KR102069343B1 - 3d shape system of underground construction and 3d shape method of underground construction - Google Patents

Abstract

The present invention relates to a three-dimensional shaping system of an underground cavity and a three-dimensional shaping method of an underground cavity, in which three-dimensional coordinates on a wall surface of the underground cavity can be expressed by an absolute coordinate system based on the position of the entrance of a borehole acquired by a GPS reception unit, and reliable data can be provided on the three-dimensional shape and the position of the underground cavity. For this purpose, according to the present invention, the three-dimensional shaping system of an underground cavity comprises: a GPS reception unit in which three-dimensional coordinates on the position of the GPS reception unit itself are received from a satellite such that the position of the entrance of a borehole connecting the ground surface to the underground cavity can be measured; an exploration unit in which a measuring posture (azimuth, gradient) in the borehole or the underground cavity and the distance up to a wall surface of the borehole or a wall surface of the underground cavity are measured, and when the distance from the measuring posture up to a wall surface is measured, a video of the wall surface is made; a winch unit in which a cable engaged with the exploration unit is wound, and a moving distance in accordance with a movement of the exploration unit in the borehole or the underground cavity is measured; and a ground control unit in which the wall surface is shaped in a three-dimensional manner based on the distance up to a wall surface and the video of the wall surface for each moving distance and each measuring posture with a reference to the position of the entrance of the borehole.

Description

3D shaping system of underground cavity and 3D shaping method of underground cavity {3D SHAPE SYSTEM OF UNDERGROUND CONSTRUCTION AND 3D SHAPE METHOD OF UNDERGROUND CONSTRUCTION}

The present invention relates to a three-dimensional shaping system for underground cavities and a three-dimensional shaping method for underground cavities. More specifically, the three-dimensional coordinates of the walls of the underground cavities are absolute based on the entrance positions of boreholes acquired by the GPS receiver unit. The present invention relates to a three-dimensional shaping system of an underground cavity and a three-dimensional shaping method of an underground cavity that can be expressed in a coordinate system and provide reliable data on the three-dimensional shape and position of an underground cavity.

In general, the abandoned mines in Korea have been scattered all over the country, with the underground cavities formed by mining in the past unrecovered. Accordingly, the construction of existing facilities and new facilities is sometimes restricted due to stability problems, and the situation has been actively promoted in the ground stabilization project for mine settlement.

However, the mining environment of Korea varies greatly depending on the region, geology, and mining conditions, and if it does not meet the characteristics of the mine development, inefficient ground stabilization projects will be made.

Therefore, in establishing and applying ground subsidence prevention measures, a technology is required to stably perform ground stabilization projects in mining areas by pursuing high efficiency of related reinforcement technologies to meet the conditions of mines as much as possible.

The ground stabilization method currently applied for stabilization of mine grounds at home and abroad is classified into a filling method for filling and stabilizing underground cavities, and an upper reinforcing method for reinforcing the ground above the underground cavity.

Filling methods that have been applied for stabilizing mine grounds in Korea are mainly applied with cement mortar filling method and CGS method. Cement milk grouting is mainly applied as reinforcement method. There are many applications of high-pressure filling root piles, TAM grouting, and micro-piles.

The ground stabilization method in the mining area can be said to be a measure to ensure that objects around the mine are safe and functioning through basic and precise investigations in a broad sense.

The basic survey and detailed survey for the ground stabilization project of the mining area are the work to derive instability factors in the mine through surface survey, exploration, and drilling survey, and it is necessary to consider the surrounding ground and geological characteristics and the mine development. It is difficult to calculate measures.

Although the mine ground stabilization measures have been clearly determined, the effectiveness of the method and the ground stabilization efficiency depend on the change in the surrounding site conditions and the construction conditions.

Recently, for drilling work such as stabilization of mine ground or oil exploration, exploration work on the underground common area is actively progressing.

As part of this, in the past, there has been an effort to shape the underground cavity area by installing a laser sensor in the underground cavity area and measuring the distance to the underground cavity.

However, the prior art has a problem in that it is difficult to match with an absolute coordinate system such as a map due to only the shaping of the underground cavity area and an error in the shaping of the underground cavity area occurs.

Republic of Korea Patent Application Publication No. 2015-0049207 (Invention name: Underground cavity three-dimensional shaping device, 2015. 05. 08. publication)

An object of the present invention is to solve the conventional problems, according to the three-dimensional shaping method of the underground cavity, the three-dimensional coordinates of the wall of the underground cavity in the absolute coordinate system based on the entrance position of the borehole obtained by the GPS receiver unit The present invention provides a three-dimensional shaping system for underground cavities and a three-dimensional shaping method for underground cavities that can provide reliable data on the three-dimensional shape and location of underground cavities.

According to a preferred embodiment for achieving the object of the present invention described above, the three-dimensional shaping system of the underground cavity according to the present invention is 3 to the magnetic position from the satellite to measure the inlet position of the borehole connecting the ground and the underground cavity GPS receiving unit for receiving the dimensional coordinates; Measure the measurement posture (azimuth angle, inclination) and the wall distance from the borehole to the wall surface of the borehole or the basement cavity in the borehole or the underground cavity, and take an image of the wall surface when measuring the wall distance from the measurement posture. An exploration unit; A winch unit for winding a cable coupled to the exploration unit and measuring a movement distance according to the movement of the exploration unit in the borehole or the underground cavity; And a ground control unit configured to shape the corresponding wall surface in three dimensions based on the wall distance according to the measurement posture and the image of the wall surface based on the entrance position of the borehole.

The ground control unit may include: an exploration storage unit configured to store the measurement position, the wall distance, and the image of the wall in chronological order in response to the movement of the exploration unit based on the inlet position of the borehole; A winch storage unit configured to store the moving distance in chronological order in response to the movement of the exploration unit based on the inlet position of the borehole; An information matching unit for generating exploration matching information by matching the movement distance, the measurement posture, the wall distance, and the image of the wall according to a time series in response to the movement of the exploration unit based on the inlet position of the borehole; A joint coordinate calculation unit for calculating wall coordinates of the underground cavity according to the change of the exploration matching information; And a shape control unit connecting the wall coordinates of the underground cavity vertically and horizontally to form a three-dimensional grid, and shaping the underground cavity three-dimensionally based on the three-dimensional grid.

Here, the ground control unit, the information initialization unit for initializing the exploration unit and the winch unit based on the inlet position of the borehole; A base coordinate storage unit for storing three-dimensional coordinates measured by the GPS receiver unit as base coordinates corresponding to the inlet position of the borehole; And a joint checking unit calculating a reference coordinate based on at least one of the exploration matching information when the exploration unit enters the underground cavity. At least any one of the more.

The ground control unit may include: an exit checker configured to calculate an exit position of the borehole based on at least one of the exploration matching information when the exploration unit enters the underground cavity; And a borehole calculation unit configured to calculate a wall coordinate for the borehole according to the change of the exploration matching information on the basis of the inlet position of the borehole; wherein the shape control unit vertically connects the wall coordinates for the borehole in the longitudinal direction. To form a three-dimensional grid and shape the borehole in three dimensions with the underground cavity based on the three-dimensional grid.

The three-dimensional shaping system of the underground cavity according to the present invention further comprises an output unit for controlling the external output of the three-dimensionally shaped underground cavity, at least one of the borehole and the underground cavity output through the output unit Display unit for displaying; A printing unit for producing at least the underground cavity as a model among boreholes and underground cavities output through the output unit; And a repeater unit configured to communicate at least the underground cavity with a medium remote from the borehole and the underground cavity output through the output unit. At least any one of the more.

Here, the output unit, the coordinate checking unit for checking whether the inlet position of the borehole more than one corresponding to one underground cavity; A result of the coordinate checking unit, when the inlet positions of the borehole are two or more, a shape correction unit for mutually combining the underground cavity shaped for each inlet position of the borehole; And an output control unit configured to control an external output of the underground cavity shaped or the underground cavity combined in the shape correction unit based on the entrance position of one borehole as a result of the checking of the coordinate checking unit.

