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1. 发明公开

KR1020120077109A 누수탐지장치 无效
标题翻译：泄漏检测装置
公开(公告)号：KR1020120077109A
公开(公告)日：2012-07-10
申请号：KR1020100138943
申请日：2010-12-30
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 민경수 , 박상봉 , 김동현 , 오경석 , 이경섭 , 박혁성 , 천문숙 , 주동성 , 류재연 , 백종은
IPC分类号： G01M3/24 , G01N29/22
CPC分类号： G01N29/14 , G01M3/246 , G01N2291/2636
摘要： PURPOSE: A water leakage detecting device is provided to mark a water leakage point of a pipe accurately on a 3D conduit line map so that a user can directly and easily grasps the water leakage point of the pipe. CONSTITUTION: A water leakage detecting device(10) comprises a housing(110), a mapping data collector(120), a sound detector(131), a controller(150), and a storage unit(160). The housing is floated along the inside of a pipe buried in the underground. The mapping data collector is arranged in the inner side of the housing. The mapping data collector detects 3D mapping data of the pipe. The sound detector is installed in the housing, thereby obtaining water leakage sounds generated by the leakage of the pipe. The controller receives analog data collected by the data collector and sound detector, thereby converting into digital data. The storage unit receives the digital data from the controller, thereby storing.
摘要翻译：目的：提供一种漏水检测装置，用于在3D导管线图上准确地标记管道的漏水点，以便用户可以直接轻松地掌握管道的漏水点。构成：漏水检测装置（10）包括壳体（110），映射数据收集器（120），声音检测器（131），控制器（150）和存储单元（160）。房屋沿着埋在地下的管道内部漂浮。映射数据收集器布置在壳体的内侧。映射数据收集器检测管道的3D映射数据。声音检测器安装在外壳中，从而获得管道泄漏产生的漏水声。控制器接收由数据采集器和声音检测器收集的模拟数据，从而转换为数字数据。存储单元从控制器接收数字数据，从而存储。

2. 发明授权

KR100865705B1 부단수 관로 촬영 시스템 有权
标题翻译：没有暂停供水的摄影系统
公开(公告)号：KR100865705B1
公开(公告)日：2008-10-28
申请号：KR1020070128770
申请日：2007-12-12
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 박혁성 , 민경수 , 박상봉 , 이경섭 , 김동현 , 천문숙 , 주동성 , 박해성 , 류재연 , 고성준
IPC分类号： H04N7/18 , H04N5/225
摘要： A system for photographing a path of a pipe without suspension of water supply is provided to insert a camera into a pipe in a suspension state of water supply, move and rotate the camera to photograph the inside of the pipe, and calculate information about the movement and rotation of the camera, thereby preventing a use stoppage state of the total pipe for pipe photographing. A system(1000) for photographing a path of a pipe without suspension of water supply comprises a pipe photographing device without suspension of water supply(300) and a control device(200). The pipe photographing device without suspension of water supply includes an encoder unit(330) and a device unit(320), and a camera unit(310). The control device includes a control board(210), an interface unit(230), a data processor(220), and a memory(240). The pipe photographing device without suspension of water supply enables the device unit of moving and rotating the camera unit to calculate information about the movement and rotation of the camera unit as position signals of a camera(311) through the encoder unit and outputs the information to the control board and outputs an image signal of photographing the inside of the pipe with the cameras to the control board. The control board calculates the position information of the camera and a pipe path image respectively from the position signal and the image signal outputted from the pipe photographing device without suspension of water supply. The data processing unit calculates a 3D(Three-Dimensional) animation based on the calculated position information and pipe path image. The interface unit displays the calculated 3D animation.
摘要翻译：提供一种用于在不中断供水的情况下拍摄管道的路径的系统，以将照相机插入到供水悬浮状态的管道中，移动和旋转照相机以摄影管道内部，并计算关于运动的信息并旋转相机，从而防止用于管道摄影的总管的使用停止状态。用于在不中断供水的情况下拍摄管道的路径的系统（1000）包括没有停止供水（300）和控制装置（200）的管道摄影装置。没有停止供水的管道摄影装置包括编码器单元（330）和设备单元（320），以及照相机单元（310）。控制装置包括控制板（210），接口单元（230），数据处理器（220）和存储器（240）。没有停止供水的管道摄影装置使得相机单元的移动和旋转的装置单元可以通过编码器单元计算相机单元的移动和旋转的信息作为相机（311）的位置信号，并将该信息输出到控制板，并将具有照相机的管内部拍摄的图像信号输出到控制板。控制板分别根据从管道摄影装置输出的位置信号和图像信号分别计算摄像机的位置信息和管道路径图像，而不停止供水。数据处理单元基于计算出的位置信息和管道路径图像来计算3D（三维）动画。界面单元显示计算的3D动画。

