordingly, a method for inspecting railway tunnel damage using the automated flight of drones, such as unmanned multicopters, has recently been proposed. Using such drones offers the advantage of reducing labor costs compared to manual inspections.

[0004] However, internal lighting installed inside railway tunnels is not always turned on to save costs, and since the brightness is insufficient, there is a problem in that it is difficult to detect damage to the railway tunnel through the camera footage even if a damaged area inside the railway tunnel is filmed with a camera mounted on a drone. Prior art literature

[0005] Korean Patent Publication No. 10-2073157 (Registered Jan. 29, 2020) Korean Patent Publication No. 10-2525894 (Registered Apr. 21, 2023) Korean Patent Publication No. 10-2107486 (Registered Apr. 28, 2020) The problem to be solved

[0006] Accordingly, the present invention has been devised to solve the above-mentioned problems, and the objective of the present invention is to provide a railway tunnel damage detection system and method using an unmanned multicopter and lighting, which can easily detect damage within a railway tunnel by linking attitude information of a camera mounted on an unmanned multicopter with internal lighting and mobile lighting installed within the railway tunnel.

[0007] Specifically, the present invention aims to provide a railway tunnel damage detection system and method using an unmanned multicopter and lighting, which can detect identified damage within a railway tunnel by securing brightness within the railway tunnel through the internal lighting of a block configured to be controlled by a lighting controller located within the signal radius of the unmanned multicopter and the light of a rotating lighting device equipped on a mobile lighting unit that tracks and moves the unmanned multicopter.

[0008] However, the technical problems to be solved by the present invention are not limited to those mentioned 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 description below. means of solving the problem

[0009] As a technical means for achieving the above-mentioned purpose, a railway tunnel damage detection system using an unmanned multicopter and lighting according to an embodiment of the present invention comprises: an unmanned multicopter that automatically flies within a railway tunnel and is equipped with a camera for detecting damage identified within the railway tunnel; a plurality of internal lights arranged in a plurality of blocks of the railway tunnel, which are set by dividing the area within the railway tunnel into sections; and a plurality of lighting controllers provided within the railway tunnel, corresponding to the number of blocks, to control the operation of the internal lights arranged in each block, each controller having a built-in signal receiver to receive a first signal within the signal radius of the unmanned multicopter, and controlling the internal lights of each block to be on / off depending on whether the signal receiver receives a first signal from the unmanned multicopter within the signal radius of the unmanned multicopter. The system includes a communication unit that receives position information of the unmanned multicopter and attitude information of the camera from the unmanned multicopter, a carrier that tracks and moves the unmanned multicopter within the railway tunnel based on the position information of the unmanned multicopter, and a movable lighting system equipped with a rotating lighting device for illuminating light toward the shooting area of ​​the camera determined based on the attitude information of the camera; wherein the plurality of lighting controllers can generate light from the internal lighting of a block set to be controlled by a lighting controller located within the signal radius of the unmanned multicopter.

[0010] In addition, the plurality of lighting controllers can turn off the internal lighting so that light is not generated from the internal lighting of a block set to be controlled by a lighting controller outside the signal radius of the unmanned multicopter.

[0011] And the above plurality of lighting controllers may have a built-in timer that measures time by operating from the time when the signal receiver of the lighting controller, which causes light to be generated from the internal lighting, does not receive a first signal from the unmanned multicopter according to the movement of the unmanned multicopter.

[0012] In addition, the plurality of lighting controllers may turn off the internal lighting so that light is not generated in the internal lighting of the block set to be controlled by the lighting controller when a preset time has elapsed from the time when the timer of the lighting controller that caused light to be generated in the internal lighting has started operation.

[0013] And the plurality of lighting controllers may transmit a second signal to another lighting controller that will be located within the signal radius of the unmanned multicopter after the lighting controller, according to the flight direction of the unmanned multicopter, through the signal receiver, or receive a third signal from the other lighting controller through the signal receiver.

[0014] In addition, the plurality of lighting controllers can generate light in the internal lighting of a block set to be controlled by the other lighting controller by transmitting a second signal to another lighting controller that will be located within the signal radius of the unmanned multicopter after the lighting controller, in accordance with the flight direction of the unmanned multicopter.

[0015] And when another lighting controller that has received a second signal from the lighting controller is located within the signal radius of the unmanned multicopter, the other lighting controller can transmit a third signal to the lighting controller to turn off the internal lighting so that no light is generated from the internal lighting of the block set to be controlled by the lighting controller.

[0016] Additionally, the mobile light may include a docking station for charging the battery of an unmanned multicopter that has landed on the top of the carrier.

