KR100778341B1 - Remote control underground inclination measurement system - Google Patents

Abstract

The present invention relates to a ground displacement measuring apparatus for measuring ground loosening. Specifically, a measuring robot that detects horizontal and vertical inclination of ground in order to detect the amount of displacement in the horizontal direction of the ground during movement of an inclined surface in an underground excavation space. The present invention relates to a remote underground slope measuring system that prevents errors in displacement measurement and monitors measured data remotely.

According to the first embodiment of the present invention, the measuring robot of the present invention is a measuring robot that is moved up and down in a vertically excavated inclined tube to measure horizontal and vertical inclination, the measuring robot is on the axis protruding from the outside of the body A plurality of wheels connected to each other and driven along the inner circumferential surface of the inclined tube, each including a half moon gear connected at an end of a shaft connected to the wheels to transmit the force to the other wheel when one wheel is rotated. Therefore, both wheels are characterized in that the same direction is rotated at the same time.

Measuring Robot, Remote Ground Slope Measurement, Ground Relaxation, Half Moon Gear

Description

Remote underground slope measurement system {Remote control underground inclination measurement system}

1 is an exemplary view showing a state of use of the conventional ground slope measurement system,

Figure 2 is an exemplary view showing a state diagram of the use of the remote underground slope measurement system according to the present invention,

3 is a plan view showing a coupling relationship between the measuring robot and the inclined tube in the remote underground slope measuring system according to the present invention;

Figure 4a is a view showing the gear of the measuring robot in the remote ground slope measuring system according to the present invention,

Figure 4b is a view showing a sensing configuration of the measuring robot in the remote underground slope measuring system according to the present invention,

5 is a block diagram showing a data processor of a remote underground slope measuring system according to the present invention;

6 is a flowchart showing a method for measuring a remote underground slope according to the present invention.

* Description of the symbols for the main parts of the drawings *

10: data processor 11: input unit

12: interface unit 13: signal conversion unit

14: control unit 15: communication device

20: vertical moving part 30: measuring robot

31: Wheel 32: Half Moon Gear

33: data transmission unit 34: horizontal tilt detection unit

35: vertical tilt detection unit 40: inclined tube

41: home

The present invention relates to a ground displacement measuring apparatus for measuring ground loosening. Specifically, a measuring robot that detects horizontal and vertical inclination of ground in order to detect the amount of displacement in the horizontal direction of the ground during movement of an inclined surface in an underground excavation space. The present invention relates to a remote underground slope measuring system that prevents errors in displacement measurement and monitors measured data remotely.

 In general, for the construction of underground facilities, it is necessary to determine the safety of the ground loosening area and the temporary structure by measuring the location, direction, and size of the horizontal slope of landfillers due to other effects such as cavitation and groundwater displacement during excavation or sedimentation. It is essential. This can be applied to the displacement measurement of the excavation work of the subway and earthquake construction and the expected activity surface of the slope, and there are differences in the degree depending on the earth wall stiffness and soil quality, but in general, transverse displacement occurs in the excavated direction. Ground subsidence can cause severe damage to adjacent major structures. Therefore, the contractor excavates the inclined tube in the area, and after the installation process and a certain period of time after the installation of the inclined tube to measure the amount of displacement in the inclined tube according to the ground relaxation, the conventional ground slope measurement system is As shown in Figure 1 below.

1 is an exemplary view showing a state of use of the conventional ground slope measurement system.

Referring to FIG. 1, the conventional underground slope measuring system includes a vertical feed motor 1 for generating a driving force for vertical movement of the measuring robot 2, an inclined tube 3 installed underground, and the vertical feed motor ( It includes a measuring robot (2) for vertical movement along the inner peripheral surface of the inclined tube (3) by the drive of 1) to detect the displacement of the ground.

Since the measuring robot 2 includes at least a plurality of wheels 2a protruding outward, the measuring robot 2 is vertically moved up and down along the inner circumferential surface of the inclined tube 3 when the vertical transfer motor 1 is driven. In addition, the measuring robot (2) is inclined to be formed by the ground loosening as shown in Figure B after moving in the inclined tube (3) formed vertically at the position of the reference number A while descending along the inclined tube (3) Upon passing through the curved inclined surfaces 3a and 3b of the pipe 3, the horizontal and vertical inclinations are automatically measured and transmitted to the ground measuring device (not shown). Therefore, the measuring device receives the horizontal and vertical tilt detection signals received from the measuring robot 2, calculates the position, direction, and size of the horizontal tilt amount of the tomb, and displays it. Therefore, the operator can check the ground condition in the area.

