KR102404341B1 - Method and system for 3-dimensional shape management of tunnel and computer program for the same - Google Patents

Abstract

The three-dimensional shape management method of a tunnel is executed by a computing device, the computing device comprising: receiving, by the computing device, location information of each of the plurality of measurement devices from a plurality of measurement devices installed on an inner surface of the tunnel; generating, by the computing device, a curve passing through positions of adjacent measuring devices for each of the plurality of measuring devices; calculating, by the computing device, correction coordinates of the plurality of measuring devices using the tangent lines on the curve passing through adjacent measuring devices for each of the plurality of measuring devices, based on the location information; and calculating, by the computing device, the displacement of the inner hollow surface of the tunnel by using the change in the correction coordinates of the plurality of measurement devices.

Description

A method and system for managing a three-dimensional shape of a tunnel and a computer program for the same

Embodiments relate to a method and system for managing a three-dimensional shape of a tunnel, and a measuring device and a computer program for managing the three-dimensional shape. More specifically, the embodiments install a plurality of sensor-based measuring devices on the tunnel inner surface, and measure changed from the initial setting position using angle data collected from each measuring device and additional data such as acceleration, rotation, temperature, etc. It is about the technology of calculating the position coordinates of the device and measuring the displacement of the tunnel through this.

During the construction or operation of the tunnel, deformation or collapse of the tunnel may occur due to deterioration due to long-term use or the influence of adjacent excavation work. In case of tunnel deformation or collapse, enormous property or human damage may occur. Therefore, it is important to quickly identify and respond to tunnel deformation. In addition, in the case of a public tunnel, measurement is required to continuously monitor the tunnel behavior in terms of maintenance.

As a conventional measurement method for managing the shape of a tunnel, there are methods such as a displacement measurement method using an analog displacement sensor and an angle sensor, a displacement measurement method using a strain gauge and a load cell, and the like.

However, the conventional measuring device has a large installation area because the installation method of the device is very complicated, and many types of analog sensors and a number of cables connected to each sensor must be installed for each sensor. Since it is just data, it is difficult to intuitively grasp the shape of the tunnel. In addition, in the case of the open tunnel method, which requires backfilling after construction of the structure, it is important to know in real time the deformation of the tunnel due to the equal backfilling on the left and right for the stability of the structure. There have been difficulties in figuring out

Registered Patent Publication No. 10-2180872

According to one aspect of the present invention, a plurality of measuring devices that can measure displacement by applying a built-in sensor are installed in a spaced apart from each other on the inner surface of the tunnel, and the position change of the measuring device with respect to the reference origin set as the unchanging absolute coordinate origin A three-dimensional shape management method and system for a tunnel that can measure the deformation of a tunnel with high reliability and precision by measuring in the transverse and/or longitudinal direction of the tunnel bore section, a measuring device for managing the three-dimensional shape of the tunnel, and A computer program may be provided.

The method for managing a three-dimensional shape of a tunnel according to an aspect of the present invention is executed by a computing device, wherein the computing device receives location information of each of the plurality of measurement devices from a plurality of measurement devices installed on the inner hollow surface of the tunnel to do; generating, by the computing device, a curve passing through positions of adjacent measuring devices for each of the plurality of measuring devices; calculating, by the computing device, correction coordinates of the plurality of measuring devices using the tangent lines on the curve passing through adjacent measuring devices for each of the plurality of measuring devices, based on the location information; and calculating, by the computing device, the displacement of the inner hollow surface of the tunnel by using the change in the correction coordinates of the plurality of measurement devices.

In an embodiment, the receiving of the location information includes receiving, by the computing device, the position and angle of each of the plurality of measurement devices with respect to a preset reference origin.

In an embodiment, the calculating of the correction coordinates may include: calculating, by the computing device, a central angle of a curve passing through adjacent measuring devices with respect to each of the plurality of measuring devices; calculating, by the computing device, a tangent length between each of the plurality of measuring devices and an adjacent measuring device based on the central angle of the curve; calculating, by the computing device, an intersection position of a tangent line estimated from an adjacent measuring device using the tangent length and the angles of the adjacent measuring devices with respect to the reference origin; and calculating, by the computing device, correction coordinates of each of the plurality of measurement devices by using the intersection position.

In one embodiment, the calculating of the displacement of the inner hollow surface of the tunnel includes, by the computing device, a preset confidence interval using the least squares method in the correction coordinates obtained through a plurality of measurements for each of the plurality of measurement devices. and excluding the correction coordinates from the displacement calculation.

In one embodiment, the calculating of the displacement of the inner hollow surface of the tunnel includes, by the computing device, an error correction function preset with respect to the installation environment of the measuring device for the correction coordinates of each of the plurality of measuring devices. and correcting the error.

In one embodiment, the sensor device includes an acceleration sensor and an angular velocity sensor. In this case, the calculating of the displacement of the inner hollow surface of the tunnel includes, by the computing device, the angle of the measuring device measured using the gyro sensor using the acceleration of the measuring device measured by the acceleration sensor. and correcting the error.

The computer program according to an aspect of the present invention is combined with hardware to execute the three-dimensional shape management method of the tunnel according to the above-described embodiments, and may be stored in a computer-readable medium.

A three-dimensional shape management system for a tunnel according to an aspect of the present invention includes a computing device configured to operate while communicating with a plurality of measuring devices installed on an inner hollow surface of the tunnel.

In one embodiment, the computing device, the communication unit configured to receive the location information of each of the plurality of measurement devices from the plurality of measurement devices; memory in which executable instructions are stored; and a processor communicatively connected to the memory and the communication unit. At this time, by executing the command, the processor generates a curve passing through the positions of the adjacent measuring devices for each of the plurality of measuring devices, and based on the location information, the adjacent measuring devices for each of the plurality of measuring devices It is configured to calculate the correction coordinates of the plurality of measuring devices by using the tangents on the curve passing through them, and to calculate the displacement of the inner hollow surface of the tunnel by using the change in the correction coordinates of the plurality of measuring devices.

The three-dimensional shape management system of a tunnel according to an embodiment further includes the plurality of measuring devices.