[0017] And a railway tunnel damage detection method using an unmanned multi-copter and lighting according to an embodiment of the present invention, performed by the railway tunnel damage detection system using the unmanned multi-copter and lighting described above, comprises: a) a step of automatically flying an unmanned multi-copter equipped with a camera within a railway tunnel; b) a step of controlling multiple internal lights placed in the multiple blocks to be on / off according to whether a plurality of lighting controllers, which are provided in the railway tunnel in a number of blocks equal to the number of blocks set by dividing the area within the railway tunnel into sections, are located within the signal radius of the unmanned multi-copter receiving a first signal from the unmanned multi-copter through the signal receiver; c) a step of generating light from the internal lights of a block set to be controlled by a lighting controller among the multiple lighting controllers that has come to be located within the signal radius of the unmanned multi-copter; d) a step in conjunction with step a) of tracking and moving the unmanned multi-copter within the railway tunnel based on the location information of the unmanned multi-copter received from the unmanned multi-copter through a communication unit. e) a step in which the rotating lighting equipment of the above-mentioned mobile lighting irradiates light toward the shooting area of ​​the camera determined based on the attitude information of the camera received from the unmanned multicopter through the communication unit; and f) a step in which the unmanned multicopter detects damage within the railway tunnel identified through the internal lighting and the light of the rotating lighting equipment; may be included.

[0018] Additionally, the above step c) may include: c-1) a step in which the lighting controller receives a first signal from the unmanned multicopter through a signal receiver; c-2) a step in which the signal receiver detects whether it is in a state of receiving the first signal from the unmanned multicopter; c-3) a step in which, if the signal receiver receives the first signal from the unmanned multicopter, light is generated from the internal lighting of the block set to be controlled by the lighting controller; c-4) a step in which, if the signal receiver does not receive the first signal from the unmanned multicopter, a timer built into the lighting controller operates from the time when the signal receiver does not receive the first signal from the unmanned multicopter to measure time; and c-5) a step in which, if a preset time elapses from the time when the timer started operating, the internal lighting is turned off so that light is not generated from the internal lighting of the block set to be controlled by the lighting controller.

[0019] And the above step c) comprises: c-1) the lighting controller receiving a first signal from the unmanned multicopter through a signal receiver; c-2) detecting whether the signal receiver is receiving the first signal from the unmanned multicopter; c-3) when the signal receiver receives the first signal from the unmanned multicopter, generating light from the internal lighting of a block set to be controlled by the lighting controller; c-4) the lighting controller transmitting a second signal to another lighting controller that will be located within the signal radius of the unmanned multicopter after the lighting controller, according to the flight direction of the unmanned multicopter, through the signal receiver; c-5) generating light from the internal lighting of a block set to be controlled by the other lighting controller that received the second signal; c-6) when the other lighting controller that received the second signal is located within the signal radius of the unmanned multicopter, transmitting a third signal to the lighting controller; and c-7) a step of turning off the internal lighting so that light is not generated from the internal lighting of the block set to be controlled by the lighting controller that received the third signal; may be included. Effects of the invention

[0020] According to one embodiment of the present invention, damage within a railway tunnel can be easily detected by securing brightness within the railway tunnel through attitude information of a camera mounted on an unmanned multicopter and light generated from internal lighting and mobile lighting installed within the railway tunnel.

[0021] However, the effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0022] FIG. 1 is a block diagram illustrating the schematic configuration of a railway tunnel damage detection system using an unmanned multicopter and lighting according to one embodiment of the present invention. FIG. 2 is a diagram illustrating the operation control method of internal lighting installed in a railway tunnel and the automatic flight method of an unmanned multicopter according to one embodiment of the present invention. FIG. 3 is a diagram illustrating a method of controlling the operation of a mobile light according to an embodiment of the present invention. FIG. 4 is a diagram illustrating a method of controlling the operation of internal lighting using a plurality of lighting controllers according to an embodiment of the present invention. FIG. 5 is a flowchart illustrating the process of a method for detecting railway tunnel damage using an unmanned multicopter and lighting according to an embodiment of the present invention. FIGS. 6 and 7 are flowcharts illustrating the detailed process of the light generation step of internal lighting according to one embodiment of the present invention. Specific details for implementing the invention

[0023] Hereinafter, embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. However, since the description of the present invention is merely an example for structural or functional explanation, the scope of the present invention should not be interpreted as being limited by the embodiments described in the text. That is, since the embodiments are subject to various modifications and may take various forms, the scope of the present invention should be understood to include equivalents capable of realizing the technical concept. Furthermore, the objectives or effects presented in the present invention do not imply that a specific embodiment must include all of them or only such effects; therefore, the scope of the present invention should not be understood as being limited by them.

[0024] The meaning of the terms described in this invention should be understood as follows.

[0025] Terms such as "first" and "second" are intended to distinguish one component from another, and the scope of rights shall not be limited by these terms. For example, the first component may be named the second component, and similarly, the second component may be named the first component. When a component is referred to as being "connected" to another component, it should be understood that it may be directly connected to that other component, or that there may be other components in between. Conversely, when a component is referred to as being "directly connected" to another component, it should be understood that there are no other components in between. Meanwhile, other expressions describing the relationship between components, such as "between" and "exactly between," or "adjacent to" and "directly adjacent to," shall be interpreted in the same manner.