Here, the exploration unit, the measuring head means including a measuring sensor for measuring the wall surface, and a camera unit for photographing the wall surface; Guide rod means to which the measuring head means is coupled in a rolling motion; And rotating means for rolling the measuring head means relative to the guide rod means, wherein at least one of the measuring head means and the guide rod means corresponds to the movement of the exploration unit. It includes; a posture sensor for measuring the measuring position for.

Here, the exploration unit further comprises a tilting means for tilting the measuring head means with respect to the guide rod means.

Here, the winch unit, the encoder for measuring the moving distance; And a cable zero unit for initializing the moving distance when the exploration unit is positioned on the basis of the inlet position of the borehole.

The three-dimensional shaping method of the underground cavity according to the present invention is a three-dimensional shaping method of the underground cavity using the three-dimensional shaping system of the underground cavity according to the present invention, and three-dimensional to the magnetic position from the satellite corresponding to the inlet location of the borehole GPS receiving step of receiving coordinates; And a ground control step of acquiring the image of the wall surface distance and the wall surface of the measurement posture for each movement distance based on the inlet position of the borehole, and shaping the wall surface in three dimensions based on the image.

The ground control step may include: an exploration driving step of operating the exploration unit based on the inlet position of the borehole to obtain the measurement posture, the wall distance, and an image of the wall surface; A winch driving step of operating the winch unit based on the inlet position of the borehole to obtain the moving distance; In response to the movement of the exploration unit with respect to the inlet position of the borehole, the measurement posture, the wall distance, and the image of the wall are stored in chronological order, and the movement of the exploration unit with respect to the inlet position of the borehole is performed. A data backup step of storing the moving distances in chronological order; An information matching step of generating exploration matching information by matching the moving distance, the measurement posture, the wall distance, and the image of the wall according to a time series in response to the movement of the exploration unit based on the inlet position of the borehole; A joint coordinate calculation step of calculating wall coordinates for the underground cavity according to the change of the exploration matching information; And a shape control step of forming a three-dimensional grid by vertically connecting the wall coordinates of the underground cavity, and shaping the underground cavity in three dimensions based on the three-dimensional grid.

Here, the ground control step, the information setting step of initializing the exploration unit and the winch unit on the basis of the inlet position of the borehole, and the three-dimensional coordinates measured through the GPS receiving step corresponding to the inlet position of the borehole An information initialization step of storing at least one of a coordinate storing step of storing the information as a base coordinate; And a joint checking step of calculating a reference coordinate based on at least one of the exploration matching information when the exploration unit enters the underground cavity.

The ground control step may include: an exit checking step of calculating an exit position of the borehole based on at least one of the exploration matching information when the exploration unit enters the underground cavity; And a borehole calculation step of calculating wall coordinates for the borehole in accordance with the change of the exploration matching information on the basis of the inlet location of the borehole. The three-dimensional grid is connected to each other, and the borehole is three-dimensionally formed along with the underground cavity based on the three-dimensional grid.

The three-dimensional shaping method of the underground cavity according to the present invention further comprises an output step of controlling the external output of the three-dimensionally shaped underground cavity; at least the underground cavity of the borehole and the underground cavity output through the output step A display step of displaying; A printing step of manufacturing at least the underground cavity as a model among boreholes and underground cavities output through the output stage; And a relaying step of communicating at least the underground cavity with a remote medium from the borehole and the underground cavity output through the output step. At least any one of the more.

Here, the output step, the coordinate checking step of checking whether the inlet position of the borehole more than one corresponding to one underground cavity; A shape correction step of mutually combining the underground cavities formed by the inlet positions of the boreholes when the inlet positions of the boreholes are two or more through the coordinate checking step; And an output control step of controlling an external output of the underground cavity shaped through the coordinate checking step based on the inlet location of one borehole or the underground cavity combined through the shape correction step.

According to the three-dimensional shaping system of the underground cavity and the three-dimensional shaping method of the underground cavity according to the present invention, the three-dimensional coordinates of the wall of the underground cavity can be expressed in the absolute coordinate system based on the entrance position of the borehole obtained by the GPS receiver unit. It can provide reliable data on the three-dimensional shape and location of underground cavities.

In other words, the moving distance of the exploration unit, the measurement posture of the exploration unit, the wall distance between the exploration unit and the wall of the underground cavity, and the image of the wall of the underground cavity based on the inlet location of the borehole acquired by the GPS receiver unit. 3D coordinates of the wall of the underground cavity created on the basis of points can be represented by the absolute coordinate system by matching, and modeling of the underground cavity shaped in three dimensions can be easily done, so it is reliable for the three-dimensional shape and location of the underground cavity. Can provide data

In addition, the present invention can provide an integrated system that can easily obtain additional information, such as the shape and cross section for the borehole and underground cavity.

In addition, the present invention can manage not only one underground cavity, but also a plurality of underground cavities by unit administrative districts.

In addition, the present invention can obtain a more stable three-dimensional shape of the underground cavity by smoothly shaping the wall surface of the underground cavity using the entrance position of the borehole and the wall coordinates for the underground cavity.

In addition, the present invention can obtain a three-dimensional shape of the borehole.

In addition, the present invention by outputting the three-dimensional shape of the shaped underground cavity in real time, it is possible to share information in real time between the relationship between the site operator and the underground cavity using a remote medium.

In addition, in the present invention, when two or more boreholes are formed corresponding to one underground cavity, the three-dimensional shape of the underground cavity may be embodied by combining the three-dimensional shapes of the two or more obtained underground cavities with each other.

1 is a view showing a three-dimensional shaping system of the underground cavity according to an embodiment of the present invention.
2 is a view showing a state of measuring the wall surface of the underground cavity with respect to the reference coordinate in the three-dimensional shaping system of the underground cavity according to an embodiment of the present invention.
3 is a view showing an exploration unit in the three-dimensional shaping system of the underground cavity according to an embodiment of the present invention.
4 is a view showing a three-dimensional shaping method of the underground cavity according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating coordinates for measuring an azimuth angle according to a position change of a measurement sensor using a three-axis magnetic field sensor of an attitude sensor in a three-dimensional shaping method of an underground cavity according to an embodiment of the present invention.
6 is a view showing the coordinates of the wall surface measured by the measuring sensor corresponding to the basic posture in the three-dimensional shaping method of the underground cavity according to an embodiment of the present invention.
7 is a view showing the coordinates of the wall surface measured by the measuring sensor corresponding to the tilting motion of the measuring head means in the three-dimensional shaping method of the underground cavity according to an embodiment of the present invention.
8 is a view showing the coordinates of the wall surface measured by the measuring sensor in response to the rolling motion of the measuring head means in the three-dimensional shaping method of the underground cavity according to an embodiment of the present invention.

Hereinafter, an embodiment of a three-dimensional shaping system for an underground cavity and a three-dimensional shaping method for an underground cavity according to the present invention will be described with reference to the accompanying drawings. At this time, the present invention is not limited or limited by the embodiment. In addition, in describing the present invention, a detailed description of known functions or configurations may be omitted to clarify the gist of the present invention.

1 to 3, the three-dimensional shaping system of the underground cavity according to an embodiment of the present invention is the PS receiving unit 100, the exploration unit 200, the winch unit 300, the ground control unit 400.

The GPS receiver unit 100 receives three-dimensional coordinates of its position from the satellite. The GPS receiving unit 100 is disposed at the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 opened toward the ground from the boreholes WP1 and WP2 connecting the ground and the underground cavity C, thereby drilling the boreholes WP1, Inlet positions BP0 and BP1 of WP2 can be measured in three-dimensional absolute coordinates.

