Integrated inspection system for ropeway facilities

Abstract

Disclosed is an integrated inspection system for ropeway facilities. The integrated inspection system for ropeway facilities according to the present invention comprises: a first inspection device for inspecting for defects in a first wire for towing a carrier of a ropeway facility; a second inspection device for inspecting for defects in the first wire or a second supporting wire, fixedly installed to support the load of the carrier of the ropeway facility, while moving; a third inspection device for inspecting for defects in a ropeway sheave; and a control unit for receiving inspection information from the first, second, and third inspection devices and integrally managing the inspection information.

Description

Integrated inspection system for saddle facilities

[0001] The present invention relates to an integrated inspection system for a cableway facility, and more specifically, to an inspection system capable of comprehensively performing safety management for a cableway facility that transports passengers or cargo along a wire installed in the air.

[0002] Ropeway facilities are a means of transportation that transports passengers or cargo by installing a transporter, such as a cable car, on a wire installed in the air. They are installed and operated in rugged mountainous or maritime areas where the traffic volume is small and installation of conventional transportation media such as roads or railways is difficult.

[0003] As of February 2022, there are 172 ropeways in operation in Korea, but ropeway installation projects are continuously increasing, mainly among local governments, to revitalize the local economy by attracting tourists.

[0004] However, with this increasing trend of ropeway facilities, safety accidents such as falling of transporters are also increasing to an average of 4-5 times per year due to aging of existing facilities and insufficient safety inspections, so periodic and precise safety inspection plans for ropeway facilities are becoming important.

[0005] Safety inspections for the above-mentioned ropeway facilities are currently divided into completion inspections by inspection agencies after the ropeway facility is installed, regular inspections (annually) during the use phase, regular inspections (every 3 months), and emergency inspections.

[0006] However, since this inspection method is carried out entirely by inspectors directly deployed to high altitudes, it is virtually impossible to completely check and address defects in all wires (grounding or pre-grounding) installed over a long distance, or in multiple cutting wheels installed at regular intervals on posts or stops to support the wires, and it is difficult to ensure the safety of inspectors.

[0007] Among the prior art technologies for solving the problems of such inspection methods using manpower, Korean Patent Publication No. 10-2022-0013574 (publication date: February 4, 2022) discloses a method for detecting wear of a cable pulley (4) by a cable car system (1) having at least one cable sensor (10).

[0008] The above-described prior art requires that a cable sensor (10) for detecting the distance (A) from the hoisting cable (3) be installed in advance on the cable pulley (4) assembly, and that an evaluation unit (11) or a cable car controller (12) be provided, so that it is easy to apply to a newly constructed cableway facility, but there is a problem that it is difficult to directly apply or use it to an old cableway facility that has already been installed.

[0009] In addition, since it is a technology that indirectly infers whether there is an abnormality in the cable pulley (4) based on whether the distance (A) between the cable sensor (10) coupled to the cable pulley (4) and the hoisting cable (3) decreases or increases rather than directly measuring or detecting the degree of wear or deformed shape of the inner part of the cable pulley (4), it is difficult to accurately diagnose eccentric wear of the cable pulley (4) or the state of its connection with the hoisting cable (3), and thus the accuracy and reliability of the detection are problematic, and thus improvement or refinement is necessary.

[0010] Among the prior art technologies for solving the problems of this inspection method using human labor, Korean Patent No. 10-2032986 (registration date: October 10, 2019) discloses a technology for a wire rope damage detection device that detects leakage magnetic flux generated from a damaged part of a wire rope.

[0011] The above-described prior art has a problem in that it cannot be used for inspection of support wires (ground wires) installed in a fixed state for load support, as it is a technology for detecting damage to a moving wire rope installed in a fixed state on an upper roller (8) and a winch drum (9) at a fixed position.

[0012] In addition, since the prior art inspects for defects based on the magnetic flux that leaks to the outside and is measured when a local metal loss occurs in a wire, which is a steel structure, the existence and location of the defect can be identified relatively quickly through acquisition of one-dimensional data, but in order to accurately judge or estimate the size and shape of the defect, multiple Hall sensors and magnets must be arranged in a complex manner, and two-dimensional data must be processed using a complex and computationally intensive algorithm and various filtering processes must be performed, so there is a problem that the speed and efficiency of the inspection are reduced.

[0013] Therefore, it is necessary to research and develop a method to reliably and quickly detect defects in cutting wheels, traction (pre-cutting) and support wires (ground cutting) related to the safe operation of the cutting facility while ensuring the safety of workers while resolving or improving these problems and concerns.

[0014] The purpose of the present invention is to provide an integrated inspection system for a cableway facility that can comprehensively, reliably, and quickly inspect and monitor for defects in not only the cutting wheels of a cableway facility arranged at regular intervals to support the wires, but also a plurality of wires that move or support a transporter such as a cable car of a cableway facility, without time constraints or direct input of manpower.

[0015] The above object is achieved by an integrated inspection system for a cableway facility that performs safety management for a cableway facility that transports passengers or cargo along a wire installed in the air, the system comprising: a first inspection device fixedly installed on one side of the cableway facility for inspecting a defect in a first traction wire that moves while pulling a carrier of the cableway facility; a second inspection device that moves and inspects a defect in a second support wire that is fixedly installed to support the load of the cableway facility carrier or the first traction wire; a third inspection device detachably coupled around a cutting wheel that is arranged at regular intervals on the cableway facility for inspecting a defect in a cutting wheel that supports the wire; and a control unit that monitors the operating states of the first, second, and third inspection devices, controls their operation, and receives and integrates inspection information transmitted from them.

[0016] The first inspection device may include a frame part including a fixed plate installed on a fixed structure of a cable-staying facility and an arc-shaped plate coupled to an end of the fixed plate; a cover part coupled to the arc-shaped plate and formed to surround a portion of a circumference of a first wire introduced into an internal space through a lateral opening; a plurality of first cameras that photograph a surface of the first wire moving in a spaced-apart manner along the circumference of the cover part; and a first control part that operates and controls the first camera and determines a defect in the first wire based on image information captured by the first camera.

[0017] The first inspection device further includes a distance measuring unit installed on a fixed structure of a slitting facility to measure the moving distance of the first wire, and the first control unit can mutually synchronize and process information measured by the distance measuring unit and the image information so that a defect location of the first wire can be identified.

[0018] The above cover part may include a pipe-shaped cover body having a lateral opening formed along the length direction to allow introduction of a first wire; and a light control part that controls the light intensity of the internal space, which changes depending on external sunlight conditions, to be maintained constant.

[0019] The above frame part may further include a first-1, 1-2 driving part that moves the fixed plate horizontally or vertically, respectively, to maintain the focus of the first camera on the first wire that shakes according to movement.

[0020] The above frame part may further include a first-third driving part that rotates the arc plate up and down to maintain the focus of the first camera on the first wire that shakes as it moves.

[0021] The above first inspection device may further include a defect display unit installed on a fixed structure of a cutting facility located in front of the moving direction of the first wire, and visually marking the location of the defect when the first control unit determines a defect in the first wire.

[0022] The second inspection device may include a body part formed to surround a second wire with a hollow portion as the center; a driving part coupled to the body part so as to contact the second wire at the front and rear of the hollow portion, respectively, and to rotate and move the body part along the second wire; a plurality of second cameras spaced apart from each other on the inside of the body part to photograph the surface of the second wire; and a second control part that controls the operation of the driving part and determines a defect in the second wire based on image information photographed by the second camera.

[0023] The driving unit may include first and second driving wheels arranged to contact one side of the second wire at the front and rear of the hollow body, respectively, and to travel back and forth along the second wire by the rotational operation of the second driving unit; first and second auxiliary wheels arranged on the other side of the second wire so as to face the first and second driving wheels with respect to the second wire and to contact and support the second wire; and an actuator coupled to at least one of the first and second driving wheels and the first and second auxiliary wheels and to perform a telescopic operation so as to provide pressure support for the second wire.

[0024] The driving unit may be manufactured as a pair of modules, including a fixed bracket that is detachably attached to the body and has a mounting hole for positioning the second wire; a pair of wheel brackets that are rotatably connected to both ends of the fixed bracket so that the second wire is pressed by the actuator while the brackets are respectively axially connected to the first driving wheel and the first auxiliary wheel; and a surveillance camera that is installed around the first and second driving wheels or the first and second auxiliary wheels to photograph an obstacle on the second wire.

[0025] The second control unit may include a second communication module for wireless communication with the control unit; and a battery for providing power to the driving unit and the second camera.

[0026] The above body part is manufactured in the shape of an isosceles triangle to balance the weight of the body part on the left and right based on the hollow, and the battery can be detachably coupled to the lower part of the body part to balance the weight of the body part on the left and right, or a pair of batteries can be detachably coupled to each other at positions symmetrical to each other with respect to the lower part of the body part, or the battery can be detachably coupled and positioned on a slidable mount at the lower part of the body part.

[0027] The third inspection device may include: a grinder that attaches to and detaches from a wire around a grinding wheel according to the rotational operation of a third driving unit; a manipulator that is connected to the grinder and has a multi-joint movement so that the inner side of the grinding wheel that comes into contact with the wire and wears can face the end side in at least one direction; a sensing unit provided at the end side to detect the position of the grinding wheel and measure a three-dimensional shape of the inner side; and a third control unit that operates and controls the manipulator based on information measured from the sensing unit and determines the state of the grinding wheel.

[0028] The above-mentioned clamping device may include first and second grippers that are hingedly connected and intersect each other so that pressing and fixing or releasing of a wire is performed at one end; a third driving unit provided in the second gripper and rotated forward and backward by the third control unit; and a pressing link that connects the first and second grippers so that the rotational power of the third driving unit is transmitted to the first gripper to press and fix or release the wire.

