Pipe inspection procedure using pipe inspection robot

Abstract

A pipe inspection procedure using a pipe inspection robot, according to an embodiment of the present invention, comprises the steps of: a) before a worker at a work site inserts a pipe inspection robot into a pipe, inspecting the state of the pipe in advance; b) inserting the pipe inspection robot into the pipe; c) inspecting the internal state of the pipe by using the pipe inspection robot inserted into the pipe, to detect deformation of the pipe; and d) recovering the pipe inspection robot that has completed the inspection of the internal state of the pipe, to complete the inspection of the pipe, wherein the pipe inspection robot, in step c), may inspect the internal state of the pipe by using a multi-camera module, which includes heterogeneous cameras provided in the pipe inspection robot and captures images of the inside of the pipe to obtain partial images of the pipe, and a PTZ camera that, when deformation of the pipe is detected from the partial images of the pipe, precisely captures images of the inside of the pipe including the deformation to obtain precision measurement images.

Description

Pipe inspection procedures using pipe inspection robots

[0001] The present invention relates to a pipe inspection procedure using a pipe inspection robot, and more specifically, to a pipe inspection procedure using a pipe inspection robot capable of inspecting the internal condition of a pipe by capturing the interior of the pipe using a heterogeneous camera mounted on the pipe inspection robot capable of moving along the interior of the pipe.

[0002] In general, bridges for the passage of people, vehicles, etc. can be installed in terrain that cuts off passageways, such as rivers and valleys, as needed, and pipes that function as irrigation channels can be installed in bridges as needed. Pipes installed in such bridges are called bridge-added pipes.

[0003] These bridge-added pipes must be inspected periodically and maintained accordingly. This periodic inspection is common to all pipes installed in buildings, not just bridge-added pipes. However, due to various reasons such as the location of the bridge installation, the height of the building or bridge, and the length of the bridge, it is difficult for workers to access them.

[0004] Accordingly, there is a trend of proposing inventions related to robots for pipe inspection that can be equipped with inspection equipment and inspect pipes in place of workers, and inventions related to robots for pipe inspection have been proposed and published, including "Mobile robot for external inspection of pipes" in Korean Patent Publication No. 10-1281255, "Pipe inspection robot" in Korean Patent Publication No. 10-1292999, "Method for controlling pipe climbing robot" in Korean Patent Publication No. 10-1323452, and "Robot for inspecting pipe condition" in Korean Patent Publication No. 10-1430251.

[0005] However, the above-mentioned conventional technologies have the problem that it is difficult to conduct a free and detailed inspection of the pipes using only images taken by the robot, so there is a need for an invention regarding an inspection method using a device such as a robot that can conduct a detailed inspection of the pipes.

[0006] Prior art literature

[0007] Patent documents

[0008] Republic of Korea Patent No. 10-1281255 (registered on June 26, 2013)

[0009] Republic of Korea Patent No. 10-1292999 (registered on July 29, 2013)

[0010] Republic of Korea Patent No. 10-1323452 (registered on October 23, 2013)

[0011] Republic of Korea Patent No. 10-1430251 (registered on August 7, 2014)

[0012] Accordingly, the present invention has been devised to solve the above-mentioned problems, and the purpose of the present invention is to provide a pipe inspection procedure utilizing a pipe inspection robot capable of inspecting the internal condition of a pipe by capturing the interior of the pipe using a heterogeneous camera mounted on a pipe inspection robot capable of moving along the interior of the pipe.

[0013] In addition, the purpose of the present invention is to provide a pipe inspection procedure utilizing a pipe inspection robot that can prevent safety accidents of workers who must perform work inside a pipe by checking the internal condition of the pipe with the pipe inspection robot.

[0014] However, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0015] As a technical method for achieving the above object, a pipe inspection procedure using a pipe inspection robot according to one embodiment of the present invention comprises the steps of: a) a step of inspecting the condition of the pipe in advance before a worker in a work site introduces the pipe inspection robot into the inside of the pipe; b) a step of introducing the pipe inspection robot into the inside of the pipe; c) a step of inspecting the internal condition of the pipe with the pipe inspection robot introduced into the inside of the pipe to detect deformation of the pipe; and d) a step of recovering the pipe inspection robot that has completed the inspection of the internal condition of the pipe to complete the inspection of the pipe; wherein, in step c), the pipe inspection robot can inspect the internal condition of the pipe by using a multi-camera module that is a heterogeneous camera provided in the pipe inspection robot to capture an image of a portion of the pipe by photographing the inside of the pipe and a PTZ camera that precisely photographs the inside of the pipe including the deformation of the pipe when a deformation of the pipe is detected from the image of the portion of the pipe and captures a precise measurement image.

[0016] In addition, the step a) may include: a-1) a step in which the worker visually inspects the number of grid plates installed on the pipe and whether a gate-type structure is installed; a-2) a step in which the worker carries the pipe inspection robot, a data collection / control device to be connected to the pipe inspection robot, and a power / communication cable for connecting the pipe inspection robot and the data collection / control device; a-3) a step in which a manager approves a task to inspect the internal condition of the pipe using the pipe inspection robot; and a-4) a step in which the worker removes the grid plates and gate-type structure installed on the pipe.

[0017] And the step b) may include: b-1) a step in which the manager approves the introduction of the pipe inspection robot into the inside of the pipe; b-2) a step in which the worker connects the pipe inspection robot and the data collection / control device via the power / communication cable, and then positions the pipe inspection robot at a starting point of the work site where it is to start moving; b-3) a step in which the worker performs remote control settings of the data collection / control device to remotely control the pipe inspection robot, thereby preparing for operation of the pipe inspection robot; and b-4) a step in which the pipe inspection robot is remotely controlled for movement via the data collection / control device, moves from the starting point of the work site, and is introduced into the inside of the pipe.

