KR102276813B1 - Non-contact exposure tube 3D position measurement device - Google Patents

Abstract

According to the present invention, provided is a non-contact exposure pipe three-dimensional position measuring device, which includes: a plurality of distance measuring devices configured to measure the distance to an exposure pipe of the water supply and sewerage or underground facility; a transport device having the plurality of distance measuring devices and configured to horizontally move the distance measuring devices in units of a predetermined distance using a linear actuator; a tripod for surveying coupled to the transport device and configured to be installed at a location serving as a reference point for measuring the three-dimensional position of the exposure pipe; an angle measuring device configured to measure an inclination angle and an azimuth angle of the transport device; and an operating computer configured to control the transport device, the distance measuring device, and the angle measuring device, and store information on the measured distance, the inclination angle, and the azimuth angle.

Description

Non-contact exposure tube 3D position measurement device

The present invention relates to a three-dimensional position measuring device for an exposed pipe. More specifically, it relates to a three-dimensional position measuring device for a non-contact exposed pipe.

Water supply and sewage lines, various communication lines, and various infrastructure (ie, underground facilities) for the construction of downtown are buried underground, stored and protected. Accordingly, since the underground facility cannot be exposed to the outside after it is buried, there is a problem in that it is not possible to know the location of the underground facility and the type of the underground facility on the ground.

In this regard, for repair and management of underground facilities that have had problems in case of emergency, the location of the underground facilities should be accurately identified. In addition, the confirmed location should be recorded so that the management of the underground facility, which is the target of the search, can be effectively performed.

Conventionally, a large number of measurement workers are required to confirm the location of the underground facility and record it. In detail, in the prior art, when an underground facility is buried, one of the measurement workers stands while supporting the target, and the other measurement operator confirms the location of the target using publicly known and public surveying equipment such as a total station on the ground. After that, the operation of measuring and calculating the location of the corresponding underground facility was repeated.

In this regard, the conventional target may be a known, common tool having a concave hemispherical shape called a prism. The measuring operator holding the target adjusted the concave part of the target to face the surveying equipment. Accordingly, the survey equipment is configured to send a light wave toward the target, the target specularly reflects the light wave to the source location, and the survey equipment is configured to receive the light wave again. In other words, in order to measure and record the location of an underground facility, it is necessary to perform a self-measurement operation that adjusts the target to face the surveying equipment. In addition, at least two magnetometer workers, such as a magnetometer operator who operates the surveying equipment, should be put into the field.

However, as the unit price of the service for measuring the location of the underground facility decreased and the labor cost rather increased, a phenomenon of avoidance of the service request for measuring the location of the underground facility occurred. However, the location measurement results of underground facilities are used as data for smooth protection and management of underground facilities, as well as important base data for civil engineering and construction construction in adjacent areas. Therefore, the work of measuring the location of underground facilities is an essential task in the process of collecting urban infrastructure information.

In addition, the location measurement result of the underground facility is used as important base data for the protection and management of the underground facility as well as civil engineering and construction construction for the adjacent area as described above. Therefore, the reliability and accuracy of the location measurement results of these underground facilities are very important.

Accordingly, an object of the present invention is to provide an apparatus and method for measuring a three-dimensional position of a non-contact exposed pipe in order to solve the above-described problem.

In addition, an object of the present invention is to provide a method for measuring the three-dimensional position of an exposed pipe installed during construction for new or replacement of water and sewerage and underground facility pipe without approaching the excavation construction area.

There is provided a three-dimensional position measuring device for a non-contact exposed pipe according to the present invention for solving the above problems. A non-contact exposed pipe three-dimensional position measuring device according to the present invention comprises: a plurality of distance measuring devices configured to measure the distance to the exposed pipe of the water supply and sewerage or underground facility; a transport device having a plurality of distance measuring devices and configured to horizontally move the distance measuring devices in units of a predetermined distance using a linear actuator; a tripod for surveying coupled to the transport device and configured to be installed at a location serving as a reference point for measuring the three-dimensional position of the exposed pipe; an angle measuring device configured to measure an inclination angle and an azimuth angle of the transport device; and an operating computer configured to control the transport device, the range finder and the angle measurement device, and store the measured distance, inclination angle and azimuth information.