GPS receiving unit 100 may be configured separately from the exploration unit 200 as shown in FIG. Then, by matching the position of the GPS receiver unit 100 receiving the three-dimensional coordinates with the inlet position (BP0, BP1) of the borehole (WP1, WP2), the three-dimensional coordinates received from the GS receiver unit 100 by borehole ( The base coordinates can be set corresponding to the inlet positions BP0 and BP1 of WP1 and WP2.

Although not shown, the GPS receiver unit 100 may be configured integrally with the exploration unit 200.

Then, by positioning the exploration unit 200 so that the position of the GPS receiver unit 100 is matched with the inlet position (BP0, BP1) of the boreholes WP1, WP2, three-dimensional coordinates received from the GPS receiver unit 100 Can be set to the base coordinate corresponding to the inlet positions BP0 and BP1 of the boreholes WP1 and WP2.

The exploration unit 200 has a measuring posture (azimuth angle and inclination) in the boreholes WP1 and WP2 or the underground cavity C, and the wall distance D1 from the wall surface of the boreholes WP1 and WP2 or the wall surface of the underground cavity C. , D2) and measure the wall distance (D1, D2) in the measurement position to take an image of the wall.

The exploration unit 200 may include a measuring head means 210, a guide rod means 220, a rotation means 230, and a tilting means 240 as shown in FIG. 3.

The measuring head means 210 is a measuring sensor for measuring the wall distance (D1, D2) to the wall surface of the borehole (WP1, WP2) or the wall of the underground cavity (C), and a camera for photographing the corresponding wall surface measured by the measuring sensor Part 217 may be included. In addition, the measuring head means 210 may further include a water sensor 219 for detecting whether there is ground water in the underground cavity (C). In addition, the measurement head means 210 may further include an illumination unit 218 for emitting light toward a corresponding wall surface measured by the measurement sensor. In addition, the measurement head means 210 may further include a head posture sensor for measuring the measurement posture of the measurement head means 210 in response to the movement of the exploration unit 200.

Then, the wall distances D1 and D2 with respect to the wall surface of the boreholes WP1 and WP2 or the wall of the underground cavity C may be obtained through the measurement sensor. In addition, the camera unit 217 may acquire an image of the corresponding wall surface. In addition, the measurement posture of the measurement head means 210 may be obtained through the head posture sensor.

The measurement sensor may be classified into a laser sensor 215 and a sonar sensor 216.

Laser sensor 215 is a sensor for measuring the wall distance (D1, D2) to the wall surface of the borehole (WP1, WP2) or the wall of the underground cavity (C) in the air layer, the time difference measurement method or phase difference measurement method Can be used.

The time difference measurement method is the most widely used method of observing distance by multiplying the time difference that is reflected back by firing the laser and the laser speed.However, this method is less accurate by about 2mm than the phase difference measurement method due to its characteristics. There are disadvantages.

The phase difference measuring method measures the distance by using the phase difference of the final wavelength to the number of phases reflected by firing a laser, and has an advantage of somewhat higher accuracy than the time difference measuring method.

The sonar sensor 216 measures wall distances D1 and D2 with respect to the wall surface of the boreholes WP1 and WP2 or the wall of the underground cavity C using ultrasonic waves due to the electromagnetic waves that are not transmitted in the water. Specifically, the sensor fires an ultrasonic wave with a short intermittent sound, and then calculates a distance by measuring a time that the object hits the reflection and returns.

The water sensor 219 can be used to detect the presence or absence of groundwater, for example, there is a near-field precision sensor. The near-field precision sensor detects the presence or absence of groundwater and checks the current position (boreholes (WP1, WP2), underground cavity (C)) of the measurement head means 210. In other words, when the water sensor 219 does not detect the groundwater in the boreholes WP1 and WP2 or the underground cavity C at the current position of the measuring head means 210, the laser sensor 215 is operated and the sonar sensor The operation of 216 can be stopped. In addition, when the water sensor 219 detects the groundwater in the boreholes WP1 and WP2 or the underground cavity C at the current position of the measurement head means 210, the operation of the laser sensor 215 is stopped and the sonar sensor 216 may be operated.

The camera unit 217 photographs the corresponding wall surface measured by the measurement sensor, and in particular, the image photographed by the camera unit 217 is displayed in real time on the display unit 610 to be described later, and the boreholes WP1 and WP2 and Underground cavity (C) can determine whether there is groundwater.

Since the lighting unit 218 is disposed adjacent to the camera unit 217 and irradiates light using an LED lamp, the lighting unit 218 facilitates shooting in the dark boreholes WP1 and WP2 or underground cavity C. You can easily check the captured image with the naked eye.

In one embodiment of the present invention by placing the sonar sensor 216 in the measurement head means 210 spaced below the laser sensor 215 corresponding to the moving direction of the exploration unit 200, the underground cavity (C) of the It is considered that the medium is distributed from the air layer to the groundwater layer toward the bottom. In addition, the camera unit 217 and the lighting unit 218 are disposed between the laser sensor 215 and the sonar sensor 216, so that when the camera unit 217 photographs the groundwater layer, the operation of the laser sensor 215 is stopped. The sonar sensor 216 can be stably operated.

The head posture sensor may include a head tilt sensor 211, a head acceleration sensor 212, a head magnetic field sensor 213, and a head gyro sensor 214.

The head tilt sensor 211 measures the inclination component of the measuring head means 210 based on the z-axis (gravity direction) formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

The head acceleration sensor 212 measures the acceleration component of the measurement head means 210 based on three axes formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

The head magnetic field sensor 213 measures the azimuth component of the measuring head means 210 based on three axes formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

The head gyro sensor 214 measures the angular velocity component of the measuring head means 210 based on three axes formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

Then, when the exploration unit 200 is correctly positioned corresponding to the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the measurement posture of the measuring head means 210 may be initialized.

And in response to the movement of the exploration unit 200 in the section without the metal component in the borehole (WP1, WP2) or underground cavity (C) using the head tilt sensor 211 and the head magnetic field sensor 213 the measuring head means ( The measurement posture of 210 can be measured. In response to the movement of the exploration unit 200, the measurement head means 210 using the head tilt sensor 211 and the head gyro sensor 214 in a section in which there are metal components in the boreholes WP1 and WP2 or the underground cavity C. It is possible to measure the measurement posture, and to correct the measurement posture of the measurement head means 210 using the head acceleration sensor 212.

Guide rod means 220 is coupled to the measurement head means 210 in a rolling motion. Guide rod means 220 is provided with a connector 250 to which the cable 301 is coupled to facilitate the detachable coupling of the cable 301, it is possible to waterproof the coupling portion with the cable 301. The guide rod means 220 may include a rod posture sensor for measuring a measurement posture with respect to the guide rod means 220 in response to the movement of the exploration unit 200.

Then, the measurement posture of the guide rod means 220 can be obtained through the rod posture sensor.

The load posture sensor may include a load tilt sensor 221, a load acceleration sensor 222, a load magnetic field sensor 223, and a load gyro sensor 224.

The load tilt sensor 221 measures the inclination component of the guide rod means 220 based on the z axis formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

The rod acceleration sensor 222 measures the acceleration component of the guide rod means 220 based on three axes formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

The rod magnetic field sensor 223 measures the azimuth component of the guide rod means 220 based on three axes formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

The rod gyro sensor 224 measures the angular velocity component of the guide rod means 220 based on three axes formed by the GPS receiving unit 100 in response to the movement of the exploration unit 200.

Then, when the exploration unit 200 is correctly positioned corresponding to the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the measurement posture of the guide rod means 220 may be initialized.

In addition, in response to the movement of the exploration unit 200, the guide rod means using the load slope sensor 221 and the magnetic field sensor 223 in a section without a metal component in the boreholes WP1 and WP2 or underground cavity C. 220 can measure the measurement posture. In response to the movement of the exploration unit 200, the guide rod means 220 using the rod tilt sensor 221 and the rod gyro sensor 224 in the section where there is a metal component in the borehole (WP1, WP2) or underground cavity (C). It is possible to measure the measurement posture of, and to correct the measurement posture of the guide rod means 220 using the rod acceleration sensor 222.

