The present invention relates to an automated diagnosis robot system for a railway tunnel safety inspection, capable of collecting state information from each inspection target and performing integrated management while autonomously driving on rails for a safety inspection on a railway tunnel. The automated diagnosis robot system includes: a tunnel wall inspector including a wall photographing camera, a tunnel shape measurer measuring a distance to a wall, and a wall inspection controller controlling the operation of the wall photographing camera and the tunnel shape measurer and converting collected information into wall abnormal-spot information as data; a railway rail inspector including a rail photographing camera, and a rail inspection controller controlling the operation of the railway rail inspector and converting collected information into rail abnormal-spot information as data; a roadbed inspector including a roadbed photographing camera, and a roadbed inspection controller controlling the operation of the roadbed photographing camera and converting collected information into roadbed abnormal-spot information as data; and a driver including a driving image camera, a detection sensor sensing an obstacle, a distance measurement module measuring a vector distance to the obstacle by analyzing collected information of the driving image camera or a sensed signal of the detection sensor, an area setting module determining setting an effective area which is a position range to be determined as an effective obstacle among placement positions of the obstacle sensed by the driving image camera, the detection sensor and the distance measurement module, and determining the effective obstacle, a driving control module generating a driving signal corresponding to a driving operation and generating a stop signal in accordance with a determination signal of the area setting module, and driving equipment controlling the operation of a driving part in accordance with the driving signal and the stop signal.

    본 발명은 철도 터널의 안전성 검사를 위해 레일에서 자율 주행하며 검사대상별 상태 정보를 수집하고 통합 관리하는 철도 터널 안전 검사를 위한 자동화 진단 로봇 시스템에 관한 것으로, 벽면촬영 카메라와, 벽면과의 거리를 측정하는 터널형상 측정기와, 상기 벽면촬영 카메라 및 터널형상 측정기의 동작을 제어하고 수집정보를 벽면 이상지점 정보로 데이터화하는 벽면검사용 컨트롤러가 구비된 터널 벽면 검사장치; 레일촬영 카메라와, 상기 레일촬영 카메라의 동작을 제어하고 수집정보를 레일 이상지점 정보로 데이터화하는 레일검사용 컨트롤러가 구비된 철도 레일 검사장치; 도상촬영 카메라와, 상기 도상촬영 카메라의 동작을 제어하고 수집정보를 도상 이상지점 정보로 데이터화하는 도상검사용 컨트롤러가 구비된 도상 검사장치; 주행영상 카메라와, 장애물을 감지하는 감지센서와, 상기 주행영상 카메라의 수집정보 또는 감지센서의 감지신호를 분석해서 장애물과의 벡터 거리를 측정하는 거리계측모듈과, 상기 주행영상 카메라와 감지센서 및 거리계측모듈에 의해 감지된 장애물의 배치 위치 중 유효 장애물로 판정할 위치 범위인 유효영역을 설정하고 유효 장애물을 판정하는 영역설정모듈과, 주행조작에 대응한 운전신호를 생성하고 영역설정모듈의 판정신호에 따라 정지신호를 생성하는 운전제어모듈과, 상기 운전신호와 정지신호에 따라 구동부의 동작을 제어하는 주행기기가 구비된 주행장치;를 포함하는 것이다.


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    Title :

    AUTOMATIC ROBOT MEASURING SYSTEM FOR TRANSIT TUNNEL SAFETY INSPECTION


    Additional title:

    철도 터널 안전 검사를 위한 자동화 진단 로봇 시스템


    Contributors:

    Publication date :

    2021-07-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B61C Lokomotiven , LOCOMOTIVES / B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES / B61K Andere Hilfseinrichtungen für Eisenbahnen , OTHER AUXILIARY EQUIPMENT FOR RAILWAYS / B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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