According to an embodiment, the processor of the operating computer inputs the measured distance, inclination angle, and azimuth angle information into a program for calculating the pipe position, and calculates the three-dimensional position information of the exposed pipe.

According to an embodiment, the processor controls to measure the inclination angle and azimuth of the conveying device and the vertical distance between the conveying device and the exposed pipe while moving the distance measuring device to the conveying device in a unit of a predetermined distance, and the inclination and azimuth of the conveying device. Based on the vertical distance to and from the exposed pipe, the elliptic equation of the exposed pipe is calculated based on the mechanical coordinate system of the transport device, and the elliptic equation of the exposed pipe is calculated using the inclination angle of the transport device as the XY plane coordinate axis and Z coordinate axis of the ground coordinate system. can be converted to coordinates based on .

According to an embodiment, the processor calculates the maximum value of the Z coordinate axis from the elliptic equation of the exposed pipe converted based on the Z coordinate axis, and corrects the movement distance and installation height of the transport device in the machine coordinate system, so that the top end of the exposed pipe Determine the position, and use the three-dimensional coordinates of the reference point corresponding to the position of the tripod for surveying in the ground coordinate system, the distance between the reference point and the distance measuring instrument, and the azimuth of the transport device to obtain the first position information in three dimensions of the exposure pipe. can decide

According to an embodiment, the apparatus for measuring the 3D position of the non-contact exposed pipe may further include a GNSS receiver configured to measure a 3D position where a measuring tripod is installed. When it is determined that the position of the tripod for measurement is changed, the processor controls the GNSS receiver to measure the changed three-dimensional position of the tripod for measurement, and the three-dimensional coordinates of the exposure pipe before the change of the position of the tripod for measurement and the changed measurement Considering the changed 3D position of the tripod, while moving the range finder by a certain distance unit with a moving device, it is possible to control to measure the second inclination angle and the second azimuth of the transport device and the second vertical distance between the transport device and the exposure pipe. have.

According to one embodiment, the processor is based on the second inclination angle and the second azimuth of the conveying device and the second vertical distance between the conveying device and the exposed pipe, the second ellipse of the exposed pipe based on the machine coordinate system of the conveying device. The equation is calculated, and the second elliptic equation of the exposed pipe can be converted into coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system by the second inclination angle of the transport device.

According to an embodiment, the processor calculates the maximum value of the Z coordinate axis in the second elliptic equation of the exposed pipe converted based on the Z coordinate axis, and calculates the second movement distance and the second installation height of the transfer device in the machine coordinate system. Corrected and re-determining the uppermost position of the exposure pipe, the three-dimensional coordinates of the changed second reference point corresponding to the position of the tripod for surveying in the ground coordinate system, the second distance to the changed reference point and the range finder, and the second of the transfer device Using the azimuth, second position information on the three-dimensional surface of the exposure pipe may be determined again.

According to an embodiment, the processor is configured to determine the first three-dimensional position information of the exposure pipe before the position of the tripod for surveying is changed and the second position on the third dimension of the exposure pipe determined again after the position of the tripod for surveying is changed. By comparing the information, it is possible to determine whether or not to perform three-dimensional position measurement of the exposure pipe again by changing the position of the tripod for measurement. The processor displays on the screen the position of the third reference point where the tripod for measurement needs to be rearranged, based on the difference between the first position information and the second position information on the three-dimensional surface of the exposure pipe, and the position of the tripod for measurement is relocated. If the difference in the position of the third reference point is less than or equal to a threshold value, it is possible to control to display a guide message on the screen to fix the tripod for surveying at the relocated position.

According to at least one embodiment of the present invention, there is an advantage that it is possible to provide a three-dimensional position measuring apparatus and method with a non-contact exposure pipe.

According to at least one embodiment of the present invention, there is an advantage that it is possible to provide a method of measuring the three-dimensional position of an exposed pipeline installed during construction for new or replacement of water and sewage and underground facility pipelines without approaching the excavation construction area. .