[0018] In addition, the step c) includes: c-1) a step in which the pipe inspection robot receives a control signal from the data collection / control device through the power / communication cable and moves in one direction; c-2) a step in which the multi-camera module continuously photographs the inside of the pipe for an area from when the pipe inspection robot starts moving in one direction inside the pipe until it stops to capture an image of a portion of the pipe; c-3) a step in which the data collection / control device receives the image of a portion of the pipe captured by the multi-camera module through the power / communication cable and then outputs the image; c-4) a step in which an AI model mounted on the data collection / control device analyzes the image of a portion of the pipe; c-5) a step in which the pipe inspection robot moves to a location in which an image of a portion of the pipe in which it is determined that a deformation of the pipe has been detected is photographed when the AI ​​model detects that a deformation of the pipe has occurred from the image of the portion of the pipe; And c-6) a step of adjusting the angle of the PTZ camera to the same point of view as the point of view of the multi-camera module that captured some images in which it is determined that deformation of the pipe has been detected, and then capturing the precision measurement image by precisely photographing the inside of the pipe; may be included.

[0019] And, the AI ​​model can acquire a front measurement image by synthesizing multiple images of the inside of the pipe by stitching together images of a portion of the pipe based on an image stitching algorithm and then generating an image of the inside of the pipe.

[0020] In addition, the AI ​​model can detect deformation of the pipe from the precision measurement image based on a deep learning algorithm and identify the location where the deformation of the pipe occurred.

[0021] And the above pipe inspection robot may include a front wheel for allowing the pipe inspection robot to move in one direction or the other direction inside the pipe; a rear wheel; and a control device for controlling the front wheel and the rear wheel.

[0022] In addition, the front wheel part and the rear wheel part may include a tire; a tire mount bracket that is fitted to the tire and houses a driving unit for driving the front wheel part and the rear wheel part therein; a sealing cap that is coupled to the tire mount bracket and prevents the driving unit from being separated from the tire mount bracket; a waterproof / heat dissipating housing that is coupled to the sealing cap and prevents water and moisture from penetrating the driving unit into the pipe and simultaneously dissipates heat generated from the driving unit to the outside of the tire mount bracket; a hub having a communication / power connector provided on one side so that the driving unit receives power from the battery and receives a control signal from the control device; and a fixing bracket that fixes the tire mount bracket so that it is maintained in a state where it is fitted to the tire.

[0023] And the above driving unit may be an in-wheel type modular unit accommodated on the inside of the tire mount bracket.

[0024] In addition, the control device comprises: a first encoder, which is a reel counter, for estimating a current position of the pipe inspection robot based on the rotational speed of cable reels provided in the front and rear wheel sections, respectively; a second encoder, which is a wheel counter, for estimating a current position of the pipe inspection robot based on the rotational speed of the front and rear wheel sections; a data combining unit for primarily determining a current position of the pipe inspection robot by combining the current position information of the pipe inspection robot estimated by the first encoder and the current position information of the pipe inspection robot estimated by the second encoder; a data calculating unit for calculating a moving distance of the pipe inspection robot by analyzing a frame of a front measurement image transmitted from the multi-camera module based on a visual odometer technique, and for tracking the movement of the pipe inspection robot by matching feature points between frames of consecutive front measurement images to calculate a moving direction and distance of the pipe inspection robot; And it may include a position estimation unit that finally estimates the current position of the pipe inspection robot based on the current position information of the pipe inspection robot transmitted from the data combination unit and the movement direction and distance information of the pipe inspection robot transmitted from the data calculation unit.

[0025] The present invention can capture the inside of a pipe using a heterogeneous camera mounted on a pipe inspection robot that can move along the inside of the pipe, thereby inspecting the internal condition of the pipe.

[0026] In addition, the present invention can prevent safety accidents of workers who must perform work inside a pipe by checking the internal condition of the pipe using a robot for pipe inspection.

[0027] However, the effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects that are not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0028] FIG. 1 is a flowchart illustrating a process of a pipe inspection procedure using a pipe inspection robot according to one embodiment of the present invention.

[0029] Figure 2 is a flowchart illustrating a detailed process of a pipe pre-inspection and inlet securing step according to one embodiment of the present invention.

[0030] FIG. 3 is a flowchart illustrating a detailed process of a robot introduction step for pipe inspection according to one embodiment of the present invention.

[0031] FIG. 4 is a drawing illustrating the structure of a robot for pipe inspection according to one embodiment of the present invention.

[0032] FIG. 5 is a drawing for explaining a shooting method of a camera unit according to one embodiment of the present invention.

[0033] FIG. 6 is a diagram illustrating an example of an algorithm for acquiring a front measurement image and a precision measurement image according to one embodiment of the present invention.

[0034] Figure 7 is a flowchart illustrating a detailed process of a pipe inspection step according to one embodiment of the present invention.

[0035] FIG. 8 is a block diagram illustrating a control device and a device constituting the control device according to one embodiment of the present invention.

[0036] Figure 9 is an exploded perspective view of a front wheel according to one embodiment of the present invention.

[0037] Fig. 10 is a block diagram illustrating a driving unit and a device constituting the driving unit according to one embodiment of the present invention.

[0038] FIG. 11 is a flowchart illustrating a detailed process of a recovery and pipe inspection completion step of a pipe inspection robot according to one embodiment of the present invention.

[0039]

[0040] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily practice the present invention. However, the description of the present invention is merely an embodiment for structural and functional explanation, and therefore the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiments can be modified in various ways and can have various forms, the scope of the present invention should be understood to include equivalents that can realize the technical idea. In addition, the purposes or effects presented in the present invention do not mean that a specific embodiment must include all of them or only such effects, and therefore the scope of the present invention should not be construed as being limited thereby.

[0041] The meanings of terms described in the present invention should be understood as follows.

[0042] Terms such as "first" and "second" are intended to distinguish one component from another, and the scope of the rights should not be limited by these terms. For example, a first component could be referred to as a second component, and similarly, a second component could also be referred to as a 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, but there may also 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 "immediately between" or "adjacent to" and "directly adjacent to", should be interpreted similarly.

[0043] Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "comprises" or "has" should be understood to specify the presence of stated features, numbers, steps, operations, components, parts, or combinations thereof, but not to exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0044] Unless otherwise defined, all terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted to be consistent with their meaning within the context of the relevant technology, and should not be interpreted as having ideal or overly formal meanings unless explicitly defined herein.

[0045]

[0046] Pipe inspection procedures using pipe inspection robots

[0047] Hereinafter, the configuration of a preferred embodiment will be described in detail with reference to the attached drawings.

[0048] 1) The entire process

[0049] FIG. 1 is a flowchart illustrating a process of a pipe inspection procedure using a pipe inspection robot according to one embodiment of the present invention.