[0026] A singular expression should be understood to include a plural expression unless the context clearly indicates otherwise, and terms such as "include" or "have" are intended to specify the existence of the set-up features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood not to preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0027] Unless otherwise defined, all terms used herein have the same meaning as generally understood by those skilled in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having meanings consistent with the context of the relevant technology and should not be interpreted as having an ideal or overly formal meaning unless explicitly defined in this invention.

[0029] Railway tunnel damage detection system

[0030] Hereinafter, the configuration of a preferred embodiment will be described in detail with reference to the attached drawings.

[0031] FIG. 1 is a block diagram illustrating the schematic configuration of a railway tunnel damage detection system using an unmanned multicopter and lighting according to an embodiment of the present invention; FIG. 2 is a diagram explaining the operation control method of an internal lighting installed in a railway tunnel and the automatic flight method of an unmanned multicopter according to an embodiment of the present invention; FIG. 3 is a diagram explaining the operation control method of a mobile lighting according to an embodiment of the present invention; and FIG. 4 is a diagram explaining the operation control method of an internal lighting using a plurality of lighting controllers according to an embodiment of the present invention.

[0032] Referring to FIG. 1, a railway tunnel damage detection system (100) using an unmanned multicopter and lighting according to one embodiment of the present invention may be configured with an unmanned multicopter (110), internal lighting (120), lighting controller (130), mobile lighting (140), distance display beacon (150), and location information supplementation unit (160).

[0033] The unmanned multicopter (110), although not shown in the drawing, is a device that performs damage inspection inside a railway tunnel while flying automatically in place of a worker, and may have an inertial navigation system built in to estimate the current position and speed while flying automatically along the flight path.

[0034] At this time, the inertial navigation system of the unmanned multicopter (110) is a system that tracks the flight path (or movement path) of the unmanned multicopter (110) using an accelerometer and a gyroscope, and can estimate the current position and speed of the unmanned multicopter (110) based on the acceleration and angular velocity of the unmanned multicopter (110).

[0035] The unmanned multicopter (110) of the present invention may be equipped with a camera for acquiring images to detect damage inside a railway tunnel, although this is not shown in the drawing.

[0036] At this time, the camera of the unmanned multicopter (110) may be an optical camera that captures images using a light beam.

[0037] Additionally, although not shown in the drawing, the unmanned multicopter (110) may have a built-in navigation computer (not shown) that sets the flight path of the unmanned multicopter (110) and performs navigation so that it can fly automatically within a railway tunnel.

[0038] At this time, the navigation computer of the unmanned multicopter (110) includes sensors such as GPS (GNSS), an inertial measurement unit (IMU), and a pressure sensor, and collects and processes data measured by the above sensors to estimate the position and attitude of the unmanned multicopter (110) and can plan and adjust the flight path of the unmanned multicopter (110).

[0039] Internal lighting (120) can be placed in multiple blocks of a railway tunnel set by the user dividing the area within the railway tunnel into sections.

[0040] That is, it is preferable that the internal lighting (120) of the present invention be provided in a plurality so that they can be arranged in each of the plurality of blocks arbitrarily set by the user, and each internal lighting (120) may be arbitrarily assigned a number by the user for identification with other internal lighting (120), such as the first internal lighting (120-1) shown in FIG. 2.

[0041] The lighting controller (130) may have a built-in signal receiver to receive a first signal within the signal radius (A) of the unmanned multicopter (110).

[0042] At this time, the first signal of the present invention may be a signal that causes the internal lighting (120) to operate in an ON state to generate light.

[0043] Additionally, the lighting controller (130) of the present invention can control the internal lighting of each block to be ON / OFF depending on whether the signal receiver receives a first signal from the unmanned multicopter (110) within the signal radius (A) of the unmanned multicopter (110).

[0044] And, it is preferable that the lighting controller (130) of the present invention be provided in the railway tunnel in a number of blocks arbitrarily set by the user to control the operation of the internal lighting (120) placed in each block, and each lighting controller (130) may be arbitrarily assigned a number by the user for identification with other lighting controllers (130), such as the first lighting controller (130-1) for controlling the operation of the first internal lighting (120-1) as shown in FIG. 2.

[0045] That is, the lighting controller (130) of the present invention can control the on / off of internal lighting included in at least one of a plurality of blocks arbitrarily set by the user.

[0046] At this time, when the lighting controller (130) is located within the signal radius (A) of the unmanned multicopter (110), it can generate light from the internal lighting (120) of the block set to be controlled by the user.

[0047] As a specific example, when the first lighting controller (130-1) is positioned within the signal radius (A) of the unmanned multicopter (110) according to the automatic flight of the unmanned multicopter (110), light can be generated from the first internal lighting (120-1) of the block set to be controlled by the user.

[0048] Additionally, the lighting controller (130) of the present invention, although not shown in the drawing, may have a built-in timer (not shown) to control the internal lighting (120) of a block set to be controlled by a user to turn on / off.