According to at least one embodiment of the present invention, a surveying device is installed in the upper central part of an exposed pipe installed in an excavation construction area for three-dimensional surveying of an exposed pipe to measure a three-dimensional position and build facility information.

According to at least one embodiment of the present invention, it is possible to prevent the risk of safety accidents such as tripping, collision with construction equipment, etc. when a worker approaches an excavation construction area for a surveying operation.

According to at least one embodiment of the present invention, it is possible to construct facility information by measuring the three-dimensional position of the exposed pipeline without the operator approaching the excavation construction area, thereby preventing safety accidents.

The features and effects of the present invention described above will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. will be able

1 shows a conceptual diagram of a method for measuring an exposed pipe using a non-contact exposed pipe 3D position measuring device according to the present invention.
2 is a plan view of a three-dimensional position measuring device for a non-contact exposed pipe for measuring an exposed pipe in an excavation section according to the present invention.
3 is a block diagram showing a three-dimensional position measuring apparatus for a non-contact exposed pipe according to the present invention.
4 shows a detailed configuration of an operating computer according to the present invention.
5 is a configuration diagram of a horizontally arranged transfer device in the three-dimensional position measuring apparatus for a non-contact exposed pipe according to the present invention.
6 shows an elliptical trajectory according to an elliptic equation in a simulation of performing a three-dimensional position measurement method for a non-contact exposed pipe according to the present invention.
7 is a configuration diagram in which the transfer device is disposed at a predetermined inclination angle in the three-dimensional position measuring apparatus of the non-contact exposed pipe according to the present invention.
8 shows the elliptical trajectory according to the elliptic equation of the exposure pipe according to the present invention, the map coordinate system (XZ coordinate), and the machine coordinate system (X'Z' coordinate).
Figure 9 shows a conceptual diagram for determining the position of the pipe using the reference point and the azimuth of the transfer device according to the present invention.

The features and effects of the present invention described above will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. will be able

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

In describing each figure, like reference numerals are used for like elements.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. shouldn't

The suffix module, block, and part for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings so that a person skilled in the art can easily implement it. In the following description of embodiments of the present invention, if it is determined that a detailed description of a related known function or a known configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, a three-dimensional position measuring apparatus and method of a non-contact exposed pipe according to the present invention will be described. Specifically, in relation to this, FIG. 1 shows a conceptual diagram of a method of measuring an exposed pipe using a non-contact exposed pipe 3D position measuring device according to the present invention. On the other hand, Figure 2 shows a plan view of a three-dimensional position measuring apparatus for a non-contact exposed pipe for measuring the exposed pipe in the excavation section according to the present invention. In addition, Figure 3 shows a block diagram constituting a three-dimensional position measuring apparatus for a non-contact exposed pipe according to the present invention.

1 and 2 , the furnace tube may be formed as a circular tube such as a polygon. In this regard, the circular-shaped pipe may have an elliptical cross-section measured according to the installation angle of the measuring device and the inclination angle (top, bottom, left and right) at which the exposed pipe is installed.

In relation to the use of the present invention, it is possible to provide an apparatus for measuring the three-dimensional position of an exposed pipeline installed during construction for new or replacement of water and sewage and underground facility pipelines without approaching the excavation construction area. On the other hand, by installing a surveying device in the upper central part of the exposed pipe installed in the excavation work area, it is possible to measure the three-dimensional position and build facility information. In this regard, when a worker approaches an excavation work area for surveying, there is a risk of safety accidents such as tripping and collision with construction equipment. Therefore, when this device is used, it is possible to construct facility information by measuring the three-dimensional position of the exposed pipe without the operator approaching the excavation construction area, thereby preventing safety accidents.

1 to 3, the three-dimensional position measuring device for the non-contact exposure pipe is a transport device 100, a distance measurer 150, an angle measuring device 200, a GNSS receiver 300, a tripod for surveying 500 and It may include an operational computer 600 . The non-contact exposed pipe 3D position measuring device may further include a power supply unit 700 and an installation table (800).

