WO2010050714A2

WO2010050714A2 - Apparatus for measuring ground displacement

Info

Publication number: WO2010050714A2
Application number: PCT/KR2009/006204
Authority: WO
Inventors: 이승목
Original assignee: Lee Seung-Mok
Priority date: 2008-10-27
Filing date: 2009-10-26
Publication date: 2010-05-06
Also published as: KR101124272B1; KR20100046534A; WO2010050714A3; JP2010101897A

Abstract

The present invention relates to an apparatus for measuring ground displacement, and specifically to an apparatus for measuring ground displacement that is inserted into an inclined tube that is drilled perpendicularly into the ground to enable movement along the length direction thereof and sensing by contact of the displacement inside the inclined tube, comprising: a sensing means that measures 3-dimensional coordinate displacement at each measurement timing when moving lengthwise in the inclined tube; a timing setup means that sets up said measurement timing; and a displacement calculation means that calculates the ground displacement from the 3-dimensional coordinate displacement data measured at said sensing means; because the moving part measures the displacement in a 3-dimensional (or 3-axial) direction on a real time basis according to the measurement timing while the moving part is moving within the inclined tube, the measurement process takes place without the need to take into account the minimum measurement interval, reference point, etc., thus, the problems of the prior art regarding measurement error due to inconsistency of the reference point, perpendicularity of punching, twist of the inclined tube, etc., are resolved.

Description

Ground displacement measuring device

The present invention relates to a ground displacement measuring apparatus, and more particularly, is inserted into an inclined tube excavated perpendicularly to the ground and moved in the longitudinal direction to detect the ground displacement by contact, but three-dimensional coordinate displacement in accordance with the set measurement timing It relates to a ground displacement measuring device configured to measure in real time.

For the construction of underground facilities, it is essential to measure the displacement of the ground (location, direction, size, etc. of the horizontal slope of the soil) due to peripheral influences such as cavitation and groundwater displacement during excavation or filling.

For example, in the excavation work of subway and earthquake works, there is a difference in degree depending on the earth wall stiffness and soil quality, but in general, transverse displacement occurs in the excavated direction, and ground subsidence is caused, resulting in adjacent main structures. It can cause serious damage. For this reason, the contractor excavates the inclined tube in the area, and after the construction process and a certain period of time, by measuring the displacement amount in the inclined tube according to the ground relaxation to predict the safety.

The ground displacement measuring apparatus includes a movable type for measuring a tilting sensor by inserting the sensing means into a tilting tube, and a buried type for inserting and measuring a plurality of sensing means for each measuring depth in the tilting tube.

Mobile and buried are optionally used, taking into account their advantages and disadvantages. For example, the mobile type has limitations compared to the buried type in terms of the accuracy of the measurement data, but has the advantage of being able to measure at low cost.

1 is a configuration diagram showing an example of a conventional ground displacement measuring apparatus.

Exemplary ground displacement measuring device is a movable, vertical movement along the inner circumferential surface of the inclined tube 30 excavated underground, the moving unit 20 for detecting the displacement of the ground, and a motor for providing a driving force for vertical movement ( 10) and a measurement unit 5 located on the ground to calculate the ground displacement using the measured value transmitted from the moving unit 20. The moving part 20 is also called a probe.

Since the moving part 20 includes a plurality of

wheels

22a and 22b protruding outward, the moving part 20 moves up and down vertically while making a contact state along the inner circumferential surface of the inclined tube 30 when the motor 10 is driven.

The moving part 20 moves up and down along the inclined pipe 30, and automatically measures horizontal and vertical inclination degrees when passing through the bent part (symbol A) of the inclined pipe 30 formed by the ground relaxation. Send to (5). Reference numeral F denotes the displacement direction of the ground.

The measuring unit 5 calculates and displays the position, direction, and size of the ground displacement by using the horizontal and vertical tilt detection signals received from the moving unit 20, and the operator can use the same to check the ground state in the region. do.

In the illustrated moving part 20, a pair of

wheels

22a and 22b are provided at the ends of the support part 24, respectively, on the upper side and the lower side, and the support part 24 is installed with a predetermined inclination angle, so the inclination angle from one side to the other side is different. Installed with

2 is a use state diagram showing a measurement example of a conventional ground displacement measuring apparatus.

In the conventional ground displacement measuring apparatus illustrated in FIG. 1, acceleration sensors in the horizontal and vertical directions are installed in the moving unit 20 at 50 cm intervals, for example, to measure inclination at 50 cm intervals. Perform the origin correction at, B1, C1, D1, E1) and measure the ground displacement based on this data.