[0029] The above manipulator comprises a connecting frame formed to be elongated downward and connected to the jaw clamp; a main link that rotates up and down and left and right while one end is articulated with the connecting frame; and a plurality of joint links that individually rotate up and down or left and right while being articulated with respect to the main link, wherein at least one of the connecting frame, the main link, and the joint links may include a skeletal structure formed by arranging lightweight aluminum bar members in a thrust structure; and a bending structure bent at a predetermined angle with respect to the longitudinal direction of the skeletal structure.

[0030] The above detection unit may include a vision camera for obtaining two-dimensional image information around the distal end in real time; and a 3D scanner for non-contact measuring a three-dimensional shape of the inner part in at least one direction.

[0031] The third control unit can, based on information measured by the vision camera, check the positions of the distal end and the cutting wheel and perform visual servoing on the manipulator so that the distal end faces the inner side, or determine whether the cutting wheel is aligned with respect to the wire.

[0032] The third control unit can compare the information measured by the 3D scanner with the normal shape data of the inner part to determine the degree of wear of the inner part.

[0033] According to the present invention, a first inspection device fixedly installed on one side of a cableway facility to inspect for defects in a first traction wire that moves while pulling a carrier of the cableway facility, a second inspection device moving to inspect for defects in a second support wire that supports the load of the cableway facility carrier or the first traction wire, a third inspection device positioned at regular intervals to inspect for defects in a pulley that supports the wire, and a control unit that monitors and controls the operation of the first, second, and third inspection devices and receives and manages inspection information from them, thereby enabling a safety inspection of the first traction wire and the second support wire to be performed quickly and reliably while ensuring consistency and accuracy, and enabling direct and precise inspection of the alignment of the pulley or the degree of wear of the inner part, etc., from various directions, so that safety management of the cableway facility can be comprehensively performed through an automated inspection device without time constraints or direct input of a large number of personnel.

[0034] Figure 1 is a usage diagram showing a state in which an integrated inspection system for a saddle facility according to the present invention is applied to a saddle facility.

[0035] Figure 2a is a one-way perspective view of the first inspection device illustrated in Figure 1.

[0036] Figure 2b is a perspective view of the first inspection device illustrated in Figure 1 from another direction.

[0037] Figure 3 is an exploded perspective view of Figure 2a.

[0038] Figures 4 to 6 are front views, side views, and plan views of Figure 2a.

[0039] Fig. 7 is a plan view and a front view showing the structure of the distance measuring unit illustrated in Fig. 2a.

[0040] Figure 8 is a diagram showing the state in which the first inspection device is installed and operated, which is an enlarged view of area A of Figure 1.

[0041] Fig. 9 is a perspective view of the second inspection device illustrated in Fig. 1.

[0042] Figures 10 to 12 are front, side, and plan views of Figure 9.

[0043] Figures 13 and 14 are cross-sectional views taken along lines AA and BB of Figure 9.

[0044] Figure 15 is a usage diagram showing the process of the second inspection device of Figure 9 being fastened to the second fixed support wire.

[0045] Fig. 16 is an exploded perspective view specifically showing the driving part of Fig. 9.

[0046] Fig. 17 is a perspective view of the third inspection device illustrated in Fig. 1.

[0047] Figure 18 is an exploded perspective view of Figure 17.

[0048] Figures 19 to 21 are side views, front views, and cross-sectional views of the jaw crusher illustrated in Figure 17.

[0049] Figures 22 to 24 are drawings showing an operating state in which the manipulator illustrated in Figure 17 is operated so that the distal end of the manipulator faces the inner side of the cutting wheel in each of three directions.

[0050] Figures 25a and 25b are drawings schematically illustrating the visual servoing of the third control unit for the manipulator and the wear degree judgment of the third control unit for the inner part.

[0051] Figure 26 is a diagram showing the state in which the third inspection device is used independently or is operated in combination with a maintenance lift or ski lift.

[0052]

[0053] * Explanation of symbols for major parts of the drawing *

[0054] 1: Integrated inspection system for cableway facilities 5: Cableway facilities

[0055] W1, W2: 1st wire, 2nd wire 10: Cutting wheel

[0056] 12: Inner part (rubber ring) 20: Maintenance lift

[0057] 30: Ski lift

[0058] 100: First inspection device 110: Frame part

[0059] 111: Fixed plate 112,113: 1-1, 1-2 drive unit

[0060] 115: Hohyeongpan 116: 1-3 Drive Unit

[0061] 120: Cover part 121: Side opening

[0062] 122: Cover body 124: Light control unit

[0063] 124a: Light sensor 124b: LED light source

[0064] 130: First camera 132: First mounting mount

[0065] IA: 140° angle of view: 1st control unit

[0066] 150: Distance measuring unit 151: Mounting plate

[0067] 152: Roller 154: Elastic member

[0068] 156: First encoder 160: Defect display unit

[0069] 200: Second inspection device 210: Body

[0070] 211: Hollow 212: Hollow frame

[0071] 212a: Segmented frame 214: Cover plate

[0072] 220: Driving section 221: Second driving section

[0073] 221a: Motor 221b: Reducer

[0074] 222: 1st and 2nd driving wheels 223: 1st and 2nd auxiliary wheels

[0075] 224: Actuator 225: Fixed bracket

[0076] 225a: Mounting post 225b: Segmented frame

[0077] 226: Wheel bracket 227: Surveillance camera

[0078] 228: Second encoder 230: Second camera

[0079] 232: Second mounting mount 240: Second control unit

[0080] 242: Second communication module 244: Battery

[0081] 300: Third inspection device 310: Crusher

[0082] 312a, 312b: 1st and 2nd grippers 312c: Hinge

[0083] 314: Third drive unit 316: Pressurized link

[0084] 316a: Operation section 316b: Connection section

[0085] 320: Manipulator 321: Distal end

[0086] 322: Connecting frame 322a: Skeletal structure

[0087] 322b: Folding structure 324: Main link

[0088] 324a: Skeletal structure 324b: Folded structure

[0089] 326-1,326-2: Joint link DX1 to DX7: Actuator

[0090] 330: Detection unit 332: Vision camera

[0091] 334: 3D scanner LL: Line light

[0092] 340: Third Control Unit 400: Control Unit

[0093] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, in describing the present invention, descriptions of functions or configurations already known will be omitted to clarify the gist of the present invention.

[0094] In the description of the invention and the scope of claims, the terms “upper”, “lower”, “left / right” (side or lateral), “front”, and “rear” (back) that indicate directions are not intended to limit rights but are determined based on the relative positions between drawings or configurations for the convenience of explanation. Each direction described below is based on these, except in cases where there are special limitations to the contrary.

[0095]

[0096] The integrated inspection system (1) for a cableway facility according to the present invention is a system applied to a cableway facility that transports passengers or cargo along wires (W1, W2) installed in the air, as illustrated in FIG. 1, and is an invention devised to automatically and quickly inspect the alignment or degree of wear of a first wire (W1) for traction and a second wire (W2) for support, as well as a cutting wheel (10) that supports and guides the wires (W1, W2), without time constraints or direct input of a large number of manpower, thereby enabling integrated safety management of the cableway facility (5).

[0097] In order to specifically implement the functions or actions described above, an integrated inspection system (1) for a slashing facility according to an embodiment of the present invention may be configured to include a first inspection device (100), a second inspection device (200), a third inspection device (300), and a control unit (400).

[0098] Below, each of the above-described components will be described in detail with reference to the drawings.

[0099] First, the first inspection device (100) is fixedly installed on a cableway facility (5) that transports passengers or cargo along a plurality of wires (W) installed in the air, as illustrated in FIGS. 1 and 7, and can be a device that performs a safety inspection on the first wire (W1) that is connected to a transporter such as a cable car of the cableway facility (5) and moves while directly pulling the transporter, quickly and reliably, with consistency and accuracy guaranteed.

[0100] In order to specifically implement the functions or actions described above, the first inspection device (100) according to the embodiment of the present invention may be configured to include a frame portion (110), a cover portion (120), a camera (130), a first control portion (140), a distance measurement portion (150), and a defect display portion (160), as shown in FIGS. 2A to 6.

[0101] The frame part (110) is a component provided to be installed so that the cover part (120) and the first camera (130) used for real-time inspection, which will be described later, are mounted at a fixed position with respect to the first traction wire (W1) (preliminary wire) that moves and shakes together with the transporter.

[0102] The frame part (110) is not particularly limited in its shape or material, as long as it is a connecting or fixing member that can firmly connect and fix the cover part (120) and the first camera (130), etc., which will be described later, to a fixed structure of the saddle facility (5) that can be adjacent to or facing the moving first wire (W1) (pre-saddle).

[0103] However, the frame part (110) according to the embodiment of the present invention may be configured to include a fixed plate (111), first-1, 1-2 driving parts (112, 113), an arc plate (115), a first-3 driving part (116), etc., as shown in FIGS. 2A to 6, so that the position of the first camera (130) can be variably adjusted with respect to the first traction wire (W1) that moves and shakes.

[0104] The fixed plate (111) is a plate-shaped component installed on a fixed structure of the cutting facility (5) to support and fix the arc plate (115) on which the cover part (120) to be described later is mounted.

[0105] This fixed plate (111) can be modified in various ways, such as into a plate shape bent at a predetermined angle or a straight plate shape, as shown in FIGS. 2a and 2b, depending on the shape and position of the structure to be fixedly installed.

[0106] The 1-1 and 1-2 driving units (112, 113) are components provided between the fixed structure of the shaving facility (5) and the fixed plate (111) to move the fixed plate (111) horizontally or vertically, respectively.

[0107] These 1-1, 1-2 driving units (112, 113) are not particularly limited in their driving method or operating method, as long as they are a known linear motion device combination that can reciprocate the fixed plate (111) in a two-axis direction in a straight line according to the operation control of the first control unit (140) described later.

[0108] However, the 1-1 driving unit (112) according to the embodiment of the present invention may be configured to include a motor, a screw shaft, and a moving block, etc., for precise and accurate linear movement in the horizontal direction.

