KR101028136B1 - System and method for disaster alarm of structure by displacement based on single photogrammetry - Google Patents

Abstract

PURPOSE: A disaster alarm system about a structure by displacement measurement based on single photogrammetry and method thereof are provided to prevent a human life accident in a construction site. CONSTITUTION: A disaster alarm system about a structure includes an illumination sensor, a controller, a lithium ion battery, an LED element, and a reflective sheet. The illumination sensor senses the brightness of light on a target(10) to control automatic switch on/off and brightness of the target. A controller controls the target. The LED element is turned on/off in the target. The reflective sheet is installed in the target to reflect an optical wave emitted from a total station.

Description

System and method for disaster alarm of structure by displacement based on single photogrammetry}

The present invention relates to a structure disaster warning system and a method thereof, and in particular, based on photogrammetric analysis theory, combining rock geometry and image processing technology in a construction site by combining geometric characteristics of image and image processing technology. Accurately measure the amount of displacement related to form collapse, retaining wall and earthquake fall and steep collapse, transmit it using wired / wireless communication, analyze the transmitted displacement and issue alarms in real time to save people from the construction site. The present invention relates to a structural disaster warning system and method using a photogrammetry-based displacement measurement, which is suitable for preventing accidents.

In general, construction sites include civil and building works, and are scattered throughout the country.

These construction sites are exposed from various accidents, causing many problems such as civil accidents, material damages, civil complaints and increased construction costs due to the extension of construction periods.

According to the Industrial Accident Statistics Report for 2008, 2009 and 2010 (1st half), in 2008, 20,088 people were injured in the construction industry, 612 were fatalities among them in 2009, and 20,267 were injured in 2009. It is reported to have died. In the first half of 2010, 9,671 were injured and 232 of them died. The following Table 1 (2009 Construction Industry Disaster Analysis (Korea Industrial Insurance Corporation)) and Table 2 (2009 Construction Industry Analysis by Type of Industrial Accidents (Korea Industrial Insurance Corporation)) surveyed by the number of injured persons in the construction industry in 2009 and their causes. The announcement was made.

According to Table 2, 3,268 cases of accidents in the construction industry occurred in the case of falling and falling collapses, such as rock collapse at the top end of tunnels, formwork and tunnels, and slope collapse on steep slopes.

As such, the damages caused by industrial accidents at construction sites are enormous, but the development of advanced disaster prevention systems for safety management has not been achieved. In particular, in the case of concrete and concrete installation by installing formwork and dongbari during construction and civil engineering work, there is a fatal death accident when excessive concentrated load or eccentric load occurs and when there is a failure of installation of dongbar and formwork. In addition, in the tunnel excavation work, death of rock at the top of the ceiling occurs frequently.

Therefore, the need for technology to prevent accidents in the industry that deals with structures such as construction sites is emerging.

Accordingly, the present invention has been proposed to solve the above-mentioned conventional problems, and an object of the present invention is to combine the geometrical characteristics and image processing techniques of photographs based on the photogrammetric analysis theory. Precisely measure displacements related to rock mass at the top of tunnel, collapse of rocks and formwork, fall of retaining wall and retaining wall, and collapse of steep slope, and transmit them using wired / wireless communication. The present invention provides a structural disaster warning system and method through the measurement of displacement based on a single photogramme, which can prevent casualty accidents occurring at construction sites.

1 is a block diagram of a structural disaster warning system using displacement measurement based on single photographic measurement according to an embodiment of the present invention, and FIG. 2 is a conceptual diagram of FIG. 1.

As shown therein, the target 10 is installed on the structure and has a reflection sheet 15 for reflecting the light waves emitted from the total station 30; A target image processor (20) for capturing an image of the target (10) to recognize a mark displayed by the target (10), and measuring and calculating a three-dimensional absolute position and attitude of the focal point of the lens (23); The displacement amount of the target 10 is measured in real time by using the mark of the target 10 recognized by the target image processor 20 and the three-dimensional absolute position and posture of the focal point of the lens 23, and the displacement amount It is characterized in that it comprises a; total station 30 to issue an alarm when the threshold is exceeded.