3. 发明公开

KR1020120133482A 부유형 관로 프로브 无效
标题翻译：浮动式管道探头
公开(公告)号：KR1020120133482A
公开(公告)日：2012-12-11
申请号：KR1020110052132
申请日：2011-05-31
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 민경수 , 박상봉 , 이경섭 , 김동현 , 오경석 , 박혁성 , 천문숙 , 주동성 , 백종은
IPC分类号： F16L55/26 , G01C19/00 , G01B11/00 , G01S17/08
CPC分类号： E03F7/12
摘要： PURPOSE: A floating-type pipeline probe is provided to reduce measured error when obtaining three-dimensional mapping data as the pipeline probe floats along the fluid with being separated from the inside of a pipeline. CONSTITUTION: A floating-type pipeline probe(10) comprises a housing(110), floating assist units(120), a mapping unit, a contactless measuring unit, a transmitting unit(150), a control unit, and a storing unit. The housing floats along the inside of a pipeline. The floating assist units are installed at the front and rear sides of the housing. The mapping unit is installed inside the housing, and computes mapping data on the pipeline. The contactless measuring unit uses light for complementing the data. The light passes through the outside of the housing. The control unit receives analog data from the contactless measuring unit and mapping unit, and converts the analog data into digital data. The storing unit receives and stores the digital data.
摘要翻译：目的：提供浮动式管道探头，以便在管道探头从管道内部分离时沿流体浮动时，在获取三维映射数据时减少测量误差。构成：浮动式管道探针（10）包括壳体（110），浮动辅助单元（120），映射单元，非接触测量单元，发射单元（150），控制单元和存储单元。房屋沿管道内部漂浮。浮动辅助单元安装在壳体的前侧和后侧。映射单元安装在外壳内，并计算管道上的映射数据。非接触测量单元使用光来补充数据。光线穿过外壳的外部。控制单元从非接触测量单元和映射单元接收模拟数据，并将模拟数据转换为数字数据。存储单元接收并存储数字数据。

4. 发明授权

KR101102073B1 지하 매설관의 3차원 지리정보 획득장치 有权
标题翻译：一种用于获取地下管道三维地理信息的装置
公开(公告)号：KR101102073B1
公开(公告)日：2012-01-04
申请号：KR1020070072043
申请日：2007-07-19
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 박혁성 , 민경수 , 박상봉 , 김동현 , 천문숙
IPC分类号： G01V3/08 , G01S1/04 , F16L55/26
摘要： 본 발명에 의한 지하 매설관의 3차원 지리정보 획득장치는, 지하 매설관내에서 이동하는 관내 이송장치; 및 상기 관내 이송장치에 장착되어 상기 관내 이송장치의 이동방향과 이동거리를 측정하는 관성센서를 구비하는 것을 특징으로 한다.
본 발명의 매핑장치에 의하면 기존의 지하 매설관에 대한 부정확한 2차원 지리정보로 인하여 발생되는 여러 가지 문제점들을 해소할 수 있는 전자화된 3차원 지리정보의 데이터베이스를 구축할 수 있다.
또한 지하 매설관의 단순한 지리정보뿐만 아니라 카메라 장치를 이용하여 관내 상태의 영상정보 등과 같은 부가적인 데이터와 결합된 데이터베이스를 구축함으로써 적절한 유지보수가 가능하게 할 수 있다.
본 발명의 매핑장치에 의하면, 다양한 플랫폼(부유형, 피그형, 주행형 로봇)을 구성함으로써 작업 환경에 적합한 시스템을 적절히 적용할 수 있다.
특히 본 발명의 부유형 매핑장치는 상수도관의 경우 부단수 상태에서 매설관의 지리정보 획득작업을 수행하는 것이 가능하므로, 작업시간의 단축, 작업구간의 증대, 수도 사용가구의 불편함 저감등의 효과를 가져 올수 있다.