However, this method is a method of detecting the overall ground displacement by measuring only the inclination of the two axes (x, y), there is a disadvantage that the measurement error and objectivity is inferior.

If the distance between the upper and

lower wheels

22a and 22b in the moving part 20 is 50 cm, for example, the minimum measuring interval is 50 cm, and the actual inclination measurement is made as follows.

That is, as shown in (a) of FIG. 2, the change of the angle is measured while moving the moving part 20 in the order of A1-> B1-> C1-> D1-> E1. After moving the moving part 20 to the B1 point, the lower wheel 22b at the time of the second measurement comes to the position of the upper wheel 22a at the time of the first measurement, and the second inclination measurement is performed based on the point (reference point). This process is repeated to measure the inclination displacement in the entire inclined tube.

As shown in (b) of FIG. 2, when measuring the inclination while moving a distance of 50cm or more, the reference point is changed, a very large measurement error may occur in the x, y direction.

The conventional ground displacement measuring apparatus using this method had the following limitations.

1) Since only the inclination of the two axes (x, y) is measured and it has a minimum measurement interval (50 cm in the above example) corresponding to the distance between the upper and lower wheels of the moving part, the measurement of the sharp and minute inclination with the curvature radius of less than impossible.

2) Since the length of the moving part must have a value equal to or more than a predetermined length (50 cm in the above example), it is impossible to insert the moving part on a sharp slope.

3) When measuring the inclination while moving to the minimum measurement interval (Fig. 2 (a)), a measurement error occurs due to the minute mismatch of the reference point.

4) In the case of measuring the inclination while moving at an interval greater than the minimum measurement interval (Fig. 2 (b)), the misalignment of the reference point causes errors in the x, y direction.

5) Since the displacement is calculated by measuring only the inclination at each measurement point, a significant measurement error occurs in the case of perforation verticality or torsion of the inclined pipe.

6) In the actual measurement process, the objectivity of the data decreases because the results are likely to vary depending on the measuring person and the method.

The present invention has been made in view of the above problems, it is inserted into the inclined tube excavated perpendicular to the ground and moved in its longitudinal direction to detect the ground displacement by contact, but the three-dimensional coordinate displacement in accordance with the set measurement timing It is an object of the present invention to provide a ground displacement measuring device configured to measure in real time.

In particular, the present invention, by using a variety of sensor combinations or by setting a plurality of measurement timings to perform a variety of correction processing for the measurement data, the conventional measurement error caused by mismatch of measurement reference point or puncture verticality, inclination of the inclined pipe It is another object to provide a ground displacement measuring device that solves the problem.

In addition, the present invention can make the length of the moving portion smaller than the conventional, can accurately measure the sharp and minute inclination having a radius of curvature less than the vertical wheel spacing of the conventional moving portion, and the ground displacement that can be added to the moving portion even in a sharp slope It is another object to provide a measuring device.

The ground displacement measuring apparatus of the present invention for achieving the above object is inserted into the inclined tube vertically excavated to the ground is movable in the longitudinal direction, the ground displacement measurement to detect the displacement of the inner surface of the inclined tube by contact type An apparatus, comprising: sensing means for measuring a three-dimensional coordinate displacement at every measurement timing when moving in its longitudinal direction in an inclined tube; Timing setting means for setting the measurement timing; Displacement amount calculation means for calculating three-dimensional coordinate displacement data measured by the sensing means as ground displacement; It is configured to include.

More preferably, the sensing means is composed of any one of a three-axis gyro sensor or a three-axis acceleration sensor.

In another aspect of the present invention, the sensing means consists of a combination of either a two-axis gyro sensor or two-axis acceleration sensor and the ground vertical movement distance measuring sensor.

More preferably, the sensing means is composed of a plurality of sensing means having a mutually independent measuring method, and has a function of comparing and correcting the three-dimensional coordinate displacement data measured by each sensing means.

More preferably, the mutual comparison and correction of the three-dimensional coordinate displacement data, based on the three-dimensional coordinate displacement data measured by one side sensing means, exceeding a predetermined error range of the three-dimensional coordinate displacement data measured by the other sensing means. The case where the value is indicated is determined to be an error and is processed.

More preferably, the plurality of sensing means includes at least two sensors, and includes a three-axis gyro sensor and a three-axis acceleration sensor.

In another aspect of the invention, the plurality of sensing means is composed of at least two sensor combinations, the sensor combinations are a combination of a 2-axis gyro sensor and a ground vertical travel distance measurement sensor and a 2-axis acceleration sensor and ground vertical A combination of directional travel distance sensors.