A measuring device according to an aspect of the present invention is a sensor configured to measure a three-dimensional shape of a tunnel by being installed on an inner hollow surface of a tunnel, and to measure position information including an angle of the measuring device with respect to a preset reference origin a sensor module including a unit, a processor and a communication unit; and a protective case configured to mount the sensor module. In this case, the processor is configured to control the communication unit and the sensor unit to transmit the position information measured at a time interval by the sensor unit to another measuring device or computing device communicatively connected to the measuring device, respectively.

A measuring device according to an embodiment includes a plate configured to be attached to the inner hole surface of a tunnel; and a magnet coupled to one surface of the protective case and configured to be attached to the plate by magnetism.

According to one aspect of the present invention, a reference origin in a tunnel whose position does not change is set, and a plurality of measuring devices are installed to be spaced apart from each other in the longitudinal and/or lateral directions along the tunnel inner surface, and each measuring device is located in the bridge direction. By configuring data transmission/reception possible by wired connection and/or wireless communication connection through a cable of Through the distribution, the three-dimensional behavior of the tunnel can be grasped.

A measuring device and a three-dimensional shape management system for a tunnel including the measuring device according to an aspect of the present invention are easy to fasten and construct equipment, and by using this, it is possible to analyze the three-dimensional behavior of the tunnel with high reliability and precision, and to measure There is an advantage of real-time recognition and prediction of dangerous situations such as tunnel deformation or collapse due to external forces through the displacement distribution of devices.

1A to 1C are conceptual diagrams illustrating exemplary shapes of a tunnel to which a three-dimensional shape management system of a tunnel according to an embodiment is applied.
2 is a flowchart illustrating each step of a method for managing a three-dimensional shape of a tunnel according to an embodiment.
3A to 3C are conceptual diagrams for explaining a process of calculating an inward displacement of a tunnel from a measurement value of each measuring device in a method for managing a three-dimensional shape of a tunnel according to an exemplary embodiment.
4 is a schematic block diagram illustrating a configuration of a measuring device of a three-dimensional shape management system for a tunnel according to an embodiment.
5 is a conceptual diagram illustrating a hardware configuration of a measuring device of a three-dimensional shape management system for a tunnel according to an embodiment.
6 is a schematic block diagram illustrating a configuration of a three-dimensional shape management system for a tunnel according to an embodiment.
7 is an exemplary graph for explaining extracting central data according to a confidence interval from data collected in a method for managing a three-dimensional shape of a tunnel according to an embodiment.
8 is an exemplary graph for explaining data correction in a method for managing a three-dimensional shape of a tunnel according to an embodiment.
9 is a conceptual diagram illustrating a process of correcting an error of a measurement angle in a method for managing a three-dimensional shape of a tunnel according to an exemplary embodiment.
10A and 10B are conceptual diagrams for explaining real-time analysis of the inward displacement of a tunnel in a method for managing a three-dimensional shape of a tunnel according to an embodiment.
11 is a conceptual diagram for explaining predicting a behavioral range of a measuring device when some measuring devices are unavailable in a method for managing a three-dimensional shape of a tunnel according to an embodiment.
12 is a conceptual diagram for explaining a 3D shape management using measuring devices arranged in a longitudinal direction of a tunnel in a method for managing a 3D shape of a tunnel according to an embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1A to 1C are conceptual diagrams illustrating exemplary shapes of a tunnel to which a three-dimensional shape management system of a tunnel according to an embodiment is applied.

Referring to FIG. 1A , the system for managing a three-dimensional shape of a tunnel according to embodiments of the present invention may include a plurality of measuring devices 100 disposed on the inner hollow surface of the tunnel 10 . In one embodiment, each measuring device 100 may include a measuring module 110 and a cable 120 electrically connecting between the measuring module 110 . The measurement module 110 is attached to each point of the inner hollow surface in the tunnel 10 corresponding to the point of measurement, and one or more angle sensors configured to measure an angle with respect to the reference origin for measuring the angle in the tangential direction of the inner hollow surface. may include A specific shape of the measurement module 110 will be described later in detail.

Each of the measuring devices 100 may be disposed along the inner hollow surface of the tunnel, and the measuring modules 110 of each measuring device 100 may be disposed at positions spaced apart from each other. For example, the measuring device 100 may be arranged in a cross section in a direction (ie, transverse direction) orthogonal to the longitudinal direction of the tunnel 10 as shown in the drawings, but this is exemplary, and in embodiments A plurality of measuring devices 100 may be arranged in the transverse direction (ie, the direction orthogonal to the longitudinal direction of the tunnel 10) and/or the longitudinal direction (ie, the longitudinal direction of the tunnel 10) in the tunnel inner surface. have.

The shape of the tunnel to which the three-dimensional shape management system of the tunnel according to the embodiments of the present invention can be applied is not limited to the tunnel 10 shown in FIG. 1A, for example, the three-dimensional shape management system of the tunnel is shown in FIG. It may be applied to other different types of tunnel 11 as shown in 1b, and may also be applied to tunnel 12 having a plurality of hollow surfaces as shown in FIG. 1c.

Hereinafter, in the present specification, a three-dimensional shape management system for a tunnel in which a total of N measuring devices are installed (N is an arbitrary natural number) will be described, and each measuring device 100 installed in the tunnel interior surface is an arbitrary number. They are referred to as n, n+1, n+2 measuring devices, etc. in the order of proximity from the reference point (n is an arbitrary natural number).

2 is a flowchart illustrating each step of a method for managing a three-dimensional shape of a tunnel according to an embodiment. The method for managing a three-dimensional shape of a tunnel according to embodiments of the present invention may be performed by a three-dimensional shape management system. , In this case, the 3D shape management system may include a computing device such as a server, a personal computer, and a mobile communication terminal such as a smart phone in which a predetermined application is executed.

Referring to FIGS. 1A and 2 , first, a plurality of measuring devices 100 may be installed in the inner hollow surface of the tunnel ( S1 ). Next, an initial stage of each measuring device 100 may be measured ( S2 ). In the embodiments of the present invention, the initial position of the measuring device 100 is a specific point in the tunnel 10 or a specific point in the environment related to the tunnel 10, and a predetermined reference origin is set at which the position is not expected to change, It may be defined relative to the reference origin.