5. 发明授权

KR100997485B1 비접촉식 주행거리 감지장치 有权
标题翻译：用于移动机器人的差分光学导航传感器
公开(公告)号：KR100997485B1
公开(公告)日：2010-12-01
申请号：KR1020090031203
申请日：2009-04-10
申请人： 주식회사 로보젠 , 수자원기술 주식회사
发明人： 박혁성 , 민경수 , 박상봉 , 김동현 , 양현석 , 현동준 , 천문숙 , 주동성
IPC分类号： G01C3/06 , G01B11/14 , B25J19/02
摘要： 본 발명에 의한 비접촉식 주행거리 감지장치는 주행면을 향해 빛을 조사(照射)하는 광원; 상기 광원에서 조사되어 주행면에서 반사된 빛을 감지하는 복수 개의 감지센서; 및 상기 주행면 상의 감지면에서 반사된 빛을 상기 감지센서로 각각 전달하는 빔 스플리터;를 포함하며, 상기 감지면과 각각의 감지센서 사이의 광경로의 길이는 서로 다르게 배치된 것을 특징으로 한다.
주행거리, 주행거리감지장치, 빔스플리터, 광학센서, 비접촉식

6. 发明公开

KR1020090008796A 지하 매설관의 3차원 지리정보 획득장치 有权
标题翻译：用于获取地下管线三维地质信息的装置
公开(公告)号：KR1020090008796A
公开(公告)日：2009-01-22
申请号：KR1020070072043
申请日：2007-07-19
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 박혁성 , 민경수 , 박상봉 , 김동현 , 천문숙
IPC分类号： G01V3/08 , G01S1/04 , F16L55/26
摘要： An apparatus for acquiring three-dimensional geographical information of an underground pipe is provided to obtain three-dimensional geographical information of an underground pipe and perform a task even in case of not cutting off water supply inside an underground pipe. A transfer apparatus inside a pipe is moved from the inside of an underground pipe. An inertia sensor is mounted on the transfer apparatus inside a pipe and measures a traveling direction and traveling distance of the transfer apparatus inside a pipe. The transfer apparatus inside a pipe comprises a stray type body having outermost diameter smaller than the diameter of a buried conduit in order to be floated in fluid flowing through the underground pipe. The transfer apparatus inside a pipe has the samw specific gravity as specific gravity of the fluid flowing from the buried conduit inside. In the outer circumference of the stray type body of the transfer apparatus inside a pipe, the wings more than 2 are adhered. A wireless telecommunications installation communicates with the communications module installed at determined spot on the conduit line of the underground pipe and gets the geographic information for correction.
摘要翻译：提供用于获取地下管道的三维地理信息的装置，以获得地下管道的三维地理信息，并且即使在不切断地下管道内的供水的情况下也执行任务。管内的输送装置从地下管道的内部移动。惯性传感器安装在管道内的传送装置上，并测量传送装置在管道内的行进方向和行进距离。管内的传送装置包括一个杂散型体，其最外径小于埋管的直径，以便浮在流经地下管的流体中。管内的输送装置具有作为从埋藏管道内部流动的流体的比重的比重。在管道内的输送装置的杂散型体的外圆周上，粘附有多于2个的翼。无线电信设备与安装在地下管道线路上确定位置的通信模块通信，并获取地理信息进行校正。