Here, the conventional measuring robot 20 is provided with a pair of wheels 2a, respectively, from the upper side and the lower side, but the wheels 2a of the measuring robot 20 are wheels at the ends of the respective shafts at one side and the other side. (2a) is connected, but as the shaft is installed with a predetermined inclination angle, it is installed at an inclination angle that is upwardly or downwardly from one side to the other side as a whole.

However, in the conventional ground slope measurement system, when the measurement robot is bent in the slope tube according to the ground relaxation as shown in Fig. B, and the movement path is formed as the slope, the overall installation angle is upward or downward Since it is installed at one side and the other side to be inclined downward, the height of the inclined surface contacting the upper side of the one side and the upper side of the other side is different from each other, so vibration may occur in the vehicle body of the measuring robot during the movement of the inclined surface. In addition, the conventional measuring robot is moved up and down along the inclined plane in the inclined tube without any relaxation or contraction in the inclined plane, so that the attitude of the measuring robot becomes unstable, so that an error may occur when measuring the horizontal and vertical inclination angles of the inclined plane. There is a problem.

In addition, the conventional ground slope measurement system has a problem inconvenient in operation because the operator must check and manipulate the data directly in the field.

The present invention has been made to solve the conventional problems as described above, the object of the present invention is to prevent the shaking of the measuring robot itself in the curved inclined plane in the slope tube according to the ground relaxation of the wheel shaft up and down along the curvature of the inclined surface It is to provide a remote underground tilt measurement robot that can be moved to prevent the occurrence of horizontal and vertical tilt errors.

Another object of the present invention is to provide a remote underground slope automatic measurement system that can calculate the horizontal and vertical tilt detection signal in the received inclined tube and transmit the result to a remote location through a portable terminal or a wireless Internet.

The present invention includes the following examples in order to achieve the above object.

According to the first embodiment of the present invention, the measuring robot of the present invention is vertically raised and lowered in the vertically excavated inclined pipe to measure the horizontal and vertical inclination, the measuring robot is protruding from the outside of the body At least a plurality of wheels connected to the shaft and driven along the inner circumferential surface of the inclined tube, each including a half-moon gear connected at the end of the shaft connected to the wheel, one side of the wheel to the other wheel to rotate the force Since both wheels are rotated in the same direction at the same time characterized in that the transmission.

According to the second embodiment of the present invention, the measuring robot of the present invention, in the first embodiment, the wheel is installed to the outside by forming at least one pair from the upper side to the lower side of the body of the measuring robot, the pair of wheels Is installed with an inclination angle that is upward or downward from one side and the other side, respectively.

According to a third embodiment of the present invention, in the second embodiment, the measuring robot of the present invention is characterized in that the wheel is moved up and down along at least a plurality of grooves formed vertically on the inner circumferential surface of the inclined tube. It is done.

According to the fourth embodiment of the present invention, the remote ground slope measuring system of the present invention is moved along the inner circumferential surface of the inclined pipe vertically excavated to sense horizontal and vertical slopes of the first to third embodiments. A measuring robot comprising any one of a configuration; A vertical moving unit generating a driving force for vertically moving the measuring robot; The vertical moving unit is controlled to raise and lower the measuring robot in the inclined tube, calculate horizontal and vertical tilt detection signals transmitted from the measuring robot, calculate the degree of loosening of the ground, and obtain the result through wireless or wired communication. It includes a data processor that transmits to a control room that is remotely spaced.

According to a fifth embodiment of the present invention, there is provided a remote ground slope measuring system according to a fourth embodiment of the present invention, wherein the measuring robot comprises: a horizontal slope detecting unit measuring a horizontal tilt angle in the inclined tube; A vertical tilt detection unit measuring a vertical tilt angle in the inclined tube; And a data transmitter for transmitting the horizontal and vertical sensing signals outputted from the horizontal tilt detecting unit and the vertical tilt detecting unit to the data processor.

According to a sixth embodiment of the present invention, in the remote ground slope measuring system of the present invention, in the fifth embodiment, the data processor receives horizontal and vertical tilt detection signals from the measuring robot, An interface unit for outputting a lift control signal; A signal converter converting the analog signal output from the interface unit into a digital signal and outputting the digital signal; A control unit which outputs a control signal of the vertical moving unit to the interface unit and calculates a degree of relaxation of the ground through the horizontal and vertical tilt detection signals output from the signal converting unit; And a communication device for transmitting the calculation result signal output from the controller through at least one of a portable terminal, a wired / wireless internet, and a telephone line.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of the remote ground slope measurement system according to the present invention will be described in detail.