For example, the point of the edge of the inner hollow surface of the tunnel 10, any one point in the space in the tunnel 10, or the measuring device 100 located at either end or both ends of the plurality of measuring devices 100 as the reference origin , and the installation position of each measuring device 100 can be acquired as location information through conventional surveying or LiDAR surveying (S2). However, the setting of the reference origin and the measurement of the position relative to the reference origin may be performed in various ways, and are not limited to those described herein.

Each of the plurality of measuring devices 100 is configured to periodically measure its own location information. In an embodiment, the position information of each measuring device 100 may include an angle of each measuring device 100 with respect to the reference origin in a coordinate system in which the reference origin is the origin of absolute coordinates. At this time, the three-dimensional shape management method of the tunnel according to the embodiments generates a curve passing through the positions of the adjacent measuring devices 100 for each measuring device 100 , and determines the adjacent measuring devices 100 from these curves. The correction coordinates of each measuring device 100 are calculated using the passing tangent line, and the three-dimensional shape change of the tunnel 10, that is, the tunnel through the displacement of the calculated correction coordinates from the initial coordinates to the changed coordinates. can measure the internal displacement of

The above process will be described in detail with reference to FIGS. 3A to 3C.

Referring to FIG. 3A , the nth measurement device having an initial position of (x _n , y _n ) with respect to the reference origin, the n+1 measuring device having an initial position of (x _n+1 , y _n+1 ), and the initial It is assumed that the n+2 measuring device whose initial position is (x _n+2 , y _n+2 ) is located adjacent to each other, and it is assumed that the displacement of the n+1 measuring device is calculated. In this case, it is possible to first generate a curve passing through the positions of these measuring devices adjacent to each other. The location of each measuring device is also simply referred to as a point for convenience of description. That is, a curve passing through the n-th station, the n+1 point, and the n+2 station can be set.

In an embodiment, the curve passing through the adjacent point points may be a single curve having a constant radius, but is not limited thereto, and depending on the shape of the structure to which the three-dimensional shape management method of the tunnel is applied, a spiral curve or other linear curve other than a single curve , a non-linear curve may be set.

First, it is possible to calculate the position of the center point of the curve passing through three adjacent points with the position of the n+1 measuring device as the center. For example, the coordinates (cx, cy) of the center point of the curve may be calculated by Equation 1 below.

[Equation 1]

In Equation 1, d1 represents the slope of the straight line passing through the n-th station and the n+1 point, and d2 represents the slope of the straight line passing through the n+1 and n+2 point.

At this time, the central angle of the curve passing through the three points is V _n from the center point C of the curve to the nth point, and V _n +2 from the center point C of the curve to the n+2 point. It can be calculated as in Equation 2 below according to the dot product formula of .

[Equation 2]

를 나타내며,

은 벡터 V_n의 크기를 나타내고,

는 벡터V_n+2의 크기를 나타낸다. In Equation 2, D is the dot product of two vectors

represents,

represents the magnitude of the vector V _n ,

represents the magnitude of vector V _n+2 .

At this time, referring to FIG. 3B , when the radius of the curve connecting three adjacent points is R, the n+1 point (ie, the location of the n+1 measuring device) and the nth point adjacent to the coordinate correction target and We can define a tangent on the curve passing through each of the n+2 points. The length A of the tangent is the length of one side of a triangle that divides the central angle of the curve in half and has the central point and each adjacent point as a vertex, and can be calculated as in Equation 3 below using the central angle and radius of the curve.

[Equation 3]

In FIG. 3B , IP is the intersection of the tangent lines passing through the calibration target point (ie, the location of the n+1 measuring device) and the adjacent point, and represents the calibration coordinates of the n+1 measuring device. At this time, using the position information (eg, the angle with respect to the reference origin) of each measuring device collected by the adjacent measuring devices and the aforementioned tangent length, the tangent length from the position of each adjacent measuring device to the angle measured by the measuring device It is possible to calculate the calculated intersection IP position by extending by A, and calculate the final position of the intersection IP (ie, the corrected coordinates of the n+1 point) using the intersection positions calculated from adjacent points in both directions.

For example, the intersection position IP _n calculated using the position (x _n , y _n ) and the angle θ _n of the nth station, the position of the n+2 station (x _n+2 , y _n+2 ) and The intersection point IP _n+2 calculated using the angle θ _n+2 may be calculated as in Equation 4 below. IP _n and IP _n+2 indicate the point of intersection of the tangent line estimated from each adjacent measuring device using the tangent length A and the angle of each adjacent measuring device with respect to the reference origin.

[Equation 4]

In this case, the intersection IP, which is the correction coordinate of the n+1 measurement device, may be determined using IP _n and IP _n+2 of Equation 4 (4). For example, in an embodiment, the intersection IP may be determined as an inner division of IP _n and IP _n+2 .

For each of the plurality of measuring devices from 1 to N installed on the inner surface of the tunnel, the adjacent measuring device through the curve passing through the adjacent measuring devices of each measuring device and the tangent of the curve passing through these adjacent measuring devices It is possible to calculate an estimated intersection position by extending the length of the tangent line from each other, and set correction coordinates of a target measurement device located between adjacent measurement devices using the estimated intersection positions from the adjacent measurement devices. Stations 1 and N, corresponding to both ends of the arranged station, are both ends of the tunnel section, so they can be set as rotatable hinge points.

At this time, if the angle measured from the adjacent points of the n+1 point is changed as the shape of the tunnel interior surface is deformed, the correction coordinates of the n+1 point are changed based on this, and the tunnel according to the change of the correction coordinates The displacement of the inner hollow surface can be calculated.

For example, referring to FIG. 3C , it is assumed that the angle with respect to the reference origin measured by the n-th measuring device is changed from the initial angle θ _n to θ′ _n . In order to calculate IP' _n , which is the location of the intersection of the tangent line estimated from the n-th measuring device with the changed position, the changed tangent A _n passing through the n-th station, and the central angle of the rectangle with the n-th station and IP' _n as the vertices. I _n should be calculated.