7. 发明公开

KR1020120133484A 맵핑 프로브용 관로 투입 및 인출시스템 및 이를 이용한 맵핑 프로브 이송방법 无效
标题翻译：用于映射探针的管线插入和取出系统和使用其映射探针的传送方法
公开(公告)号：KR1020120133484A
公开(公告)日：2012-12-11
申请号：KR1020110052134
申请日：2011-05-31
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 민경수 , 박상봉 , 이경섭 , 김동현 , 오경석 , 박혁성 , 천문숙 , 주동성 , 백종은
IPC分类号： F16L55/26 , F16L55/18 , G01C7/00
CPC分类号： E03F7/00 , E03B7/00 , E03B7/09 , F16L55/26 , F17D3/08 , F17D5/00
摘要： PURPOSE: A pipeline input and withdrawal system for a mapping probe and method for transferring the mapping probe using the same are provided to prevent data error, and to minimize the whole data damage as a buffer unit absorbs shock when the mapping probe stops. CONSTITUTION: A pipeline input and withdrawal system for a mapping probe(P) comprises a launcher(100) and a receiver(200). The launcher puts the mapping probe into a pipeline(1), and the launcher is installed at the start point of a mapping section. The receiver is installed at the end point of the mapping section. The receiver draws out the mapping probe from the pipeline. The launcher comprises a stopper(150) which selectively fixes the mapping probe. The receiver comprises one or more flow regulating ports which adjust the flow rate of the pipeline.
摘要翻译：目的：提供一种用于映射探测器的管道输入和取出系统以及用于传送使用其的映射探测器的方法，以防止数据错误，并且当映射探针停止时缓冲单元吸收冲击时，最小化整个数据损坏。构成：用于映射探测器（P）的管线输入和取出系统包括发射器（100）和接收器（200）。启动器将映射探针放入流水线（1），并将启动器安装在映射部分的起始点。接收器安装在映射部分的终点。接收器从管道中抽出映射探测器。发射器包括选择性地固定映射探针的止动器（150）。接收器包括调节管道流量的一个或多个流量调节端口。

8. 发明公开

KR1020120115743A 관로 맵핑장치 无效
标题翻译：管线绘图仪
公开(公告)号：KR1020120115743A
公开(公告)日：2012-10-19
申请号：KR1020110033229
申请日：2011-04-11
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 민경수 , 박상봉 , 이경섭 , 김동현 , 오경석 , 박혁성 , 천문숙 , 주동성 , 백종은
IPC分类号： F16L55/26 , F16L55/48 , G01B7/28 , G06F12/00
CPC分类号： F16L55/48 , E03F7/12 , F16L55/26 , G01C7/06
摘要： PURPOSE: A pipe channel mapping device is provided to obtain accurate 3D mapping data with respect to a pipe channel less than 300mm and to minimize the burden of development when applying new electrical equipment. CONSTITUTION: A pipe channel mapping device comprises a sensor for obtaining data for mapping a pipe channel in 3D while moving along a water supply pipe. Two or more figs(10,30) being electrically connected are connected to be elastically refractive. All kinds of electrical equipment is distributed and installed in the two or more figs. The two or more figs are arranged to be spaced from each other. An elastic member(50) is arranged in between the figs. The two or more figs are arranged in a straight line.
摘要翻译：目的：提供管道测绘装置，以获得相对于小于300mm的管道的精确3D测绘数据，并在应用新电气设备时尽量减少开发负担。构成：管道通道映射装置包括用于在沿供水管移动的同时获取用于映射3D管道的数据的传感器。电连接的两个或多个图形（10,30）被连接以被弹性折射。各种电气设备分布安装在两个或更多的无花果中。两个或多个无花果被布置为彼此间隔开。弹性构件（50）布置在无花果之间。两个或更多个无花果以直线排列。