The rotating means 230 moves the measuring head means 210 on the basis of the guide rod means 220.

The rotating means 230 may include a rotating shaft provided in the measuring head means 210 or the tilting means 240, and a rotating motor provided in the guide rod means 220 to rotate the rotating shaft. The rotation means 230 may further include a rotation angle sensor (not shown) for measuring the rotation angle of the measurement head means 210.

Then, the rotating means 230 is a 360-degree rolling movement of the measuring head means 210 relative to the guide rod means 220, wall distance to the wall surface of the borehole (WP1, WP2) or the wall surface of the underground cavity (C) D1 and D2 can be measured and an image of the wall surface can be taken.

The tilting means 240 tilts the measuring head means 210 with respect to the guide rod means 220.

The tilting means 240 is a rotating bracket 241 rotatably coupled to the guide rod means 220 via the rotation axis, the tilting bracket 242 provided in the measuring head means 210, and the measuring head means 210. Tilting shaft 243 for tilting the rotating bracket 241 and the tilting bracket 242 so as to form a tilting center of the tilting unit, and the tilting bracket 242 is tilted based on the rotating bracket 241. It may include a tilting motor 244 for rotating the shaft (243). The tilting means 240 may further include a tilting sensor (not shown) for measuring a tilting angle in response to the tilting motion of the tilting bracket 242.

Then, when the tilting means 240 tilts the measuring head means 210 with respect to the guide rod means 220, the measuring head means 210 with respect to the z axis formed by the GPS receiving unit 100 is By tilting 90 degrees in the counterclockwise direction and tilting 90 degrees in the clockwise direction, the wall distances D1 and D2 with respect to the wall surface of the underground cavity C can be measured, and an image of the wall surface can be taken. Can be. At this time, the tilting angle may be measured by using the measurement postures respectively measured by the load posture sensor provided in the guide rod means 220 and the head posture sensor provided in the measurement head means 210, and as a measured value of the tilting sensor. Measure position can be corrected.

In the probe unit 200, the length TL1 between the connector 250 and the tilting shaft 243, the length TL21 between the tilting shaft 243 and the laser sensor 215, the tilting shaft 243 and the sonar. The length TL22 between the sensor 216 and the length TL23 between the tilting shaft 243 and the water sensor 219 are preset values according to the type of the exploration unit 200. It can be used to calculate measurement posture and wall coordinates.

The winch unit 300 is wound around the cable 301 coupled to the exploration unit 200, and measures the movement distance according to the movement of the exploration unit 200 in the borehole (WP1, WP2) or underground cavity (C).

The winch unit 300 includes a drum 310 in which the cable 301 is wound as shown in FIG. 2, an encoder 320 measuring a movement amount of the cable 301 in response to the movement of the exploration unit 200. In addition, the winch motor 330 for forward and reverse rotation of the drum 310 may include a length display unit 350 for displaying the movement amount of the cable 301.

In FIG. 1, the length l0 of the left borehole WP1, the length l01 between the outlet position BP01 and the reference search point BP02 of the left borehole WP1, the length l1 of the right borehole WP2, The length l01 between the outlet position BP11 and the reference search point BP12 of the right bore hole WP2 may be measured by the amount of movement of the cable 301 measured by the encoder 320 of the winch unit 300.

In addition, the winch unit 300 controls the operation of the winch motor 330 and converts the amount of movement of the cable 301 measured by the encoder 320 to the moving distance of the probe unit 200 is transmitted to the length display unit 350 The motor control unit 340 may further include.

In addition, the winch unit 300 is to set the moving distance of the exploration unit 200 to "0" when the exploration unit 200 is positioned at the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. The encoder 320 may further include a cable zero unit 360 for initializing the movement amount of the cable 301 measured by the encoder 320.

In particular, the winch unit 300 has an encoder 320 for measuring the moving distance through the movement amount of the cable 301 and the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. When in place, a cable zero point 360 for initializing the travel distance is included.

Then, the movement distance of the exploration unit 200 may be obtained through the operation of the winch unit 300.

The ground control unit 400 displays the wall surface in three dimensions based on the wall distances D1 and D2 of the measuring postures by moving distances based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. Shape it.

The ground control unit 400 may include an exploration storage unit 422, a winch storage unit 423, an information matching unit 430, a joint coordinate calculation unit 452, and a shape control unit 460. .

The exploration storage unit 422 measures the attitude of the exploration unit 200 and the exploration unit 200 in response to the movement of the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. The wall distances D1 and D2 between the walls and the images of the walls are stored in chronological order.

Here, the measurement posture of the exploration unit 200 stored in the exploration storage unit 422 is based on a value measured by at least one of the head posture sensor and the load posture sensor, and the wall distances D1 and D2 are measured sensors. Based on the measured value, and the image of the wall is based on the image taken by the camera unit 217.

The winch storage unit 423 stores the moving distance of the exploration unit 200 in chronological order in response to the movement of the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2.

Here, the movement distance of the exploration unit 200 is based on the movement amount of the cable 301 measured by the encoder 320 of the winch unit 300.

The information matching unit 430 corresponds to the movement of the exploration unit 200 based on the time series in response to the movement of the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. ) And the exploration matching information is generated by matching the image of the wall surface (D1, D2) and the image of the wall between the measurement posture and the exploration unit 200 and the wall.

Then, in response to the movement of the exploration unit 200 on the basis of the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the conversion state of the reference exploration points BP02 and BP12 of the exploration unit 200 is changed according to the moving distance. The wall distances D1 and D2 of the measurement unit 200 and the image of the wall may be stored in the information matching unit 430 as the exploration matching information.

The joint coordinate calculation unit 452 calculates wall coordinates for the underground cavity C according to the change of the exploration matching information. The joint coordinate calculation unit 452 may calculate wall coordinates for the underground cavity C according to the change of the exploration matching information on the basis of the reference coordinates to be described later.

For example, when the exploration unit 200 includes the rotating means 230 among the rotating means 230 and the tilting means 240, the exploration unit 200 for each moving distance of the exploration unit 200 based on the reference coordinate. The wall coordinates for the underground cavity (C) can be calculated based on the measurement posture of the exploration unit 200 for each rolling motion and the measurement distance of the exploration unit 200 and the image of the corresponding wall surface.

As another example, when the exploration unit 200 includes both the rotating means 230 and the tilting means 240, the exploration for each tilting motion of the exploration unit 200 for each rolling motion of the exploration unit 200 based on a reference coordinate. The wall coordinates of the underground cavity C may be calculated based on the measurement posture of the unit 200, the measurement distance of the exploration unit 200, and the image of the corresponding wall surface.

Then, the wall coordinates may be stored in the joint coordinate calculation unit 452 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 based on the reference coordinates.

The shape controller 460 connects the wall coordinates of the underground cavity C vertically and horizontally to form a three-dimensional grid, and shapes the underground cavity C in three dimensions based on the three-dimensional grid.

The shape control unit 460 may shape the underground cavity C in three dimensions by performing a three-dimensional shaping algorithm.

The ground control unit 400 may further include at least one of an information initialization unit 410, a base coordinate storage unit 421, and a joint identification unit 451.

The information initialization unit 410 initializes the exploration unit 200 and the winch unit 300 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. When the exploration unit 200 is correctly positioned at the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the cable zero portion 360 of the winch unit 300 initializes the movement amount of the cable 301, thereby exploring the exploration unit 200. The movement distance of the unit 200 may be initialized, and thus the measurement posture of the exploration unit 200 may be initialized.