For this purpose, the length B of the curve passing through the nth station, the n+1st station, and the n+2nd point corresponds to the length of the inner hollow surface of the tunnel and is assumed to be a fixed value unless the material is stretched. For example, the length B of the curve may be calculated by Equation 5 below.

[Equation 5]

The correction according to the expansion and contraction of the material constituting the tunnel can be corrected by applying the temperature sensor or piezoelectric sensor built into the measuring device, or by using the coordinates of the No. 1 and No. N points located at the end of each point. For example, the error correction function corresponding to a specific temperature or pressure value is set in advance, and the correction is performed by substituting the curve length B into the error correction function corresponding to the temperature or pressure measured using the sensor. can do. Alternatively, it is also possible to calculate the change in the straight line length between the stations at both ends through the location information of the No. 1 and No. N points, and to correct the curve length B by multiplying the change in the straight line length by a conversion factor according to the diameter of the tunnel. have.

In this embodiment, the coordinate calculation in the case where the length B of the inner hollow surface of the tunnel is treated as a fixed value will be described.

As shown in Figure 3b, the angle between the chord and the tangent A passing through the nth and n+2 stations at the initial position is I/2, and the angle of the nth station is changed from θ _n to θ' _n . When the angle between the tangent line A _n and the aforementioned chord is I _n /2, I _n may be calculated as in Equation 6 below.

[Equation 6]

Assuming that the curve length B passing through adjacent points is constant, the curve has the nth station as a vertex in one direction from the changed angle of the nth station, and the angle of the tangent to it is the changed angle θ' _n of the nth station; And it is possible to define a sector in which the position of the vertex in the diagonal direction is defined by the length B and the central angle I _n of the above curve, and the radius R _n can be obtained through Equation 5 to obtain the arc B of the sector. Next, by substituting R _n in Equation 3, the changed tangent length A _n can be calculated.

Accordingly, the position of the tangent intersection IP' _n estimated by extending the tangent length A _n at the changed angle of the n-th station is in Equation 7 below using the changed angle θ' _n and the changed tangent length A _n of the n-th station. can be calculated according to

[Equation 7]

In the same way, when the initial angle θ _n+2 of station n+2, which is another station among adjacent stations, is changed to θ' _n+2 , the estimated position of the tangent intersection from station n+2 IP' _n+2 can be calculated. That is, if the angle formed by the chord passing through the n and n+2 points from the initial position and the changed tangent passing through the n+2 point is I _n+2 /2, I _n+2 is as shown in Equation 8 below. can be calculated.

[Equation 8]

As described above, assuming that the curve length B is constant, by substituting I _n+2 in Equation 5, it passes through the n+2 station, and the angle of the tangent to it is the changed angle θ' _n of the n+2 station. We can find the radius R _n+2 of the curve with ₊₂ . Next, by substituting R _n+2 in Equation 3, the changed tangent length A _n+2 can be calculated.

Accordingly, the position of the intersection IP' _n+2 estimated from the changed angle of the n+2 point is determined by the following Equation 9 using the changed angle θ' _n and the changed tangent length A _n+2 of the n+2 point. can be calculated.

[Equation 9]

Next, the correction coordinates IP' _n+1 of the measurement target point n+1 can be calculated by using the tangent intersection coordinates IP' _n and IP' _n+2 estimated from the changed angles of the adjacent points. For example, IP' _n+1 may be determined as an internal division of IP' _n and IP' _n+2 .

By repeating the above-described process with reference to Equations 1 to 9 for all the measuring devices from the first measuring device to the N measuring device, the changed correction coordinates of each measuring device can be calculated. At this time, the displacement of the inner hollow surface of the tunnel is calculated using the difference between the corrected initial coordinates and the changed coordinates of a plurality of measuring devices. For example, in an embodiment, the internal displacement δ of the tunnel is the size of a vector representing the difference between the corrected initial coordinates and the changed coordinates, and may be calculated as in Equation 10 below.

[Equation 10]

Referring back to FIG. 2 , in the method for managing a three-dimensional shape of a tunnel according to an embodiment, first, a plurality of measuring devices are installed in the tunnel, and then the computing device receives location information about the initial positions of each measuring device (S2), Using the measured initial position, the corrected initial coordinates of each measuring device may be calculated according to Equations 1 to 4 described above (S3).

Next, the plurality of measuring devices may measure the position data of each measuring device by using the sensor unit provided in each measuring device (S4), and may collect the measured position data from the plurality of measuring devices (S5). For example, each measuring device may periodically measure location information using an acceleration sensor and an angular velocity sensor, and may collect location information measured by a plurality of measuring devices through a network communication method.

Next, it is possible to calculate the change coordinates of each measuring device by using the location information collected from the plurality of measuring devices (S6). In this case, the changed coordinates refer to corrected coordinates calculated by the processes of Equations 5 to 9 using the changed location information of each measuring device. Next, the displacement of the tunnel interior surface can be measured using the difference between the corrected initial coordinates and the changed coordinates of each measurement coordinate (S8). For example, the hollow displacement of the tunnel may be measured by the process described above with reference to Equation 10.

In one embodiment, before calculating the displacement of the tunnel, an error related to dynamic change, resistance, temperature, and/or angle detection is corrected in the position information measured by each measuring device, and the displacement is calculated using the error-corrected position information It may be configured to do so (S7), and the error correction process will be described in detail later.

In the embodiments of the present specification, the calculation of the internal displacement by a single curve passing through the positions of the three adjacent measuring devices has been described. It will be readily understood by those skilled in the art that the principle according to the present invention can be applied to a curve having a curve having a curvature or other shape.

4 is a schematic block diagram showing a configuration of a measuring device of a three-dimensional shape management system of a tunnel according to an embodiment, and FIG. 5 is a hardware configuration of a measuring device of a three-dimensional shape management system of a tunnel according to an embodiment. It is a conceptual diagram representing

4 and 5 , the measuring device according to an embodiment may include a sensor module 500 and a protective case 701 configured to mount the sensor module 500 . In one embodiment, the sensor module 500 may include a sensor unit 501 , a processor 502 , and a communication unit 503 . Also, in one embodiment, the sensor module 500 may further include one or more regulators 504 for controlling the power supplied to each other part of the sensor module 500 .