[0109] Here, the motor is configured as a known commercially available servo motor or stepper motor that receives control power from the first control unit (140) and rotates in a forward and reverse direction, and the screw shaft is fixedly installed horizontally on a fixed structure of the saddle facility (5) in a state connected to the above-described motor, and the moving block can be configured to move linearly in a horizontal direction according to the forward and reverse rotation of the motor in a state in which it is screw-connected to the horizontal screw shaft.

[0110] And the 1-2 driving unit (113) according to the embodiment of the present invention may be configured to include a motor, a screw shaft, and a moving block, similar to the 1-1 driving unit (112), for precise and accurate linear movement in the vertical direction.

[0111] At this time, the motor is configured as a known commercially available servo motor or stepper motor that receives control power from the first control unit (140) and rotates in the forward and reverse directions, and the screw shaft of the 1-2 driving unit (113) is fixedly installed in the vertical direction while being connected to the above-described motor, and the moving block of the 1-2 driving unit (113) is screw-fastened to the vertical screw shaft while being connected to the moving block of the 1-1 driving unit (112) and the fixed plate (111), respectively, so that it moves in a straight line in the vertical direction according to the forward and reverse rotation of the motor.

[0112] As the fixed plate (111) can move horizontally or vertically by the operation of the 1-1, 1-2 driving units (112, 113) as described above, the first wire (W1) for traction can easily enter the internal space through the lateral opening (121) of the cover unit (120) described later.

[0113] In addition, even if the first traction wire (W1) in the internal space of the cover part (120) shakes and moves in an irregular position due to external factors, the focus of the first camera (130) to be described later can be maintained at a constant level on the surface of the first wire (W1) by the operation of the first-1, 1-2 driving parts (112, 113) that finely adjust the fixed plate (111) in a horizontal or vertical direction in real time.

[0114] The arc-shaped plate (115) is an arc-shaped component that provides a mounting surface on which a cover part (120) is installed on the inside to connect the cover part (120) to be described later to the fixed plate (111) described above, and is joined to the end of the fixed plate (111).

[0115] This arc-shaped plate (115), as shown in FIG. 2a and FIG. 4, is made of an arc-shaped plate member that surrounds part or all of the outer surface of the cover part (120) and can be integrally connected to the cover part (120) described later on one inner side.

[0116] The 1-3 driving unit (116) is a component provided at the end of the above-described fixed plate (111) coupled to the arc plate (115) to rotate the arc plate (115) and the first camera (130) of the cover part (120) described later in the up-and-down direction with respect to the fixed plate (111).

[0117] As long as the 1-3 driving unit (116) is a known rotary motion device that can rotate the arc plate (115) up and down within a certain range according to the operation control of the 1st control unit (140) described later, the driving method or operation method is not particularly limited.

[0118] However, the 1-3 driving unit (116) according to the present invention may be configured to include a motor, a pinion gear, a rack gear, etc., for fine and accurate rotational movement in the up-and-down direction.

[0119] Here, the motor may be configured as a commercially available servo motor or stepper motor that receives control power from the first control unit (140) and rotates in a forward and reverse direction, and may be coupled to one side of the fixed plate (111).

[0120] And the pinion gear is coupled to a motor that penetrates the fixed plate (111) and the arc plate (115) and meshes with the rack gear to be described later, and the rack gear can be coupled to the other surface of the arc plate (115) with a length corresponding to the rotation range so as to rotate the arc plate (115) up and down according to the forward and reverse rotation of the pinion gear.

[0121] As the 1-3 driving unit (116) described above enables the hoop plate (115) to rotate in the up-and-down direction, the first traction wire (W1) can enter the internal space more easily and smoothly through the lateral opening (121) of the cover unit (120) described later.

[0122] In addition, even if the first traction wire (W1) in the internal space of the cover part (120) shakes and moves in an irregular position due to external factors, the focus of the first camera (130) described later can be maintained more consistently and stably on the surface of the first wire (W1) by the operation of the first-third driving part (116) that finely adjusts the arc plate (115) in the up-down direction in real time.

[0123] The cover part (120) is a component that is coupled to the above-described arc plate (115) to ensure that the photographing of the first camera (130) for surface inspection of the first wire (W1), which will be described later, is performed consistently without being affected by external sunlight conditions.

[0124] This cover part (120) can be manufactured in a shape that wraps around a portion of the circumference of the first wire (W1) introduced into the internal space through the side opening (121) to minimize the influence of external sunlight conditions.

[0125] In order to implement the function or action as described above, the cover part (120) according to the embodiment of the present invention may be configured to include a cover body (122), a light control part (124), etc., as shown in FIGS. 4 and 5.

[0126] The cover body (122) is a pipe-shaped component in which a lateral opening (121) that allows the introduction of the first wire (W1) is formed along the length of the cover body (122).

[0127] Inside the cover body (122), an internal space in which the first traction wire (W1) can move without interference may be provided in a form that is connected to the side opening (121).

[0128] The illumination control unit (124) is a component provided to maintain the illumination of the internal space or the first wire (W1) constant, which changes depending on external sunlight conditions, so that consistent first camera (130) shooting of the surface of the first wire (W1) is achieved.

[0129] This light control unit (124) is provided on the inside of the cover body (122) described above, and can be configured to include a light sensor (124a) and an LED light source (124b), etc., as shown in FIGS. 4 and 5, in order to constantly adjust the light intensity for the internal space or the first wire (W1) according to the operation control of the first control unit (140) described later.

[0130] Here, the light sensor (124a) is a component that is arranged at least one at regular intervals on the inner surface of the cover body (122) described above to measure the light intensity of the internal space or the first wire (W1), and transmits the measured light intensity information to the first control unit (140) in real time according to the operation control of the first control unit (140).

[0131] The LED light source (124b) is a component that is provided with at least one on the inner surface of the cover body (122) described above and emits a light source that is adjusted so that the illuminance for the internal space or the first wire (W1) is maintained constant.

[0132] These LED light sources (124b) are individually controlled by the first control unit (140) for lighting position, number of lights, lighting intensity, etc. based on the illumination information for the internal space or the first wire (W1) measured by the above-described illumination sensor (124a), thereby maintaining the illumination of the internal space at a constant arbitrary illumination value.

[0133] Since the light control unit (124) as described above is provided on the inside of the cover body (122), the shooting conditions of the first camera (130) to be described later can be maintained constant in relation to the light, so that the first wire (W1) defect judgment of the first control unit (140) based on the captured image information can be performed more reliably and accurately.

[0134] The first camera (130) is a component provided to provide real-time two-dimensional or three-dimensional image information used to determine whether there is a defect in the first traction wire (W1) moving in the internal space of the cover portion (120) described above.

[0135] The first camera (130) is a commercially available photographing device that can capture in real time the surface of the first wire (W1) moving according to the operation control of the first control unit (140) described later while being arranged around the cover unit (120) described above, generate predetermined image information, and transmit it to the first control unit (140), and the driving method or output method is not particularly limited.

[0136] However, in order to enable the entire surface of the first moving traction wire (W1) to be simultaneously confirmed and photographed as a clear image, the first camera (130) according to the embodiment of the present invention may be configured by radially arranging three industrial two-dimensional image cameras having a shooting speed of 20 fps or more and a resolution of 5 MP or more at 120° intervals along the perimeter of the cover portion (120) described above, as illustrated in FIG. 5.

[0137] At this time, the reason for selecting a 2D video camera is to reduce the amount of computation of the first control unit (140) to be described later for processing the generated image information while shortening the time required for the correction work for the first camera (130). Due to this selection, defect inspection or judgment for the moving first wire (W1) can be performed quickly in real time.

[0138] Meanwhile, the three two-dimensional video cameras as described above are each installed on a first mounting mount (132) that can slide in the focal direction and can be positioned so that the entire circumference of the first wire (W1) can be easily positioned within the shooting angle (IA) range corresponding to the position of the first traction wire (W1).

[0139] As described above, due to the three two-dimensional video cameras provided, the first control unit (140) described later can quickly and accurately check and determine in real time whether there is a defect in the entire circumference of the first moving traction wire (W1).

[0140] The first control unit (140) is a component that is electrically connected to the above-described 1-1, 1-2, 1-3 driving units (112, 113, 116), the light control unit (124), the first camera (130), and the distance measurement unit (150) and defect display unit (160) described later to control the respective operations, and analyzes and processes information captured or acquired from the first camera (130) and the distance measurement unit (150) in real time to determine a defect in the moving first traction wire (W1).

[0141] This first control unit (140) may basically include a computing device that is programmed for information calculation and sequence control, such as an MCU (micro controller unit), microcomputer, Arduino, PLC (Programmable Logic Controller), etc., which is integrated with a computer or manufactured independently, as well as an artificial intelligence algorithm model for determining a defect in the first wire (W1).

[0142] In addition, the first control unit (140) may further include a storage device for storing real-time image information captured on the circumferential surface of the first wire (W1) for moving traction and information on the movement distance of the first wire (W1) measured by the distance measuring unit (150) to be described later, and a first communication module (not shown) for communicating with a manager or a control unit (400) which is a management system to be described later.

[0143] The first control unit (140) of the configuration described above first controls the operation of the first camera (130) of the first inspection device (100) installed on the fixed structure of the saddle facility (5) to photograph the surface of the first moving traction wire (W1), and then performs an operation of determining whether the entire circumference of the first moving traction wire (W1) is located within the shooting angle (IA) range of the three radially arranged first cameras (130) based on the image information transmitted in real time.

[0144] At this time, when the entire circumference of the first wire (W1) for traction moves outside or out of the shooting angle (IA) range of the three first cameras (130), the first control unit (140) controls the operation of the above-described 1-1, 1-2, and 1-3 driving units (112, 113, 116) so that the entire circumference of the first wire (W1) is positioned within the shooting angle (IA) range.

[0145] The operation control of the above-described 1-1, 1-2, 1-3 driving units (112, 113, 116) of the first control unit (140) may be performed until the defect inspection for the first wire (W1) for traction is completed or may be performed at regular time intervals.