More preferably, the present invention further includes at least one of a ground vertical movement distance measuring sensor and a temperature sensor as auxiliary sensing means, and has a function of correcting three-dimensional coordinate displacement data measured by the sensing means.

In another aspect of the present invention, the timing setting means is provided to set a plurality of mutually independent frequencies as the measurement timing, the function of comparing and correcting the three-dimensional coordinate displacement data measured by the sensing means for each frequency It is provided.

In another aspect of the present invention, the sensing means is composed of a plurality of sensing means, the timing setting means is provided to set a plurality of frequencies independent of each sensing means for each of the sensing means, each of the sensing means And a function of comparing and correcting the measured three-dimensional coordinate displacement data with each other.

More preferably, the mutual comparison and correction of the three-dimensional coordinate displacement data is based on the three-dimensional coordinate displacement data measured by setting one frequency as the measurement timing, and the three-dimensional measured by setting another frequency as the measurement timing. It is configured to determine and process a case in which a value exceeding a preset error range among coordinate displacement data is regarded as an error.

In the ground displacement measuring apparatus of the present invention, since the moving unit measures the displacement in the three-dimensional (or three-axis) direction in real time according to the measurement timing during the movement in the inclined tube, the measurement process is not necessary without considering the minimum measurement interval or reference point. This solves the conventional measurement error problem caused by the mismatch of the reference point or the perforated vertical degree, the inclination of the inclined tube.

In addition, since the length of the moving part can be made smaller than in the related art, a sharp and minute inclination having a radius of curvature of the upper and lower wheel intervals of the moving part can be accurately measured, and there is an advantage that the moving part can be inserted even in a sharp inclination.

In addition, it solves the measurement error problem according to the person and the method of measurement, thereby providing the advantage of improving the objectivity and precision of the data.

In addition, since various correction processing is performed on the measurement data by using various sensor combinations or by setting a plurality of measurement timings, the measurement error is reduced as much as possible.

1 is a configuration diagram showing an example of a conventional ground displacement measuring apparatus,

2 is a use state diagram showing a measurement example of a conventional ground displacement measuring apparatus,

3 and 4 is a block diagram of a ground displacement measuring apparatus according to an embodiment of the present invention,

5 is a state diagram used in the ground displacement measuring apparatus according to an embodiment of the present invention,

6 is an operation flow chart of the ground displacement measuring apparatus according to an embodiment of the present invention,

7 is an operation flow chart of the ground displacement measuring apparatus according to another embodiment of the present invention,

8 is a block diagram of a ground displacement measuring apparatus according to another embodiment of the present invention,

9 is an operation flow chart of the ground displacement measuring apparatus according to another embodiment of the present invention,

10 is a block diagram of a ground displacement measuring apparatus according to another embodiment of the present invention,

11 is an operation flow chart of the ground displacement measuring apparatus according to another embodiment of the present invention,

12 is a block diagram of a ground displacement measuring apparatus according to another embodiment of the present invention,

13 is an operation flow chart of the ground displacement measuring apparatus according to another embodiment of the present invention,

14 is an operation flowchart of the ground displacement measuring apparatus according to another embodiment of the present invention.

3 and 4 is a configuration diagram of a ground displacement measuring apparatus according to an embodiment of the present invention, Figure 5 is a state diagram of the ground displacement measuring apparatus according to an embodiment of the present invention, Figure 6 is an embodiment of the present invention This is an example of the operation flow chart of the ground displacement measuring device.

Ground displacement measuring apparatus of the present embodiment is a movable, vertical movement along the inner circumferential surface of the inclined pipe 500 excavated underground, the moving unit 400 for detecting the displacement of the ground, and located on the ground wire (or signal line, 300 It is configured to include a calculation control unit 200 connected to the through and to calculate the ground displacement using the measured value transmitted from the moving unit 400.

The moving part 400 is also called a probe, and moves vertically by a motor 410 or a known driving means that performs an equivalent function. Such drive means include both automatic and manual methods.

Since the moving part 400 includes a plurality of wheels 410a and 410b protruding outward, the moving part 400 is vertically moved up and down while making a contact state along the inner circumferential surface of the inclined tube 500 when the motor 410 is driven.

Such a structure may be viewed as a structure similar to the conventional ground displacement measuring apparatus described with reference to FIGS. 1 and 2. That is, the ground displacement measuring apparatus of the present embodiment is inserted into the inclined tube 500 excavated perpendicularly to the ground and is movable in the longitudinal direction (z direction), and only if the displacement of the inner surface of the inclined tube is detected by a contact type. (In this embodiment, the structure of the wheels 410a, 410b), the shape of the moving unit 400, etc. are not particularly limited to any one configuration.