The base coordinate storage unit 421 stores the three-dimensional coordinates measured by the GPS receiver unit 100 as the base coordinates corresponding to the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. At this time, the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the three-dimensional coordinates measured by the GPS receiver unit 100, and the reference detection points BP02 and BP12 of the exploration unit 200 coincide with each other. By positioning the exploration unit 200 at the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the base coordinate storage unit 421 stores the three-dimensional coordinates measured by the GPS receiving unit 100 as the base coordinates. Can be. The reference exploration points BP02 and BP12 of the exploration unit 200 serve as a reference for measuring the measurement posture of the exploration unit 200. As the exploration unit 200 moves, the measurement posture and the exploration unit of the exploration unit 200 are moved. When the moving distance of the 200 is changed, it is possible to calculate in real time that the reference detection point (BP02, BP12) of the exploration unit 200 is changed.

The reference exploration points BP02 and BP12 of the exploration unit 200 are the connector 250 of the exploration unit 200, the tilting shaft 243 of the exploration unit 200, the laser sensor 215 of the exploration unit 200, The sonar sensor 216 of the exploration unit 200 may be set to any one position of the number sensor 219 of the exploration unit 200.

The joint identification unit 451 calculates a reference coordinate based on any one of the exploration matching information when the exploration unit 200 enters the underground cavity C.

When the exploration unit 200 enters the underground cavity C, when the current wall distance is larger than the diameter of the boreholes WP1 and WP2 corresponding to the length of the exploration unit 200, the image of the wall surface is maintained. When it is determined based on the underground cavity (C), it can represent when the length of the boreholes (WP1, WP2) obtained during drilling and the moving distance of the exploration unit 200 is matched based on a preset ratio. In this case, when the exploration unit 200 enters the underground cavity C, the reference exploration points BP02 and BP12 of the exploration unit 200 may be set as reference coordinates.

Then, the reference coordinate may be stored in the joint identification unit 451 based on the inlet positions of the boreholes WP1 and WP2.

The ground control unit 400 may further include an outlet check unit 441 and a borehole calculation unit 442.

When the exploration unit 200 enters the underground cavity C, the exit check unit 441 calculates the exit positions BP01 and BP11 of the boreholes WP1 and WP2 based on at least one of the exploration matching information. . The exit checking unit 441 uses the exploration matching information matched to the image of the wall based on the image of the wall among the exploration matching information, and the boreholes WP1 and WP2 opened from the boreholes WP1 and WP2 toward the underground cavity C. Outlet positions BP01 and BP11 can be calculated.

The borehole calculation unit 442 calculates wall coordinates for the boreholes WP1 and WP2 according to the change of the exploration matching information on the basis of the inlet positions BP0 and BP1 of the boreholes WP1 and WP2.

In general, the exploration unit 200 moves the boreholes WP1 and WP2 in the process of moving the rotating means 230 and the tilting means 240 of the exploration unit 200 to an initialized state. The wall coordinates for the boreholes WP1 and WP2 may be calculated based on at least one of the sensors, the moving distance of the probe unit 200, and the wall distance between the probe unit 200 and the wall surfaces of the boreholes WP1 and WP2. have.

At this time, the shape control unit 460 connects the wall coordinates for the borehole (WP1, WP2) longitudinally and horizontally to form a three-dimensional grid, and based on the three-dimensional grid with the underground cavity (C) borehole (WP1, WP2) It can be shaped in three dimensions.

Underground cavity three-dimensional shaping system according to an embodiment of the present invention may further include an output unit (500).

The output unit 500 controls the external output of the underground cavity (C) shaped in three dimensions.

In the shaped three-dimensional underground cavity (C), the inlet position (BP0, BP1) of the boreholes (WP1, WP2), the exit of the boreholes (WP1, WP2) based on the three-dimensional coordinates measured by the GPS receiver unit 100 Since the position (BP01, BP11), the reference coordinate, the three-dimensional shape of the boreholes WP1 and WP2, and the three-dimensional shape of the underground cavity C are set in the absolute coordinate system, the output unit 500 includes the three-dimensional shaped borehole ( WP1, WP2) and underground cavity (C) can be easily applied to the map.

The output unit 500 outputs at least one of the three-dimensionally shaped boreholes WP1 and WP2 and the underground cavity C to the outside, so that the relationship between the site worker and the underground cavity C is shaped in three dimensions. (WP1, WP2) and underground cavity (C) can be shared in real time.

Here, the output unit 500 corresponds to one underground cavity (C) coordinate check unit 510 and the coordinate check unit (510) to check whether the inlet position (BP0, BP1) of the borehole (WP1, WP2) is two or more; 510, when the inlet position (BP0, BP1) of the boreholes (WP1, WP2) is more than one, combining the underground cavity (C) shaped by the inlet position (BP0, BP1) of the boreholes (WP1, WP2) At least one of the boreholes WP1 and WP2 and the underground cavity C shaped based on the inlet positions BP0 and BP1 of one borehole as a result of the confirmation of the shape correction unit 520 and the coordinate checking unit 510 or It may include an output control unit 530 for controlling the external output of at least one of the borehole (WP1, WP2) and the underground cavity (C) combined in the shape correction unit (520).

For example, when two boreholes WP1 and WP2 are formed in two corresponding to one underground cavity C as shown in FIG. 2, the underground cavity C is respectively three-dimensionally corresponding to each borehole WP1 and WP2. The two-shaped underground cavity (C), which can be shaped, is combined with each other as calculated based on the same coordinate system, thereby being shaped as one specified underground cavity (C) to form boreholes (WP1, WP2) and underground cavity (C). At least one of) can be made clear.

Although not shown, the output unit 500 includes the above-described information matching unit 430, the exit confirmation unit 441, the borehole calculation unit 442, the joint confirmation unit 451, and the joint coordinate calculation unit 452. And at least the shape control unit 460 of the shape control unit 460, and the ground control unit 400 may be omitted from the output unit 500.

The three-dimensional shaping system of the underground cavity according to an embodiment of the present invention displays at least one of the boreholes (WP1, WP2) and the underground cavity (C) output through the output unit 500 together with the output unit 500 The display unit 610, the printing unit 620 for producing at least one of the borehole (WP1, WP2) and underground cavity (C) output through the output unit 500 and the output unit 500, At least one of the boreholes WP1 and WP2 and underground cavity C outputted through the at least one of the repeater unit 630 for communicating with the remote medium may be further included. In particular, the repeater unit 630 is a mobile terminal 710 carried by a person in the underground cavity (C), as shown in FIG. 1, a wearable device for expressing a virtual reality or augmented reality worn by a person in the underground cavity (C) 720, the communication between the communication terminal 730 capable of bi-directional communication between the field worker and the underground cavity (C) share the three-dimensional underground cavity (C) in real time as well as the underground cavity (C) The singularities of can be coordinated with each other. In addition, through the two-way communication through the repeater unit 630, even those who are not in the field by applying the integrated system at a distance, can effectively share information about the underground cavity (C) obtained at the site from a remote location, real-time information Make decisions faster by sharing.

Now, a three-dimensional shaping method for underground cavities according to an embodiment of the present invention will be described.

1 to 3 and 4, the three-dimensional shaping method of the underground cavity according to an embodiment of the present invention is a borehole (WP1, At least the underground cavity (C) of the WP2) and the underground cavity (C) is a method of shaping in three dimensions.

In the three-dimensional shaping method of the underground cavity according to an embodiment of the present invention, GPS receiving step (S2) for receiving the three-dimensional coordinates of the magnetic position from the satellite corresponding to the inlet position (BP0, BP1) of the borehole (WP1, WP2) ) And images of wall distance (D1, D2) and wall surface of each measuring posture based on the moving distances based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, and the wall surface is three-dimensionally It may include a ground control step of shaping.

GPS receiving step (S2) may be carried out by the operation of the PS receiving unit 100.