[0146] Next, the first control unit (140) individually operates and controls the lighting position, number of lights, lighting intensity, etc. of the LED light source (124b) so that the lighting of the interior space is maintained at a constant arbitrary lighting value based on the lighting information measured and transmitted in real time from the lighting sensor (124a).

[0147] The operation control of the light sensor (124a) and the LED light source (124b) of the first control unit (140) may also be performed until the defect inspection of the first wire (W1) for traction is completed or may be performed at regular time intervals.

[0148] Next, the first control unit (140) performs the task of determining a defect in the first traction wire (W1) by analyzing and processing in real time the information captured or acquired from the first camera (130) described above and the distance measurement unit (150) described later.

[0149] Specifically, the first control unit (140) determines a defect in the first wire (W1) in the order of background separation, defect detection, and short-circuit defect analysis from image information transmitted in real time from three first cameras (130).

[0150] At this time, the background separation for the first wire (W1) is performed by separating the background of the first wire (W1) from the image captured in real time through YOLO, a CNN-based deep learning model installed in the first control unit (140), based on pre-learned image processing weights.

[0151] Defect detection for the first wire (W1) as described above can be performed in the following order: binarizing an image with the background separated through the first control unit (140), extracting the outline of the first wire (W1) from the binarized image, tracing the small wire area from the outline, and then determining whether there is a defect on the surface of the first wire (W1) through a detection model that has been learned in advance and is loaded into the first control unit (140).

[0152] At this time, the detection model may be a model to which artificial intelligence technology is applied, which detects a defect on the surface of the first wire (W1), classifies the type of the detected defect into one of wire wear and breakage, wire wear and wire breakage, and then generates identification information.

[0153] The single-line defect analysis described above is performed through a first control unit (140) that applies a morphology technique for noise removal and a blob labeling technique for extracting the outline of the defect and post-processes the extracted outline to determine the length of the single-line defect.

[0154] As described above, prior to defect detection and short-circuit defect analysis on the surface of the first wire (W1), the first control unit (140) can perform processing to mutually synchronize information measured by the distance measurement unit (150) described below with real-time captured image information so that the defect location of the first wire (W1) can be confirmed.

[0155] The distance measuring unit (150) is a component that measures the movement distance of the first wire (W1) to enable confirmation of the defect location of the first wire (W1) determined from real-time captured image information, and can be installed on a fixed structure of the saddle facility (5).

[0156] This distance measuring unit (150) may be configured to include a roller (152), an elastic member (154), and a first encoder (156), as shown in FIGS. 6 and 7.

[0157] Here, the roller (152) is a component installed to be in contact with the first wire (W1) on the mounting plate (151) that is rotatably coupled to the fixed structure of the cutting facility (5), and can be provided to be rotatable according to the movement of the first wire (W1).

[0158] The elastic member (154) is a component that elastically supports the mounting plate (151) so that contact between the first wire (W1) that sways as it moves and the roller (152) described above is always maintained.

[0159] This elastic member (154) may be a coil-type spring, one end of which is fixed to a fixed structure of the saddle facility (5) and the other end of which is installed to elastically support the above-described mounting plate (151).

[0160] The first encoder (156) is a component that calculates the movement distance of the first wire (W1) based on the rotational speed of the roller (152) while connected to the roller (152) described above.

[0161] This first encoder (156) may be configured to be connected to the first control unit (140) and transmit the calculated movement distance to the first control unit (140).

[0162] Accordingly, the information measured by the distance measuring unit (150) is processed in synchronization with the image information described above by the first control unit (140) and can be used to identify the defect location of the first wire (W1).

[0163] The defect display unit (160) is a component provided to visually mark the defect location when the first control unit (140) described above determines a defect in the first wire (W1), and can be operated and controlled by the first control unit (140) described above.

[0164] This defect display unit (160) may be configured to include a marking member and a spray nozzle, as shown in FIGS. 3 and 5.

[0165] Here, the marking member is a component that is sprayed onto the surface of the defective first wire (W1) to visually indicate the defective portion of the first wire (W1).

[0166] These marking members can be provided to the injection nozzle described later by being classified into a plurality of different colors according to the wear and breakage of the wires, wear and breakage of the wires, etc. classified by the first control unit (140).

[0167] The spray nozzle is a component provided to spray a marking member composed of a plurality of different colors onto the surface of a defective first wire (W1), and can be operated and controlled while connected to the first control unit (140) described above.

[0168] Such a spray nozzle can be installed on one side of a fixed structure of a cutting facility (5) located in front of the moving direction of the first wire (W1), so that spraying is performed on the marking member after the first control unit (140) determines a defective portion of the first wire (W1).

[0169] Due to the first inspection device (100) discussed above, the safety inspection of the first traction wire (W1) related to the safe operation of the saddle facility (5) can be performed automatically and quickly without time constraints or direct input of a large number of personnel, and can be performed reliably with consistency and accuracy guaranteed.

[0170] Meanwhile, the various control operations performed by the first control unit (140) described above and the series of operation processing operations of the first control unit (140) for determining whether there is a defect in the first wire (W1) can be performed independently from the control unit (400) described later, can be performed in a shared manner with the control unit (400), or can be performed in an integrated manner by being delegated to the control unit (400).

[0171]

[0172] The second inspection device (200) may be a device that is detachably connected to a second support wire (W2) fixedly installed on a cableway facility (5) that transports passengers or cargo along wires (W1, W2) installed in the air, and movably inspects not only surface defects of the second wire (W2) but also surface defects of the traction wire (W1) if necessary.

[0173] Here, the second support wire (W2) (support wire) refers to a wire that is separately fixed and installed to support the load of the transporter, unlike the traction wire (W1) (pre-traction wire) that is attached to a transporter such as a cable car of the cableway facility (5) and moves to directly tow the transporter, as shown in Fig. 1.

[0174] The second inspection device (200) according to the present invention is a device that performs a safety inspection of a second support wire (W2) (or a traction wire (W1)) related to the safe operation of a saddle facility (5) quickly and reliably, with consistency and accuracy guaranteed, through autonomous driving under control without time constraints or direct input of a large number of personnel.

[0175] In order to specifically implement the functions or actions described above, the second inspection device (200) according to the embodiment of the present invention may be configured to include a body part (210), a driving part (220), a second camera (230), and a second control part (240), as shown in FIGS. 9 to 14.

[0176] The body part (210) is a component provided to provide an installation surface on which the components to be described later can be mounted while maintaining weight balance, and to ensure that the shooting of the second camera (230) to be described later for surface inspection of the second support wire (W2) is performed consistently without being affected by external sunlight conditions.

[0177] As described above, in order to minimize the influence of external sunlight conditions and to enable the body part (210) to maintain a left-right weight balance with respect to the second support wire (W2), which is a single line, the body part (210) according to the embodiment of the present invention can be manufactured in the shape of an equilateral triangle or an isosceles triangle (with the base facing downward) that surrounds the entire surface of the second wire (W2) with the hollow (111) in which the second support wire (W2) is inserted as the center, as shown in FIGS. 9 and 11.

[0178] At this time, the detachment of the body part (210) from the fixedly installed support second wire (W2) can be accomplished by the opening and closing operation of the hollow frame (212) exposed by the separation of any one of the three cover plates (214), as illustrated in FIG. 15.

[0179] Here, the hollow frame (212) is a ring-shaped component installed at the front and rear of the hollow (211) in which the second support wire (W2) is inserted and placed, and may include a segmented frame (212a) that is hinged and rotates up and down.

[0180] Due to the rotation of the above-described segment frame (212a), the second wire (W2) can be introduced into the hollow (211) and placed therein, and the introduced second wire (W2) can be prevented from coming off by screw fastening to the closed segment frame (212a).

[0181] Due to the body part (210) having the structure described above, the second support wire (W2) can be introduced into the hollow (211) and fixed, and the body part (210) can maintain its center of gravity while hanging from the outer support wire (W2) and move stably along the second wire (W2) without shaking by the driving part (220) described later.

[0182] The driving unit (220) is a component provided to provide a predetermined driving force so that the above-described body unit (210) can freely move forward or backward along the second support wire (W2), and to collect various information related to the movement of the body unit (210).

[0183] As long as the driving unit (220) is configured to perform an operation of moving the body unit (210) by rotating along the second wire (W2) under the operation control of the second control unit (240) to be described later, the driving method or operation method is not particularly limited.

[0184] However, the driving unit (220) according to the embodiment of the present invention is configured as a pair of modules including first and second driving wheels (222), first and second auxiliary wheels (223), an actuator (224), a fixed bracket (225), a wheel bracket (226), a surveillance camera (227), and a second encoder (228), as shown in FIG. 16, for movement of the body unit (210) and information collection, and can be coupled to the body unit (210) so as to be in contact with the second wire (W2) at the front and rear of the above-described hollow (211), respectively.

[0185] The first and second driving wheels (222), as shown in FIGS. 9 and 10, are wheel-shaped components positioned on the same vertical plane as the second wire (W2) and placed in contact with one side (i.e., the upper surface) of the second wire (W2) at the front and rear of the hollow (211), respectively.

[0186] On the surface where the first and second driving wheels (222) come into contact with the second wire (W2), a rubber liner having a U- or V-shaped groove may be provided to increase the gripping force for the second wire (W2) and prevent separation from the second wire (W2).

[0187] The first and second driving wheels (222) as described above can be driven back and forth along the second wire (W2) by the rotational operation of the second driving unit (221) controlled by the second control unit (240) described later.

[0188] Here, the second driving unit (221) is a component that provides driving force to enable the rotational operation of the first and second driving wheels (222) for the forward and backward movement of the body unit (210) described above, and can be coupled to the side of the first and second driving wheels (222).

[0189] This second driving unit (221) can be formed by combining a motor (221a) and a reducer (221b) whose rotation is controlled by a second control unit (240) to be described later.

[0190] The motor (221a) constituting the second driving unit (221) may be a known commercially available servo motor or stepper motor that receives control power from the second control unit (240) and rotates the driving shaft in the forward and reverse directions.