[0050] Referring to FIG. 1, a pipe inspection procedure (S100) using a pipe inspection robot according to one embodiment of the present invention is a process for inspecting the internal state of a pipe (10) on which a worker will perform work using a pipe inspection robot (100), and may be performed in the following order: a pipe pre-inspection and inlet securing step (S110), a pipe inspection robot introduction step (S120), a pipe inspection step (S130), a pipe inspection robot recovery and pipe inspection completion step (S140), and a worker introduction step (S150).

[0051] In one embodiment, the robot (100) for pipe inspection can be remotely controlled by a data collection / control device (150) to be described later, and the data collection / control device (150) is not limited in the way it is implemented, but in one embodiment, it can be implemented as a terminal (e.g., a smartphone, a PC, a tablet, etc.) equipped by a worker at a work site where a pipe (10) is placed.

[0052] In one embodiment, the worker is an object (person) located at the work site where the pipe (10) is arranged to inspect the internal condition of the pipe (10), and may be divided into a transport team that transports the pipe inspection robot (100) and the data collection / control device (150), and a transport and power / communication cable (155) connecting the pipe inspection robot (100) and the data collection / control device (150) to the work site where the pipe (10) is located, and a control team that controls the pipe inspection robot (100) using the data collection / control device (150).

[0053]

[0054] 2) Pre-pipe inspection and inlet securing stage

[0055] Figure 2 is a flowchart illustrating a detailed process of a pipe pre-inspection and inlet securing step according to one embodiment of the present invention.

[0056] Referring to FIG. 2, the pipe pre-inspection and insertion port securing step (S110) is a process of checking the condition of the pipe (10) in advance before inserting the pipe inspection robot (100) into the inside of the pipe (10) and securing an insertion space for inserting the pipe inspection robot (100) into the inside of the pipe (10), and may be performed in the following order: a pipe visual inspection step (S111), a work site transportation step (S112), a work approval step (S113), and a grid and gate structure removal step (S114).

[0057] In the above pipe visual inspection step (S111), a worker at the work site can visually check the number of gratings placed on the pipe (10) and whether a frame structure is installed.

[0058] In one embodiment, the pipe (10) may be confirmed to have the grid plate and gate structure not installed through the pipe visual inspection step (S111), but in order to proceed with the grid plate and gate structure removal step (S114), the pipe (10) may be in a state in which the grid plate and gate structure are installed.

[0059] In the above work site transport step (S112), the transport crew can transport the pipe inspection robot (100), data collection / control device (150), and power / communication cable (155) to the work site where the pipe (10) is arranged.

[0060] In the above work approval step (S113), the manager of the work site who performs the role of giving instructions to the worker can approve the work to inspect the internal condition of the pipe (10) using the pipe inspection robot (100).

[0061] In the above grid plate and gate structure removal step (S114), a worker of the transport or control unit or a separate worker can remove the grid plate and gate structure of the pipe (10) using tools or equipment at the work site.

[0062]

[0063] 3) Robot deployment stage for pipe inspection

[0064] FIG. 3 is a flowchart illustrating a detailed process of a robot introduction step for pipe inspection according to one embodiment of the present invention.

[0065] Referring to FIG. 3, the robot introduction step for pipe inspection (S120) is a process of introducing the robot for pipe inspection (100) into the interior of the pipe (10) from which the grid and the gate structure have been removed, and may proceed in the following order: introduction approval step (S121), transport tank field introduction step (S122), power / communication cable installation and pipe inspection robot (100) introduction preparation step (S123), and control tank field introduction step (S124) performed simultaneously with the above steps (S122, S123), remote control setting and operation preparation step (S125), and pipe inspection robot introduction step (S126).

[0066] In the above-mentioned deployment approval step (S121), the manager of the work site can approve the deployment of the pipe inspection robot (100) when he / she determines that it is possible to enter the interior of the pipe (10) based on the specifications of the pipe inspection robot (100) after visually confirming that the grid and the gate-shaped structure have been removed.

[0067] In the above transport tank site introduction step (S122), if introduction of the pipe inspection robot (100) is approved, the transport tank worker can be introduced to the work site to introduce the pipe inspection robot (100) into the interior of the pipe (10).

[0068] In the step (S123) of preparing to install the power / communication cable and the pipe inspection robot (100), the worker of the transport tank connects the pipe inspection robot (100) and the data collection / control device (150) via the power / communication cable (155), and positions the pipe inspection robot (100) at the starting point of the work site where it will begin moving, thereby preparing to install the pipe inspection robot (100).

[0069] In the above-mentioned pilot site deployment step (S124), if deployment of the pipe inspection robot (100) is approved, the pilot site worker can be deployed to the work site to deploy the pipe inspection robot (100) into the interior of the pipe (10).

[0070] In the above remote control setting and operation preparation step (S125), when the data collection / control device (150) is connected to the pipe inspection robot (100) via a power / communication cable (155), the operator of the control unit can perform remote control setting of the data collection / control device (150) to remotely control the pipe inspection robot (100) and prepare for operation of the pipe inspection robot (100).

[0071] In the above pipe inspection robot introduction step (S126), when the operator of the transport unit completes preparations for introduction of the pipe inspection robot (100), the operator of the control unit remotely controls the movement of the pipe inspection robot (100) using the data collection / control device (150) so that the pipe inspection robot (100) is introduced into the inside of the pipe (10) from the starting point of the work site.

[0072] In one embodiment, a robot (100) for pipe inspection is inserted into the interior of a pipe (10) and moves in one direction (forward) inside the pipe (10) while inspecting the internal condition of the pipe (10).

[0073] In this way, the structure of the pipe inspection robot (100) for checking the internal condition of the pipe (10) is not limited, but the structure of the pipe inspection robot (100) of one embodiment will be described in detail below.

[0074]

[0075] 4) Structure of the robot for pipe inspection

[0076] FIG. 4 is a drawing illustrating the structure of a robot for pipe inspection according to one embodiment of the present invention.

[0077] A robot (100) for pipe inspection according to one embodiment of the present invention is a robot for inspecting the internal state of a pipe (10) that is difficult for a worker to access, and includes a main body (110), a camera unit (120), a front wheel unit (130), and a rear wheel unit (140).