The moving part 400 is provided with a sensor part 100 provided with the sensing means 110, the sensing means 110 is the timing setting means 210 when the moving part 400 moves in the longitudinal direction in the inclined tube. Each 3D coordinate displacement is measured in real time.

As the sensing means 110, an inertial sensor such as a three-axis gyro sensor or a three-axis acceleration sensor, which is preferably implemented by MEMS (Micro Electro Mechanical System) technology, is used.

Recently, with the development of MEMS technology, development of gyro sensors (angular velocity sensors) and acceleration sensors, which are very small and inexpensive, is being actively conducted. Recently, accelerometers have a volume of about ((2-3) mm) ³ or less and their accuracy is increasing every year.

As the MEMS gyro sensor of the present embodiment, for example, a known vibration type gyro sensor using the force of Coriolis can be applied. As the MEMS acceleration sensor, for example, a known capacitive acceleration sensor composed of a mass body and a banet or the like, or An acceleration sensor using a piezo resistance change may be applied.

In this embodiment, by using a three-axis gyro sensor or a three-axis acceleration sensor implemented by the MEMS technology, thereby providing the effect of implementing the size of the sensor unit 100 and the moving unit 400 as small as possible.

Basically, it is possible to independently measure the movement of an object and the change in absolute coordinates by detecting the angular velocity of three axes (x, y, z) or acceleration of three axes and integrating them.

Gyro sensors or acceleration sensors are all sensors that use inertial force to detect movement. The gyro sensor or acceleration sensor measures the inertial force acting on the mass provided in the sensor based on the electromagnetic principle and obtains the angular velocity or acceleration value. Integrating the angular velocity or acceleration value in this way into consideration of the equations of motion results in obtaining the coordinate displacement during the movement. For example, the coordinate displacement value is obtained by integrating the acceleration value twice.

According to the present embodiment, when the moving unit 400 moves in the longitudinal direction in the inclined tube, the sensing means 110 measures the three-dimensional coordinate displacement in real time for each measurement timing set by the timing setting means 210. Will be measured.

For example, the sensing means 110 may be a structure in which three single-axis acceleration sensors are installed by combining the three-axis acceleration sensors at 90-degree intervals in the x, y, and z directions, respectively, and the two-axis acceleration sensor and the single-axis acceleration sensor. It may be a combination structure of, or may be a single packaged three-axis acceleration sensor. That is, as long as the angular velocity or acceleration of the three axes can be measured, the structure of the sensing means 110 is not particularly limited to any one configuration.

In addition, an amplifier circuit and an AD converter which are commonly used in measuring signal processing may be provided in the sensor unit 100, but are not separately illustrated in the drawings. The amplifying circuit and the AD converter may be installed in the sensor unit 100 as each unit, or may be provided in an integrated form in a gyro sensor or an acceleration sensor module according to the recent sensor module trend.

The three-dimensional coordinate displacement data measured by the sensing means 110 is transmitted to the calculation control unit 200 located on the ground through the wire (or signal line, 300), displacement calculation unit 220 provided in the calculation control unit 200 It is calculated by ground displacement and displayed to the operator. Through this, the worker can grasp the position, direction, and size of the ground relaxation or its displacement. This entire process can be understood in more detail through the operation flow chart consisting of the steps S520 to S560 of FIG.

More specifically, the process of measuring the three-dimensional coordinate displacement by the gyro sensor or the acceleration sensor can be understood as follows.

When the starting point of the moving unit 400 is set as the reference point in the inclined tube 500 and the moving unit 400 is moved up (or lowered), the gyro sensor or the acceleration sensor is measured at the immediately preceding measurement point at each set frequency point. The relative position of the moving unit at the current measurement time is measured based on the position of the moving unit. In this way, when the continuous relative displacement of the moving unit 400 with respect to the reference point, which is the first starting point, is obtained, the total three-dimensional coordinate displacement of the inner surface of the inclined tube is obtained based on the position of the first reference point. At this time, the moving speed of the moving unit 400 is preferably a fixed speed, but there is no problem even if the speed changes during the movement.

The three-dimensional coordinate displacement calculation may be performed directly in the sensor unit 100, or may be performed in the ground operation control unit 200.

In other words, the sensor unit 100 installed in the moving unit 400 may be manufactured in the form of a system on chip (SoC), and the three-dimensional coordinate displacement module may be manufactured in the form of a single chip in the system on chip (SoC). In addition, only the gyro sensor (or the acceleration sensor), the amplification circuit, and the AD converter are installed in the sensor unit 100, and the three-dimensional coordinate displacement calculation may be configured to be performed by the ground operation control unit 200.