The transfer device 100 is a linear actuator configured to move in one direction including the distance measurer 150 , and may be configured to horizontally move the distance measurer 150 in units of a predetermined distance. To this end, the transfer device 100 may be composed of a motor and a range finder 150 . The distance meter 150 may be attached to the transport device 100 and configured to measure the distance to the exposed pipe. The distance measurer 150 may be implemented as a plurality of distance measurers that are spaced apart from each other by a predetermined interval in the transfer device 100 . The plurality of distance meters 150 may be configured to measure a distance to an exposed pipe of a water supply and sewage system or an underground facility.

The angle measuring device 200 may be configured to measure an inclination angle and an azimuth angle of the transport device 100 . To this end, the angle measuring device 200 is configured to include an inclination angle measuring device 210 configured to measure the inclination angle of the transport device 100 and an azimuth angle measuring device 220 configured to measure the azimuth angle of the transport device 100 . can

The inclination angle measuring device 210 is configured to measure a predetermined angle of inclination in consideration of the vertical distance z with respect to the horizontal plane of the transport device 100 . Accordingly, the inclination angle measuring device 210 may be referred to as an elevation angle measuring device 210 , an elevation angle measuring device 210 , or a vertical angle measuring device 210 . The azimuth measuring device 220 is configured to measure a horizontal rotation angle in the y-axis direction with respect to the x-axis of the transport device 100 . Accordingly, the azimuth angle measuring device 220 may be referred to as a horizontal angle measuring device 220 .

The GNSS receiver 300 may be configured to measure the three-dimensional position of the tripod installation position. The location of the GNSS receiver 300 may be a reference point of the survey. Meanwhile, the GNSS receiver 300 may be provided on a tripod 500 for surveying. Accordingly, the current position of the tripod 500 for surveying provided with the GNSS receiver 300 may be a reference point for surveying.

Tripod 500 for surveying is coupled to the transport device 100, it may be configured to be installed in a place serving as a reference point for measuring the three-dimensional position of the exposure pipe. The tripod 500 for surveying may be configured to be installed at a place serving as a reference point for measuring the three-dimensional position of the exposure pipe by fixing/supporting one side of the mounting table 700 .

The operating computer 600 may be configured to control the transport device 100 , the range finder 150 and the angle measurement device 200 , and store the measured distance, inclination angle and azimuth information. Meanwhile, the operating computer 600 may be configured in a plurality of configurations. In this regard, Fig. 4 shows the detailed configuration of the operating computer according to the present invention. Referring to FIG. 4 , the computer for operation 600 may be configured to include an interface unit 610 , a processor 620 , a memory 630 , and a display 640 .

The interface unit 610 interfaces with various devices, including a tripod 500 for surveying, and may be configured to transmit and receive information. The processor 620 may be configured to control various devices and devices interfaced through the interface unit 610 . In addition, the processor 620 may be configured to input the measured distance, inclination angle, and azimuth angle information into a program for performing pipe position calculation to calculate 3D position information of the exposed pipe.

The memory 630 may be configured to store location information and related data in the process of calculating the 3D location information of the exposed pipe. The display 640 may display a screen on which a program for calculating the pipe position is executed. In addition, the display 640 may be configured to display the three-dimensional position information of the exposure pipe calculated according to the program execution result. Since the display 640 displays 3D position information of the exposure pipe, it may be referred to as a screen displaying 3D position information of the exposure pipe. In addition, the display 640 may be configured to provide guide information to the user to change the repositioning and positioning of the surveying tripod 500 or the control operation of other various devices and devices.

The power supply device 700 may be configured as a device for supplying power to various measurement devices and the computer for operation 600 . The installation table 800 may be coupled to one end of the transport device 100 so that the transport device 100 is disposed on the upper end of the exposed pipe. In this case, the other end of the transport device 100 may be combined with a tripod 500 for surveying.

With reference to FIGS. 1 to 4, the measuring principle of the 3D position measuring apparatus of the non-contact exposed pipe path according to the present invention will be described as follows.

- Measure the distance vertically to the transport device while moving the distance measuring device in units of a certain distance with the transport device (measuring the vertical and azimuth angles of the transport device simultaneously).

- Calculate the elliptic equation of the exposed pipe based on the machine coordinate system of the conveying device.