[0191] And the reducer (221b) is a commercialized product that can generate the rotational force required for the first and second driving wheels (222) by increasing the output torque instead of reducing the rotational speed of the above-described motor (221a), and can be integrated with the motor (221a) while being connected to the drive shaft of the motor (221a).

[0192] The first and second auxiliary wheels (223), as illustrated in FIGS. 9 and 10, are wheel-shaped components that are positioned on the same vertical plane as the first and second driving wheels (222) and the second wire (W2) described above, and are arranged on the other side (i.e., the lower surface) of the second wire (W2) so as to face the first and second driving wheels (222) with respect to the second wire (W2) and contact and support the second wire (W2).

[0193] On the surface where these first and second auxiliary wheels (223) come into contact with the second wire (W2), a rubber liner having a U- or V-shaped groove may be provided, similar to the first and second driving wheels (222) described above, to increase the gripping force for the second wire (W2) and prevent separation from the second wire (W2).

[0194] Due to the support of the second wire (W2) of the first and second auxiliary wheels (223) as described above, the first and second driving wheels (222) can maintain a constant contact force with respect to the second wire (W2), thereby enabling accurate and precise rotational driving on the second wire (W2).

[0195] The actuator (224) is a component provided to enable the second inspection device (200) of the present invention to move accurately and stably over the second wire (W2) while being firmly fixed to the second wire (W2) for external support.

[0196] This actuator (224) may be any type of device as long as it is a commercially available power device capable of a flexible operation that is coupled to at least one of the first and second driving wheels (222) and the first and second auxiliary wheels (223) to move at least one of them in a straight line toward the second wire (W2) and pressurize the second wire (W2).

[0197] However, the actuator (224) according to the embodiment of the present invention is composed of a motor screw drive type power device capable of precise linear control with a simple structure and strong pressing force, and can be operated and controlled by the second control unit (240) described later.

[0198] At this time, the screw-driven actuator (224) can be installed in a structure in which one end, which is a non-operating end, is rotatably connected to the upper end (or lower end) of a fixed bracket (225) to be described later, and the other end, which is a flexible end, is rotatably connected to a wheel bracket (226) to be described later, as shown in FIGS. 10, 13, and 16.

[0199] And, at the other end, which is the elastic end of the actuator (224), a coil spring capable of buffering the driving shock transmitted from the wheel bracket (226) may be provided.

[0200] Due to this installation structure, when the actuator (224) is extended in the longitudinal direction, the wheel bracket (226) to be described later rotates toward the second wire (W2), and accordingly, the first and second driving wheels (222) and / or the first and second auxiliary wheels (223) can firmly press the second supporting wire (W2) from one side and both sides, respectively, and the shock generated during driving can be reduced to a certain extent.

[0201] The fixed bracket (225) is a plate-shaped component that provides an installation surface so that the first and second driving wheels (222), the first and second auxiliary wheels (223), the actuator (224), etc., described above can be mounted, and is detachable from the body portion (210) described above.

[0202] This fixed bracket (225) may be provided with a mounting hole (225a) in which a second support wire (W2) is positioned in the center, and a segmented frame (225b) that is hinged so as to be rotatable up and down may be provided on one side of the fixed bracket (225) on which the mounting hole (225a) is formed.

[0203] Due to the rotation of the above-described segment frame (225b), the second wire (W2) can be introduced into the mounting hole (225a) and mounted, and the introduced second wire (W2) can be prevented from coming off by screw fastening to the closed segment frame (225b).

[0204] The wheel bracket (226) is a component that is formed as a pair and is axially coupled to the first driving wheel (222) and the first auxiliary wheel (223) to guide their respective rotations and is rotatably coupled to both ends of the fixed bracket (225).

[0205] As shown in FIG. 10, this wheel bracket (226) can be rotatably connected at the outer end to the other end, which is the elastic end of the actuator (224) described above, so that the second wire (W2) can be pressurized by the actuator (224) described above.

[0206] As described above, the driving part (220) which forms a pair of modules by being composed of the first and second driving wheels (222), the first and second auxiliary wheels (223), the actuator (224), the fixed bracket (225), and the wheel bracket (226) can be detachably coupled to both sides of the body part (210) by the fastening projections of the fixed brackets (225) which are fitted into the fastening grooves on the inside of the body part (210) exposed by separation of any one of the three cover plates (214), as shown in FIG. 15, and then fixed with pins.

[0207] The surveillance camera (227) is a component provided to provide real-time video information for checking for obstacles on the second wire (W2) that interfere with the operation of the second inspection device (200) of the present invention.

[0208] As shown in FIGS. 9 and 10, the surveillance camera (227) is a commercially available photographing device that is installed around the first and second driving wheels (222) or the first and second auxiliary wheels (223) described above and can capture real-time images of obstacles on the second wire (W2) according to the operation control of the second control unit (240) to generate predetermined image information and transmit it to the second control unit (240), and the driving method or output method is not particularly limited.

[0209] The second encoder (228) is a component that measures the travel distance for the second wire (W2) so as to be able to confirm the position corresponding to a defect in the second wire (W2) determined from image information on the surface of the second wire (W2) captured in real time, and may be provided with at least one on the rotation axis of the first auxiliary wheel or the first and second auxiliary wheels (223).

[0210] This second encoder (228) may be configured to calculate the movement distance of the second inspection device (200) of the present invention with respect to the second wire (W2) based on the number of rotations of the rotation axis while connected to the rotation axis of the first auxiliary wheel or the first and second auxiliary wheels (223) described above, and transmit the calculated movement distance to the second control unit (240).

[0211] At this time, the movement distance information measured by the second encoder (228) and transmitted to the second control unit (240) is processed in synchronization with the image information on the surface of the second wire (W2) described above by the second control unit (240) so that it can be used to confirm the defect location of the second wire (W2).

[0212] The second camera (230) is a component provided to provide real-time two-dimensional or three-dimensional image information used to determine whether there is a defect in the second support wire (W2) that moves relatively.

[0213] This second camera (230) is not particularly limited in its driving method or output method, as long as it is a commercially available photographing device that can capture in real time the surface of the second support wire (W2) that moves relatively according to the operation control of the second control unit (240) described later while being spaced apart from the inside of the body part (210) described above, generate predetermined image information, and transmit it to the second control unit (240).

[0214] However, in order to enable the entire surface of the second support wire (W2) that moves relatively to be simultaneously confirmed and photographed as a clear image, the second camera (230) according to the embodiment of the present invention is configured by radially arranging three industrial two-dimensional image cameras having a shooting speed of 20 fps or more and a resolution of 5 MP or more at 120° intervals inside the body (210), as shown in FIG. 14.

[0215] At this time, the reason for selecting a 2D video camera is to reduce the amount of computation of the second control unit (240) to be described later for processing the generated image information while shortening the time required for correction work on the second camera (230). Due to this selection, defect inspection or judgment on the moving support second wire (W2) can be performed quickly in real time.

[0216] Meanwhile, the three two-dimensional image cameras described above can be installed and positioned on a second mounting mount (232) that can slide in the focal direction, as shown in FIG. 15, so that the entire surface of the second wire (W2) for support can be easily positioned within the shooting angle range corresponding to the position of the second wire (W2).

[0217] As described above, due to the three two-dimensional video cameras provided, the second control unit (240) described later can quickly and accurately check and determine in real time whether there is a defect on the entire surface of the second support wire (W2) that moves relatively.

[0218] The second control unit (240) is a component that is electrically connected to the second driving unit (221), actuator (224), surveillance camera (227), second encoder (228), and second camera (230) of the above-described driving unit (220) to control the respective operations, and analyzes and processes information captured or acquired from the second camera (230) and second encoder (228) in real time to determine a defect in the second support wire (W2).

[0219] This second control unit (240) may basically include a computing device that is programmed for information calculation and sequence control, such as an MCU (micro controller unit), microcomputer, Arduino, PLC (Programmable Logic Controller), etc., which is integrated with a computer or manufactured independently, as well as an artificial intelligence algorithm model for determining a second wire (W2) defect.

[0220] And the second control unit (240) may further include a storage device for storing real-time image information captured on the entire surface of the second support wire (W2) and movement distance information of the second inspection device (200) of the present invention measured by the second encoder (228), a second communication module (242) for communicating with a manager or a control unit (400) which is a management system to be described later, and a battery (244) for providing power to the driving unit (220) and the second camera (230), etc.

[0221] Here, the battery (244) can be detachably coupled to the lower part of the body part (210) which has an isosceles triangle shape, as shown in FIG. 11 and FIG. 13, etc.

[0222] In addition, the batteries (244) can be detachably coupled in pairs at positions symmetrical to each other with respect to the lower part of the body part (210), or can be detachably coupled and positioned on a slidable mount (not shown) at the lower part of the body part (210).

[0223] Due to the arrangement of the batteries (244), the body part (210) described above maintains left-right balance and can move stably without shaking along the second wire (W2) by the driving part (220).

[0224] The second control unit (240) of the configuration described above can individually control the operation of the actuator (224) described above so that the first and second driving wheels (222) and / or the first and second auxiliary wheels (223) of the second inspection device (200) installed on the second support wire (W2) as shown in FIG. 15 can firmly press the second support wire (W2) located in the hollow (211) from one side and both sides, respectively.

[0225] At this time, in order to ensure that the pressure applied to the second wire (W2) set by the operator can be maintained constant during wire inspection, the second control unit (240) can control the operation of the actuator (224) in real time based on the pressure information measured from the load cell of the actuator (224) (or wheel bracket (226)).

[0226] Next, the second control unit (240) controls the operation of the second camera (230) so that it photographs the entire surface of the second support wire (W2).

[0227] And the second control unit (240) performs an operation to determine whether the entire surface of the second support wire (W2) is located within the shooting angle range of the three second cameras (230) that are radially arranged based on the image information transmitted in real time.

[0228] At this time, if the entire surface of the second support wire (W2) deviates from or goes beyond the shooting angle range of the second camera (230) that is radially arranged, the operator adjusts the position of the second mounting mount (232) on which the second camera (230) is mounted so that the entire surface of the second wire (W2) is located within the shooting angle range.