The target 10 includes an illumination sensor 11 for detecting the brightness of the light at the target 10 so as to automatically flash or adjust the brightness of the target 10; A controller (12) for controlling the operation of the target (10); A lithium ion battery (13) for storing electricity at the target (10); An LED element (14) flashing automatically at the target (10); And a reflective sheet 15 installed on the target 10 to reflect the light waves emitted from the total station 30.

The target 10 has the reflective sheet 15 attached to the front center portion of the target 10 and the LED element 14 attached to the upper, lower, left, and right sides of the target 10. It is characterized by.

The target image processing unit 20 includes a control unit 21 for controlling the operation of the target image processing unit 20; A camera 22 photographing the target 10 under the control of the controller 21; A lens 23 installed at the camera 22 to measure a three-dimensional absolute position and posture by focus; A wireless communication unit 24 for processing wireless communication between the target image processing unit 20 and the total station 30; And a power supply unit 25 for supplying power to the target image processing unit 20.

The target image processing unit 20 is characterized in that the control unit 21, the camera 22, the lens 23, the wireless communication unit 24, the power supply unit 25 is configured by the housing device. It is done.

The power supply unit 25 is characterized in that consisting of a solar charging device or a small wind generator.

The structure disaster warning system through the displacement measurement based on the single photogrammetry, the real-time measurement of the displacement amount of the top end of the tunnel as the structure or monitoring the displacement amount of the steep slope as the structure in real time, or as the structure Retaining wall and retaining wall is characterized in that it is applied to measure and monitor the displacement in real time.

3 is a flowchart illustrating a structure disaster warning method using displacement measurement based on single photographic measurement according to an embodiment of the present invention, and FIG. 4 is a conceptual diagram of FIG. 3.

As shown here, a first step (ST1) of attaching a target (10) to the structure to measure the position of the target (10) with the total station (30) to set an initial reference value; A second step ST2 of measuring a three-dimensional absolute position and attitude of the lens 23 of the target image processor 20; A third step (ST3) of measuring the displacement amount of the target in real time by photographing and monitoring the target 10 with the camera 22 in the target image processor 20; If the amount of displacement measured in real time in the third step exceeds a preset threshold, the total station 30 is a fourth step (ST4) for alerting, characterized in that it comprises a.

In the third step, when the displacement amount of the target 10 is measured in real time, the image coordinates of the target 10 captured by the camera 22 and the three-dimensional absolute coordinates of the lens 23 are used. The relationship between the image coordinates (x, y) and the three-dimensional absolute coordinates (X, Y, Z) is obtained by the following collinear condition equation,

here,

: 사진 중심점의 영상좌표(카메라 캘리브레이션으로 미리 결정함)

: Image coordinate of photo center point (predetermined by camera calibration)

f: Focal length of the camera lens (predetermined by camera calibration)

m _ij : Rotation matrix element representing the three-dimensional rotation amount of the photo coordinate system with respect to the world coordinate system

: 사진 중심점의 3차원 절대좌표

: 3D absolute coordinate of the center of the picture

It is characterized by that.

Structure disaster warning system and method through the displacement measurement based on single photogrammetry according to the present invention has the following effects.

Due to the failure of form and copper bar installation at the construction site, the collapse caused by excessive concentrated load and eccentric load during concrete placement, the fall accident due to the settlement of rock at the top of rock at the tunnel excavation, and the slope collapse of steep slope Due to the enormous industrial accidents occur every year, the present invention is installed in the target location of the structure that needs to be measured in order to reduce the death of people, the high-resolution CCD camera to measure the amount of displacement in real time monitoring and alerts to evacuate safely By doing so, it is effective to prevent casualty accidents at construction sites, and through on-going video data, it is possible to effectively carry out on-site disaster tasks such as grasping the on-site situation and establishing follow-up countermeasures through current status investigation at the time of the accident.