- Convert the elliptic equation of the exposed pipe to the coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system with the vertical angle of the transfer device.

- Calculate the maximum value from the elliptic equation of the pipeline and correct the separation distance and installation height of the machine coordinate system to determine the position of the pipeline (the topmost position of the pipeline).

- Determine the three-dimensional coordinates of the pipeline (map coordinate system) using the three-dimensional coordinates of the reference point determined by the ground coordinate system and the azimuth of the transport device.

In this regard, it is possible to calculate the elliptic equation of the pipeline based on the machine coordinate system of the transfer device. 5 is a configuration diagram of a horizontally arranged transfer device in the three-dimensional position measuring apparatus for a non-contact exposed pipe according to the present invention. By arranging the conveying device horizontally, the elliptic equation of the pipeline can be calculated based on the conveying device mechanical coordinate system.

Referring to FIG. 5 , the origin (0, 0) of the machine coordinate system is the initial position of the transport device 100 provided with the range finder 150 . In this regard, the map coordinate system may be composed of an X axis, a Y axis, and a Z axis, and the machine coordinate system may be composed of an X' axis, a Y' axis, and a Z axis.

- X' axis: direction of movement of the distance measuring device

- Z' axis: Vertical direction (upper side) by gravity in the direction of motion of the distance measuring device.

- Y' axis: parallel to the XY plane of the ground coordinate system (there is no observation amount)

)로 표시될 수 있다. 여기서 각 변수는 다음과 같다.On the other hand, the measurement coordinates are (

) can be expressed as Here, each variable is as follows.

- i: i-th position of the measuring instrument transfer device

- dx : Horizontal distance measurement interval (distance measuring device movement interval)

An integer less than or equal to 2r/7 (in cm, where r is the radius of the tube)

It is necessary to measure at least 3 points on the pipe to determine the pipe position and diameter.

- z _i : Vertical distance measured from a distance meter (- z _i when used as a coordinate)

로 표시될 수 있다.Next, the elliptic equation of the exposed pipe can be determined. In this regard, the measurement coordinates are

can be displayed as

The above-described measurement coordinates can be substituted into the equation of the ellipse below.

[Equation 1]

Meanwhile, the center coordinate of the ellipse, the minor radius, and the major radius of the ellipse can be determined by the least squares method. In this regard, FIG. 6 shows the elliptical trajectory according to the elliptic equation in the simulation of performing the three-dimensional position measurement method of the non-contact exposed pipe according to the present invention. Referring to Equations 1 and 6, the reference point, which is the central coordinate of the ellipse _{, is determined as (x e} , z _e ), and the major and minor radii of the ellipse may be expressed as a and b, respectively.

Meanwhile, in the present invention, it is possible to convert the elliptic equation of the pipeline by the vertical angle of the transfer device into coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system. In this regard, FIG. 7 is a configuration diagram in which the transfer device is disposed at a predetermined inclination angle in the non-contact exposed pipe path three-dimensional position measuring device according to the present invention. By disposing the transfer device at a predetermined inclination angle, the elliptic equation of the pipeline can be converted into coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system.

Referring to FIG. 7 , the vertical angle θ of the transfer device may be corrected as in Equation 2 below.

[Equation 2]

Here, ( x, z ) is the coordinates on the ellipse in the map coordinate system (XY plane coordinate axes and Z coordinate axes), and ( x', z' ) is the coordinates on the ellipse in the machine coordinate system. In this regard, FIG. 8 shows the elliptical trajectory according to the elliptic equation of the exposure pipe according to the present invention, the map coordinate system (XZ coordinate), and the machine coordinate system (X'Z' coordinate).

Referring to FIGS. 7 and 8 , the position of the pipe (the uppermost position of the pipe) can be determined by calculating the maximum value from the elliptic equation of the exposed pipe and correcting the separation distance and installation height of the machine coordinates.

- Calculate the maximum value from the elliptic equation of the pipeline ( x _p , y _p )

- The separation distance and installation height of machine coordinates can be corrected. In this regard, Equation 3 describes the process of obtaining the uppermost position of the exposure pipe in which the separation distance and installation height of the machine coordinate system are corrected.