The operation control unit 200 is provided with a power supply 230 and a display unit (not shown), and may be additionally provided with additional functional elements included in a conventional measuring device.

In addition, although the timing setting unit 210 is illustrated as being installed in the operation control unit 200, it may be installed in the sensor unit 100 as necessary.

The measurement timing set through the timing setting means 210 means a measurement time interval in which the sensing means 110 performs a sensing operation, and can be understood as a frequency concept.

For example, when the measurement timing is set to 25 Hz as the frequency concept, the sensing means 110 performs 25 sensing operations per second, and the sensing operation is performed during the movement of the moving unit 400. This means that 25 coordinate displacement measurements are made per second.

Since the coordinate displacement measurement is performed in such a manner, the ground displacement measuring apparatus according to the present invention does not have to consider a minimum measurement interval or a reference point, unlike the conventional method, and the measurement process is continuously performed in real time. This solves the problem of conventional measurement errors caused by torsional torsion.

In addition, since the length of the moving part 400 can be made smaller than the conventional method using a small sensor implemented by MEMS technology, the moving part 400 has a radius of curvature of less than or equal to the interval between the upper and lower wheels 410a and 410b. The fine inclination can be measured precisely, and it provides the advantage that the moving part can be inserted even in the steep inclination.

On the other hand, the present embodiment illustrates a three-axis gyro sensor or three-axis acceleration sensor implemented by MEMS technology, but if the sensing means that can perform the sensing operation for the three-dimensional coordinate displacement in accordance with the measurement timing during the movement of the moving part Naturally, the present invention is not limited to the illustrated ones, but is included in the scope of the present invention. In particular, it can be preferably applied if it has a small size.

7 is an operation flowchart of the ground displacement measuring apparatus according to another embodiment of the present invention.

In this embodiment, the sensing means comprises a combination of either a two-axis gyro sensor or a two-axis acceleration sensor and a ground vertical movement distance measuring sensor.

In the previous embodiment, a three-axis gyroscope or a three-axis acceleration sensor is used to measure the three-dimensional coordinate displacement, but in this embodiment, a two-axis gyroscope or two-axis acceleration sensing in the x- and y-axis directions The three-dimensional coordinate displacement is measured by combining the sensor and the vertical distance (z direction) moving distance measuring sensor.

Unlike the x and y two axes, the z axis is a direction in which the moving part 400 moves along the inclined tube, so that the ground vertical direction (z direction) movement that directly measures the moving amount is considered when a physical obstacle occurs in the moving path. Using a distance sensor may be better in terms of measurement reliability than a method of calculating displacement by measuring an inertia physical quantity such as acceleration.

Ground vertical direction (z direction) movement distance measuring sensor may be a known sensing means for measuring the movement amount of the moving unit 400 through the transfer amount of the wire 300, for example, the ground vertical in the following manner Measure the direction.

Referring to FIG. 5, when the measuring wheels are fixed to one point of the ground in contact with the wire 300 connected to the moving unit 400, the measuring wheels move with the wire 300 when the wire 300 is moved. It is rotated by the contact force.

In this case, when the amount of wheel rotation by the wire 300 is measured and converted into the moving distance of the wire 300, the absolute value of the moving distance in the z-direction of the moving part 400 connected to the wire 300 is relatively simple. It can be measured. The measuring wheel may be used in combination with the support roller 420 of the wire 300 shown in FIG. 5, and may be installed at any position in contact with the wire 300. In addition, any sensing method capable of measuring the moving distance of the wire 300 regardless of whether it is contact or non-contact may be used in any known manner.

The conventional ground displacement measuring apparatus illustrated in FIGS. 1 and 2 repeats the stand-by-going measurement intervals, so that an error in the z direction is inevitably generated, and thus, a process of recognizing and controlling the moving distance in the z direction may be complicated. There was only. However, since the ground displacement measuring apparatus according to the present embodiment is a method of raising and lowering the moving unit 400 at a constant speed, the position and moving distance in the z direction can be accurately measured even through a simple algorithm.

The measurement process according to the above configuration can be understood in more detail through the operation flow chart made of the steps S522 to S562 of FIG.

Another embodiment of the present invention will be described with reference to the drawings.

8 is a block diagram of a ground displacement measuring apparatus according to another embodiment of the present invention, Figure 9 is a flow chart of the ground displacement measuring apparatus according to another embodiment of the present invention.