1 is a block diagram of a structure disaster warning system through displacement measurement based on a single photographic survey according to an embodiment of the present invention.
2 is a conceptual diagram of FIG. 1.
3 is a flowchart illustrating a structure disaster warning method using displacement measurement based on single photographic surveying according to an exemplary embodiment of the present invention.
4 is a conceptual diagram of FIG. 3.
5 is a conceptual diagram showing a manufacturing process of the target.
6 is a conceptual diagram showing a manufacturing process of a target, which is made of a unique pattern representing a number, and an example of attaching a reflective station for a total station to a target center point.
7 is a conceptual diagram of collinear condition equation for performing measurement by single photograph.
8 is a conceptual diagram illustrating a phenomenon in which the dimension of the analysis target position coordinate is reduced to two dimensions due to the displacement characteristic of the position to be measured due to the very small displacement in the front surface of the mark.
9 is a conceptual diagram illustrating a procedure of precisely calculating a three-dimensional displacement of a target by analyzing a single photograph.
10 is a conceptual diagram for measuring and monitoring the displacement amount of the top end of the tunnel in real time.
11 is a conceptual diagram for measuring and monitoring the displacement amount of a steep slope in real time.
12 is a conceptual diagram for measuring and monitoring the retaining wall and the retaining wall displacement in real time.
13 is a conceptual diagram illustrating an example of a warning sound command criterion according to the position of a target.

When described in detail with reference to the accompanying drawings, a preferred embodiment of the structure disaster warning system and method through the displacement measurement based on a single photogrammetry according to the present invention configured as follows. In the following description of the present invention, detailed descriptions of well-known functions or configurations will be omitted if it is determined that the detailed description of the present invention may unnecessarily obscure the subject matter of the present invention. It is to be understood that the following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention of the user, the operator, or the precedent, and the meaning of each term should be interpreted based on the contents will be.

First, in the present invention, by measuring and monitoring in real time precisely the displacements related to the grouping and form collapse, rock mass breakup of the tunnel and slope collapse of the steep slope in real time based on the photogrammetry technology, and grasp the real-time field situation and advance warning, Propose technology to reduce human accidents by evacuating field personnel.

Photogrammetry is generally installed two cameras, precisely determine the distance (baseline) between the cameras, and then overlapping and inspecting certain parts to form a stereo model using the overlapping parts of the two pictures It is a technique to measure the position of. However, in this technology, one high-resolution digital camera, a specially made target, and software for measuring displacement are developed without using two cameras. In addition, the displacement measured in real time is transmitted to the office through wired / wireless communication, and when the displacement exceeds the allowable value, an abnormal point is automatically output to the monitor, and a real-time construction site disaster monitoring is issued for alarm. It is a developed technology.

1 is a block diagram of a structural disaster warning system using displacement measurement based on single photographic measurement according to an embodiment of the present invention, and FIG. 2 is a conceptual diagram of FIG. 1.

First, the target 10 includes a reflective sheet 15 installed in the structure to reflect the light waves emitted from the total station 30.

The illuminance sensor 11 at the target 10 detects the brightness of the light at the target 10 so as to automatically flash or adjust the brightness of the target 10. The controller 12 also controls the operation of the target 10. In addition, the lithium ion battery 13 stores electricity at the target 10. LED element 14 flashes automatically at target 10. The reflective sheet 15 is installed on the target 10 to reflect the light waves emitted from the total station 30.

In addition, the target 10 may be configured by attaching the reflective sheet 15 to the front center of the target 10, and attaching the LED element 14 to the upper, lower, left, and right sides of the target 10.

The target image processor 20 captures an image of the target 10, recognizes a mark displayed by the target 10, and calculates and calculates a three-dimensional absolute position and attitude of the focal point of the lens 23.

In the target image processor 20, the controller 21 controls the operation of the target image processor 20. The camera 22 captures the target 10 under the control of the controller 21. Lens 23 is installed in the camera 22 to measure the three-dimensional absolute position and posture by the focus. The wireless communication unit 24 processes wireless communication between the target image processing unit 20 and the total station 30. The power supply unit 25 includes a wireless communication unit 24; Power is supplied to the target image processor 20.