[Equation 3]

Here, ( x _p , z _p ) represents the position of the pipeline (the uppermost position of the pipeline). On the other hand, the three-dimensional coordinates ( x _c , y _c , z _c ) of the reference point determined by the ground coordinate system and the azimuth (α) of the transport device are used to determine the three-dimensional coordinates (map coordinate system) of the pipeline as in Equation 4 can In this regard, Figure 9 shows a conceptual diagram for determining the position of the pipe using the reference point and the azimuth of the transfer device according to the present invention. Referring to FIG. 9, the three-dimensional position of the exposure pipe can be determined using the three-dimensional coordinates of the reference point corresponding to the position of the tripod for surveying in the ground coordinate system, the distance between the reference point and the range finder, and the azimuth of the transfer device. have.

[Equation 4]

Here, X _m , Y _m , Z _m : represents the position of the pipe (the uppermost position of the pipe).

In the above, the configuration of the three-dimensional position measuring apparatus of the non-contact type exposed pipe according to the present invention and the characteristics and principles of the measuring method have been described. Hereinafter, the configuration and operation of controlling the three-dimensional position measuring device with a non-contact type exposed pipe according to the present invention will be described in detail.

Referring to FIGS. 1 to 9 , the processor 620 of the computer 600 for operating the 3D position measuring apparatus of the non-contact exposed pipe may perform the following control operation. The processor 620 may calculate the elliptic equation of the exposed pipe and perform coordinate transformation as described above. In this regard, the processor 620 may control to measure the inclination angle and azimuth of the transport device and the vertical distance between the transport device and the exposed pipe while moving the distance measuring device to the transport device in a unit of a predetermined distance. On the other hand, the processor 620 may calculate the elliptic equation of the exposed pipe based on the mechanical coordinate system of the transport device, based on the vertical distance to the inclination and azimuth of the transport device and the exposed pipe. In addition, the processor 620 may convert the elliptic equation of the exposed pipe by the inclination angle of the transfer device into coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system.

As described above, in the present invention, the uppermost position of the exposure pipe can be determined by correcting the moving distance and the installation height of the transfer device. In addition, it is possible to determine the three-dimensional position information of the exposure pipe using the reference point and the azimuth of the transfer device. To this end, the processor 620 calculates the maximum value of the Z coordinate axis in the elliptic equation of the exposed pipe converted based on the Z coordinate axis, and corrects the moving distance and installation height of the transport device in the machine coordinate system to the uppermost position of the exposed pipe. can be decided In addition, the processor 620 uses the three-dimensional coordinates of the reference point corresponding to the position of the tripod for surveying in the ground coordinate system, the distance between the reference point and the range finder, and the azimuth of the transport device to the first position in three dimensions of the exposure pipe. information can be determined.

Meanwhile, the apparatus for measuring the 3D position of the non-contact exposed pipe according to the present invention can determine the 3D position of the exposed pipe at a plurality of different points and compare them to determine a more accurate 3D position. In this regard, the non-contact exposed pipe 3D position measuring apparatus according to the present invention may terminate the measurement process when the comparison results are identical. On the other hand, the non-contact exposed pipe 3D position measuring apparatus according to the present invention can perform re-measurement in consideration of the area including the first and second measuring positions at another position when it is determined if there is a difference in the comparison result. To this end, the 3D position measuring apparatus of the non-contact exposed pipe according to the present invention may display the position to be relocated on the screen.

In this regard, the GNSS receiver 300 may be configured to measure a three-dimensional position in which the tripod 500 for measurement is installed. When it is determined that the position of the tripod for measurement is changed, the processor 620 may control the GNSS receiver to measure the changed 3D position of the tripod for measurement. Meanwhile, the processor 620 may move the range finder by a unit of a predetermined distance to the moving device in consideration of the three-dimensional coordinates of the exposure pipe and the changed three-dimensional position of the tripod for measurement before the change of the position of the tripod for measurement. Accordingly, the processor 620 may control to measure the second inclination angle and the second azimuth of the transfer device and the second vertical distance between the transfer device and the exposed pipe.