[0049] The timer of the lighting controller (130) can measure time by operating from the time when the signal receiver of the lighting controller (130), which causes light to be generated in the internal lighting (120) by receiving a first signal from the unmanned multicopter (110), moves out of the signal radius (A) of the unmanned multicopter (110) as the unmanned multicopter (110) moves, thereby not receiving the first signal from the unmanned multicopter (110).

[0050] And when the lighting controller (130) that started the timer's operation has elapsed a preset time (e.g., 2 to 10 seconds) from the time the timer's operation started, the internal lighting (120) can be turned off so that no light is emitted from the internal lighting (120) of the block set to be controlled by the user, and the timer of the lighting controller (130) can be turned off along with the internal lighting (120) when the internal lighting (120) is turned off.

[0051] Meanwhile, the plurality of lighting controllers (130) not only receive a first signal from the unmanned multicopter (110), but each lighting controller (130) can also control the operation of the internal lighting (120) to turn on / off through communication of the second signal and the third signal.

[0052] Below, the second signal and third signal communication method of the present invention will be explained in detail based on the fact that the plurality of lighting controllers (130) are the first lighting controller (130-1) and the second lighting controller (130-2) as shown in FIG. 4.

[0053] Referring to FIG. 4, the first lighting controller (130-1) can transmit a second signal to a second lighting controller (130-2) to control the internal lighting (120) of another block to turn on / off, while causing light to be emitted from the internal lighting (120) set to be controlled by the user when the unmanned multicopter (110) is located within the signal radius (A) of the unmanned multicopter (110) according to automatic flight, and the second lighting controller (130-2) can receive the second signal.

[0054] At this time, the second signal may be a signal that causes the lighting controller (130) to generate light from the internal lighting (120) of the block set to be controlled by the user.

[0055] That is, when the second lighting controller (130-2) receives a second signal from the first lighting controller (130-1), the first lighting controller (130-1) and the second lighting controller (130-2) can simultaneously generate light from the internal lighting (120) set to be controlled by the user.

[0056] Additionally, when the unmanned multicopter (110) moves toward the second lighting controller (130-2) in accordance with automatic flight and moves out of the signal radius (A) of the unmanned multicopter (110), and the second lighting controller (130-2) is located within the signal radius (A) of the unmanned multicopter (110), the first lighting controller (130-1) can transmit a third signal to the first lighting controller (130-1) while simultaneously causing light to be generated from the internal lighting (120) set to be controlled by the user, and the first lighting controller (130-1) can receive the third signal.

[0057] At this time, the third signal may be a signal that turns off the internal lighting (120) so that light is not emitted from the internal lighting (120) of the block set to be controlled by the user by the lighting controller (130).

[0058] That is, when the first lighting controller (130-1) receives a third signal from the second lighting controller (130-2), the first lighting controller (130-1) can turn off the internal lighting (120) so that light is not generated from the internal lighting (120) set to be controlled by the user, and the second lighting controller (130-2) can maintain the state of generating light from the internal lighting (120) set to be controlled by the user.

[0059] The mobile light (140) may be a device that moves along the track (180) with the unmanned multicopter (110) inside the railway tunnel while conducting a damage inspection inside the railway tunnel using the unmanned multicopter (110), and illuminates the area being filmed by the camera of the unmanned multicopter (110).

[0060] This movable light (140) may be configured with a communication unit (not shown), a carrier (141), a rotating lighting device (142), and a lighting control unit (143).

[0061] The communication unit of the mobile light (140) is not shown in the drawing but can be provided on one side of the carrier (141) and can receive position information of the unmanned multicopter (110) and attitude information of the camera (optical camera) transmitted in real time from the unmanned multicopter (110).

[0062] Additionally, the communication unit of the mobile light (140) preferably receives position information of the unmanned multicopter (110) and attitude information of the camera (optical camera) when the carrier (141) is located within the signal radius (A) of the unmanned multicopter (110).

[0063] The carrier (141) can move along the track (180) inside the railway tunnel through a plurality of wheels provided at the bottom.

[0064] Additionally, the carrier (141) can track and move the unmanned multicopter (110) within the railway tunnel based on the location information of the unmanned multicopter (110) received by the communication unit, and may have a movement control unit (not shown) built in to determine the direction of movement based on the location information of the unmanned multicopter (110).

[0065] And it is preferable that the carrier (141) be moved so that it is positioned within the signal radius (A) of the unmanned multicopter (110) while damage inspection in the railway tunnel is being conducted, so that the communication unit can receive location information from the unmanned multicopter (110).

[0066] In addition, the carrier (141) can secure an area on top where an unmanned multi-copter (110) can land, and although not shown in the drawing, a docking station (not shown) for charging the battery of the unmanned multi-copter (110) landed on top can be provided.

[0067] The rotating lighting equipment (142) is provided on the top of the carrier (141), and can illuminate the shooting area of ​​the camera determined by the lighting control unit (143) based on the camera's posture information received through the communication unit.