The sensing means of this embodiment is composed of a plurality of sensing means (112, 114) having a mutually independent measurement method. Independent measurement means that each sensing means uses a different physical measurement principle, for example, the plurality of sensing means is composed of two sensors, a three-axis gyro sensor and a three-axis acceleration sensor.

Both gyro and acceleration sensors use inertial forces to detect movement. However, the gyro sensor detects the angular velocity using the Coriolis force acting on the mass that rotates, whereas the acceleration sensor measures the force acting on the mass of linear movement and uses the equation of motion to measure the acceleration. It is a way of detection.

Since these two forces are completely different physical quantities, the coordinate displacements detected by the gyro sensor and the acceleration sensor are detected completely independently of each other. Comparing and correcting each of the coordinate displacements significantly compares with the coordinate displacements detected by only one sensor. High accuracy can be obtained.

In this embodiment, the displacement amount calculating means 220 performs a function of comparing and correcting the three-dimensional coordinate displacement data measured by the sensing means.

The mutual comparison and correction of the three-dimensional coordinate displacement data, after setting the allowable error range of the measured value of each sensing means, based on the three-dimensional coordinate displacement data measured by one sensing means 112, the other sensing means The case in which the three-dimensional coordinate displacement data measured by (114) shows a radically different value beyond the error range is determined through an error process. The measured values of each sensing means within the margin of error are averaged and taken as the result. This entire process of each sensing means can be understood in more detail through the operation flow chart consisting of the steps S710 to S730 of FIG.

As described above, the sensing means 112 and 114 can measure the coordinate displacement of three axes as in the previous embodiment, and the structure of the sensing means is not particularly limited to any one configuration. In addition, it is not necessarily limited to two, it is natural that two or more may be provided as long as different physical measurement principles are used.

Duplicate description of the configuration and operation flow similar to the previous embodiment will be omitted.

Another embodiment of the present invention will be described with reference to the drawings. 10 is a block diagram of a ground displacement measuring apparatus according to another embodiment of the present invention, Figure 11 is a flow chart of the ground displacement measuring apparatus according to another embodiment of the present invention.

In this embodiment, the moving unit 400, along with the sensing means 110 for measuring in real time the three-dimensional coordinate displacement for each measurement timing set by the timing setting means 210 when moving in the longitudinal direction in the inclined tube, The sensing means 150 is further provided.

The auxiliary sensing means 150 provides a function of correcting the three-dimensional coordinate displacement data measured by the sensing means 110, one of the ground vertical direction (z direction) moving distance measuring sensor 154 or the temperature sensor 156 Or combinations thereof.

For example, in the case of the embodiment of Figure 6, since the sensing means 110 is made of a three-axis gyro sensor or three-axis acceleration sensor, the auxiliary sensing means 150 is a ground vertical direction (z direction) moving distance measuring sensor ( 154 or one or a combination of temperature sensors 156.

Preferably, the auxiliary sensing means 150 includes both the ground vertical direction (z direction) moving distance measuring sensor 154 and the temperature sensor 156 to increase the accuracy of the measured value.

In the case of the embodiment of Figure 7, since the sensing means 110 is made of a combination of any one of the two-axis gyro sensor or two-axis acceleration sensor and the ground vertical movement distance measuring sensor, only the temperature sensor 156 to the secondary sensing means ( 150).

According to this configuration, for example, together with the sensing means 110 composed of a gyro sensor or an acceleration sensor, more accurate measurement values can be obtained through the auxiliary sensing means 150 for correcting the measurement values in various ways.

The temperature sensor 156 serves to correct a measurement error of the gyro sensor or the acceleration sensor that may be generated by the external temperature environment during the measurement process.

The gyro sensor or the acceleration sensor used in this embodiment is formed of a multilayer thin film structure using, for example, a silicon wafer or various electrodes or dielectric thin films.

In the multilayer thin film structure, since each thin film has almost completely different particle crystal constants, crystal defects, and thermal expansion characteristics, there is no difference at room temperature, but residual stress occurs at high temperatures, causing displacement of the structure. Residual stresses in the thin film structure include residual stresses caused by differences in basic crystal grains such as crystal defects or crystal constants, and thermal residual stresses generated because the coefficient of thermal expansion differs for each material during temperature rise. In particular, since the thermal residual stress generated when the temperature rises may represent a very large value (hundreds of GPa order) according to the temperature, the error value according to the temperature change of the gyro sensor or the acceleration sensor is dataged and the temperature sensor 156 is used. When the error is corrected using the measured temperature value, the accuracy of the measured value can be further increased.