[0078] In one embodiment, the main body (110) may be equipped with (built-in) a battery (not shown) for the operation of the camera unit (120), front wheel unit (130), and rear wheel unit (140), although not shown in the drawing.

[0079] In addition, the main body (110) may be equipped with (built-in) a control device (115) for estimating the position of the pipe inspection robot (100) inside the pipe (10) and controlling the position and movement direction of the pipe inspection robot (100).

[0080] In one embodiment, the control device (115) can control the front wheel (130) and the rear wheel (140) so that the pipe inspection robot (100) moves in one direction (forward) or the other direction (rearward).

[0081] The camera unit (120) is provided on the front side of the pipe inspection robot (100) to photograph the front of the pipe inspection robot (100).

[0082] In one embodiment, the camera unit (120) may be a device in which heterogeneous cameras, such as a multi-camera module (121) and a PTZ camera (122), are combined to precisely capture the inside of a pipe (10).

[0083] In one embodiment, the multi-camera module (121) operates via a battery (not shown) built into the main body (110) to capture the inside of the pipe (10) via multiple cameras, thereby capturing a front measurement image (1210) as shown in FIG. 6.

[0084] At this time, the number of multiple cameras is not limited, but in one embodiment, they may be multiple RGB cameras, and the multiple RGB cameras can capture a front measurement image (1210) by photographing the inside of the pipe (10) in a state where a specific angle and offset can be adjusted on the camera unit (120).

[0085] That is, the multi-camera module (121) can capture a front measurement image (1210) by combining images of the inside of the pipe (10) taken by each RGB camera.

[0086] In one embodiment, the PTZ camera (122) operates through a battery (not shown) built into the main body (110), is positioned in front of the multi-camera module (121) due to the structure of the camera unit (120), and captures a precise measurement image (1220) by enlarging a specific area inside the pipe (10) and then taking a picture through an optical zoom or digital zoom function, as shown in FIG. 6.

[0087] In addition, the PTZ camera (122) is equipped with a pan for horizontal rotation and a tilt for vertical rotation for angle adjustment, so that it can capture a precise measurement image (1220) by photographing a specific area inside the pipe (10) from various angles.

[0088] In one embodiment, the camera unit (120) is a combination of heterogeneous cameras, such as a multi-camera module (121) composed of 1st to 4th RGB cameras and a PTZ camera (122), and based on a composite image that combines a front measurement image (1210) and a precision measurement image (1220) measured from each camera, the interior of a pipe (10) that is difficult for a worker to access can be closely inspected.

[0089] The front wheel (130) and the rear wheel (140) are provided on the left and right sides of the front and rear ends of the main body (110), and are a pair of wheels (wheels) that can be independently rotated, and the rotation allows the pipe inspection robot (100) that has entered the interior of the pipe (10) to move in one direction (forward) or the other direction (rear).

[0090] In one embodiment, the front wheel (130) may be a wheel that has a steering function so that the pipe inspection robot (100) moves in a movement direction controlled by the control device (115).

[0091] In one embodiment, the rear wheel (140) may be a wheel that provides propulsion to the pipe inspection robot (100) so that the pipe inspection robot (100) moves forward in one direction (forward) or backward in the other direction (rearward) inside the pipe (10).

[0092] In one embodiment, the front wheel (130) and the rear wheel (140) may be tilted up and down by the rollover prevention module (113) so as not to come into contact with the bottom surface of the pipe (10) or to prevent the robot (100) for pipe inspection from being impeded from moving due to contact with a tall obstacle (e.g., accumulated foreign matter, etc.) generated on the bottom surface of the pipe (10).

[0093] That is, the robot (100) for pipe inspection can avoid obstacles created on the bottom surface of the pipe (10) while checking the internal condition of the pipe (10) by vertical tilting of the front wheel (130) and the rear wheel (140) and can drive along the bottom surface of the pipe (10) by making contact with the bottom surface of the pipe (10).

[0094] Meanwhile, the robot for pipe inspection (100) can be connected to a data collection / control device (150) via a power / communication cable (155).

[0095] In one embodiment, the data collection / control device (150) is not limited in type, but in one embodiment, it may be implemented as a terminal (e.g., smartphone, PC, tablet, etc.) equipped by the manager of the robot (100) for pipe inspection, and may be equipped with an AI model for detecting deformation (11) of the pipe from an image of a portion of the pipe.

[0096]

[0097] 5) Camera unit's shooting method and image acquisition algorithm

[0098] Below, the structure of the camera unit (120) that captures the inside of the pipe (10) of the pipe inspection robot (100) will be described in detail.

[0099] FIG. 5 is a drawing for explaining a shooting method of a camera unit according to one embodiment of the present invention, and FIG. 6 is a drawing illustrating an example of an algorithm for acquiring a front measurement image and a precision measurement image according to one embodiment of the present invention.

[0100] Referring to FIG. 5, the multi-camera module (121) can capture a front measurement image (1210) by photographing the inside of the pipe (10) with multiple RGB cameras positioned on the upper, lower, left, and right sides of the camera unit (120) based on FIG. 5 so that the inside of the pipe (10) can be photographed as a whole.

[0101] At this time, the image captured by the multi-camera module (121) while the pipe inspection robot (100) moves inside the pipe (10) may be an image of a portion of the pipe, and the AI ​​model of the data collection / control device (150) may generate an image of the inside of the pipe by stitching together images of a portion of the pipe transmitted from the multi-camera module (121) based on an image stitching algorithm, which is one of the image processing algorithms, as shown in FIG. 6, and then synthesize a plurality of images of the inside of the pipe to acquire a front measurement image (1210).

[0102] Here, image stitching algorithm refers to a conventional algorithm that combines multiple images into one large panoramic image.

[0103] Referring to FIG. 5, when a PTZ camera (122) detects that a deformation (11) of a pipe has occurred from an image of the inside of the pipe captured from a multi-camera module (121), a pipe inspection robot (100) moves to a location where the deformation (11) of the pipe has occurred, and then adjusts the angle to the same point of view as the RGB camera of the multi-camera module (121) that captured the deformation (11) of the pipe, and then precisely photographs the inside of the pipe (10) including the deformation (11) of the pipe to capture a precise measurement image (1220).