[0068] This rotary lighting device (142) may be composed of a lighting unit (not shown) that generates light and a rotation axis (not shown) for changing the direction in which the lighting unit emits light.

[0069] In this way, the railway tunnel damage detection system (100) of the present invention can detect identified damage within the railway tunnel by securing brightness within the railway tunnel through the light of a rotating lighting device (142) equipped in a mobile lighting (140) that tracks and moves the unmanned multicopter (110) and an internal lighting (120) of a block set to be controlled by a lighting controller (130) located within the signal radius (A) of the unmanned multicopter (110).

[0070] The distance indicator beacons (150) are provided in multiple numbers and are placed inside the railway tunnel so that the navigation computer of the unmanned multicopter (110) can recognize them from images obtained through the camera, and an example of the placement location inside the railway tunnel is as shown in FIG. 2.

[0071] Referring to FIG. 2, a plurality of distance indicator beacons (150) may be provided in multiple numbers, such as a first distance indicator beacon (150a), a second distance indicator beacon (150b), etc., installed at each pillar arranged within the railway tunnel, and each distance indicator beacon (150a, 150b) may be placed on one side of a pillar installed in multiple numbers within the railway tunnel.

[0072] The navigation computer of the unmanned multicopter (110) recognizes a plurality of distance indicator beacons (150) in the image (optical image) of the camera, and can estimate the absolute position of the unmanned multicopter (110) using the plurality of distance indicator beacons (150) through the following embodiment.

[0073] As a specific example, a plurality of distance indicator beacons (150) periodically transmit signals toward a tag, and the tag converts the strength of the signal received from each distance indicator beacon (150) into a distance from each distance indicator beacon (150), and then combines them to calculate the absolute position of the unmanned multicopter (110).

[0074] In this way, a tag is required for the distance indicator beacon (150) to operate. The unmanned multicopter (110) of the present invention, although not shown in the drawing, may be equipped with a tag (not shown) that periodically receives a signal from the distance indicator beacon (150) while automatically flying along a flight path within a railway tunnel.

[0075] The location information supplementation unit (160) may be a component embedded in the unmanned multicopter (110), and to supplement the location information of the unmanned multicopter (110) which may be inaccurate in a GPS-unavailable section within a railway tunnel where GPS reception is impossible, the current location and speed of the unmanned multicopter (110) estimated through the inertial navigation device (120) may be combined with the absolute location of the unmanned multicopter (110) obtained from the tag and the distance display beacon (150) to generate supplemented location information of the unmanned multicopter (110).

[0076] In this way, the location information supplementation unit (160) generates location information of the supplemented unmanned multicopter (110) so that the current location and speed of the unmanned multicopter (110) may be inaccurately estimated because the inertial navigation device embedded in the unmanned multicopter (110) estimates the current location and speed of the unmanned multicopter (110) in a GPS-unusable section within a railway tunnel where GPS reception is impossible. This is intended to prevent the unmanned multicopter (110) from deviating from the flight path due to the inaccurate location information of the unmanned multicopter (110) resulting from the inaccurate estimation of the current location and speed.

[0077] At this time, the location information of the unmanned multicopter (110) may be the latitude and longitude of the unmanned multicopter (110) on a map inside the railway tunnel that has been built in the navigation computer.

[0078] In addition, the location information of the unmanned multicopter (110) can be input into a navigation computer for performing navigation of the unmanned multicopter (110).

[0079] The navigation computer of the unmanned multicopter (110) can change or maintain the flight path of the unmanned multicopter (110) by applying the supplemented location information of the unmanned multicopter (110) generated by the location information supplementation unit (160) to the flight path of the unmanned multicopter (110).

[0080] At this time, the navigation computer of the unmanned multicopter (110) can change the flight path of the unmanned multicopter (110) when there is a difference between the position information of the unmanned multicopter (110) in the preset flight path and the supplemented position information of the unmanned multicopter (110).

[0081] Meanwhile, the unmanned multicopter (110) recognizes the overhead line support (170) and the track (180) inside the railway tunnel shown in FIG. 2 in the image (optical image) acquired through the camera, and can estimate the absolute position of the unmanned multicopter (110) through the recognized overhead line support (170) and the track (180).

[0082] Additionally, the navigation computer of the unmanned multicopter (110) can adjust the flight direction of the unmanned multicopter (110) based on the extension direction of the overhead line support (170) and the track (180).

[0083] At this time, the condition for adjusting the flight direction of the unmanned multicopter (110) based on the extension direction of the overhead line support (170) and the track (180) is that the extension direction of the overhead line support (170) and the track (180) is parallel to the longitudinal direction of the railway tunnel.

[0084] The method by which the unmanned multicopter (110) of the present invention recognizes the overhead line support (170) and the track (180) in the image of the camera is not limited, but the overhead line support (170) and the track (180) can be recognized through the following embodiments.