This entire process can be understood in more detail through the operation flow chart consisting of the steps S910 to S960 of FIG. .

12 is a block diagram of a ground displacement measuring apparatus according to another embodiment of the present invention, Figure 13 is a flow chart of the ground displacement measuring apparatus according to another embodiment of the present invention.

In the present embodiment, the timing setting means 210 is provided to set a plurality of independent frequencies as the measurement timing, set different frequency values as the measurement timings for each of the plurality of movement measuring processes, and sense each sensing measurement process. And means for comparing and correcting the three-dimensional coordinate displacement data measured by the means 112,114.

For example, the measurement is performed while moving the moving unit 400 a plurality of times, and the measurement is performed by setting the measurement timing of the sensing means 112 and 114 to 25 Hz during the first movement measurement, and the sensing means 112 and 114 during the second movement measurement. The measurement timing is set to 100 Hz, and the three-dimensional coordinate displacements of the first measurement and the second measurement are compared and corrected.

Comparing 25 measurements per second with 100 measurements per second while maintaining the same movement speed, 25 measurements per second can be obtained with a large radius of curvature and 100 seconds per second with a small radius of curvature. More accurate values can be obtained when using a frequency that is high enough to measure twice.

Depending on the radius of curvature, the reliability of the data (reliability coefficient or weight) may be adjusted to improve the reliability of the entire data. For example, if a small curvature radius gives high reliability to high frequency data, and vice versa, high reliability to low frequency data and reflects this reliability in the displacement operation, a more accurate calculation It becomes possible.

More specifically, the calculation process is as follows.

After setting the reference value for determining the high and low radius of curvature, A and B data obtained at high frequency and low frequency (coordinate displacement of a specific point) are A and B, respectively. The average value a can be obtained as follows.

[Equation 1]

[Equation 2]

In Equation 1, n is the total number of data, ρ _A , ρ _B represents the reliability coefficient of the A, B value, respectively, which is determined to reflect the radius of curvature.

For example, if the value of A is 110 and the value of B is 90, the average value is 100. If the condition is a relatively small radius of curvature, ρ _{A is set} to 1.8 and ρ _{B is set} to 0.2 to reflect higher reliability in the A value. If set, the result is 108. However, in setting the reliability coefficient, the condition of the above [Equation 2] is satisfied.

In the above example, the A and B values are the coordinate displacement values of the specific points measured at different frequencies, but the two measurement values where the measurement points are actually matched according to the frequency setting state can be directly compared. Ground displacement values obtained in discrete data form for each frequency over a range may be obtained in the form of continuous data through interpolation, and then compared for each predetermined point set by an operator.

Since the inclination change of the inclined tube 500 may not be accurately known before the measurement, the measurement may be performed a plurality of times by varying the frequency, and the error may be reduced and the accuracy may be increased by correcting the measured value in the above manner.

The frequency that can be set as the measurement timing is preferably in the range of 1-100 Hz, and can be electronically controlled by the timing setting means 210.

The mutual comparison and correction of the three-dimensional coordinate displacement data is based on the three-dimensional coordinate displacement data measured by setting one frequency as the measurement timing, and among the three-dimensional coordinate displacement data measured by setting another frequency as the measurement timing. This is done through the process of judging the case where the value is over the set error range as an error. This entire process can be understood in more detail through the operation flow chart consisting of the steps S1010 to S1080 of FIG.

On the other hand, also in this embodiment, at least one of the ground vertical movement distance measuring sensor 154 or the temperature sensor 156 is further provided as the auxiliary sensing means 150, the three-dimensional measured by the sensing means (112, 114) By providing the function of correcting the coordinate displacement data, the effect of further increasing the measurement accuracy can be obtained.

In the present embodiment, the sensing means is composed of a plurality of sensing means (112, 114), the timing setting means 210 is provided to set a plurality of frequencies independent of each sensing means for each of the sensing means, each sensing means (112,114) ) Compares and corrects the three-dimensional coordinate displacement data measured by

For example, while measuring while moving the moving unit 400, the measurement timing of the first sensing means 112 is set to 25 Hz, the measurement timing of the second sensing means 114 is set to 100 Hz to perform the measurement In this case, the three-dimensional coordinate displacement measured by the first sensing means 112 and the three-dimensional coordinate displacement measured by the second sensing means 114 are compared and corrected.

According to this method, a plurality of frequency measuring effects as in the previous embodiment can be obtained even in one measurement. The first sensing means 112 and the second sensing means 114 do not necessarily use the same type of sensor, but may use other types of sensors.