2 is an exemplary view showing a state diagram of the use of the remote ground slope measurement system according to the present invention, Figure 3 is a plan view showing a coupling relationship between the measuring robot and the inclined tube in the remote ground slope measurement system according to the present invention.

2 and 3, the remote ground slope measurement system according to the present invention is inclined vertically to the ground and the inclined tube 40 is formed along the inner circumferential surface of the inclined tube 40 is moved horizontally And a measuring robot 30 for detecting a vertical tilt, a vertical moving part 20 for generating a driving force for moving the measuring robot 30 up and down, and the vertical moving part 20 to control the measuring robot 30. ) Is raised and lowered in the inclined tube 40, the horizontal and vertical inclination detection signal transmitted from the measuring robot 30 is calculated to calculate the degree of relaxation of the ground and the result is remotely through wireless or wired communication. It includes a data processor 10 for transmitting to the control room spaced apart.

The inclined tube 40 has a constant diameter and forms an inner circumferential surface, and at least a plurality of grooves 41 are formed on the inner circumferential surface. Here, the inclined tube 40 is excavated to the ground in advance a few days before measuring the degree of relaxation of the ground, after which the inner circumferential surface is bent by the pressure according to the relaxation of the ground.

The measuring robot 30 is moved up and down in the inclined tube 40 along the groove 41 in the inclined tube 40 by the driving of the vertical moving unit 20 to detect a horizontal inclination and a vertical inclination. To the data processor 10. Here, the measuring robot 30 is provided with at least a plurality of wheels protruding outwardly from one side and the other side, respectively, and the wheels are installed with the inclination angles upward from one side and the other side from the upper side, and a plurality of pairs from the lower side. Wheels 31 are installed with the inclination angle downward from one side and the other side, respectively, so that the wheel 31 on one side and the other side ascends along the inner circumferential surface of the inclined tube 40 at the same height of the inclined tube 40. Is located. Here, the measuring robot 30 is shown as a pair of wheels 31 in the upper side and the lower side, respectively, which is one example of the number of wheels that can be applied can be modified in accordance with various site situations or the intention of the developer .

The vertical moving part 20 is a wire fixed to the measuring robot 30 in accordance with a control signal of the data processor 10 inside the cap covering the upper (ground) inlet of the inclined pipe. Raise and lower the measuring robot 30 while winding or unwinding.

The data processor 10 is connected to the vertical moving unit 20 and the measuring robot 30, respectively, to control the vertical moving unit 20 to raise and lower the measuring robot 30, and to measure the measuring robot. Calculate the measurements of the horizontal and vertical slopes received from (30) and transmit the result of the ground looseness to the control room spaced apart by at least one of wired and wireless communications.

Figure 4a is a view showing the gear of the measuring robot in the remote ground slope measurement system according to the present invention.

Referring to Figure 4a, in the remote ground slope measurement system according to the present invention, the measuring robot 30, for example, a wheel 31 rotatable at the end of at least a plurality of shafts protruding outward from the cylindrical body, It includes a half moon gear 32 connected to each of the shafts connected to the wheel 31 and interlocked with the other side.

Accordingly, the measuring robot 30 is bent in the inclined tube 40 at one side as a plurality of wheels 31 connected to the shaft protruding from the outside of the body are engaged with each other through the vandal gear 32. When moving the inclined surface, if the upper or lower rotational force generated in one side of the two wheels 31 is transmitted to the other side by the interlocking vandal gear 32, the one side and the other wheels 31a, 31b are the same Is rotated in the direction. Here, the vandal gear 32 and the wheels 31a and 31b are wheels 31a and 31b and shafts and the half moon gears installed in pairs from the upper side in the measuring robot of FIG. 32).

Therefore, the measuring robot 30, see Figure 2, when descending along the inner circumferential surface perpendicular to the inclined tube 40, by the rotation of the wheel 31 or only by the driving of the vertical moving part 20. The wheels 31a and 31b are lowered without rotation, but as they protrude from one side in the curved inclined surface in the inclined tube 40, one wheel 31 is rotated upward and the other wheel 31b is lowered to the one wheel. Since the rotational force of 31a is transmitted by the half moon gear 32, it rotates upward at the same time. Here, the measuring robot 30 is capable of simultaneously rotating the wheels 31a and 31b installed at one side and the other side through the vandal gear 32, and as shown, an inclination angle upward or downward from the upper side and the lower side, respectively. It is preferable to install the two pairs of wheels installed with a stable attitude so that the measuring robot 30 itself can be raised and lowered.