[0085] As a specific example, when the distance indicator beacons (150) are defined as a plurality of first distance indicator beacons installed on each pillar installed within the railway tunnel, they may include a plurality of second distance indicator beacons installed on the overhead line support (170) and the track (180), although not shown in the drawing. Additionally, the plurality of second distance indicator beacons periodically transmit signals toward the tag of the unmanned multicopter (110), and the tag converts the signal strength received from each second distance indicator beacon into a distance to each second distance indicator beacon, and then combines them to calculate the absolute position of the unmanned multicopter (110).

[0086] At this time, the navigation computer of the unmanned multicopter (110) can estimate the extension direction of the overhead line support (170) based on the placement positions of the second distance indicator beacons installed on the overhead line support (170).

[0087] Below, we will explain in detail the process of a railway tunnel damage detection method (S100) using an unmanned multicopter and lighting according to one embodiment of the present invention, which is performed by the railway tunnel damage detection system (100) of the present invention described above.

[0089] Railway tunnel damage detection method

[0090] FIG. 5 is a flowchart illustrating the process of a method for detecting damage to a railway tunnel using an unmanned multicopter and lighting according to an embodiment of the present invention, and FIG. 6 and FIG. 7 are flowcharts illustrating the detailed process of the light generation step of internal lighting according to an embodiment of the present invention.

[0091] Referring to FIG. 5, a railway tunnel damage detection method (S100) according to one embodiment of the present invention may proceed in the order of an automatic flight step (S110), an internal lighting control step (S120), a light generation step (S130), a mobile lighting movement step (S140), a light irradiation step (S150), and a railway tunnel damage detection step (S160).

[0092] In the above automatic flight step (S110), the unmanned multicopter (110) can automatically fly within the railway tunnel along a flight path to perform damage inspection within the railway tunnel on behalf of the operator.

[0093] In this way, the above steps (S120~S160) can be performed while the unmanned multicopter (110) is flying automatically along the flight path.

[0094] In the above internal lighting control step (S120), a plurality of lighting controllers (130) are provided in a plurality within the railway tunnel according to the number of blocks arbitrarily set by the user, and can control the plurality of internal lights (120) placed in the plurality of blocks to be on / off depending on whether they are located within the signal radius (A) of the unmanned multicopter (110) that receives a first signal from the unmanned multicopter (110) through a signal receiver.

[0095] In the above light generation step (S130), among the plurality of lighting controllers (130), the lighting controller (130) located within the signal radius (A) of the unmanned multicopter (110) can generate (ON) light from the internal lighting (120) of the block set to be controlled by the user.

[0096] The light generation step (S130) of the present invention can be carried out through the detailed process shown in FIG. 6 to generate light from the internal lighting (120) installed in the railway tunnel.

[0097] Referring to FIG. 6, when the lighting controller (130) is located within the signal radius (A) of the unmanned multicopter (110) according to the automatic flight of the unmanned multicopter (110), it can receive a first signal from the unmanned multicopter (110) through a signal receiver (S1301).

[0098] After that, the signal receiver of the lighting controller (130) can detect whether it is receiving a first signal from the unmanned multicopter (110) (S1302).

[0099] At this time, if the signal receiver is maintained in a state of receiving a first signal from the unmanned multicopter (110) (S1302-YES), the lighting controller (130) equipped with the signal receiver can generate light from the internal lighting (120) of the block set to be controlled by the user (S1303).

[0100] In contrast, if the signal receiver is not maintained in a state of receiving the first signal from the unmanned multicopter (110) (S1302-NO), the timer built into the lighting controller (130) equipped with the signal receiver can measure time by operating from the time when the signal receiver does not receive the first signal from the unmanned multicopter (110) (S1304).

[0101] After that, the lighting controller (130) can determine whether a preset time has elapsed since the time the timer started operating.

[0102] At this time, if a preset time has elapsed since the time the timer started operating (S1305-YES), the lighting controller (130) that the timer started operating can turn off the internal lighting (120) so that light is not emitted from the internal lighting (120) of the block set to be controlled by the user (S1306).

[0103] Meanwhile, the light generation step (S130) of the present invention may proceed through the detailed process shown in FIG. 6 as well as the detailed process shown in FIG. 7, and the step shown in FIG. 7 may proceed from a state in which the first lighting controller (130-1), which is a lighting controller (130), is located within the signal radius (A) of the unmanned multicopter (110), while the second lighting controller (130), which is another lighting controller (130), is out of the signal radius (A) of the unmanned multicopter (110).

[0104] Referring to FIG. 7, the first lighting controller (130-1) can generate light from the internal lighting (120) of a block set to be controlled by a user upon receiving a first signal from the unmanned multicopter (110) (S1307).

[0105] At the same time, the first lighting controller (130-1) can transmit a second signal to a second lighting controller (130-2) that will be located within the signal radius (A) of the unmanned multicopter (110) after the first lighting controller (130-1) according to the flight direction of the unmanned multicopter (110) through a signal receiver (S1308).

[0106] After that, the second lighting controller (130-2) that receives the second signal can generate light from the internal lighting (120) of the block set to be controlled by the user (S1309).

