SYSTEM AND METHOD THEREOF TO CONDUCT DETAILED INVESTIGATION INTO WATER AND SEWAGE DUCTS

摘要

According to an embodiment of the present invention, provided is a system to conduct a detailed investigation into water and sewage ducts, comprising: an investigation vehicle (10) receiving an image for an inside of a water duct and a sewage duct while driving in the water and sewage ducts (P); a cable (20) providing a control signal and power to the investigation vehicle (10); a distance calculating part (30) detecting a spatio-temporal change rate of the image (I) inputted by the inspection vehicle (10), and generating an actual unwound length of the cable (20) by correcting idling (slip) caused when the cable (20) is being unwound by comparing an unwinding speed of the cable (20) to the spatio-temporal change rate of the image (I) in a state in which the unwinding speed is detected when the cable (20) is being unwound outside the water and sewage ducts (P); and an image mapping part (40) consecutively mapping the image (I) inputted by the investigation vehicle (10) in response to the actual unwound length of the cable (20) generated by the distance calculating part (30).;COPYRIGHT KIPO 2017