In addition, the target image processing unit 20 is configured by housing the control unit 21, the camera 22, the lens 23, the wireless communication unit 24, the power supply unit 25 by the locking device.

And the power supply unit 25 may be configured as a solar charging device or a small wind generator.

In addition, the total station 30 measures the displacement amount of the target 10 in real time using the mark of the target 10 recognized by the target image processing unit 20 and the three-dimensional absolute position and posture of the focal point of the lens 23. If the displacement exceeds the limit, an alarm is triggered.

Here, the total station 30 is an electronic theodolite and an electro-optical instrument integrated into a single device, so that the measured data can be processed quickly and the results are output. to be. Accurate and quick measurement is possible, and it is small and light and easy to use. The structure of the total station 30 includes a vertical angle detector for measuring the vertical angle caused by vertical movement of the telescope, a horizontal angle detector for measuring the horizontal angle caused by the left and right rotation of the main body, a distance measuring unit for measuring the distance from the center of the body to the prism, and the main body. There are four structures of tilting sensors that measure and correct the horizontal. The total station 30 that can be used in the present invention includes a conventional wave main filter type having an optical angle measuring device and an optical theodolite main body type and an electronic theodolite having an optical wave measuring device attached to the optical theodolite. Electronic theodolite main body type with a wave side filter.

The structure disaster warning system using displacement measurement based on single photogrammetry measures and monitors the displacement amount of the top end of the tunnel in real time as the structure, or monitors and measures the displacement amount of the steep slope in real time as the structure, or the retaining wall and the retaining wall displacement as the structure. It is applied to measure and monitor in real time.

3 is a flowchart illustrating a structure disaster warning method using displacement measurement based on single photographic measurement according to an embodiment of the present invention, and FIG. 4 is a conceptual diagram of FIG. 3.

First, the target 10 is attached to the structure to measure the position of the target 10 by the total station 30 to set an initial reference value (ST1).

The 3D absolute position and attitude of the lens 23 of the target image processor 20 are measured (ST2).

Also, the target 10 is photographed and monitored by the camera 22 in the target image processor 20 to measure the displacement amount of the target 10 in real time (ST3).

Therefore, when the displacement measured in real time exceeds the preset threshold, the total station 30 issues an alarm (ST4).

5 is a conceptual diagram showing a manufacturing process of the target.

The target 10 includes an illuminance sensor 11, a controller 12, a lithium ion battery 13, an LED element 14, and a half sheet 15.

Therefore, the three-dimensional position coordinates (X, Y, Z) can be measured by attaching the reflective sheet 15 to the target 10, which can be measured by the standard 10 and the shape of the target 10 and the total station 30. Make sure

6 is a conceptual diagram showing a manufacturing process of a target, which is made of a unique pattern representing a number, and an example of attaching a reflective station for a total station to a target center point.

For example, in the image analysis engine provided in the control unit 21 to create a unique pattern to recognize as 1, 2, 3, and the reflective sheet 15 for the total station 30 as the center of the target 10 Attach.

7 is a conceptual diagram of collinear condition equation for performing measurement by single photograph.

Therefore, the concept of measuring the displacement amount in real time by developing an image analysis module and a photogrammetry engine that can determine the position change amount of the target 10 in the image on the single picture measured by the digital camera 22 of the target image processor 20 The mathematical description with reference to FIG. 7 is as follows.

First, the relationship between the image coordinates (x, y) of the target 10 and the three-dimensional absolute coordinates (X, Y, Z) of the focal point of the lens 23 is obtained by the following collinear condition equation.

here,

: 사진 중심점의 영상좌표(카메라 캘리브레이션으로 미리 결정함)

: Image coordinate of photo center point (predetermined by camera calibration)

f: Focal length of the camera lens (predetermined by camera calibration)

m _ij : Rotation matrix element representing the three-dimensional rotation amount of the photo coordinate system with respect to the world coordinate system

to be.

here,

: 사진 중심점의 3차원 절대좌표

: 3D absolute coordinate of the center of the picture

to be.