[0104] In addition, the AI ​​model of the data collection / control device (150) can detect deformation (11) of the pipe from a precision measurement image (1220) captured by the PTZ camera (122) based on a deep learning algorithm, which is one of the image processing algorithms, as shown in FIG. 6, and identify the location where the deformation (11) of the pipe occurred.

[0105] Here, the deep learning algorithm is a common algorithm used in the field of object detection to detect objects and identify their locations within an image.

[0106]

[0107] 6) Pipe inspection stage

[0108] Figure 7 is a flowchart illustrating a detailed process of a pipe inspection step according to one embodiment of the present invention.

[0109] Referring to FIG. 4, the pipe inspection step (S130) is a process of inspecting the internal state of the pipe (10) using a pipe inspection robot (100) that has entered the interior of the pipe (10), and may proceed in the following order: a first movement step (S131), a photographing and capture step (S132), a visualization step (S133), an analysis step (S134), a pipe deformation detection step (S135), a photographing maintenance step (S136), a second movement step (S137), and a precision photographing step (S138).

[0110] In the above first movement step (S131), the robot (100) for pipe inspection receives a control signal from a data collection / control device (150) through a power / communication cable (155), and can move in one direction (forward) based on the control signal.

[0111] In the above shooting and capturing step (S132), the multi-camera module (121) operates when the control device (115) receives a control signal from the data collection / control device (150) via the power / communication cable (155), and can capture a partial image of the inside of the pipe (10) by continuously shooting the area from when the pipe inspection robot (100) starts moving in one direction (forward) inside the pipe (10) until it stops.

[0112] In the above visualization step (S133), the data collection / control device (150) can receive and output a portion of the pipe image captured by the multi-camera module (121) through a power / communication cable (155).

[0113] In the above analysis step (S134), the AI ​​model mounted on the data collection / control device (150) can analyze a portion of the pipe image.

[0114] In the above pipe deformation detection step (S135), the AI ​​model can determine whether a deformation (11) of the pipe is detected from a portion of the pipe image.

[0115] At this time, if it is not detected that a deformation (11) of the pipe has occurred from the image of a portion of the pipe (S135-NO), the multi-camera module (121) can maintain the shooting state so that an image of a portion of the pipe is captured while the pipe inspection robot (100) moves in one direction (forward) on the pipe (10) (S136).

[0116] In contrast, if it is detected that a deformation (11) of the pipe has occurred from a partial image of the pipe (S135-YES), the operator of the control unit transmits a control signal for moving the pipe inspection robot (100) to the control device (115) of the pipe inspection robot (100) using the data collection / control device (150), and the control device (155) can move the pipe inspection robot (100) to the position where the partial image of the pipe where it is determined that a deformation (11) of the pipe has been detected was captured based on the control signal (S137).

[0117] In the above precision shooting step (S138), the PTZ camera (122) operates when the control device (115) receives a control signal from the data collection / control device (150) through the power / communication cable (155), and the PTZ camera (122) is adjusted to the same point of view as the point of view of the multi-camera module (121) that took an image of a portion of the pipe where a deformation (11) of the pipe is determined to have been detected through the control device (115), and then the inside of the pipe (10) is precisely photographed to capture a precision measurement image (1220).

[0118] In one embodiment, the AI ​​model of the data collection / control device (150) can detect a deformation (11) of the pipe from a precision measurement image (1220) captured by the PTZ camera (122) and identify the location where the deformation (11) of the pipe occurred.

[0119] Meanwhile, the structure of the front wheel (130) and the rear wheel (140) for movement of the pipe inspection robot (100) in performing the above pipe inspection step (S130), and the control device (115) for controlling the operation of the multi-camera module (121) and the PTZ camera (122) will be described in detail below.

[0120]

[0121] 7) Structure of front and rear wheels

[0122] Hereinafter, the structures of the front wheel (130) and the rear wheel (140) provided in the pipe inspection robot (10) of the present invention will be described in detail based on the front wheel (130).

[0123] FIG. 8 is a block diagram illustrating a control device and a device constituting the control device according to one embodiment of the present invention, and FIG. 9 is an exploded perspective view of a front wheel according to one embodiment of the present invention.

[0124] Referring to FIG. 8, the front wheel (130) may be equipped with a tire (131), a tire mount bracket (132), a sealing cap (133), a waterproof / heat-dissipating housing (134), a hub (135), and a fixed bracket (136).

[0125] The tire (131) is made of a rubber material to absorb vibration and shock generated while the pipe inspection robot (100) moves inside the pipe (10), and can support the load of the main body (110) and the camera unit (120) connected to the main body (110).

[0126] The tire mount bracket (132) is fitted to the tire (131) and can absorb vibration and shock generated while the pipe inspection robot (100) moves inside the pipe (10) together with the tire (131).

[0127] In one embodiment, the tire mount bracket (132) can house therein a driving unit (1320) for driving the front wheel unit (130).

[0128] Referring to FIG. 9, the driving unit (1320) may be equipped with an in-wheel motor (1321), a reducer (1322), a control unit (1323), and a sensor (1324).

[0129] In one embodiment, the in-wheel motor (1321) is a motor that drives the front wheel (130), and may differ from a conventional motor mounted within the vehicle chassis in that it is positioned inside the tire mount bracket (132).

[0130] In one embodiment, the reducer (1322) can convert the torque of the in-wheel motor (1321) and transmit it to the front wheel (130).

[0131] In one embodiment, the control unit (1323) can implement the driving performance of the robot (100) for pipe inspection by controlling the speed and torque of the in-wheel motor (1321).

[0132] Additionally, the control unit (1323) can independently control the rotation of a pair of front wheels (130) for precise driving of the pipe inspection robot (100).

[0133] In one embodiment, the sensor (1324) can measure the speed, torque, and position of the front wheel (130) to provide feedback to the control unit (1323) for precise control of the front wheel (130) and stable driving of the pipe inspection robot (100).

[0134] This driving unit (1320) may be an in-wheel type modular unit in which the in-wheel motor (1321), reducer (1322), control unit (1323), and sensor (1324) are implemented in the form of a single module and are placed inside the tire mount bracket (132).

[0135] Referring again to FIG. 8, the sealing cap (133) functions as a cover coupled to the tire mount bracket (132) to prevent the in-wheel type modular driving unit (1320) disposed inside the tire mount bracket (132) from being separated from the tire mount bracket (132).