The sensor unit 501 is for measuring position information (eg, an angle with respect to the reference origin) of the measuring device with respect to the reference origin, and may include a gyro sensor for measuring angular velocity and/or rotation. In an embodiment, the sensor unit 501 may further include an acceleration sensor and/or a temperature sensor for error correction.

The processor 502 controls the operation of the sensor unit 501 and the communication unit 503 , so that the position information measured by the sensor unit 501 receives position information from other measuring devices or measurement devices through the communication unit 503 . It may be transmitted to a computing device (eg, a server, etc.) that collects it. For example, the sensor module 500 may be configured by connecting a microcontroller unit (MCU), a communication chip, etc. on a printed circuit board (PCB) in a bridge manner, but is not limited thereto.

In one embodiment, the protective case 701 includes a space therein, and may be implemented in the form of a box in which the sensor module 500 is accommodated. Also, in an embodiment, the protective case 701 may further include a plate 702 and a magnet 703 . The plate 702 is configured to be attached to the inner surface of the tunnel, and may be formed of, for example, a steel material that is attached in contact with a concrete tunnel. The magnet 703 is coupled to one surface of the protective case 701 and is configured to be attached to the plate 702 by magnetism. By attaching the protective case 701 to the play 702 by the magnetism of the magnet 703 , the protective case 701 and the sensor module 500 accommodated therein can be disposed on the inner surface of the tunnel.

6 is a schematic block diagram illustrating a configuration of a three-dimensional shape management system for a tunnel according to an embodiment.

Referring to FIG. 6 , the three-dimensional shape management system of a tunnel according to an embodiment includes a computing device 20 , and the computing device 20 is one disposed in the tunnel 10 through a wired and/or wireless network. It may be configured to be able to communicate with the above measuring devices 100, 101, ..., 10N. For example, the computing device 20 may be a server, a PC, a mobile communication terminal, etc. in which a computer program or application for processing location information and managing a shape is executed.

Computing device 20 may be entirely hardware, or may have aspects that are partly hardware and partly software. For example, each unit constituting the computing device 20 and each system, device, server, etc. that communicate therewith, and each module or unit included therein, are used to transmit and receive data in a specific format and content in an electronic communication method. A device and related software may be collectively referred to. As used herein, terms such as “unit”, “module”, “server”, “system”, “platform”, “device” or “terminal” are intended to refer to a combination of hardware and software driven by the hardware. do. For example, the hardware herein may be a data processing device including a CPU or other processor. In addition, software driven by hardware may refer to a running process, an object, an executable file, a thread of execution, a program, and the like.

The communication method between the computing device 20 and the plurality of measurement devices 10 may include any communication method capable of networking an object and an object through a wired and/or wireless network, and includes wired communication, wireless communication, 3G , 4G, or otherwise.

For example, wired and/or wireless networks include Local Area Network (LAN), Metropolitan Area Network (MAN), Global System for Mobile Network (GSM), Enhanced Data GSM Environment (EDGE), High Speed Downlink Packet Access (HSDPA) , W-CDMA (Wideband Code Division Multiple Access), CDMA (Code Division Multiple Access), TDMA (Time Division Multiple Access), Bluetooth, Zigbee, Wi-Fi, VoIP (Voice) over Internet Protocol), LTE Advanced, IEEE802.16m, WirelessMAN-Advanced, HSPA+, 3GPP Long Term Evolution (LTE), Mobile WiMAX (IEEE 802.16e), UMB (formerly EV-DO Rev. C), Flash-OFDM, iBurst and MBWA (IEEE 802.20) systems, HIPERMAN, Beam-Division Multiple Access (BDMA), Wi-MAX (World Interoperability for Microwave Access), and ultrasonic-based communication to refer to a communication network by one or more communication methods selected from the group consisting of However, the present invention is not limited thereto.

In addition, although not shown in the drawings, the computing device 20 according to the embodiments includes an interface for electrically and/or communicatively connecting each component, and the interface includes a high-speed interface and a low-speed interface. . Each component is connected to each other via a different bus and can be mounted on a public mainboard or in other ways depending on demand. The processor 203 may execute a command executed in the electronic device, and the command may include a command stored in the memory 202 to display graphic information of the GUI.

Although one memory 202 and a processor 203 are illustrated in FIG. 6 for convenience of description, the computing device 20 may use a plurality of processors and/or a plurality of buses and a plurality of memories together with a plurality of memories. have.

In this specification, a memory means a non-volatile computer-readable storage medium. Memory 12 may include random access memory (RAM), and may include non-volatile memory such as, for example, at least one disk storage device, a flash memory device, or other non-volatile solid state storage device.

The memory stores instructions that can be executed by at least one processor, so that the processor analyzes location information according to embodiments of the present invention and displays it through a display device (not shown). That is, executable instructions for enabling the computing device to execute the method for managing a three-dimensional shape of a tunnel according to embodiments are stored in the storage medium of the memory.

In an embodiment, the memory may store an operating system, an application or web document required for at least one function, and the like. In addition, the memory may store data generated by the operation of the processor and data generated by the user's interaction with the data. That is, in an embodiment, the memory may be divided into a program storage area and a data storage area.

A user uses an input device (not shown) while checking 3D shape management data provided by a computer program or application executed on the computing device 20 through a display device (not shown) provided in the computing device 20 . to control the operation of a computer program or application. For example, the input device may include a touch screen, a key pad, a mouse, a trackpad, a touch pad, an indicator rod, one or more mouse buttons, a track ball, and the like, and the display device may include a liquid crystal display (LCD), a light emitting device, and the like. It may include, but is not limited to, display devices such as diode (LED) displays and plasma displays, auxiliary lighting devices (eg, LEDs), and tactile feedback devices (eg, vibration motors). In an embodiment, the display device may be a touch screen integrated with the input device.