9. 发明公开

KR1020100112756A 비접촉식 주행거리 감지장치 有权
标题翻译：用于移动机器人的差分光学导航传感器
公开(公告)号：KR1020100112756A
公开(公告)日：2010-10-20
申请号：KR1020090031203
申请日：2009-04-10
申请人： 주식회사 로보젠 , 수자원기술 주식회사
发明人： 박혁성 , 민경수 , 박상봉 , 김동현 , 양현석 , 현동준 , 천문숙 , 주동성
IPC分类号： G01C3/06 , G01B11/14 , B25J19/02
CPC分类号： G01C3/06 , B25J19/02 , G01B11/14 , G01C15/00
摘要： PURPOSE: A contactless driving distance detecting apparatus for a mobile robot is provided to measure accurate driving distance of a mobile robot even when the interval between the mobile robot and a driving surface where the mobile robot moves. CONSTITUTION: A contactless driving distance detecting apparatus for a mobile robot comprises a light source(L), detection sensors(10,20), and a beam splitter(30). The light source irradiates light to a surface where a mobile robot moves. The detection sensors detect through a sensing surface(S) the light reflected off the driving surface. The beam splitter transfers the light reflected off the sensing surface to the detection sensors. The optical paths from the sensing surface to the detection sensors are different from each other.
摘要翻译：目的：提供一种用于移动机器人的非接触驾驶距离检测装置，以便即使在移动机器人与移动机器人移动的驾驶表面之间的间隔时也测量移动机器人的精确驾驶距离。构成：用于移动机器人的非接触驱动距离检测装置包括光源（L），检测传感器（10,20）和分束器（30）。光源将光照射到移动机器人移动的表面。检测传感器通过感测表面（S）检测从驱动表面反射的光。分束器将从感测表面反射的光转移到检测传感器。从感测表面到检测传感器的光路彼此不同。

10. 发明公开

KR1020090079295A 광류센서를 이용한 비접촉식 주행거리계 无效
标题翻译：使用光学流量传感器的非连接光度计
公开(公告)号：KR1020090079295A
公开(公告)日：2009-07-22
申请号：KR1020080005163
申请日：2008-01-17
申请人： 수자원기술 주식회사 , 주식회사 로보젠
发明人： 박혁성 , 선점수 , 박상봉 , 김동현 , 양현석 , 현동준 , 김진성 , 천문숙
IPC分类号： B25J19/02 , G01C3/00 , G01V3/08
摘要： A contactless odometer using an optical flow sensor is provided to measure movement distance stably and correctly on an uneven surface and a curved surface without an error due to sliding comparison with an existing wheel-typed odometer. A contactless odometer using an optical flow sensor includes a laser unit, a sensor unit, and a beam splitter. The laser unit includes a beam collimater having laser light coming out of a laser diode and the laser diode. The sensor unit includes a digital signal processing system calculating location change with an optical navigation mode by using a photoelectric-transformed signal outputted form the optical flow sensor, and arranges a light-receiving surface of the optical flow sensor to a vertical direction of a light axis of the laser unit. The beam splitter penetrates the light reflected from a surface to a light-receiving surface direction of the optical flow sensor, and reflects the outputted laser beam from the laser unit.
摘要翻译：提供使用光学流量传感器的非接触式里程表，用于在不均匀的表面和弯曲表面上稳定和正确地测量移动距离，而与现有的轮式里程表的滑动比较没有误差。使用光学流量传感器的非接触式里程表包括激光单元，传感器单元和分束器。激光单元包括具有从激光二极管出射的激光和激光二极管的光束准直器。传感器单元包括数字信号处理系统，通过使用从光流传感器输出的光电变换信号，利用光学导航模式计算位置变化，并且将光流传感器的受光面布置在光的垂直方向上激光单元的轴。分束器穿透从光流传感器的表面反射到光接收表面方向的光，并且反射来自激光单元的输出的激光束。

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