[0229] Next, the second control unit (240) controls the second driving unit (221) in real time so that the second inspection device (200) of the present invention drives the second support wire (W2) along the set inspection section at a predetermined speed.

[0230] At this time, the driving speed of the second inspection device (200) can be increased or decreased as needed in consideration of the surrounding environmental conditions or the state of the second wire (W2).

[0231] While the second inspection device (200) is running as described above, the second control unit (240) can perform control to drive the surveillance camera (227) to check for obstacles on the second wire (W2) that interfere with running.

[0232] At this time, if an obstacle is identified by the second control unit (240), the second control unit (240) can control the operation of the second driving unit (221) so that the driving of the second inspection device (200) of the present invention is stopped, and if necessary, the fact that the obstacle has been discovered can be transmitted to the manager or control unit (400), etc., through the second communication module (242).

[0233] Next, the second control unit (240) performs the task of continuously determining defects in the second support wire (W2) that moves relatively by analyzing and processing in real time the information captured or acquired from the second camera (230) and the second encoder (228) described above.

[0234] Specifically, the second control unit (240) determines the defect of the second wire (W2) in the order of background separation, defect detection, and short-circuit defect analysis from the image information transmitted in real time from three second cameras (230).

[0235] At this time, the background separation for the second wire (W2) is performed by applying pre-learned image processing weights and separating the background of the second wire (W2) from the image captured in real time through YOLO, a CNN-based deep learning model installed in the second control unit (240).

[0236] Defect detection for the second wire (W2) as described above can be performed in the following order: binarizing an image with the background separated through the second control unit (240), extracting the outline of the second wire (W2) from the binarized image, tracing the small wire area from the outline, and then determining whether there is a defect on the surface of the second wire (W2) through a detection model that has been learned in advance and is loaded into the second control unit (240).

[0237] At this time, the detection model may be a model to which artificial intelligence technology is applied, which detects a defect on the surface of the second wire (W2), classifies the type of the detected defect into one of wire wear and breakage, wire wear and wire breakage, and then generates identification information.

[0238] The single-line defect analysis described above is performed through a second control unit (240) that applies a morphology technique for noise removal and a blob labeling technique for extracting the outline of the defect and post-processes the extracted outline to determine the length of the single-line defect.

[0239] As described above, prior to defect detection and short-circuit defect analysis on the surface of the second wire (W2), the second control unit (240) can perform processing to mutually synchronize the information measured by the second encoder (228) and the real-time captured image information so that the defect location of the second wire (W2) can be confirmed.

[0240] Due to the second inspection device (200) discussed above, the safety inspection of the second support wire (W2) related to the safe operation of the saddle facility (5) can be quickly performed through the operation of the driving unit (220) under the control of the second control unit (240) without time constraints or direct input of a large number of manpower, and can be performed reliably while ensuring consistency and accuracy.

[0241] Meanwhile, the various control operations performed by the second control unit (240) described above and the series of operation processing operations of the second control unit (240) for determining whether there is a defect in the second wire (W2) (or the first wire (W1)) can be performed independently from the control unit (400) described below, can be performed in a shared manner with the control unit (400), or can be performed in an integrated manner by being delegated to the control unit (400).

[0242]

[0243] The third inspection device (300) may be a device that precisely inspects the wheel (10) related to the safe operation of a cableway facility (5) that transports passengers or cargo along wires (W1, W2) installed in the air, by simply attaching and detaching it to the wires (W1, W2), etc., without time constraints or direct input of a large amount of manpower.

[0244] In order to specifically implement the functions or actions described above, the third inspection device (300) according to the embodiment of the present invention may be configured to include a grinder (310), a manipulator (320), a detection unit (330), and a third control unit (340), as shown in FIGS. 17 and 18.

[0245] The grinding wheel (310) is a component provided to enable the third inspection device (300) according to the present invention to be selectively fixed adjacent to each of a plurality of grinding wheels (10) to be inspected and then stably perform the inspection work.

[0246] This grinder (310) is not particularly limited as long as it is a device configured to be firmly and easily attached to and detached from the wire (W1, W2) surrounding the grinding wheel (10) to be inspected according to the operation control of the third control unit (340) described later while being hung over the wire (W1, W2).

[0247] However, the grinder (310) according to the embodiment of the present invention may be configured with a structure including first and second grippers (312a, 312b), a third driving unit (314), and a pressure link (316), as shown in FIGS. 19 to 21.

[0248] The first and second grippers (312a, 312b) are rod-shaped components that are intersected and hinged to enable pressurized fixation or release of the wires (W1, W2) at one end that contacts the wires (W1, W2).

[0249] At this time, the first gripper (312a) may be formed with one end that wraps around the upper end and one outer surface of the wire (W1, W2) and is hinge-connected to the second gripper (312b), and may be positioned above the second gripper (312b), and the second gripper (312b) may be formed with one end that wraps around the upper end and the other outer surface of the wire (W1, W2) and is hinge-connected to the first gripper (312a), and may be positioned below the first gripper (312a).

[0250] The third driving unit (314) is a component provided in the second gripper (312b) described above to provide driving force so that the first and second grippers (312a, 312b) can be pressed and fixed or released from the wires (W1, W2).

[0251] This third driving unit (314) can be formed by combining a motor (not shown) and a reducer (not shown) whose rotation is controlled by a third control unit (340) to be described later.

[0252] At this time, the motor may be configured as a known commercially available servo motor or stepper motor that receives control power from the third control unit (340) to rotate the drive shaft in the forward and reverse directions, and the reducer may be configured as a commercially available product that can generate the rotational force required for the grinder (310) by increasing the output torque instead of reducing the rotational speed of the above-described motor.

[0253] The pressurizing link (316) is a component that connects the first and second grippers (312a, 312b) so that the rotational power of the third driving unit (314) described above, mounted on the second gripper (312b), is transmitted to the first gripper (312a) to pressurize and fix or release the wire (W1, W2).

[0254] This pressurized link (316) may be configured to include an operating member (316a) that is directly connected to the third driving member (314) and rotates within a predetermined range, as shown in FIGS. 19 to 21, and a connecting member (316b) that is rotatably connected to the operating member (316a) and the first gripper (312a), respectively.

[0255] At this time, the connecting piece (316b) performs an operation of transmitting the rotation of the operating piece (316a) to the first gripper (312a) so that the first gripper (312a) can rotate about the hinge (312c) of one end relative to the second gripper (312b) and perform a pressurized fixation or fixation release operation.

[0256] The manipulator (320) is a component connected to the grinder (310) so that the inner part (12) of the grinding wheel (10) that comes into contact with the wire (W1, W2) and wears out can be faced by the distal end (321) of the manipulator (320) in at least one direction.

[0257] Due to this manipulator (320), the detection unit (330) mounted on the distal end (321), which will be described later, can directly and precisely check or inspect the state of the cutting wheel (10) from various directions.

[0258] At this time, the inner part (12) of the cutting wheel (10) is provided in a concave ring shape so that the wires (W1, W2) are inserted and placed inside the cutting wheel (10), and rotates together with the cutting wheel (10) according to the traction of the wires (W1, W2) and is a component that gradually wears out in contact, and can be made of an elastic material to prevent damage to the wires (W1, W2).

[0259] The manipulator (320) as described above has a wide working range that can direct the inner part (12) from at least one of the front surface of the cutting wheel (10) and the upper surface, lower surface and side surface of the cutting wheel (10), and is not particularly limited as long as it is a structure such as a multi-joint movable robot arm according to the operation control of the third control unit (340) described later.

[0260] However, the manipulator (320) according to the embodiment of the present invention may be configured to include a terminal portion (321), a connecting frame (322), a main link (324), joint links (326-1, 326-2), and actuators (DX1 to DX7), as illustrated in FIG. 18.

[0261] Here, the terminal portion (321) refers to a link or actuator (DX7) located at the most terminal end of the joint link (326-1, 326-2) to which the sensing portion (330) to be described later is selectively attached or detached.

[0262] The connecting frame (322) is a rod-shaped component formed to extend downward to mediate the connection between the aforementioned burr grinder (310) and the third control unit (340). The upper part can be coupled to the aforementioned burr grinder (310), and the lower part can be coupled to the third control unit (340) to be described later.

[0263] At this time, the connecting frame (322) may be formed by including a skeletal structure (322a) and a bending structure (322b).

[0264] Here, the skeletal structure (322a) refers to a structure formed by arranging lightweight aluminum bar members in a trust shape, which is intended to minimize the influence of wind, etc. and the load on the main link (324) (DX1 to DX7), thereby enabling the manipulator (320) to operate more smoothly in a high-altitude environment.

[0265] And the bending structure (322b) refers to a portion that is bent at a predetermined angle with respect to the longitudinal direction of the above-described skeletal structure (322a). This is to balance the center of gravity of the third inspection device (300) and to enable the manipulator (320) to operate more efficiently with an optimized path.

[0266] For example, the bending structure (322b) of the connecting frame (322) may have a central portion that is convexly bent outward so that the jaw cutter (310) and the third control unit (340) to be described later are placed on a vertical line, as illustrated in FIG. 18, and the operating range of the main link (324) to be described later can be expanded.

[0267] The main link (324) is a rod-shaped component whose end is jointly connected to one side of the above-described connecting frame (322) to enable the manipulator (320) to operate in a large working range.

[0268] This main link (324) can rotate in two degrees of freedom in the up, down, left, and right directions by two actuators (DX1, DX2) that are each controlled to rotate in the forward and reverse directions according to the operation control of the third control unit (340) described later. Like the third driving unit (314) described above, this can be achieved by combining a motor and a reducer.

[0269] The joint links (326-1, 326-2) are rod-shaped components that are continuously articulated with respect to the main link (324) described above to enable the manipulator (320) to operate precisely and minutely in a narrow working range.

[0270] These joint links (326-1, 326-2) are composed of multiple units and are individually rotated up and down or left and right by multiple actuators (DX3 to DX7) that are each rotationally controlled according to the operation control of the third control unit (340) described later.