[0107] After that, the second lighting controller (130-2) can determine whether the signal receiver is located within the signal radius (A) of the unmanned multicopter (110) depending on whether the signal receiver receives the first signal from the unmanned multicopter (110) (S1310).

[0108] At this time, if the second lighting controller (130-2) is located within the signal radius (A) of the unmanned multicopter (110) (S1310-YES), the second lighting controller (130-2) can transmit a third signal to the first lighting controller (130-1) (S1311).

[0109] In the above third signal transmission step (S1311), the first lighting controller (130-1) may move out of the signal radius (A) of the unmanned multicopter (110) according to the automatic flight of the unmanned multicopter (110). That is, it is preferable that the time when the first lighting controller (130-1) receives the third signal is when it moves out of the signal radius (A) of the unmanned multicopter (110).

[0110] In this way, the first lighting controller (130-1) that receives the third signal can turn off the internal lighting (120) so that light is not emitted from the internal lighting (120) of the block set to be controlled by the user (S1312).

[0112] Effects according to the present invention

[0113] The railway tunnel damage detection system (100) of the present invention can easily detect damage within the railway tunnel by securing brightness within the railway tunnel through the attitude information of a camera mounted on an unmanned multicopter (110) and light generated from an internal light (120) and a mobile light (140) installed within the railway tunnel.

[0115] As described above, the detailed description of the preferred embodiments of the present invention disclosed is provided to enable those skilled in the art to implement and practice the present invention. Although the present invention has been described with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the scope of the invention. For example, those skilled in the art may utilize each configuration described in the embodiments described above in combination with one another. Accordingly, the present invention is not intended to be limited to the embodiments shown herein, but to be given the broadest scope consistent with the principles and novel features disclosed herein.

[0116] The present invention may be embodied in other specific forms without departing from the technical spirit and essential features of the invention. Accordingly, the above detailed description should not be interpreted restrictively in all respects but should be considered exemplary. The scope of the invention shall be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the invention are included within the scope of the invention. The invention is not intended to be limited to the embodiments shown herein, but to be given the broadest possible scope consistent with the principles and novel features disclosed herein. Furthermore, embodiments may be constructed by combining claims that are not explicitly related in the claims, or new claims may be included through amendments made after filing. Explanation of the symbols

[0117] 100: Railway tunnel damage detection system, 110: Unmanned multicopter, 120: Interior lighting, 130: Lighting controller, 140: Portable light, 141: Carrier, 142: Rotating lighting equipment, 143: Lighting control unit, 150: Distance indicator beacon, 160: Location information supplementary unit, 170: Overhead line support, 180: Track, A: Signal radius of an unmanned multicopter.