The mutual comparison and correction of the three-dimensional coordinate displacement data is based on the three-dimensional coordinate displacement data measured by setting one frequency as the measurement timing, and among the three-dimensional coordinate displacement data measured by setting another frequency as the measurement timing. The case in which a value exceeding a preset error range is determined as an error is made through a process of processing. This entire process can be understood in more detail through the operation flow chart consisting of the steps S1210 to S1280 of FIG.

The present invention described above can be embodied in many different forms without departing from the spirit or main features thereof. Therefore, the above embodiments are merely examples in all respects and should not be interpreted limitedly.

Claims

It is inserted into the inclined tube excavated perpendicularly to the ground and is movable in the longitudinal direction, and is a ground displacement measuring device that detects the displacement of the inner surface of the inclined tube by contact,

Sensing means for measuring a three-dimensional coordinate displacement at every measurement timing when moving in the longitudinal direction of the inclined tube;

Timing setting means for setting the measurement timing;

Displacement amount calculation means for calculating three-dimensional coordinate displacement data measured by the sensing means as ground displacement;

Ground displacement measuring device comprising a.
The method of claim 1,

The sensing means is ground displacement measuring device, characterized in that any one of a three-axis gyro sensor or three-axis acceleration sensor.
The method of claim 1,

The sensing means is ground displacement measuring device characterized in that the combination of any one of the two-axis gyro sensor or two-axis acceleration sensor and the vertical movement distance measurement sensor in the ground.
The method of claim 1,

The sensing means is composed of a plurality of sensing means having a mutually independent measurement method, the ground displacement measuring apparatus having a function to compare and correct the three-dimensional coordinate displacement data measured by each sensing means.
The method of claim 4, wherein

The mutual comparison and correction of the three-dimensional coordinate displacement data,

Based on the three-dimensional coordinate displacement data measured by one sensing means, the ground characterized in that it is configured to determine if the value that exceeds the predetermined error range of the three-dimensional coordinate displacement data measured by the other sensing means to process as an error. Displacement measuring device.
The method of claim 5,

The plurality of sensing means is composed of at least two sensors, ground displacement measuring apparatus comprising a three-axis gyro sensor and a three-axis acceleration sensor.
The method of claim 5,

The plurality of sensing means is composed of at least two sensor combinations,

The sensor combination is a ground displacement measuring apparatus comprising a combination of a two-axis gyro sensor and a ground vertical movement distance measuring sensor and a combination of a two-axis acceleration sensor and a ground vertical movement distance measuring sensor.
The method according to any one of claims 1 or 2, 4, 5, and 6,

A ground displacement measuring apparatus further comprising at least one of a ground vertical movement distance measuring sensor and a temperature sensor as an auxiliary sensing means to correct three-dimensional coordinate displacement data measured by the sensing means.
The method according to any one of claims 1 to 7,

The timing setting means is provided so as to set a plurality of mutually independent frequencies as the measurement timing, the ground displacement measuring apparatus having a function of comparing and correcting the three-dimensional coordinate displacement data measured by the sensing means for each frequency.
The method of claim 9,

The mutual comparison and correction of the three-dimensional coordinate displacement data,

Based on the three-dimensional coordinate displacement data measured by setting one frequency as the measurement timing, and displaying a value exceeding the preset error range among the three-dimensional coordinate displacement data measured by setting another frequency as the measurement timing. Ground displacement measuring apparatus, characterized in that configured to determine and process.
The method of claim 10,

A ground displacement measuring apparatus further comprising at least one of a ground vertical movement distance measuring sensor and a temperature sensor as an auxiliary sensing means to correct three-dimensional coordinate displacement data measured by the sensing means.
The method according to any one of claims 1 to 7,

The sensing means is composed of a plurality of sensing means,

The timing setting means is provided to set a plurality of frequencies independent of each sensing means as the measurement timing,

And a ground displacement measuring device having a function of comparing and correcting three-dimensional coordinate displacement data measured by the sensing means.
The method of claim 12,

The mutual comparison and correction of the three-dimensional coordinate displacement data,

Based on the three-dimensional coordinate displacement data measured by setting one frequency as the measurement timing, and displaying a value exceeding the preset error range among the three-dimensional coordinate displacement data measured by setting another frequency as the measurement timing. Ground displacement measuring apparatus, characterized in that configured to determine and process.
The method of claim 13,

A ground displacement measuring apparatus further comprising at least one of a ground vertical movement distance measuring sensor and a temperature sensor as an auxiliary sensing means to correct three-dimensional coordinate displacement data measured by the sensing means.