In the three-dimensional shaping method of the underground cavity according to an embodiment of the present invention, the unit setting step (S1) may be performed prior to the GPS reception step (S2) or the information initialization step (S3) of the ground control step to be described later. Unit setting step (S1) is connected to the PS receiving unit 100, the exploration unit 200, the winch unit 300, the ground control unit 400, and the inlet position of the borehole (WP1, WP2) The exploration unit 200 is positioned in BP0 and BP1. Then, the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the three-dimensional coordinates measured by the GPS receiver unit 100, and the reference detection points BP02 and BP12 of the exploration unit 200 coincide with each other. By positioning the exploration unit 200 at the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, the base coordinate storage unit 421 stores the three-dimensional coordinates measured by the GPS receiving unit 100 as the base coordinates. Can be.

The ground control step may be performed by an interlocking operation of the exploration unit 200, the winch unit 300, and the ground control unit 400. The ground control step may be performed in real time in response to the operation of the exploration unit 200 and the winch unit 300.

The ground control step is an exploration drive step (S42), a winch drive step (S41), a data backup step (S43), an information matching step (S5), a joint coordinate calculation step (S72), and a shape control step (S8). ) May be included.

The exploration driving step S42 operates the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 to measure the attitude of the exploration unit 200, the exploration unit 200, and the borehole ( The wall distance between the wall surfaces of the WP1 and WP2 or the wall distances D1 and D2 between the exploration unit 200 and the wall of the underground cavity C and an image of the wall surface are acquired.

The exploration driving step S42 may be performed by the operation of the exploration unit 200.

In the winch driving step S41, the winch unit 300 is operated based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 to obtain a moving distance of the exploration unit 200.

The winch driving step S41 may be performed by the operation of the winch unit 300.

The data backup step S43 corresponds to the measurement posture of the exploration unit 200 and the exploration unit 200 in response to the movement of the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2. The wall distance between the wall surfaces of the boreholes WP1 and WP2 or the wall distances D1 and D2 between the exploration unit 200 and the wall of the underground cavity C, and images of the wall surface are stored in chronological order, In response to the movement of the exploration unit 200 based on the inlet positions BP0 and BP1 of the WP1 and WP2, the moving distance of the exploration unit 200 is stored in chronological order.

The data backup step S43 may be performed by the operations of the exploration storage unit 422 and the winch storage unit 423.

The information matching step S5 corresponds to the movement of the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 in accordance with the time series, the moving distance, the measurement posture, and the wall distance D1 and D2. Exploration matching information is generated by matching the images of the wall and the wall.

The information matching step S5 may be performed by the operation of the information matching unit 430.

In the joint coordinate calculation step S72, wall coordinates for the underground cavity C are calculated according to the change of the exploration matching information. In the joint coordinate calculation step (S72), the wall coordinates for the underground cavity C may be calculated according to the change of the exploration matching information based on the reference coordinates to be described later.

The joint coordinate calculation step S72 may be performed by the operation of the joint coordinate calculation unit 452.

The shape control step (S8) forms a three-dimensional grid by vertically connecting the wall coordinates for the underground cavity (C), and shape the underground cavity (C) in three dimensions based on the three-dimensional grid.

The shape control step S8 may be performed by the operation of the shape control unit 460.

The ground control step may further include at least one of an information initialization step S3 and a joint confirmation step S71.

The information initialization step S3 is an information setting step of initializing the exploration unit 200 and the winch unit 300 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2, and the boreholes WP1 and WP2. At least one of the coordinate storage step of storing the three-dimensional coordinates measured through the GPS receiving step (S2) corresponding to the entrance position (BP0, BP1) as the base coordinate. The information initialization step S3 may be performed by an operation of the information initialization unit 410 or the base coordinate storage unit 421 corresponding to the individual step.

In addition, the input angle A represents 0 degrees based on the z-axis formed by the GPS receiving unit 100 in response to vertical sensing (when the exploration unit 200 is moved in the left bore hole WP1 of FIG. 2). In this case, a separate extension rod (not shown) supporting the exploration unit 200 is not required.

In addition, the input angle A is less than 0 degrees based on the z axis formed by the GPS receiving unit 100 in response to the inclined exploration (when the exploration unit 200 is moved in the right borehole WP2 of FIG. 2). When larger and smaller than 90 degrees, since the exploration unit 200 may not autonomously descend from the borehole WP2, the exploration unit 200 may be moved using a separate extension rod (not shown). A separate extension rod (not shown) may have a shape in which a hollow pipe to which the cable 301 is embedded may be connected.

In the joint confirmation step S71, when the exploration unit 200 enters the underground cavity C, the reference coordinate is calculated based on at least one of the exploration matching information.

The joint confirmation step S71 may be performed according to the operation of the joint confirmation unit 451.

The ground control step may further include an exit checking step S61 and a borehole calculation step S62.

The exit checking step S61 calculates the exit positions BP01 and BP11 of the boreholes WP1 and WP2 based on at least one of the exploration matching information when the exploration unit 200 enters the underground cavity C. .

The exit confirmation step S61 may be performed according to the operation of the exit confirmation unit 441.

The borehole calculation step S62 calculates wall coordinates for the boreholes WP1 and WP2 according to the change of the exploration matching information on the basis of the inlet positions BP0 and BP1 of the boreholes WP1 and WP2.

The borehole calculation step S62 may be performed according to the operation of the borehole calculation unit 442.

At this time, the shape control step (S8) is connected to the wall coordinates for the borehole (WP1, WP2) vertically and horizontally to form a three-dimensional grid, based on the three-dimensional grid with the borehole (WP1, WP2) Can be shaped in three dimensions.

The three-dimensional shaping method of the underground cavity according to an embodiment of the present invention may further include an output step.

The output stage controls the external output of at least one of the three-dimensionally shaped boreholes WP1 and WP2 and the underground cavity C.

In the shaped three-dimensional underground cavity (C), the inlet position (BP0, BP1), the exit of the boreholes (WP1, WP2) of the boreholes (WP1, WP2) based on the three-dimensional coordinates measured by the GPS receiver unit 100 Since the three-dimensional shape of the position (BP01, BP11), the reference coordinate, the boreholes (WP1, WP2), and the three-dimensional shape of the underground cavity (C) are set in the absolute coordinate system, the shaped three-dimensional underground cavity (C) at the output stage Can be easily applied to a map.

The output step may be performed by the operation of the output unit 500.

Here, the output step is the coordinate check step (S91) and the coordinate check step (S91) to determine whether the inlet position of the boreholes (WP1, WP2) corresponding to one underground cavity (C) through the borehole (WP1, If the inlet position of the WP2 is two or more, the shape correction step (S92) and coordinate check step (S91) of combining the underground cavity (C) shaped for each of the inlet positions (BP0, BP1) of the boreholes (WP1, WP2). Through the at least one of the borehole (WP1, WP2) and the underground cavity (C) shaped on the basis of the inlet position (BP0, BP1) of one of the borehole (WP1, WP2) through the shape correction step (S92) It may include an output control step (S93) for controlling the external output of at least one of the borehole (WP1, WP2) and underground cavity (C).

Then, when two boreholes WP1 and WP2 are formed in two corresponding to one underground cavity C as shown in FIG. 2, each of the boreholes WP1 and WP2 may be shaped in three dimensions. Two-shaped boreholes (WP1, WP2) and underground cavity (C) are combined with each other as they are calculated based on the same coordinate system, thereby shaping one underground cavity (C) as specified to clarify the underground cavity (C). It can be done.

In the three-dimensional shaping method of the underground cavity according to an embodiment of the present invention, the display step (S101) for displaying at least one of the borehole (WP1, WP2) and the underground cavity (C) that is output through the output step And, the printing step (S102) for producing at least one of the borehole (WP1, WP2) and underground cavity (C) output through the output stage, and the borehole (WP1, WP2) and underground output through the output stage At least one of the relay step (S103) for communicating at least one of the cavity (C) with the remote medium may be further included.