[0136] In one embodiment, a waterproof / heat-proof housing (134) is combined with a sealing cap (133), and while a pipe inspection robot (100) inspects the inside of the pipe (10), water, moisture, etc. inside the pipe (10) can be prevented from infiltrating into the drive unit (1320) disposed inside the tire mount bracket (132) (waterproofing), and at the same time, heat generated in the drive unit (1320) can be released (heat dissipation) into the inside of the pipe (10), which is outside the tire mount bracket (132).

[0137] In one embodiment, the hub (135) may be provided with a communication / power connector (135a) on one side to enable the driving unit (1320) to receive power from a battery (not shown) built into the main body (110) and to transmit a control signal from the control device (115).

[0138] In one embodiment, the fixed bracket (136) is a member that fixes the tire mount bracket (132) so that it remains in a state of being fitted to the tire (131), and can absorb vibration and shock generated while the pipe inspection robot (100) moves inside the pipe (10) together with the tire (131) and the tire mount bracket (132).

[0139]

[0140] 8) Control devices and devices constituting the control devices

[0141] Below, the structure of a control device (115) of one embodiment that controls a multi-camera module (121) and a PTZ camera (122) will be described in detail.

[0142] Fig. 10 is a block diagram illustrating a driving unit and a device constituting the driving unit according to one embodiment of the present invention.

[0143] In one embodiment, a control device (115) is provided in the main body (110) and can estimate the position of the pipe inspection robot (100) inside the pipe (10) and control the position and movement direction of the pipe inspection robot (100).

[0144] This control device (115) may be equipped with a first encoder (115a), a second encoder (115b), a data combining unit (115c), a data calculating unit (115d), and a position estimation unit (115e), as shown in FIG. 10.

[0145] In one embodiment, the first encoder (115a) may be attached to a cable reel (not shown) for driving the front wheel (130) and the rear wheel (140).

[0146] At this time, a cable reel (not shown) is provided on each of the front wheel (130) and rear wheel (140), and refers to a device that winds or unwinds a connected cable according to the movement of the robot (100) for pipe inspection.

[0147] In addition, the first encoder (115a) may be a reel counter that converts the rotational motion of the cable reel into a digital signal and estimates the current position of the pipe inspection robot (100) inside the pipe (10) based on the number of rotations of the cable reel.

[0148] More specifically, the first encoder (115a) calculates the number of rotations of the cable reel when the pipe inspection robot (100) moves forward in one direction (forward) inside the pipe (10), calculates the travel distance by which the cable is unwound based on the number of rotations of the cable reel, calculates the travel distance of the pipe inspection robot (100) based on the travel distance by which the cable is unwound, and accumulates the calculated travel distance based on the position of the pipe inspection robot (100) when calculating the number of rotations of the reel, thereby estimating the current position of the pipe inspection robot (100).

[0149] That is, it is preferable that the first encoder (115a) operates only when the pipe inspection robot (100) moves forward in one direction to calculate the rotational speed of the cable reels provided in the front wheel (130) and the rear wheel (140), respectively.

[0150] In one embodiment, the second encoder (115b) may be a device that is attached to a cable reel (not shown) like the first encoder (115a) and converts the rotational motion of the cable reel into a digital signal, but unlike the first encoder (115a), it may be a wheel counter that estimates the current position of the pipe inspection robot (100) inside the pipe (10) based on the rotational speed of the front wheel (130) and the rear wheel (140).

[0151] More specifically, the second encoder (115b) calculates the number of rotations of the cable reel when the pipe inspection robot (100) moves backward in the other direction (rearward) inside the pipe (10), calculates the number of rotations of the front wheel (130) and the rear wheel (140) based on the number of rotations of the cable reel, calculates the movement distance of the pipe inspection robot (10) based on the number of rotations of the front wheel (130) and the rear wheel (140), and accumulates the movement distance calculated based on the position of the pipe inspection robot (100) when calculating the number of rotations of the front wheel (130) and the rear wheel (140), thereby estimating the current position of the pipe inspection robot (100).

[0152] That is, it is desirable that the second encoder (115b) operate only when the pipe inspection robot (100) moves backward in the other direction to calculate the rotational speed of the front wheel (130) and the rear wheel (140).

[0153] In one embodiment, the data combining unit (115c) can primarily determine the current position of the pipe inspection robot (100) by combining the current position information of the pipe inspection robot (100) estimated from the first encoder (115a) and the current position information of the pipe inspection robot (100) estimated from the second encoder (115b).

[0154] Additionally, the data combining unit (115c) can transmit the current location information of the primarily determined pipe inspection robot (100) to the location estimation unit (115e).

[0155] In one embodiment, the data calculation unit (115d) may receive a front measurement image (1210) influenced by light provided by an LED light (126) from a multi-camera module (121).

[0156] In addition, the data calculation unit (115d) can calculate the movement distance of the pipe inspection robot (100) by analyzing the frame of the front measurement image (1210) based on the visual odometry technique for tracking the movement of the pipe inspection robot (100).

[0157] At this time, the data calculation unit (115d) can extract feature points from the frame of the front measurement image (1210) based on an image processing algorithm, and the image processing algorithm can be at least one of SIFT (Scale-Invariant Feature Transform), SURF (Speeded-Up Robust Features), and ORB (Oriented FAST and Rotated BRIEF).

[0158] And the data calculation unit (115d) can calculate the movement direction and distance of the pipe inspection robot (100) by matching feature points between frames of continuous front measurement images (1210) to track the movement of the pipe inspection robot (100), and then transmit the movement direction and distance information of the pipe inspection robot (100) to the position estimation unit (115e).

[0159] However, since the visual odometry technique is sensitive to changes in lighting, its accuracy may decrease in a dark environment such as the inside of a pipe (10). Accordingly, the data calculation unit (115d) may calculate the accuracy of the movement direction and distance information of the pipe inspection robot (100) and then transmit the movement direction and distance information of the pipe inspection robot (100) to the position estimation unit (115e).

[0160] At this time, if the data calculation unit (115d) calculates the accuracy of the movement direction and distance information of the pipe inspection robot (100) based on whether the feature points are accurately matched due to the influence of the light provided by the LED light (126), and when the percentile (%) of the accuracy of the movement direction and distance information of the pipe inspection robot (100) is equal to or higher than a preset percentile, the calculated movement direction and distance information of the pipe inspection robot (100) can be transmitted to the position estimation unit (115e).