Thereafter, the processor 620 calculates the second elliptic equation of the exposed pipe based on the mechanical coordinate system of the conveying device based on the second inclination angle and the second azimuth of the conveying device and the second vertical distance between the conveying device and the exposed pipe. can be calculated In addition, the processor 620 may convert the second elliptic equation of the exposure pipe to the coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system at the second inclination angle of the transfer device.

Thereafter, the processor 620 calculates the maximum value of the Z coordinate axis in the second elliptic equation of the exposed pipe converted based on the Z coordinate axis. The processor 620 may re-determine the uppermost position of the exposure pipe by correcting the second movement distance and the second installation height of the transfer device in the machine coordinate system. The processor 620 uses the three-dimensional coordinates of the changed second reference point corresponding to the position of the tripod for surveying in the ground coordinate system, the second distance to the changed reference point and the range finder, and the second azimuth of the transfer device. The 3D second location information may be determined again.

On the other hand, the non-contact exposed pipe 3D position measuring apparatus according to the present invention can perform re-measurement in consideration of the area including the first and second measuring positions at another position when it is determined if there is a difference in the comparison result. To this end, the 3D position measuring apparatus of the non-contact exposed pipe according to the present invention may display the position to be relocated on the screen.

To this end, the processor 620 determines the first three-dimensional position information of the exposure pipe before the position of the tripod for surveying is changed and the second position information on the three-dimensional position of the exposure pipe determined again after the position of the tripod for surveying is changed. can be compared. The processor 620 may determine whether to perform the three-dimensional position measurement of the exposure pipe again by changing the position of the tripod for measurement by comparing the second position information in the three dimensions of the exposure pipe.

The processor 620 may display, on the display 640, which is a screen, the position of the third reference point where the tripod for measurement needs to be rearranged, based on the difference between the first position information and the second position information in three dimensions of the exposure pipe. can The processor 620 may determine whether the difference between the repositioned position of the tripod for surveying and the position of the third reference point is less than or equal to a threshold. The processor 620 may control to display a guide message on the display 640, which is a screen, to fix the tripod for surveying at the relocated position when the difference in the position of the third reference point is less than or equal to a threshold value in the relocated position.

In the above, the three-dimensional position measuring apparatus and method of the non-contact exposed pipe according to the present invention have been described. In this regard, the technical effects of the apparatus and method for measuring a 3D position of a non-contact exposed pipe according to the present invention are as follows.

According to at least one embodiment of the present invention, there is an advantage that it is possible to provide a three-dimensional position measuring apparatus and method with a non-contact exposure pipe.

According to at least one embodiment of the present invention, there is an advantage that it is possible to provide a method of measuring the three-dimensional position of an exposed pipeline installed during construction for new or replacement of water and sewage and underground facility pipelines without approaching the excavation construction area. .

According to at least one embodiment of the present invention, a surveying device is installed in the upper central part of an exposed pipe installed in an excavation construction area for three-dimensional surveying of an exposed pipe to measure a three-dimensional position and build facility information.

According to at least one embodiment of the present invention, it is possible to prevent the risk of safety accidents such as tripping, collision with construction equipment, etc. when a worker approaches an excavation construction area for a surveying operation.

According to at least one embodiment of the present invention, it is possible to construct facility information by measuring the three-dimensional position of the exposed pipeline without the operator approaching the excavation construction area, thereby preventing safety accidents.

The features and effects of the present invention described above will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. will be able

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

According to the software implementation, not only the procedures and functions described in this specification but also the design and parameter optimization for each component may be implemented as a separate software module. The software code may be implemented as a software application written in a suitable programming language. The software code may be stored in a memory and executed by a controller or a processor.

