We propose a method for developing an in-pipe inspection robot based on multiple inertial sensors. Estimating the position of underground pipelines where satellite signals do not reach remains challenging. High-precision inertial sensors and high-tech mobile robots can be solutions, but their high price limits their general use. We developed an in-pipe inspection robot by combining various low-cost sensors with a microcomputer-based RC car platform. First, we fabricated a multi-inertial sensors module by combining commercial grade low-cost MEMS inertial sensors. The sensor values measured by the multi-inertial sensor are transmitted to the main computer through the MCU, and the attitude angle of the vehicle is finally calculated through the inverse variance weighted average. The travel distance of the robot is estimated by using hall sensors and neodymium magnets attached to the inside of the wheels. Also, we measured the pipe diameter using multiple ultrasonic sensors. We verified the estimation accuracy of each sensor through experiments and consequently estimated the 3D trajectory of the in-pipe robot.

A variety of methods for detecting the location of an underground water pipeline are being used across the world; the current main methods used in South Korea, however, have the problems of low precision and efficiency and the limitations in actual application. On this, this study developed locator capable of detecting the location of a water pipe by the use of an IMU sensor, and technology for using the extended karman filter to correct error in location detection and to plot the location on the coordinate system. This study carried out a tract test and a road test as basic experiments to measure the performance of the developed technology and equipment. As a result of the straight line, circular and ellipse track tests, the 1750 IMU sensor showed the average error of 0.08-0.11%; and thus it was found that the developed locator can detect a location precisely. As a result of the 859.6-m road test, it was found that the error was 0.31 m in case the moving rate of the sensor was 0.3-0.6 m/s; and thus it was judged that the equipment developed by this study can be applied to long-distance water pipes of over 1 km sufficiently. It is planned to evaluate its field applicability in the future through an actual pipe network pilot test, and it is expected that locator capable of detecting the location of a water pipe more precisely will be developed through research for the enhancement of accuracy in the algorithm of location detection.

The increase of traffic over a bridge has been emerged as one of the most severe problems in view of bridge maintenance, since the load effect caused by the vehicle passage over the bridge has brought out a long-term damage to bridge structure, and it is nearly impossible to maintain operational serviceability of bridge to user's satisfactory level without any concern on bridge maintenance at the phase of completion. This study has the aim of development on automated inspection system to lower surface of bridge superstructures to replace the conventional system of bridge inspection with the naked eye, where the monitoring staff is directly on board to refractive or other type of maintenance vehicles, with which it is expected that we can solve the problems essentially where the results of inspection are varied to change with subjective manner from monitoring staff, increase stabilities in safety during the inspection, and make contribution to construct data base by providing objective and quantitative data and materials through image processing method over data captured by cameras. By this system it is also expected that objective estimation over the right time of maintenance and reinforcement work will lead enormous decrease in maintenance cost.

글로벌 광물에너지자원 분야 수요공급에서 중국의 자원조사탐사개발과 자원경제 정책이 한국의 산업 경쟁력과 밀접하므로, 중국의 자원관련 활동을 분석하는 것은 국내외 자원개발 전략수립에 매우 중요한 사항 이라고 할 수 있다. 중국은 2020년에 광물자원관련 법제 개정과 표준을 정하면서 광물자원 탐사개발과 매장 량 관리의 효율성을 기하고 있다. 중국 자연자원부는 국가광물자원계획(2021~2025년)의 수립을 통해 국가차 원의 목표와 전략을 달성하고자 하며, 각 급 지방정부에서도 지역광물자원계획을 수립하여 시행하고 있다. 이를 통해, 지질광물탐사 활동 감독 및 관리가 강화되었고, 지질광물 탐사개발분야 산업의 생산 관리의 안전성이 강화되었다. 중국은 고품질의 지질탐사, 측량 및 지도 작성 지침개발을 통해, 중국의 지질광물탐사개발 수준 을 향상시키고 광업 감독관리 체계 강화를 기하고 있다. 중국의 고체광물자원 매장량분류와 석유가스광물자 원 매장량분류 등의 광물자원 표준 마련으로 중국내 새로운 매장량 관리 표준체계가 구축되어 과학적인 광 물자원 자원량과 매장량의 파악 및 합리적 관리와 이용 등이 개선될 것으로 여겨진다.

The purpose of this study is a image processing program development to consider the domestic situation of GPR detection. Therefore the image processing program will be developed to extract and to visualize the measured raw data.