[0271] The above-described main link (324) and joint links (326-1, 326-2) may be formed by including a skeletal structure (324a) and a bending structure (324b), similar to the above-described connecting frame (322).

[0272] Here, the skeletal structure (324a) refers to a structure formed by arranging lightweight aluminum rod members in a thrust shape, which is intended to minimize the influence of wind, etc. and the load on the actuator (DX1 to DX7) so that the manipulator (320) can operate more smoothly in a high-altitude environment.

[0273] And the bending structure (324b) refers to a portion that is bent at a predetermined angle with respect to the longitudinal direction of the above-described skeletal structure (324a), which is intended to balance the center of gravity of the third inspection device (300) and to enable the manipulator (320) to operate more efficiently with an optimized path.

[0274] Due to the structure of the manipulator (320) as described above, the distal end (321) can face the inner side (12) more smoothly and freely from at least one direction as well as the front of the cutting wheel (10).

[0275] The detection unit (330) is a component provided in the above-described distal end (321) to generate image information that can identify the positions of the distal end (321) and the cutting wheel (10), and to measure the three-dimensional shape of the inner end (12) that can obtain status information about the inner end (12).

[0276] This detection unit (330) may be configured to include a vision camera (332) and a 3D scanner (334), as shown in FIG. 18, etc.

[0277] The vision camera (332) is a component provided to provide real-time two-dimensional or three-dimensional image information that is used to determine whether the cutting wheel (10) is aligned with respect to the wires (W1, W2) and is based on the operation (visual servoing) of the third control unit (340) that controls the manipulator (320) so that the cutting wheel (10) faces the front or inner side (12) of the cutting wheel (10) while confirming the position of the above-described distal end (321).

[0278] Here, visual servoing refers to a commercialized technology that controls the movement of a manipulator (320) to track the position of a target (e.g., the front of a cutting wheel (10) or the inner side (12) of a cutting wheel (10)) based on the image information of a camera provided in real time, as illustrated in FIG. 25a.

[0279] This visual servoing is divided into position-based visual servoing (PBVS), which controls the position of a manipulator (320) or the like using three-dimensional coordinate information obtained through a camera, and image-based visual servoing (IBVS), which controls a manipulator (320) or the like using two-dimensional image information so that a target comes to a desired position on an image plane, and both can be applied to the present invention.

[0280] However, the vision camera (332) according to the embodiment of the present invention can be configured as a two-dimensional image camera for image-based visual servoing that enables quick motion control by simplifying the camera calibration work that must be performed for each cutting wheel (10) installed at different locations and reducing the amount of calculation of the third control unit (340) to be described later.

[0281] These vision cameras (332) may further include one or more video cameras to check the external appearance of the cutting wheel (10) (front view of the cutting wheel (10)) and the alignment of the cutting wheel (10) with respect to the wires (W1, W2) (upper or lower surface of the cutting wheel (10) where the wires (W1, W2) are visible together).

[0282] At this time, the vision camera (332) may be configured to be operated and controlled in a state connected to the third control unit (340) described later, as illustrated in FIGS. 17 and 18, and to transmit real-time acquired image information to the third control unit (340).

[0283] As described above, due to the vision camera (332) provided at least one, the third control unit (340) described later can control the operation of the distal end (321) of the manipulator (320) to point toward the front or at least one direction of the cutting wheel (10) toward the inner side (12), based on the vision-based Yolo V5 deep learning model, and can easily determine the external condition (crack or damage) of the cutting wheel (10) or whether the cutting wheel (10) is aligned with respect to the wires (W1, W2).

[0284] The 3D scanner (334) is a component that directly measures the three-dimensional shape of the inner part (12) so that the degree of wear of the inner part (12) of the cutting wheel (10) can be determined by the third control unit (340) after the distal end (321) of the manipulator (320) is controlled to point toward the inner part (12) by the third control unit (340) to be described later.

[0285] As for this 3D scanner (334), if it is a commercialized product that can extract and quantify in three dimensions not only the overall curvature of the inner part (12), which is the measurement point, but also even small-sized damaged parts, there are no particular restrictions on the driving method or shape.

[0286] However, the 3D scanner (334) according to the embodiment of the present invention may be configured as a laser scanner capable of generating three-dimensional shape data in real time in a non-contact manner in the process of scanning the surface of the inner part (12) by line light (LL) or surface-shaped incident light radiated toward the inner part (12).

[0287] At this time, the 3D scanner (334) may be configured to be operated and controlled in a state connected to the third control unit (340) described later, as illustrated in FIGS. 17 and 18, and to transmit real-time measured or generated three-dimensional shape data to the third control unit (340).

[0288] As shown in FIG. 25b, the three-dimensional shape data generated in real time by the 3D scanner (334) and transmitted to the third control unit (340) can be used to determine the degree of wear of the inner part (12) of the wheel (10) being inspected by comparing and analyzing the inner part shape data of a normal (unused) cutting wheel that is measured in advance and stored in the third control unit (340) and the inner part shape data obtained from a replaced or discarded cutting wheel for wear characteristic analysis.

[0289] Meanwhile, if shape data on the inner side of a replacement or discarded cutting wheel along with its usage history is accumulated in advance in large quantities through a 3D scanner (334) and stored in the third control unit (340), the data can be usefully utilized to predict or estimate the replacement time or maintenance time for a cutting wheel (10) undergoing inspection.

[0290] The third control unit (340) is a component that is electrically connected to the aforementioned grinder (310), manipulator (320), and detection unit (330) to control the respective operations, and analyzes and processes information acquired or measured from the detection unit (330) in real time to determine the state of the grinding wheel (10).

[0291] This third control unit (340) may include a basic computing device equipped with a vision-based Yolo V5 deep learning model for visual servoing, as well as a programmable information operation and sequence control device such as an MCU (micro controller unit), microcomputer, Arduino, PLC (Programmable Logic Controller) integrated with a computer or manufactured independently.

[0292] In addition, the third control unit (340) may further include a storage device for storing shape data of the inner part (12) of a normal (unused) wheel (10) measured in advance, shape data of the inner part (12) of a discarded wheel (10), shape data of the inner part (12) of a wheel (10) being inspected in real time, and a third communication module (not shown) for communicating with a manager or a control unit (400), which is a management system to be described later.

[0293] The third control unit (340) having the configuration described above can first perform an operation of controlling the third driving unit (314) of the above-described grinding machine (310) so that the third inspection device (300) according to the present invention can be firmly attached to and detached from the wires (W1, W2) around the grinding wheel (10) that is the subject of inspection.

[0294] And the third control unit (340) can perform visual servoing by individually controlling the main link (324) of the manipulator (320) and the actuators (DX1 to DX7) of the joint links (326-1, 326-2) so that the distal end (321) faces the front of the cutting wheel (10) based on the image information acquired in real time from the vision camera (332) of the detection unit (330) described above.

[0295] As described above, according to the operation of the end portion (321) facing the front of the cutting wheel (10), the third control unit (340) can check and determine the external appearance of the cutting wheel (10), i.e., cracks or damage existing in the circular wheel shape, from the image information acquired from the vision camera (332).

[0296] And the third control unit (340) can perform visual servoing by individually controlling the main link (324) of the manipulator (320) and the actuators (DX1 to DX7) of the joint links (326-1, 326-2) so that the distal end (321) faces the inner side (12) of the wheel (10), that is, one of the upper surface, lower surface, and side surface of the wheel (10), based on the image information acquired in real time from the vision camera (332) of the detection unit (330) described above.

[0297] When there is an operation of the end portion (321) facing the inner side (12) from any one of the upper, lower, and side surfaces of the cutting wheel (10) as described above, the third control unit (340) performs a control to operate the 3D scanner (334) so ​​that the three-dimensional shape of the inner side (12) of the cutting wheel (10) being inspected can be directly measured.

[0298] At this time, as shown in FIGS. 22 and 23, when shape data for the inner part (12) of the cutting wheel (10) being inspected from the upper or side surface of the cutting wheel (10) is generated by the 3D scanner (334), the third control unit (340) receives this, compares it with the shape data for the inner part of a normal (unused) cutting wheel and the shape data for the inner part of a discarded cutting wheel, as shown in FIG. 25b, and determines or determines the degree of wear for the inner part (12) of the cutting wheel (10) being inspected.

[0299] Meanwhile, as illustrated in FIG. 24, when the wires (W1, W2) on the inner side (12) of the cutting wheel (10) being inspected on the lower surface of the cutting wheel (10) are confirmed by the vision camera (332), the third control unit (340) determines whether the cutting wheel (10) is aligned with the wires (W1, W2) (disengagement or alignment) based on the image information acquired from the vision camera (332).

[0300] As described above, the third inspection device (300) can be operated in a manner in which it is simply attached to and detached from the wires (W1, W2) or detachably coupled to the maintenance lift (20) or the ski lift (30), as illustrated in FIG. 26, and thus, without time constraints or direct input of a large amount of manpower, the external condition (cracks or damage) of the cutting wheel (10) as well as the alignment of the cutting wheel (10) with respect to the wires (W1, W2) and the degree of wear on the inner side (12) of the cutting wheel (10) can be precisely and safely inspected, and maintenance of the cutting facility (5) can be performed more easily and quickly.

[0301] Meanwhile, the various control operations performed by the third control unit (340) described above and the series of operation processing operations of the third control unit (240) that determine whether there is a defect in the inner part (12) of the cutting wheel (10) can be performed independently from the control unit (400) described later, can be performed in a shared manner with the control unit (400), or can be performed in an integrated manner by being delegated to the control unit (400).

[0302]

[0303] The control unit (400) is a component separately installed and operated at a remote location or on-site of a slashing facility (5) to monitor the operating status of the first, second and third inspection devices (100, 200, 300) described above, control their operation, and receive inspection information from them in real time for integrated management.