The display step S101, the printing step S102, and the relay step S103 may be performed by the operations of the display unit 610, the printing unit 620, and the repeater unit 630, respectively.

Hereinafter, an example of a method of calculating wall coordinates in the joint coordinate calculation step S72 or the borehole calculation step S62 in the three-dimensional shaping method of the underground cavity according to the embodiment of the present invention will be described.

5 to 8, the strength of the magnetic field Mnorth is determined by the magnitudes of the measured values Mx, My, and Mz measured using a magnetic field sensor on three axes (x, y, z).

As shown in FIG. 5, since the measurement direction of the measurement sensor in the initial state of the exploration unit 200 coincides with the Mz axis direction, the magnetic field component M'North projected on the MyMz plane is measured in the clockwise direction. If the angle is defined as the azimuth angle [theta] M, the azimuth angle is expressed by [Equation 1].

[Equation 1]

In addition, as shown in FIG. 6, the coordinate axis is set around the tilting axis 243 of the exploration unit 200, the depth directions of the boreholes WP1 and WP2 are defined as the z-axis, and the direction toward the ground surface is +. The z axis is defined, and the reference axis of the tilting motion is defined as the + y axis.

When the rotational amount of the exploration unit 200 due to the rolling motion is a rolling angle θRot, the rolling angle is defined in the clockwise direction with respect to the + y axis on the xy plane, which is a plane substantially parallel to the ground.

When the amount of change due to the tilting motion of the exploration unit 200 is referred to as a tilting angle θTilt, it is defined in a clockwise direction based on the + y axis on a plane yz plane that is substantially perpendicular to the ground.

When the rolling angle is 0 degrees and the tilting angle is 90 degrees when the initial state of the exploration unit 200 or the exploration unit 200 is located at the reference coordinate, the initial state of the exploration unit 200 or the exploration unit 200 is defined. ) And the distance (d) measured to the wall surface of the boreholes (WP1, WP2) or the wall of the underground cavity (C) by the measuring sensor of the exploration unit 200 is measured in the + y-axis direction in the state where the reference coordinate is located, Considering that the measurement sensor is spaced apart from the tilting axis 243 by h, the coordinates in the measured three-dimensional space of the wall surface are expressed as a vector as shown in [Equation 2].

[Equation 2]

When the measuring sensor is tilted to measure the wall distance in the underground cavity C, when the exploration unit 200 is tilted, the measuring head means 210 is tilted about the tilting axis 243 to + x. The tilting movement is made clockwise in the yz plane about the axis.

When the angle at which the measurement head means 210 tilts in the initial state of the probe unit 200 or the probe unit 200 is located at the reference coordinate is a vertical angle θv, the vertical angle θv is a tilting angle ( Since there is a constant relationship with [theta] Tilt, it is represented by [Equation 3].

[Equation 3]

로 위치 변환되고, 행렬식을 이용한 [수학식 4]로 표현된다.On the other hand, [Equation 2] by the tilting motion by the vertical angle (θv)

It is position-transformed into and is represented by [Equation 4] using determinant.

[Equation 4]

는 [수학식 5]에서 정의되는 수평각(θh) 만큼 +z축을 기준으로 롤링 운동하여

로 위치 변환되고, 행렬식을 이용한 [수학식 6]으로 표현된다.If the measurement head means 210 of the exploration unit 200 that has a tilting motion rotates clockwise by the rotation angle θRot in the xy plane with respect to the + z axis,

Is a rolling motion about the + z axis by the horizontal angle (θh) defined in [Equation 5]

The position is transformed into and is represented by Equation 6 using the determinant.

In this case, the + y axis, which is the reference coordinate system, is rotated by the azimuth angle θM, and thus it should be considered.

[Equation 5]

[Equation 6]

Next, the three-dimensional wall coordinates (X, Y, Z) according to the measurement position (θ i) of the exploration unit 200 is expressed by Equation 7.

[Equation 7]

Referring to equation (7), the three-dimensional rectangular coordinates (X, Y, Z) are represented as a function of (x '', y '', z ''), and (x '', y '', z '') Is represented by (0, y ', z') by the coordinate transformation of Equation 6, and (0, y ', z') is represented by the coordinate transformation of Equation 4 2] in the form of (0, d, -h).

Using this, the wall coordinates for the wall surfaces of the boreholes WP1 and WP2 and the wall coordinates for the wall surfaces of the underground cavity C can be calculated.

According to the three-dimensional shaping system of the underground cavity and the three-dimensional shaping method of the underground cavity described above, the underground cavity (C) based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 acquired by the GS receiving unit 100. Three-dimensional coordinates of the wall surface of) can be expressed in the absolute coordinate system, and can provide reliable data on the three-dimensional shape and position of the underground cavity (C).

In other words, the moving distance of the exploration unit 200 based on the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 acquired by the GPS receiving unit 100, the measurement position of the exploration unit 200, the exploration unit Wall distances (D1, D2) between (200) and walls of underground cavities (C), 3 for the walls of underground cavities (C) generated based on points by matching images of walls of the corresponding underground cavities (C) The dimensional coordinates can be expressed in an absolute coordinate system, and the modeling of the underground cavity (C) shaped in three dimensions can be simplified, thereby providing reliable data on the three-dimensional shape and position of the underground cavity (C).

In addition, it is possible to provide an integrated system that can easily obtain additional information, such as the shape and cross section for the borehole (WP1, WP2) and underground cavity (C).

In addition, not only one underground cavity (C), but also a plurality of underground cavity (C) can be integrated and managed by unit administrative districts.

In addition, by utilizing the wall coordinates of the inlet positions BP0 and BP1 of the boreholes WP1 and WP2 and the underground cavity C, the wall surface of the underground cavity C is smoothly shaped to make the three-dimensional of the underground cavity C more stable. The shape can be obtained.

In addition, the three-dimensional shape of the boreholes WP1 and WP2 can be obtained.

In addition, by outputting the three-dimensional shape of the shaped underground cavity (C) in real time, it is possible to share information in real time between the relationship between the site operator and the underground cavity (C) using a remote medium.

In addition, when two or more boreholes WP1 and WP2 are formed corresponding to one underground cavity C, the three-dimensional shape of the underground cavity C may be combined by mutually combining three-dimensional shapes of two or more underground holes C obtained. The shape can be specified.

While the preferred embodiments of the present invention have been described with reference to the drawings as described above, those skilled in the art will appreciate that the present invention may be modified in various ways without departing from the spirit and scope of the invention as set forth in the claims below. Can be modified or changed.

l0: length of left borehole l01: distance between exit of left borehole and reference point
l1: length of right borehole l11: distance between outlet of right borehole and reference point
C: underground cavity WP1, WP2: borehole
A: input angle D1, D2: wall distance
BP0, BP1: Borehole Inlet Locations BP01, BP11: Borehole Outlet Locations
BP02, BP12: reference point
100: GPS receiver unit 200: exploration unit 210: measuring head means
211: head tilt sensor 212: head acceleration sensor 213: head magnetic field sensor
214: head gyro sensor 215: laser sensor 216: sonar sensor
217: camera unit 218: lighting unit 219: water sensor
220: guide rod means 221: rod tilt sensor 222: rod acceleration sensor
223: magnetic field sensor 224: rod gyro sensor 230: rotation means
240: tilting means 241: rotation bracket 242: tilting bracket
243: tilting shaft 244: tilting motor 250: connector
300: winch unit 301: cable 310: drum
320: encoder 330: winch motor 340: motor control unit
350: length indicator 360: cable zero 400: ground control unit
410: information initialization unit 421: base coordinate storage unit 422: exploration storage unit
423: winch storage unit 430: information matching unit 441: exit confirmation unit
442: drilling hole calculation unit 451: joint identification unit 452: joint coordinate calculation unit
460: shape control unit 500: output unit 510: coordinate check unit
520: shape correction 530: output control unit 610: display unit
620: printing unit 630: repeater unit 710: mobile terminal
720: wearing terminal 730: broadcasting terminal
S1: unit setting step S2: GPS receiving step S3: information initialization step
S41: winch driving step S42: exploration driving step S43: data backup step
S5: Matching information step S61: Exit confirmation step S62: Drilling hole calculation step
S71: joint confirmation step S72: joint coordinate calculation step S8: shape control step
S91: Coordinate check step S92: Shape correction step S93: Output control step
S101: Display step S102: Printing step S103: Relay step