Claims

Claim 1 An unmanned multicopter that automatically flies within a railway tunnel and is equipped with a camera for detecting damage identified within the railway tunnel; a plurality of interior lights placed in a plurality of blocks of the railway tunnel, which are configured by dividing the area within the railway tunnel into sections; a plurality of lighting controllers provided within the railway tunnel, corresponding to the number of blocks, to control the operation of the interior lights placed in each block, each having a built-in signal receiver to receive a first signal within the signal radius of the unmanned multicopter, and controlling the operation of the interior lights in each block to control the operation of the interior lights placed in each block according to whether the signal receiver receives a first signal from the unmanned multicopter within the signal radius of the unmanned multicopter. A mobile lighting system comprising: a communication unit receiving position information of the unmanned multi-copter and attitude information of the camera from the unmanned multi-copter; a carrier that tracks and moves the unmanned multi-copter within the railway tunnel based on the position information of the unmanned multi-copter; and a rotating lighting device for illuminating light toward a shooting area of ​​the camera determined based on the attitude information of the camera; wherein the plurality of lighting controllers generate light in the internal lighting of a block set to be controlled by a lighting controller located within the signal radius of the unmanned multi-copter; and the plurality of lighting controllers cause the lighting controller located within the signal radius of the unmanned multi-copter to generate light in the internal lighting, and simultaneously transmit a second signal to another lighting controller that will be located within the signal radius of the unmanned multi-copter after the lighting controller according to the flight direction of the unmanned multi-copter, thereby generating light in the internal lighting of a block set to be controlled by the other lighting controller;A railway tunnel damage detection system using an unmanned multicopter and lighting, characterized in that when another lighting controller that has received the second signal from the lighting controller is located within the signal radius of the unmanned multicopter, the other lighting controller transmits a third signal to the lighting controller, and the internal lighting is turned off according to the third signal received through the signal receiver so that light is not generated from the internal lighting of the block set to be controlled by the lighting controller. Claim 2 A railway tunnel damage detection system using an unmanned multicopter and lighting according to claim 1, wherein the plurality of lighting controllers turn off the internal lighting so that light is not generated in the internal lighting of a block set to be controlled by a lighting controller outside the signal radius of the unmanned multicopter. Claim 3 A railway tunnel damage detection system using an unmanned multicopter and lighting according to claim 1, wherein the plurality of lighting controllers are characterized by having a built-in timer that measures time by operating from the time when the signal receiver of the lighting controller, which causes light to be generated in the internal lighting, does not receive a first signal from the unmanned multicopter according to the movement of the unmanned multicopter. Claim 4 A railway tunnel damage detection system using an unmanned multicopter and lighting according to claim 3, wherein the plurality of lighting controllers turn off the internal lighting so that light is not generated in the internal lighting of a block set to be controlled by the lighting controller when a preset time elapses from the time when the timer of the lighting controller that caused light to be generated in the internal lighting begins operation. Claim 5 A railway tunnel damage detection system using an unmanned multicopter and lighting according to claim 1, wherein the plurality of lighting controllers are characterized in that the lighting controller transmits a second signal to another lighting controller located within the signal radius of the unmanned multicopter after the lighting controller according to the flight direction of the unmanned multicopter through the signal receiver, or receives a third signal from the other lighting controller through the signal receiver. Claim 6 delete Claim 7 delete Claim 8 A railway tunnel damage detection system using an unmanned multicopter and a light, characterized in that, in claim 1, the mobile light includes a docking station for charging the battery of an unmanned multicopter that has landed on the top of the carrier. Claim 9 a) a step of an unmanned multi-copter automatically flying within a railway tunnel equipped with a camera; b) a step of controlling multiple internal lights placed in multiple blocks to turn on / off, depending on whether a plurality of lighting controllers, arranged in the railway tunnel in a number of blocks equal to the number of blocks set by dividing the area within the railway tunnel into sections, are located within the signal radius of the unmanned multi-copter receiving a first signal from the unmanned multi-copter through a signal receiver; c) a step of generating light from the internal lights of a block set to be controlled by a lighting controller among the plurality of lighting controllers that is located within the signal radius of the unmanned multi-copter; d) a step in conjunction with step a), in which a carrier of a mobile light tracks and moves the unmanned multi-copter within the railway tunnel based on the location information of the unmanned multi-copter received from the unmanned multi-copter through a communication unit; e) a step in which a rotating lighting device of the mobile light irradiates light toward the shooting area of ​​the camera determined based on the attitude information of the camera received from the unmanned multi-copter through the communication unit; and f) a step of detecting damage within the railway tunnel identified by the unmanned multicopter through the light of the internal lighting and the rotating lighting equipment; and c) a step of causing a lighting controller located within the signal radius of the unmanned multicopter to generate light from the internal lighting, and simultaneously transmitting a second signal to another lighting controller to be located within the signal radius of the unmanned multicopter after the lighting controller according to the flight direction of the unmanned multicopter, thereby generating light from the internal lighting of a block set to be controlled by the other lighting controller;A method for detecting railway tunnel damage using an unmanned multicopter and lighting, characterized by including the step of: when another lighting controller that has received the second signal from the lighting controller is located within the signal radius of the unmanned multicopter, the other lighting controller transmits a third signal to the lighting controller, and operates the internal lighting to turn off according to the third signal received through the signal receiver so that light is not generated from the internal lighting of the block set to be controlled by the lighting controller. Claim 10 In claim 9, the step c) comprises: c-1) a step in which the lighting controller receives a first signal from the unmanned multicopter through a signal receiver; c-2) a step in which the signal receiver detects whether the first signal is being received from the unmanned multicopter; c-3) a step in which, when the signal receiver receives the first signal from the unmanned multicopter, light is generated in the internal lighting of a block set to be controlled by the lighting controller; c-4) a step in which, when the signal receiver does not receive the first signal from the unmanned multicopter, a timer built into the lighting controller operates from the time when the signal receiver does not receive the first signal from the unmanned multicopter to measure time; and c-5) a step in which, when a preset time has elapsed from the time the timer started operating, the internal lighting is turned off so that light is not generated in the internal lighting of the block set to be controlled by the lighting controller; characterized in that the method for detecting railway tunnel damage using an unmanned multicopter and lighting comprises Claim 11 In claim 9, the step c) comprises: c-1) the lighting controller receiving a first signal from the unmanned multicopter through a signal receiver; c-2) detecting whether the signal receiver is receiving the first signal from the unmanned multicopter; c-3) when the signal receiver receives the first signal from the unmanned multicopter, generating light from the internal lighting of a block set to be controlled by the lighting controller; c-4) the lighting controller transmitting a second signal through the signal receiver to another lighting controller that will be located within the signal radius of the unmanned multicopter after the lighting controller, according to the flight direction of the unmanned multicopter; c-5) generating light from the internal lighting of a block set to be controlled by the other lighting controller that received the second signal; c-6) transmitting a third signal to the lighting controller when the other lighting controller that received the second signal is located within the signal radius of the unmanned multicopter. and c-7) a step of turning off the internal lighting so that light is not generated from the internal lighting of the block set to be controlled by the lighting controller that received the third signal; characterized by a method for detecting railway tunnel damage using an unmanned multicopter and lighting.

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