At this time, since (X _L , Y _L , Z _L ) and m _ij are determined in advance, the unknowns to be determined for the three-dimensional displacement analysis of the target in Equation 1 become three of (X, Y, Z).

8 is a conceptual diagram illustrating a phenomenon in which the dimension of the analysis target position coordinate is reduced to two dimensions due to the displacement characteristic of the position to be measured due to the very small displacement in the front surface of the mark.

Thus, as shown in FIG. 8, assuming that the displacement of the target 10 attached to the position to be measured hardly occurs in the front direction of the target 10, that is, the displacement of the target 10 is perpendicular to the position to be measured. Assuming that it moves on a plane, one unknown among the unknowns of (X, Y, Z) in Equation 1 can be converted to a known value.

As a result, when the image coordinates of the target center are automatically acquired from one image, two equations shown in Equation 1 can be formed, and the unknowns become two of (X, Y, Z). The absolute absolute displacement can be calculated. In the general photogrammetry, three unknowns are determined by overlapping a target with two cameras and forming two image coordinates and two equations 1, that is, four equations. When limited to a dog, accurate displacement measurements can be made using only a photographic analysis.

9 is a conceptual diagram illustrating a procedure of precisely calculating a three-dimensional displacement of a target by analyzing such a single photograph.

Thus, as shown in Figure 9, first, the target mounted on the structure is photographed with a CCD camera at a frequency of 3Hz or more, and the image coordinates are extracted by automatically recognizing the target from the photographed image. Subsequently, the displacement amount is calculated by comparing with the initial reference value measured by the total station at first, and the actual coordinates are calculated through the photo analysis.

FIG. 10 is a conceptual diagram for measuring and monitoring the displacement amount of the top end of the tunnel in real time, and FIG. 11 is a conceptual diagram for measuring and monitoring the displacement amount of the steep slope in real time, and FIG. 12 is a real-time measurement for monitoring the displacement of the retaining wall and the retaining wall. It is a conceptual diagram to do.

FIG. 13 is a conceptual diagram illustrating an example of a warning sound command criterion according to a target position.

Therefore, in the case of the measurement of moving parts, the reference value of displacement for alarm is based on the tolerance of interlayer displacement within 1% (seismic special class) in seismic design, and the tolerance of building structural standard is h / 300 (vertical member). A median of 0.3% is specified. However, the tolerance of the vertical member does not lead to the collapse of the formwork at the moment, so the collapse may occur at 1% interlayer displacement due to the characteristics of the unconsolidated concrete. Therefore, in consideration of safety factor, an alarm is issued when the displacement is over 0.5%. That is, when the height of the building is 3.0m and the target position is 2.0m, a warning sound is issued when a displacement of 1 cm occurs. When the target position is 3.0m, the warning sound is issued when the displacement occurs 1.5cm.

In the case of the top end of the tunnel, steep slope and earthwork, the reference value was set by considering the site conditions according to the site conditions, that is, the type of rock and soil.

In addition, in the tunnel site, the top height and rock characteristics were considered, and the steep slope was determined in consideration of the slope height, the slope, the type and particle of the soil.

In addition, the site for the earthquake construction was determined in consideration of the height of the earth, the material of the earth and the density of the ground.

As such, the present invention is based on photogrammetric analysis theory and combines the geometrical characteristics of single photographs with image processing techniques to create rock fall, tunnel and form collapse, retaining wall and retaining wall, and steep slope of tunnel top. It measures precisely the displacement amount related to the collapse, transmits it using wired / wireless communication, analyzes the transmitted displacement amount, and issues an alarm in real time to prevent casualties occurring at the construction site.