Claims (15)

A GPS receiver unit receiving three-dimensional coordinates of a magnetic position from a satellite to measure an entrance position of a borehole connecting the ground and an underground cavity;
Measure the measurement posture (azimuth, inclination) and the wall distance from the borehole or the wall of the underground cavity in the borehole or the underground cavity, and take an image of the wall surface when the wall distance is measured in the measurement posture. An exploration unit;
A winch unit for winding a cable coupled to the exploration unit and measuring a movement distance according to the movement of the exploration unit in the borehole or the underground cavity; And
And a ground control unit configured to three-dimensionally form a corresponding wall surface based on the wall distance according to the measurement posture and the image of the wall based on the entrance position of the borehole.
The ground control unit,
An exploration storage unit storing the measurement posture, the wall distance, and the image of the wall in chronological order in response to the movement of the exploration unit with respect to the inlet position of the borehole;
A winch storage unit configured to store the moving distance in chronological order in response to the movement of the exploration unit based on the inlet position of the borehole;
An information matching unit for generating exploration matching information by matching the moving distance, the measurement posture, the wall distance, and the image of the wall according to a time series in response to the movement of the exploration unit based on the inlet position of the borehole;
A joint coordinate calculation unit for calculating wall coordinates of the underground cavity according to the change of the exploration matching information;
A shape control unit which connects the wall coordinates of the underground cavity vertically and horizontally to form a three-dimensional grid, and shape the underground cavity in three dimensions based on the three-dimensional grid;
An exit checker configured to calculate an exit position of the borehole based on at least one of the exploration matching information when the exploration unit enters the underground cavity; And
It includes a borehole calculation unit for calculating the wall coordinates for the borehole in accordance with the change of the exploration matching information on the basis of the inlet location of the borehole,
The shape control unit,
And connecting the wall coordinates of the borehole vertically and horizontally to form a three-dimensional grid, and forming the borehole in three dimensions with the underground cavity based on the three-dimensional grid.
delete The method of claim 1,
The ground control unit,
An information initialization unit for initializing the exploration unit and the winch unit based on the inlet position of the borehole;
A base coordinate storage unit for storing three-dimensional coordinates measured by the GPS receiver unit as base coordinates corresponding to the inlet position of the borehole; And
A joint check unit for calculating a reference coordinate based on at least one of the exploration matching information when the exploration unit enters the underground cavity; Underground cavity three-dimensional shaping system, characterized in that it further comprises at least one of.
delete The method of claim 1,
And an output unit for controlling an external output of the three-dimensionally shaped underground cavity.
A display unit for displaying at least the underground cavity among the boreholes and the underground cavity output through the output unit;
A printing unit for producing at least the underground cavity as a model among boreholes and underground cavities output through the output unit; And
A repeater unit configured to communicate at least the underground cavity with a remote medium of the borehole and the underground cavity output through the output unit;
Underground cavity three-dimensional shaping system, characterized in that it further comprises at least one of.
The method of claim 5,
The output unit,
A coordinate checking unit for confirming whether two or more entrance positions of the boreholes correspond to one underground cavity;
A result of the coordinate checking unit, when the inlet positions of the borehole are two or more, a shape correction unit for mutually combining the underground cavity shaped for each inlet position of the borehole; And
An output control unit configured to control an external output of the underground cavity or the underground cavity combined by the shape correction unit based on the entrance position of one borehole as a result of the checking of the coordinate checking unit; Shaping system.
The method of claim 1,
The exploration unit,
Measuring head means including a measuring sensor measuring the wall distance and a camera unit photographing the wall surface;
Guide rod means to which the measuring head means is coupled in a rolling motion; And
Rotating means for rolling the measuring head means relative to the guide rod means;
At least the measuring head means of the measuring head means and the guide rod means,
And a posture sensor for measuring a measurement posture with respect to a corresponding means in response to the movement of the exploration unit.
The method of claim 7, wherein
The exploration unit,
And three tilting means for tilting the measuring head means based on the guide rod means.
The method of claim 1,
The winch unit,
An encoder for measuring the moving distance; And
And a zero point cable for initializing the movement distance when the exploration unit is positioned on the basis of the inlet position of the borehole. 3.
In the three-dimensional shaping method of the underground cavity using the three-dimensional shaping system of the underground cavity of claim 1,
GPS receiving step of receiving three-dimensional coordinates of the magnetic position from the satellite corresponding to the inlet position of the borehole; And
And a ground control step of acquiring the image of the wall surface distance and the wall surface of the measurement posture for each movement distance based on the inlet position of the borehole, and shaping the wall surface in three dimensions based on the image.
The ground control step,
An exploration driving step of operating the exploration unit based on the inlet position of the borehole to obtain the measurement posture, the wall distance, and an image of the wall surface;
A winch driving step of operating the winch unit based on the inlet position of the borehole to obtain the moving distance;
In response to the movement of the exploration unit with respect to the inlet position of the borehole, the measurement posture, the wall distance, and the image of the wall surface are stored in chronological order, and the movement of the exploration unit based on the inlet position of the borehole A data backup step of storing the moving distances in chronological order;
An information matching step of generating exploration matching information by matching the moving distance, the measurement posture, the wall distance, and the image of the wall according to a time series in response to the movement of the exploration unit based on the inlet position of the borehole;
A joint coordinate calculation step of calculating wall coordinates for the underground cavity according to the change of the exploration matching information;
A shape control step of forming a three-dimensional grid by connecting the wall coordinates of the underground cavity longitudinally and horizontally, and shaping the underground cavity three-dimensionally based on the three-dimensional grid;
An exit checking step of calculating an exit position of the borehole based on at least one of the exploration matching information when the exploration unit enters the underground cavity; And
And a borehole calculation step of calculating wall coordinates for the borehole in accordance with the change of the exploration matching information on the basis of the inlet position of the borehole.
The shape control step,
And connecting the wall coordinates of the borehole vertically and horizontally to form a three-dimensional grid, and forming the borehole in three dimensions with the underground cavity based on the three-dimensional grid. delete The method of claim 10,
The ground control step,
An information setting step of initializing the exploration unit and the winch unit on the basis of the inlet position of the borehole, and storing the three-dimensional coordinates measured through the GPS reception step corresponding to the inlet position of the borehole as base coordinates An information initialization step including at least one of the steps; And
A joint checking step of calculating a reference coordinate based on at least one of the exploration matching information when the exploration unit enters the underground cavity; Underground cavity three-dimensional shaping method characterized in that it further comprises at least one of.
delete The method of claim 10,
And an output step of controlling an external output of the three-dimensionally shaped underground cavity.
A display step of displaying at least the underground cavity of the borehole and the underground cavity outputted through the output step;
A printing step of manufacturing at least the underground cavity as a model among boreholes and underground cavities output through the output stage; And
A relay step of communicating at least the underground cavity with a remote medium of the borehole and the underground cavity output through the output step;
Underground cavity three-dimensional shaping method characterized in that it further comprises at least one of.
The method of claim 14,
The output step,
A coordinate checking step of checking whether two or more entrance positions of the boreholes correspond to one underground cavity;
A shape correction step of mutually combining the underground cavities formed by the inlet positions of the boreholes when the inlet positions of the boreholes are two or more through the coordinate checking step; And
An output control step of controlling the external output of the underground cavity shaped through the coordinate checking step based on the inlet location of one borehole or the underground cavity combined through the shape correction step; 3D shaping method.

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