Accordingly, the measuring robot 30 is not fixed to both wheels 31a and 31b on the inclined surface, and rotates up and down according to the degree of inclination, and also has a pair of the same height having an inclination angle upward or downward from the upper side and the lower side. Since the wheels are in contact with the inclined surface, when the surface protrudes from one side, the other wheel is supported on the other side, and as the distance between the two wheels becomes narrower, the two wheels are rotated upward or downward by the gap, so that the distance between the wheels is reduced. As it narrows, shaking in itself is prevented.

That is, the diameter of the inclined tube 40 is different in length depending on the degree of bending of each surface, in the present invention, as the two wheels (31a, 31b) are rotated mutually according to the diameter of the inclined tube, the distance between the two wheels Will be adjusted.

Figure 4b is a view showing a sensing configuration of the measuring robot in the remote ground slope measurement system according to the present invention.

Referring to FIG. 4B, the measuring robot 30 including the configuration as described above includes a horizontal inclination detecting unit 34 measuring a horizontal inclination angle in the inclined tube 40, and a vertical in the inclined tube 40. Vertical tilt detection unit 35 for measuring the inclination angle, and a data transmitter for transmitting the horizontal and vertical detection signals output from the horizontal tilt detection unit 34 and the vertical tilt detection unit 35 to the data processor 10 ( 33).

The horizontal inclination detecting unit 34 detects a horizontal inclination angle from the inner circumferential surface of the inclined tube 40 and outputs it to the data transmitter 33, and the vertical inclination detecting unit 35 is the inclined tube 40. A vertical tilt angle is detected at the inner circumferential surface thereof and output to the data transmitter 33. Therefore, the data transmitter 33 transmits the horizontal and vertical tilt detection signals to the data processor 10.

5 is a block diagram showing a data processor of the remote ground slope measurement system according to the present invention.

Referring to FIG. 5, the data processor 10 includes an input unit 11 into which a user's operation signal is input, a memory 16 storing measurement data and a calculation algorithm of horizontal and vertical tilts, and the measurement robot 30. Receive the horizontal and vertical inclination detection signal from the), and outputs the interface unit 12 for outputting a control signal to the vertical moving unit 20, and converts the analog signal output from the interface unit 12 into a digital signal The control signal of the signal conversion unit 13 and the vertical moving unit 20 to the interface unit 12, and through the horizontal and vertical slope detection signals output from the signal conversion unit 13 A control unit 14 for calculating the degree of relaxation, and a communication device 15 for transmitting the calculation result signal output from the control unit 14 through at least one of a portable terminal, wired and wireless Internet, telephone line.

The input unit 11 transmits a result signal through a wired or wireless communication of a measurement system through a keyboard, for example, a destination of a portable terminal capable of receiving a result signal, or wireless transmission for a wireless Internet connection. Outputting a setting or other operation signal of a modem for transmission via a device or a wire, the memory 16 stores the setting conditions output from the input unit 11, and the sensing received from the measuring robot 30 Store the signal and its result.

Since the interface unit 12 outputs the horizontal and vertical tilt detection signals received from the measuring robot 30 to the signal conversion unit 13, the horizontal and vertical tilt detection signals, which are analog signals, are converted into digital signals, thereby controlling the controller. And the driving control signal of the vertical moving unit 20 output from the control unit 14 to the vertical moving unit 20.

The control unit 14 raises and lowers the measurement robot 30 by outputting a control signal to the vertical moving unit 20 through the interface unit 12, and digitally outputted through the signal conversion unit 13. The degree of relaxation of the ground is calculated through the horizontal and vertical tilt detection signals of the signal, and the result is output to the communication device 15.

The communication device 15 transmits a result value signal output from the controller 14 to a portable terminal through a connected wireless transmitter or a wired modem to a terminal in a control room through a wired or wireless Internet.

6 is a flowchart showing a method for measuring a remote underground slope according to the present invention.