100: transfer device
150: rangefinder
200: angle measuring device
210: inclination angle measuring device
220: azimuth measuring device
300: GNSS receiver
500: Tripod for surveying
600: operating computer
610: interface unit
620: processor
630: memory
640: display
700: power supply
800: mount

Claims (6)

In the three-dimensional position measuring device of the non-contact exposure pipe,
A plurality of distance measuring devices configured to measure the distance to the exposed pipe of the sewerage or underground facility;
a transport device having a plurality of distance measuring devices and configured to horizontally move the distance measuring devices in units of a predetermined distance using a linear actuator;
a tripod for surveying coupled to the transport device and configured to be installed at a location serving as a reference point for measuring the three-dimensional position of the exposed pipe;
an angle measuring device configured to measure an inclination angle and an azimuth angle of the transport device; and
an operating computer configured to control the transport device, the range finder and the angle finder, and store the measured distance, inclination and azimuth information;
The processor of the operating computer inputs the measured distance, inclination angle, and azimuth angle information to a program for performing pipe position calculation to calculate 3D position information of the exposed pipe, a non-contact exposed pipe 3D position measuring device. According to claim 1,
The processor is
Control to measure the inclination angle and azimuth of the transport device and the vertical distance between the transport device and the exposed pipe while moving the distance measuring device by a unit of a certain distance with the transport device,
Based on the inclination and azimuth angle of the conveying device and the vertical distance to the exposed pipe, calculate the elliptic equation of the exposed pipe based on the mechanical coordinate system of the conveying device,
A non-contact type exposed pipe 3D position measuring device that converts the elliptic equation of the exposed pipe by the inclination angle of the transport device into coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system. 3. The method of claim 2,
The processor is
Calculate the maximum value of the Z coordinate axis from the elliptic equation of the exposed pipe converted based on the Z coordinate axis, and determine the uppermost position of the exposed pipe by correcting the moving distance and installation height of the transport device in the mechanical coordinate system.
It is characterized in that the first position information in three dimensions of the exposure pipe is determined using the three-dimensional coordinates of the reference point corresponding to the position of the tripod for surveying in the ground coordinate system, the distance between the reference point and the range finder, and the azimuth of the transport device. 3D position measuring device for non-contact exposed pipe. 4. The method of claim 3,
Further comprising a GNSS receiver configured to survey a three-dimensional position in which a measuring tripod is installed,
The processor is
When it is determined that the position of the tripod for measurement has been changed, the GNSS receiver is controlled to measure the changed three-dimensional position of the tripod for measurement,
The second inclination angle and the second azimuth angle of the transfer device while moving the range finder by a certain distance unit with the moving device in consideration of the three-dimensional coordinates of the exposure pipe before the position change of the measuring tripod and the changed three-dimensional position of the changed measuring tripod. And control to measure the second vertical distance to the conveying device and the exposed pipe,
Based on the second inclination angle and the second azimuth of the conveying device and the second vertical distance between the conveying device and the exposed pipe, a second elliptic equation of the exposed pipe is calculated based on the mechanical coordinate system of the conveying device,
A non-contact exposed pipe 3D position measuring device that converts the second elliptic equation of the exposed pipe into coordinates based on the XY plane coordinate axis and the Z coordinate axis of the ground coordinate system with the second inclination angle of the transport device. 5. The method of claim 4,
The processor is
Calculate the maximum value of the Z-coordinate axis from the second elliptic equation of the exposed pipe converted based on the Z-coordinate axis, and re-establish the uppermost position of the exposed pipe by correcting the second moving distance and the second installation height of the transfer device in the machine coordinate system. decide,
Using the three-dimensional coordinates of the changed second reference point corresponding to the position of the tripod for surveying in the ground coordinate system, the second distance to the changed reference point and the range finder, and the second azimuth of the transfer device, the second in three dimensions of the exposure pipe A three-dimensional position measuring device with a non-contact exposure tube that determines the position information again. 6. The method of claim 5,
The processor is
By comparing the first three-dimensional position information of the exposure pipe determined before the position of the tripod for surveying was changed with the second position information in the three dimensions of the exposure pipe determined again after the position of the tripod for surveying was changed, Decide whether to re-perform the three-dimensional position measurement of the exposure pipe by changing the position,
Based on the difference between the first position information and the second position information on the three-dimensional surface of the exposure pipe, the position of the third reference point where the tripod for measurement needs to be rearranged is displayed on the screen,
If the relocated position of the tripod for surveying is less than or equal to the threshold difference in the position of the third reference point, controlling to display a guide message on the screen to fix the tripod for the survey at the relocated position, a non-contact exposure tube three-dimensional position measuring device.

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