Although the present invention has been described in more detail with reference to the examples, the present invention is not necessarily limited to these embodiments, and various modifications can be made without departing from the spirit of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Explanation of symbols on the main parts of the drawings
10: target
11: illuminance sensor
12: controller
13: storage battery
14 LED device
15: reflective sheet
20: target image processing unit
21: control unit
22: camera
23: lens
24: wireless communication unit
25: power supply unit
30: total station

Claims (9)

A target 10 installed on the structure and having a reflection sheet 15 for reflecting light waves emitted from the total station 30;
A target image processor (20) for capturing an image of the target (10) to recognize a mark displayed by the target (10), and measuring and calculating a three-dimensional absolute position and attitude of the focal point of the lens (23);
The displacement amount of the target 10 is measured in real time by using the mark of the target 10 recognized by the target image processor 20 and the three-dimensional absolute position and posture of the focal point of the lens 23, and the displacement amount It includes; a total station 30 for generating an alarm when the threshold is exceeded,
The target 10,
An illumination sensor 11 for detecting the brightness of light at the target 10 so as to automatically flash or adjust the brightness of the target 10;
A controller (12) for controlling the operation of the target (10);
A lithium ion battery (13) for storing electricity at the target (10);
An LED element (14) flashing automatically at the target (10);
A reflection sheet 15 installed on the target 10 to reflect light waves emitted from the total station 30;
Structural disaster alarm system through the displacement measurement based on single photogrammetry, characterized in that configured to include.
delete The method according to claim 1,
The target 10,
Short photogrammetry characterized in that the reflective sheet 15 is attached to the front center portion of the target 10, and the LED element 14 is attached to the upper, lower, left and right sides of the target 10. Structural Disaster Alarm System by Measuring Displacement Based
The method according to claim 1,
The target image processing unit 20,
A controller 21 for controlling an operation of the target image processor 20;
A camera 22 photographing the target 10 under the control of the controller 21;
A lens 23 installed at the camera 22 to measure a three-dimensional absolute position and posture by focus;
A wireless communication unit 24 for processing wireless communication between the target image processing unit 20 and the total station 30;
A power supply unit 25 for supplying power to the target image processor 20;
Structural disaster alarm system through the displacement measurement based on single photogrammetry, characterized in that configured to include.
The method according to claim 4,
The target image processing unit 20,
Short measurement measurement-based displacement measurement, characterized in that the control unit 21, the camera 22, the lens 23, the wireless communication unit 24, the power supply unit 25 is configured by housing by a test device Structural Disaster Alarm System.
The method according to claim 5,
The power supply unit 25,
Structural disaster warning system using displacement measurement based on single photogrammetry, characterized in that it consists of a solar charging device or a small wind generator.
The method according to claim 1 or any one of claims 3 to 6,
Structure disaster warning system through the displacement measurement based on the single photogrammetry,
It is applied to measure and monitor the displacement amount of the top end portion of the tunnel in real time as the structure, or to measure the displacement amount of the steep slope in real time as the structure, or to measure and monitor the displacement of the retaining wall and the retaining wall as the structure in real time. Structural disaster warning system using displacement measurement based on single photogrammetry.
A first step (ST1) of attaching a target (10) to the structure to measure the position of the target (10) with a total station (30) to set an initial reference value;
A second step ST2 of measuring a three-dimensional absolute position and attitude of the lens 23 of the target image processor 20;
A third step (ST3) of measuring the displacement amount of the target in real time by photographing and monitoring the target 10 with the camera 22 in the target image processor 20;
A fourth step (ST4) in which the total station (30) issues an alarm if the displacement amount measured in real time in the third step exceeds a preset threshold;
Structural disaster alert method through the displacement measurement based on a single photogrammetry, characterized in that performed to include.
The method according to claim 8,
The third step,
When the displacement amount of the target 10 is measured in real time, the image coordinate (x) of the target 10 captured by the camera 22 and the three-dimensional absolute coordinates of the lens 23 are used. , y) and the three-dimensional world coordinates (X, Y, Z) are obtained by the collinear condition equation

here,

: Image coordinate of photo center point (predetermined by camera calibration)
f: Focal length of the camera lens (predetermined by camera calibration)
m _ij : Rotation matrix element representing the three-dimensional rotation amount of the photo coordinate system with respect to the world coordinate system

: 3D absolute coordinate of the center of the picture
Structural disaster alert method through the displacement measurement based on single photogrammetry, characterized in that.

Images