[0161] In contrast, if the percentile of accuracy of the movement direction and distance information of the pipe inspection robot (100) is less than a preset percentile, the data calculation unit (115d) may not transmit the calculated movement direction and distance information of the pipe inspection robot (100) to the position estimation unit (115e).

[0162] In one embodiment, the position estimation unit (115e) can finally estimate the current position of the pipe inspection robot (100) based on the current position information of the pipe inspection robot (100) transmitted from the data combination unit (115c) and the movement direction and distance information of the pipe inspection robot (100) transmitted from the data calculation unit (115d).

[0163] However, if the position estimation unit (115e) does not receive information on the movement direction and distance of the pipe inspection robot (100) from the data calculation unit (115d), the current position of the pipe inspection robot (100) can be finally estimated using the current position information of the pipe inspection robot (100) received from the data combination unit (115c).

[0164]

[0165] 9) Retrieval of robot for pipe inspection and completion of pipe inspection stage

[0166] Below, the process of recovering the robot for pipe inspection and completing the pipe inspection (S140) that is performed after the pipe inspection step (S130) will be described in detail.

[0167] FIG. 11 is a flowchart illustrating a detailed process of a recovery and pipe inspection completion step of a pipe inspection robot according to one embodiment of the present invention.

[0168] Referring to FIG. 11, the pipe inspection robot recovery and pipe inspection completion step (S140) is a process of recovering the pipe inspection robot (10) that has completed the internal condition inspection of the pipe (10) and completing the inspection of the pipe (10), and may be performed in the following order: recovery approval step (S141), power / communication cable separation and recovery step (S142), transport tank withdrawal step (S143), remote communication termination and recovery step (S144) of the data collection / control device that is performed simultaneously with the above steps (S142, S143), control tank withdrawal step (S145), and pipe inspection completion (S146).

[0169] In the above recovery approval step (S141), when the manager of the work site receives a report from the worker of the transport team or the control team that the pipe inspection robot (100) has completed the internal condition inspection of the pipe (10), the manager can approve the recovery of the pipe inspection robot (100) to end the process of inspecting the internal condition of the pipe (10) using the pipe inspection robot (100).

[0170] At this time, the completion of the inspection of the internal condition of the pipe (10) by the pipe inspection robot (100) means that the pipe inspection robot (100) moves from the starting point of the work site to enter the interior of the pipe (10) and reaches the destination point of the work site where it ends its movement.

[0171] In the above power / communication cable separation and recovery step (S142), if recovery of the pipe inspection robot (100) is approved, the transport worker can separate and recover the power / communication cable (155) connecting the pipe inspection robot (100) located at the destination and the data collection / control device (150).

[0172] In the above transport tank withdrawal step (S143), the transport tank operator can transport the recovered power / communication cable (155) and withdraw from the work site as the pipe inspection is completed, and can transport not only the power / communication cable (155) but also the pipe inspection robot (100).

[0173] In the remote communication termination and recovery step (S144) of the above data collection / control device, the operator of the control unit can terminate the remote communication for remotely controlling the pipe inspection robot (100), and when the power / communication cable (155) is separated from the pipe inspection robot (100) and the data collection / control device (150), the data collection / control device (150) can be recovered.

[0174] In the above-mentioned pilot withdrawal step (S145), the pilot operator can carry the recovered data collection / piping device (150) and withdraw from the work site as the pipe inspection is completed.

[0175] In the above pipe inspection completion step (S146), the manager of the work site visually checks whether the pipe inspection robot (100), the data collection / control device (150), and the power / communication cable (155) have been recovered at the work site, and if it is confirmed that the pipe inspection robot (100), the data collection / control device (150), and the power / communication cable (155) have all been recovered, the inspection of the pipe (10) can be completed.

[0176]

[0177] 10) Worker input stage

[0178] Below, we will explain in detail the worker input step (S150) that is performed after the robot recovery for pipe inspection and the completion of pipe inspection step (S140).

[0179] In the above worker input step (S150), a worker of the control unit or transport unit or a separate worker can be input into the pipe (10) to perform work within the pipe (10) whose internal condition has been inspected using a pipe inspection robot (100).

[0180] That is, the robot (100) for pipe inspection can prevent accidents caused by pipe deformation (11) by checking the internal condition of the pipe (10) before a worker performs work inside the pipe (10) and detecting deformation (11) of the pipe.

[0181]

[0182] The detailed description of the preferred embodiments of the present invention disclosed above has been provided to enable those skilled in the art to implement and practice the present invention. While the above description has been made with reference to preferred embodiments of the present invention, those skilled in the art will appreciate that various modifications and variations can be made to the present invention without departing from the scope of the present invention. For example, those skilled in the art can utilize the individual components described in the above-described embodiments in combination with each other. Accordingly, the present invention is not intended to be limited to the embodiments described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0183] The present invention may be embodied in other specific forms without departing from the technical spirit and essential characteristics thereof. Therefore, the above detailed description should not be construed as limiting in all respects but should be considered illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes coming within the equivalent scope of the present invention are intended to be included therein. The present invention is not intended to be limited to the embodiments set forth herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Furthermore, claims that are not explicitly cited in the claims may be combined to form an embodiment or incorporated into a new claim by post-application amendment.

[0184] Description of the symbol

[0185] 10: Piping, 11: Deformation of the pipe,

[0186] 100: Robot for pipe inspection, 110: Main body,

[0187] 115: Control device, 115a: Cable reel,

[0188] 115b: 1st encoder, 115c: 2nd encoder,

[0189] 115d: Data combining unit, 115d: Data calculation unit,

[0190] 115e: Position estimation unit, 120: Camera unit,

[0191] 121: Multi-camera module, 122: PTZ camera,

[0192] 130: Front wheel, 131: Tire,

[0193] 132: Tire mount bracket, 133: Sealing cap,

[0194] 134: Waterproof / heat-resistant housing, 135: Hub,

[0195] 135a: Communication / power connector, 136: Fixed bracket,

[0196] 140: Rear wheel, 150: Data acquisition / control unit,

[0197] 155: Power / communication cable, 1210: Front measurement image,

[0198] 1220: Precision measurement image, 1320: Drive unit,

[0199] 1321: In-wheel motor, 1322: Reducer,

[0200] 1323: Control unit, 1324: Sensor.