The communication unit 201 of the computing device 20 is the location of each measuring device 100, 101, ..., 10N from the plurality of measuring devices 100, 101, ..., 10N disposed in the tunnel 10 configured to receive information. For example, the plurality of measurement devices 100 , 101 , ..., 10N may transmit location information to the computing device 20 through a communication unit provided in each. Alternatively, the plurality of measuring devices (100, 101, ..., 10N) are communicatively connected to each other by a wired connection and/or a wireless connection, and among the plurality of measuring devices (100, 101, ..., 10N) The location information of one or more other measuring devices may be collected, and the collected location information may be transmitted to the computing device 20 .

The processor 203 is communicatively connected to the communication unit 201 and the memory 202, and is configured to execute a command stored in the memory 202 to perform a displacement calculation process of the inner hollow surface of the tunnel 10 as described above. do. Specifically, the processor 203 determines the positions of adjacent measuring devices with respect to each measuring device 100, 101, ..., 10N based on the position information of each measuring device 100, 101, ..., 10N. A curve passing through is generated, and the correction coordinates of each measuring device 100, 101, ..., 10N are calculated using the tangents on the curve passing through the adjacent measuring devices, and through the change of the calculated correction coordinates in this way, The displacement of the hollow surface of the tunnel can be calculated.

In one embodiment, the 3D shape management method executed by the processor 203 normalizes the error correction data through error correction in the data collected from each measuring device 100 , 101 , ..., 10N. After that, it may be configured to calculate the displacement of the hollow surface of the tunnel using normalized data. This error correction process will be described below.

Description of Noise Removal and Correction

Embodiments of the present invention are applied to the measurement of the displacement of the hollow surface of a tunnel, but the displacement of the hollow surface of the tunnel relates to a static and inelastic change rather than a dynamic and elastic change that is generated at a short time interval and recovered again. Accordingly, in an embodiment of the present invention, an error correction for observing a change over a relatively long period may be performed by excluding a dynamic change made during a relatively short period from the measurement data.

That is, in the three-dimensional shape management system of the tunnel according to an embodiment, the measuring device is configured to measure the angle with respect to the reference origin at preset intervals, and the measurement interval may be set, for example, at 1 hour intervals, but if necessary can be changed. However, depending on the location where the measuring device is installed, not only static changes, but also dynamic changes such as vehicle passage in the tunnel and external shock and electrical noise within the elastic range may occur. Although information changes occur, it is not possible to distinguish whether the change in position information is a permanent behavior of the plastic range or an instantaneous displacement within the elastic limit only by such a dynamic change.

Accordingly, in an embodiment of the present invention, each measuring device does not measure the position information once, but for a preset period (eg, 2 to 3 minutes) or/or at a preset sampling rate (eg, 1 to 1000 Hz). sampling rate), and the three-dimensional shape management system of the tunnel according to the embodiments may analyze the displacement of the tunnel using the collected location information. At this time, when dynamic displacement occurs, the collected data includes a peak value due to dynamic displacement among the values of static data. It is affected by the peak value due to the dynamic displacement.

In order to solve this problem, in an embodiment of the present invention, the correction coordinates except for the preset confidence interval using the least-squares method in the correction coordinates obtained through a plurality of measurements may be excluded from the displacement calculation. For example, assuming that the collected data has the form of a normal distribution, the measured value of the static displacement can be extracted by extracting the data of the confidence interval located relatively close to the center of the normal distribution.

7 is an exemplary graph for explaining extracting central data according to a confidence interval from data collected in a method for managing a three-dimensional shape of a tunnel according to an embodiment.

Referring to FIG. 7 , the reliability of data in the corresponding interval is determined according to a confidence interval set using a multiple of the standard deviation σ. For example, if the range obtained by adding or subtracting 1 times the standard deviation σ from the central data 0 for data z is used as the confidence interval (-σ≤z ≤σ), the reliability is 68.3%, so the location of each measuring device is Error correction can be performed by applying the least squares method using the interval excluding the measured values of the upper 15.85% and the lower 15.85% from the correction coordinates obtained from the information as the confidence interval. However, in the method for managing a three-dimensional shape of a tunnel according to embodiments, a range of a confidence interval for correcting an error for a dynamic change is not limited thereto.

8 is a diagram illustrating data correction by the least squares method in a method for managing a three-dimensional shape of a tunnel according to an exemplary embodiment.

Referring to FIG. 8 , a linear equation for using the least-squares method in an embodiment is as shown in Equation 11 below.

[Equation 11]

y = ax + b

In this case, if the unknowns a and b are defined as a matrix X, and the corrected coordinate data obtained by the measurement value of each measuring device is A, A can be expressed as in Equation 12 below.

[Equation 12]

Based on Equation 12, when data except for a preset confidence interval is defined as an error from each correction coordinate data and a sign of each error is set to be positive, the error data E can be functionalized as shown in Equation 13 below.

[Equation 13]

In this case, the following Equation 14 can be obtained by partial differentiation of Equation 13 with the unknowns a and b in order to obtain the minimum value of the error.

[Equation 14]

If a and b of Equation 11 are obtained by substituting a preset confidence interval (eg, data within a range of 68.3% from the central data) in Equation 14, the change amount of the static measurement to be measured is a long-term change, and the instantaneous change amount is 0. Since it is close, a becomes a value that converges to 0, so the value of b can be taken as a measurement value of the correction coordinates.

Description of extension cable resistance compensation

In an embodiment of the present invention, the sensor of the measuring device may be a digital type sensor that receives an applied voltage and has it as an output value converted into an output voltage according to location information, wherein the output value ε ₀ of the sensor is ε ₀ = k It can be expressed as Х V _i . Here k corresponds to the conversion constant of the sensor. On the other hand, the voltage _Vi is affected by the resistance value of the cable connecting the measuring device and other measuring devices and computing devices, and an error occurs in the output value of the sensor due to the resistance of the cable itself.

Accordingly, in the present embodiment, an error correction for a change in a resistance value due to the use of a cable may be performed using a preset error correction function. For example, assuming that the input voltage V _i to the sensor of the measuring device is constant, the resistance of the sensor itself is R _s , and the resistance of the extension cable connected to the measuring device is _rc , the resistance of the cable is It is assumed that the applied voltage received by the sensor is as it is, V _i , and the output value is ε ₀ without consideration.