Referring to FIG. 6, the remote ground slope measuring method according to the present invention includes a vertical movement driving control step (S10) of outputting a vertical movement driving control signal for raising and lowering the measurement robot 30, and the measurement robot 30. Receiving the horizontal and vertical tilt detection signal detected from the step (S20), the displacement calculation step (S30) for calculating the degree of relaxation of the ground in accordance with the received detection signal, and the remote sending step (S40) for transmitting the calculated result value ).

The vertical movement driving control step (S10) outputs a drive control signal of the vertical movement unit 20 through the interface unit 12 from the control unit 14 to direct the measurement robot 30 to the inclined tube 40. Step to descend along the inner circumferential surface of the).

The displacement detection signal receiving step (S20) is a step of receiving the horizontal and vertical tilt detection signals received from the measuring robot 30 in the control unit 14. Here, the measuring robot 30 is moved up and down along the inner circumferential surface of the inclined tube 40 in accordance with the driving of the vertical moving unit 20 to detect the horizontal and vertical inclination angles, and through the data transmitter 33. Send. At this time, the measuring robot 30 itself is shaken as it is moved without shaking from the curved inclined surface as both wheels 31 are simultaneously rotated by the driving of the vandal gear 32 on the inclined surface, thereby causing an error in detecting the inclined angle. This solves the conventional problem.

The displacement calculation step (S30) is the control signal to the horizontal and vertical inclination detection signal converted into a digital signal from the signal conversion unit 13 to the detection signal of the measuring robot 30 received through the interface unit 12 In step (14), the degree of relaxation of the ground is calculated.

Since the remote transmission step (S40) outputs the result value calculated by the control unit 14 to the communication device 15, the result signal to the control room, such as a predetermined distance away from the communication device 15 through a portable terminal or a wired or wireless Internet. The step of transmitting.

Therefore, the control room (not shown) can determine the safety level through the result signal transmitted from the measurement place of the degree of relaxation of the ground dispersed in several places.

According to the present invention, the number of site managers is greatly reduced as a result of receiving a signal through wired / wireless communication in a control room spaced from a plurality of places and a predetermined distance as described above, and the work efficiency and convenience are greatly improved.

In addition, according to the present invention, as the body of the measuring robot moves up and down without shaking, the measuring error of horizontal and vertical inclination angles does not occur.

Claims (6)

In the measuring robot that is moved up and down in a vertically excavated inclined pipe to measure horizontal and vertical inclination, The measuring robot includes a plurality of wheels connected to the shaft protruding from the outside of the body and driven along the inner circumferential surface of the inclined tube, each of which includes a half moon gear connected at the end of the shaft connected to the wheel Measurement robot, characterized in that the two wheels are simultaneously rotated in the same direction because the force is transmitted to the other wheel when rotating. The method of claim 1, wherein the wheel Measuring at least one pair of the upper side to the lower side of the body of the measuring robot is installed to the outside, the pair of wheels is measured with one side and the other side is installed with an inclined angle that is upwardly or downwardly. The method of claim 2, wherein the measuring robot is Measuring robot, characterized in that the wheel is moved up and down along a plurality of grooves formed perpendicular to the inner peripheral surface of the inclined tube. At least one measuring robot according to any one of claims 1 to 3; A vertical moving unit generating a driving force for vertically moving the measuring robot; The vertical moving unit is controlled to raise and lower the measuring robot in the inclined tube, calculate horizontal and vertical tilt detection signals transmitted from the measuring robot, calculate the degree of loosening of the ground, and obtain the result through wireless or wired communication. A remote underground slope measuring system comprising a data processor transmitting to a control room spaced at a distance. The method of claim 4, wherein the measuring robot is A horizontal inclination detection unit for measuring a horizontal inclination angle in the inclined tube; A vertical tilt detection unit measuring a vertical tilt angle in the inclined tube; And a data transmitter for transmitting the horizontal and vertical sensing signals output from the horizontal tilt detection unit and the vertical tilt detection unit to the data processor. 6. The system of claim 5, wherein said data processor is An interface unit for receiving horizontal and vertical tilt detection signals from the measuring robot and outputting a lifting control signal of the vertical moving unit; A signal converter converting the analog signal output from the interface unit into a digital signal and outputting the digital signal; A control unit which outputs a control signal of the vertical moving unit to the interface unit and calculates a degree of relaxation of the ground through the horizontal and vertical tilt detection signals output from the signal converting unit; And a communication device for transmitting the operation result signal output from the control unit through at least one of a portable terminal, a wired / wireless internet, and a telephone line.

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