Claims

1. a) A step in which a worker at a work site checks the condition of the pipe in advance before inserting a pipe inspection robot into the inside of the pipe; b) A step of introducing the robot for pipe inspection into the interior of the pipe; c) a step of checking the internal condition of the pipe by using a pipe inspection robot inserted into the inside of the pipe to detect deformation of the pipe; and d) a step of recovering a pipe inspection robot that has completed inspection of the internal condition of the pipe and completing inspection of the pipe; including, The above pipe inspection robot is, A pipe inspection procedure utilizing a pipe inspection robot characterized in that, in step c), the internal state of the pipe is inspected using a multi-camera module equipped on the pipe inspection robot that captures a partial image of the pipe by photographing the inside of the pipe, which is a heterogeneous camera, and a PTZ camera that captures a precise measurement image by precisely photographing the inside of the pipe including the deformation of the pipe when a deformation of the pipe is detected from the partial image of the pipe.

2. In paragraph 1, Step a) above, a-1) A step in which the worker visually checks the number of grid plates installed on the pipe and whether a gate-shaped structure is installed; a-2) A step in which the worker carries the pipe inspection robot, a data collection / control device to be connected to the pipe inspection robot, and a power / communication cable for connecting the pipe inspection robot and the data collection / control device; a-3) A step in which the manager approves the work to inspect the internal condition of the pipe using the pipe inspection robot; and a-4) A pipe inspection procedure using a pipe inspection robot, characterized in that it includes a step in which the worker removes the grid and the gate-shaped structure installed on the pipe.

3. In paragraph 2, Step b) above, b-1) A step in which the manager approves the introduction of the robot for pipe inspection into the interior of the pipe; b-2) A step in which the worker connects the pipe inspection robot and the data collection / control device via the power / communication cable, and then positions the pipe inspection robot at the starting point of the work site where it will begin moving; b-3) A step of preparing to control the robot for pipe inspection by performing remote control settings of the data collection / control device for remotely controlling the robot for pipe inspection by the worker; and b-4) A pipe inspection procedure using a pipe inspection robot, characterized in that the pipe inspection robot is controlled remotely through the data collection / control device, and moves from the starting point of the work site and is inserted into the inside of the pipe.

4. In paragraph 3, Step c) above, c-1) A step in which the above pipe inspection robot receives a control signal from the data collection / control device through the power / communication cable and moves in one direction; c-2) A step of capturing an image of a portion of the pipe by continuously photographing the inside of the pipe from the time the pipe inspection robot starts moving in one direction inside the pipe until it stops; c-3) A step in which the data collection / control device receives and outputs a portion of the pipe image captured by the multi-camera module through the power / communication cable; c-4) A step in which an AI model mounted on the above data collection / control device analyzes a portion of an image of a pipe; c-5) When the AI ​​model detects that a deformation has occurred in the pipe from the image of a portion of the pipe, the robot for inspecting the pipe moves to the location where the image of the portion of the pipe where the deformation of the pipe is determined to have been detected was taken; and c-6) A pipe inspection procedure using a pipe inspection robot, characterized in that it comprises a step of capturing the precision measurement image by precisely photographing the inside of the pipe after the angle of the PTZ camera is adjusted to the same point of view as the point of view of the multi-camera module that captured some images in which deformation of the pipe is determined to have been detected; 5. In paragraph 4, The above AI model is, A pipe inspection procedure using a pipe inspection robot, characterized in that a pipe interior image is created by stitching together a portion of the pipe images based on an image stitching algorithm, and then a front measurement image is acquired by synthesizing the plurality of pipe interior images.

6. In paragraph 4, The above AI model is, A pipe inspection procedure using a pipe inspection robot characterized in that it detects deformation of a pipe from the precision measurement image based on a deep learning algorithm and identifies the location where the deformation of the pipe has occurred.

7. In paragraph 4, The above pipe inspection robot is, A front wheel for allowing the above pipe inspection robot to move in one direction or the other direction inside the pipe; and a rear wheel; and A pipe inspection procedure using a pipe inspection robot, characterized in that it includes a control device for controlling the front and rear wheels.

8. In paragraph 7, The above front wheel part and the above rear wheel part, tire; A tire mount bracket that is fitted to the tire and houses a driving unit for driving the front and rear wheels inside; A sealing cap coupled to the tire mount bracket to prevent the driving unit from being separated from the tire mount bracket; A waterproof / heat-dissipating housing combined with the sealing cap to prevent water and moisture from entering the inside of the pipe into the driving unit and at the same time to release heat generated from the driving unit to the outside of the tire mount bracket; A hub having a communication / power connector provided on one side so that the driving unit receives power from the battery and transmits a control signal from the control device; and A pipe inspection procedure using a pipe inspection robot, characterized in that it includes a fixing bracket for fixing the tire mount bracket so that it is maintained in a state of being fitted to the tire.

9. In paragraph 8, The above driving part, A pipe inspection procedure utilizing a pipe inspection robot characterized by being an in-wheel type modular type accommodated on the inside of the above tire mount bracket.

10. In paragraph 7, The above control device, A first encoder, which is a reel counter that estimates the current position of the pipe inspection robot based on the rotational speed of the cable reels provided on the front and rear wheel sections, respectively; A second encoder, which is a wheel counter that estimates the current position of the pipe inspection robot based on the rotational speed of the front and rear wheels; A data combining unit that primarily determines the current position of the pipe inspection robot by combining the current position information of the pipe inspection robot estimated from the first encoder and the current position information of the pipe inspection robot estimated from the second encoder; A data calculation unit that calculates the movement distance of a pipe inspection robot by analyzing frames of front measurement images transmitted from the multi-camera module based on a visual odometer technique, and tracks the movement of the pipe inspection robot by matching feature points between frames of continuous front measurement images to calculate the movement direction and distance of the pipe inspection robot; and A pipe inspection procedure utilizing a pipe inspection robot, characterized in that it includes a position estimation unit that finally estimates the current position of the pipe inspection robot based on the current position information of the pipe inspection robot transmitted from the data combination unit and the movement direction and distance information of the pipe inspection robot transmitted from the data calculation unit.

Images