이고, 이로부터 산출되는 센서의 출력값 ε은

이다. 여기서

이므로

로, 이를 다시 ε0에 대하여 표현하면

가 되고, 최종적으로

오차 보정 함수를 구할 수 있다. At this time, considering the resistance of the cable, the resistance value of the entire circuit becomes R _s + _rc as the sensor resistance and the cable resistance are connected in series. At this time, the voltage applied to the sensor is calculated by dividing the input voltage in proportion to the resistance value.

and the output value ε of the sensor calculated therefrom is

to be. here

Because of

, and expressing this again with respect to ε0,

become, and finally

An error correction function can be obtained.

That is, in this embodiment, the error correction function may be preset as a function for excluding a component due to the resistance of the cable from the output voltage of the measuring device by including the resistance of the cable connected to the sensor of the measuring device into the resistance of the measuring device. have. However, this is an example, and the error correction function may be defined in different forms depending on the type of resistance of the sensor and the cable, and a preset error correction function is applied to other elements of the installation environment of the measuring device in addition to the cable resistance. Therefore, it is also possible to perform error correction on the correction coordinates.

Description of temperature compensation

The output value of the sensor of the measuring device according to the exemplary embodiment may be changed by being influenced by a change in ambient temperature. In particular, when monitoring a relatively long-term change in behavior, such as long-term monitoring of railways and structures, errors may occur due to seasonal temperature changes.

Therefore, in one embodiment, the measuring device is configured to further include a temperature sensor in addition to the angle sensor, specifying the temperature using the temperature sensor included in the measuring device along with measuring the angle with respect to the reference origin, and in advance with respect to the temperature range By applying the set error correction function to the measurement value of the measuring device, it is possible to perform temperature error correction.

Correction of detection angle error of gyro sensor

In an embodiment of the present invention, the measuring device may include a gyro sensor as a sensor for detecting an angle with respect to the reference origin. In this case, a bias error due to integral drift may occur in the angle measured by the gyro sensor. To solve this problem, in one embodiment, the measuring device further includes an acceleration sensor, and by applying a complementary filter using the acceleration sensor, an error correction can be performed on the angle measured by the gyro sensor.

9 is a conceptual diagram illustrating a process of correcting an error of a measurement angle in a method for managing a three-dimensional shape of a tunnel according to an exemplary embodiment.

In the present embodiment, the secondary complementary filter for correcting the angular error of the gyro sensor may be defined as in Equation 15 below.

[Equation 15]

_g는 자이로 센서로부터 측정된 각속도를 나타내고, α_g는

_g를 적분하여 얻은 각도를 나타낸다. 한편, T₁(s) = k₁s + k₂/(s² + k₁s + k₂)는 저역통과 필터에 대한 전달함수이고, T₂(s) = s²/(s² + k₁s + k₂)는 고역통과 필터에 대한 전달함수로서, T₁(s) + T₂(s) = I의 관계가 성립한다.In Equation 15, α _a represents the angle measured from the acceleration sensor,

_g is the angular velocity measured from the gyro sensor, and α _g is

The angle obtained by integrating _g is indicated. Meanwhile, T ₁ (s) = k ₁ s + k ₂ /(s ² + k ₁ s + k ₂ ) is the transfer function for the low-pass filter, and T ₂ (s) = s ² /(s ² + k) ₁ s + k ₂ ) is the transfer function for the high-pass filter, and the relation T ₁ (s) + T ₂ (s) = I holds.

In the present embodiment, a complementary filter for correcting the error of the gyro sensor using the measurement value of the acceleration sensor can be designed and applied using the design variables k ₁ and k ₂ preset in Equation 15 above. In this case, the preset design variables k ₁ , k ₂ may be set in various ways through experiments, and are not limited to specific values.

10A and 10B are conceptual diagrams for explaining real-time analysis of the inward displacement of a tunnel in a method for managing a three-dimensional shape of a tunnel according to an embodiment.

)를 산출할 수 있다. Referring to FIGS. 10A and 10B , in the embodiments of the present invention as described above, the shape of the inner hollow surface of the tunnel is lined by connecting their correction coordinates to one or more point points (a, b) disposed on the inner hollow surface of the tunnel. It can be calculated in the form of (linings) 301 and 302, and as a result of the measurement of the location information over time, the shape of the tunnel inner surface is changed from the initial lining 301 to the modified lining 302, and the displacement of the tunnel inner surface (

) can be calculated.

11 is a conceptual diagram for explaining predicting a behavioral range of a measuring device when some measuring devices are unavailable in a method for managing a three-dimensional shape of a tunnel according to an embodiment.

Referring to FIG. 11 , when some measuring devices are unavailable, the 3D shape management system of the tunnel according to an exemplary embodiment may generate prediction information on the behavioral range of the measuring device based on correction coordinates of other measuring devices. That is, while measuring the interior surface of the tunnel through a curve (eg, an arc) passing through the arbitrary station 400 and the two adjacent points 401 and 402, the measuring device disposed at the station 400 became unavailable. In this case, define a plurality of curves passing through the measuring points 401 and 402 corresponding to the adjacent measuring devices of the unusable measuring device and other measuring devices in the tunnel inner surface, and use the overlapping range of these curves for the unusable measuring device. It can be generated as predictive information about the behavior range. Through this embodiment, there is an advantage that the shape management of the entire tunnel is possible without additionally installing other devices other than the measuring device.

In addition, in the embodiments of the present specification, the process of performing shape management for the cross section of the tunnel in the transverse direction (ie, the direction orthogonal to the longitudinal direction of the tunnel) has been exemplarily described, but in another embodiment, it is shown in FIG. As described above, it is also possible to calculate the correction coordinates through a curve connecting the measuring devices arranged in the longitudinal direction of the tunnel to each other and to manage the three-dimensional shape of the tunnel.