[0304] This control unit (400) may basically include a computing device that can program information operations and sequence control, such as an MCU (micro controller unit), microcomputer, Arduino, PLC (Programmable Logic Controller), etc., which is integrated with a computer or manufactured independently.

[0305] And the control unit (400), as illustrated in FIG. 1, may include a first communication module (not shown) of the first inspection device (100), a second communication module (242) of the second inspection device (200), a third communication module (not shown) of the third inspection device (300), a fourth communication module for wirelessly or wiredly communicating with an administrator, etc., and may include a storage device for storing inspection information and image information transmitted in real time from the first, second, and third inspection devices (100, 200, 300), a display device for visually displaying various pieces of information transmitted in real time, and an input device such as a joystick for manually controlling the operation configurations of the first, second, and third inspection devices (100, 200, 300).

[0306] As all of the first, second, and third inspection devices (100, 200, and 300) are integrated through the control unit (400) described above, the manager receives real-time inspection information on the wires (W1, W2) and the cutting wheel (10), which are major components related to the safe operation of the ropeway facility (5), in an integrated form, and can comprehensively check the presence of defects, location, and condition, etc., thereby enabling a quick decision on repair and replacement of the wires (W1, W2) and the cutting wheel (10), and an efficient mid- to long-term maintenance plan for the ropeway facility (5) to be established based on the recorded inspection information.

[0307] [National Research and Development Project Supporting This Invention]

[0308] [Project ID] 1415184783

[0309] [Assignment Number] 20018432

[0310] Ministry of Trade, Industry and Energy

[0311] [Name of Project Management (Specialist) Institution] Korea Institute of Industrial Technology Planning and Evaluation

[0312] [Research Project Name] Robot Industry Technology Development

[0313] [Research Project Name] Remote Inspection Robot for Cableway Facilities Including Wire Rope Wheel Device

[0314] System Development

[0315] [Name of the project performing organization] Korea Institute of Infrastructure Safety and Technology (KIIT)

[0316] Research Period: April 1, 2022 - December 31, 2025

[0317]

[0318] While specific embodiments of the present invention have been described and illustrated above, it will be apparent to those skilled in the art that the present invention is not limited to the described embodiments, and that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations should not be understood individually from the technical spirit or perspective of the present invention, and such modified embodiments should fall within the scope of the claims of the present invention.

[0319] The integrated inspection system for a cableway facility according to the present invention can quickly and reliably perform safety inspections on the first wire for traction and the second wire for support, and inspections on the alignment of the cutting wheel or the degree of wear on the inner side, etc., while ensuring consistency and accuracy, and can perform safety management of the cableway facility in an integrated manner in an automated manner without time constraints or direct input of a large number of manpower. Therefore, it is an invention having industrial applicability because it overcomes the limitations of existing technologies and has sufficient possibility of not only utilizing related technologies but also commercializing or selling the applied device, and is realistically and clearly implementable.

Claims

1. An inspection system that performs safety management on cableway facilities that transport passengers or cargo along wires installed in the air. A first inspection device fixedly installed on one side of a ropeway facility to inspect for defects in a first traction wire that moves while pulling a transporter of the ropeway facility; A second inspection device that moves and inspects for defects in a second support wire or a first traction wire that is fixedly installed to support the load of a saddle facility transporter; A third inspection device detachably coupled around the cutting wheel to inspect for defects in the cutting wheel that supports the wire and is placed at regular intervals on the cutting facility; and An integrated inspection system for a slashing facility, characterized by including a control unit that monitors the operating status of the first, second and third inspection devices, controls their operation, and receives and manages inspection information from them.

2. In paragraph 1, The above first inspection device, A frame part including a fixed plate installed on a fixed structure of a saddle facility and an arc plate connected to an end of the fixed plate; A cover portion formed to surround a portion of the circumference of a first wire that is connected to the above-mentioned plate and introduced into the internal space through a side opening; A plurality of first cameras that photograph the surface of the first wire moving in a spaced state along the periphery of the cover portion; and An integrated inspection system for a saddle facility, characterized in that it includes a first control unit that operates and controls the first camera and determines a defect in the first wire based on image information captured by the first camera.

3. In paragraph 2, The above first inspection device, Further comprising a distance measuring unit installed on a fixed structure of the saddle facility to measure the moving distance of the first wire, The above first control unit, An integrated inspection system for a cable-stayed facility, characterized in that the information measured by the distance measuring unit and the image information are mutually synchronized and processed so that the location of a defect in the first wire can be confirmed.

4. In paragraph 2, The above cover part, A pipe-shaped cover body having a lateral opening formed along the length thereof to allow the introduction of the first wire; and An integrated inspection system for a cable-stayed facility, characterized in that it includes a light control unit that controls the light level of the internal space, which changes depending on external sunlight conditions, to be maintained at a constant level.

5. In paragraph 2, The above frame part, An integrated inspection system for a cable-stayed facility, characterized in that it further includes a first-1, 1-2 driving unit for moving the fixed plate horizontally or vertically, respectively, to maintain the focus of the first camera on the first wire that shakes according to movement.

6. In paragraph 5, The above frame part, An integrated inspection system for a saddle facility, characterized in that it further includes a first-third driving unit that rotates the arc plate up and down to maintain the focus of the first camera on the first wire that shakes as it moves.

7. In paragraph 2, The above first inspection device, An integrated inspection system for a sling facility, characterized in that it further includes a defect display unit installed on a fixed structure of a sling facility located in front of the direction of movement of the first wire and visually marking the location of a defect when the first control unit determines a defect in the first wire.

8. In paragraph 1, The above second inspection device, A body formed to wrap a second wire around a hollow center; A driving unit coupled to the body part so as to contact the second wire at the front and rear of the hollow body, respectively, and rotating along the second wire to move the body part; A plurality of second cameras spaced apart from each other on the inside of the body to photograph the surface of the second wire; and An integrated inspection system for a cable-stayed facility, characterized in that it includes a second control unit that controls the operation of the above-mentioned driving unit and determines a defect in the second wire based on image information captured by the second camera.

9. In paragraph 8, The above driving part, First and second driving wheels, which are arranged to contact one side of the second wire at the front and rear of the above hollow, respectively, and which travel back and forth along the second wire by the rotational operation of the second driving unit; First and second auxiliary wheels are arranged on the other side of the second wire so as to face the first and second driving wheels based on the second wire and to contact and support the second wire; and An integrated inspection system for a saddle facility, characterized in that it includes an actuator that is coupled to at least one of the first and second driving wheels and the first and second auxiliary wheels and operates to provide pressurized support for the second wire.

10. In paragraph 9, The above driving part, A fixed bracket having a hole for positioning a second wire and detachably attached to the body; A pair of wheel brackets rotatably connected to both ends of the fixed bracket so that the second wire is pressed by the actuator while being axially connected to the first driving wheel and the first auxiliary wheel, respectively; and A mobile wire inspection device for a cableway facility, characterized in that it is manufactured as a pair of modules, further including a surveillance camera installed around the first and second driving wheels or the first and second auxiliary wheels to photograph obstacles on the second wire.

11. In paragraph 8, The second control unit, A second communication module for wireless communication with the control unit; and An integrated inspection system for a saddle facility, characterized in that it includes a battery for providing power to the driving unit and the second camera.

12. In paragraph 11, The above body part, In order to balance the weight of the left and right sides of the body based on the above hollow, it is manufactured in the shape of an isosceles triangle, The above battery, An integrated inspection system for a cableway facility, characterized in that, for the purpose of maintaining the left-right balance of the body part, a pair of parts are detachably coupled to the lower part of the body part, or are detachably coupled to each other at left-right symmetrical positions with respect to the lower part of the body part, or are detachably coupled and positioned on a slidable mount at the lower part of the body part.

13. In paragraph 1, The above third inspection device, A grinding machine that attaches to the wire around the cutting wheel according to the rotational operation of the third driving unit; A manipulator connected to the grinding machine and having a multi-joint movement so that the inner side of the grinding wheel that comes into contact with the wire and wears can face the end in at least one direction; A sensing unit provided at the distal end to detect the position of the cutting wheel and measure the three-dimensional shape of the inner part; and An integrated inspection system for a cutting facility, characterized in that it includes a third control unit that controls the operation of the manipulator based on information measured from the above detection unit and determines the state of the cutting wheel.

14. In paragraph 13, The above-mentioned tool is, First and second grippers that are intersecting and hinged to each other so that pressure fixation or release of the wire is performed at one end; A third driving unit provided in the second gripper and rotating in the forward and reverse directions by the third control unit; and An integrated inspection system for a saddle facility, characterized in that it includes a pressure link connecting the first and second grippers so that the rotational power of the third driving unit is transmitted to the first gripper to pressurize and fix or release the wire.

15. In paragraph 13, The above manipulator, A connecting frame formed long downwards and connected to the above-mentioned tool; A main link that rotates up, down, left, and right while one end is jointly connected to the above connecting frame; and It includes a plurality of joint links that individually rotate up and down or left and right in a state of continuous joint connection with respect to the above main link, At least one of the above connecting frame, the main link and the joint link, A skeletal structure formed by arranging lightweight aluminum bar members in a trust structure; and An integrated inspection system for a saddle facility, characterized in that it includes a bending structure bent at a predetermined angle with respect to the longitudinal direction of the above-mentioned skeletal structure.

16. In paragraph 13, The above detection unit, A vision camera for obtaining real-time two-dimensional image information around the above-mentioned distal end; and An integrated inspection system for a saddle facility, characterized by including a 3D scanner for non-contact measuring of a three-dimensional shape of the inner portion in at least one direction.

17. In paragraph 16, The third control unit, Based on the information measured from the above vision camera, Confirm the position of the above end and the above cutting wheel and perform visual servoing on the manipulator so that the end faces the inside, or An integrated inspection system for a cutting facility characterized by determining whether the cutting wheel is aligned with respect to the wire.

18. In paragraph 16, The third control unit, An integrated inspection system for a saddle facility, characterized in that the degree of wear of the inner part is determined by comparing the information measured by the 3D scanner with the normal shape data of the inner part.

Images