Referring to FIG. 12 , the transverse section of the tunnel inner surface may be set to a plurality of spaced apart from each other along the longitudinal direction of the tunnel 10 , and a plurality of measuring devices may be disposed in each transverse section. For example, the measuring device 601 is located in the first cross section, the measuring device 611 is located in the second section spaced apart from the first end in the longitudinal direction of the tunnel 10, and also the measuring device 621-625 ) may be located in the third section spaced apart from the second section in the longitudinal direction of the tunnel (10).

At this time, a curve is generated that passes through a plurality of measuring devices located on different cross sections, and correction coordinates of each measuring device are generated as in the process described above with reference to FIGS. 3A to 3C, and using this, the tunnel 10 is hollow. The three-dimensional shape of the face can be managed as a whole. For example, by setting an arc passing through any one of the first cross-section measuring device 601 , the second cross-sectional measuring device 611 , and the third cross-sectional measuring device 621-625 , the tunnel 10 is ) can be monitored, and the displacement of the hollow surface of the tunnel 10 in the corresponding area is calculated by superimposing this arc with respect to all measuring devices installed in each section of the tunnel 10 and/or the tunnel 10 ) can generate predictive information about the displacement of

The operation by the method for managing the three-dimensional shape of the tunnel according to the above-described embodiments may be at least partially implemented as a computer program and recorded in a computer-readable recording medium. The computer-readable recording medium in which a program for implementing the operation by the three-dimensional shape management method of the tunnel according to the embodiments is recorded and includes all kinds of recording devices in which computer-readable data is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. In addition, the computer-readable recording medium may be distributed in a network-connected computer system, and the computer-readable code may be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present embodiment may be easily understood by those skilled in the art to which the present embodiment belongs.

Although the present invention as described above has been described with reference to the embodiments shown in the drawings, it will be understood that these are merely exemplary, and that various modifications and variations of the embodiments are possible therefrom by those of ordinary skill in the art. However, such modifications should be considered to be within the technical protection scope of the present invention. Accordingly, the true technical protection scope of the present invention should be defined by the technical spirit of the appended claims.

Claims (11)

A method for managing a three-dimensional shape of a tunnel executed by a computing device, comprising:
receiving, by the computing device, location information of each of the plurality of measuring devices from a plurality of measuring devices installed on the inner surface of the tunnel;
generating, by the computing device, a curve passing through positions of adjacent measuring devices for each of the plurality of measuring devices;
calculating, by the computing device, correction coordinates of the plurality of measuring devices using the tangent lines on the curve passing through adjacent measuring devices for each of the plurality of measuring devices, based on the location information; and
The three-dimensional shape management method of the tunnel comprising the step of calculating, by the computing device, the displacement of the inner hollow surface of the tunnel by using the change in the correction coordinates of the plurality of measurement devices.
According to claim 1,
The receiving of the location information may include receiving, by the computing device, an angle of each of the plurality of measurement devices with respect to a preset reference origin.
3. The method of claim 2,
The step of calculating the correction coordinates,
calculating, by the computing device, a central angle of a curve passing through adjacent measuring devices for each of the plurality of measuring devices;
calculating, by the computing device, a tangent length between each of the plurality of measuring devices and an adjacent measuring device based on the central angle of the curve;
calculating, by the computing device, an intersection position of a tangent line estimated from an adjacent measuring device using the tangent length and the angles of the adjacent measuring devices with respect to the reference origin; and
The three-dimensional shape management method of a tunnel comprising the step of calculating, by the computing device, correction coordinates of each of the plurality of measurement devices by using the positions of the intersection points.
According to claim 1,
In the calculating of the displacement of the hollow surface of the tunnel, the computing device uses the least-squares method in the correction coordinates obtained through a plurality of measurements for each of the plurality of measurement devices. Correction coordinates excluding a preset confidence interval A method for managing a three-dimensional shape of a tunnel including excluding it from displacement calculation.
According to claim 1,
Calculating the displacement of the inner hollow surface of the tunnel includes, by the computing device, applying an error correction function preset to the installation environment of the measuring device to correct an error with respect to the correction coordinates of each of the plurality of measuring devices A three-dimensional shape management method of a tunnel comprising a.
According to claim 1,
The sensor device includes an acceleration sensor and a gyro sensor,
In the calculating of the displacement of the hollow surface of the tunnel, the computing device uses the acceleration of the measuring device measured by the acceleration sensor to calculate an error with respect to the angle of the measuring device measured using the gyro sensor. A method for managing a three-dimensional shape of a tunnel, comprising the step of calibrating.
A computer program stored in a computer-readable recording medium to execute the three-dimensional shape management method of a tunnel according to any one of claims 1 to 6 in combination with hardware.
A three-dimensional shape management system for a tunnel comprising a computing device configured to communicate and operate with a plurality of measurement devices installed on the inner surface of the tunnel,
The computing device,
a communication unit configured to receive position information of each of the plurality of measuring devices from the plurality of measuring devices;
memory in which executable instructions are stored;
Including a processor communicatively connected to the memory and the communication unit,
The processor, by executing the command, generates a curve passing through positions of adjacent measuring devices for each of the plurality of measuring devices, and passing through the adjacent measuring devices for each of the plurality of measuring devices based on the location information A three-dimensional shape management system of a tunnel configured to calculate the correction coordinates of the plurality of measuring devices by using the tangents on the curve to calculate the displacement of the inner hollow surface of the tunnel by using the change in the correction coordinates of the plurality of measuring devices .
9. The method of claim 8,
The three-dimensional shape management system of the tunnel further comprising the plurality of measuring devices.
A measuring device installed on the inner surface of the tunnel and configured to measure the three-dimensional shape of the tunnel,
a sensor module including a sensor unit, a processor and a communication unit configured to measure position information including an angle of the measuring device with respect to a preset reference origin; and
Including a protective case configured to mount the sensor module,
The processor is configured to control the communication unit and the sensor unit to transmit the position information measured at time intervals by the sensor unit to another measuring device or computing device communicatively connected to the measuring device, respectively.
11. The method of claim 10,
a plate configured to be attached to the interior surface of the tunnel; and
The measuring device further comprising a magnet coupled to one surface of the protective case and configured to be attached to the plate by magnetism.

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