KR101192323B1 - Field support system for underground construction and worker system of the same - Google Patents

Abstract

The present invention relates to an underground structure shop floor support system and a worker system used therein. According to an embodiment of the present invention, a worker system includes a GNSS, INS, and USN-WLS system in a worker system in an underground structure work site, and collects worker's location information from the GNSS, INS, and USN-WLS systems. A data sensing unit; A sensor information integrating unit integrating the information collected by the data sensing unit; And a worker information transmission unit for transmitting the information integrated in the sensor information integration unit to a site control system managing the worker system, wherein the worker system is installed in the worker by implementing each component as a miniaturization module. The sensor information integrating unit calculates the location information of the worker by integrating the location information collected from the GNSS, the inertial sensor of the INS, and the USN-WLS system when the worker is in an area where the GNSS can be received. If the worker is located in an area where the reception of the GNSS is impossible, the location information of the worker is calculated by integrating the location information collected from the inertial sensor of the INS and the USN-WLS system.

Description

FIELD SUPPORT SYSTEM FOR UNDERGROUND CONSTRUCTION AND WORKER SYSTEM OF THE SAME}

The present invention relates to an underground structure shop floor support system and a worker system used therein.

In the construction of underground structures such as tunnels and pits, it is important to understand the location and condition of workers and the progress of work due to the structural characteristics of the underground structures. Specifically, the worker's position and position for prompt rescue of the worker in the event of a safety accident, fire, explosion, earthquake and collapse, and work instructions and communication for safe and smooth operation of the underground structure work site. It's even more important to know what's going on and what's going on. However, due to the harsh environment such as structure, noise, vibration, dust, and radio interference of the work site, there are limitations on the 3D location tracking / management and the realization of wired / wireless communication environment.

Accordingly, an object of the present invention is to provide an underground structure work site support system and a worker system used therefor for high-precision position tracking and management of an operator in an underground structure work site.

In addition, another object of the present invention is to provide an underground structure work site support system and a worker system used therefor to provide a smooth voice communication even in the harsh environment of the underground work site.

In addition, another object of the present invention is to provide an underground structure work site support system and a worker system used therein for real-time sharing of various information of the underground work site.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

A worker system according to an embodiment of the present invention for achieving this object is provided with a GNSS, INS and USN-WLS system in the worker system in the underground structure work site, from the GNSS, INS and USN-WLS system Data sensing unit for collecting the location information of the worker; A sensor information integrating unit integrating the information collected by the data sensing unit; And a worker information transmission unit for transmitting the information integrated in the sensor information integration unit to a site control system managing the worker system, wherein the worker system is installed in the worker by implementing each component as a miniaturization module. The sensor information integrating unit calculates the location information of the worker by integrating the location information collected from the GNSS, the inertial sensor of the INS, and the USN-WLS system when the worker is in an area where the GNSS can be received. If the worker is located in an area where the reception of the GNSS is impossible, the location information of the worker is calculated by integrating the location information collected from the inertial sensor of the INS and the USN-WLS system.

In addition, the underground structure work site support system according to an embodiment of the present invention, in the underground structure work site support system, a worker system; And an on-site control system, wherein the worker system includes a data sensing unit including a GNSS, INS, and USN-WLS system, and collecting location information of the worker from the GNSS, INS, and USN-WLS systems; A sensor information integrating unit integrating the information collected by the data sensing unit; And a worker information transmission unit for transmitting the information integrated in the sensor information integration unit to the field control system, wherein the worker system is installed in the worker by implementing each component as a miniaturization module, and the sensor information integration unit When the worker is in an area where the GNSS can be received, the GNSS, the inertial sensor of the INS, and location information collected from the USN-WLS system are integrated to calculate the location information of the worker. When the GNSS is located in an area where reception of the GNSS is impossible, the location information of the worker is calculated by integrating the location information collected from the inertial sensor of the INS and the USN-WLS system, and the site control system is transmitted from the worker system. A site information collection unit for receiving the received information; And a site information integration unit managing the worker system using the information received from the site information collection unit.

According to the present invention, the high-precision position tracking and management of the worker at the underground structure work site is possible, thereby enabling rapid rescue work for the worker in the event of an accident at the underground work site.

In addition, according to the present invention, it is possible to perform a smooth voice communication in the harsh environment of the underground structure work site.

In addition, according to the present invention, it is possible to share in real time a variety of information on the work site of the underground structure collected through the sensor.

1 is a block diagram showing the configuration of a worker system according to an embodiment of the present invention.
Figure 2 is a block diagram showing the configuration of a site control system according to an embodiment of the present invention.
3 is a block diagram showing the configuration of a central control system according to an embodiment of the present invention.
Figure 4 is a block diagram showing the configuration of the underground structure work site support system according to an embodiment of the present invention.
5 is a view for explaining the installation of the worker system according to an embodiment of the present invention.
6 is a view for explaining bone conduction voice communication according to an embodiment of the present invention.
7A is a flowchart illustrating a 3D location tracking method according to an embodiment of the present invention.
7B is a diagram illustrating a 3D location tracking method according to an embodiment of the present invention.
8 is a view for explaining a three-dimensional location tracking method in the underground structure according to an embodiment of the present invention.
9 is a view for explaining a horizontal position tracking method in the underground structure according to an embodiment of the present invention.

The above and other objects, features, and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, which are not intended to limit the scope of the present invention. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

1 is a block diagram showing the configuration of a worker system according to an embodiment of the present invention. The worker system refers to a system installed in a worker who works in an underground structure work site. The installation of the worker system on the worker means that the worker system is moved with the worker, for example, installed on the body of the worker, a hard hat worn by the worker, or work clothes. Referring to FIG. 1, the worker system 100 includes a data sensing unit 110, a sensor information integrating unit 120, and a worker information transmitting unit 130. In a variation, the operator system 100 may further include an instruction receiver 140, a bone conduction headset 150, and / or a status indicator 160.

The data sensing unit 110 senses various data of a work site and collects information indicating a worker's location, a worker's state, and / or a work progress. In an embodiment, the data sensing unit 110 may include a global navigation satellite system (GNSS, 111), an inertial navigation system (INS, 112), a wireless location system (WLS, 113) and a ubiquitous sensor network (USN, 113) system.

The GNSS 111 acquires the location information of the worker (eg, the location and / or speed of the worker) using the satellite. The GNSS 111 is used as a location recognition technology in the field of precision geodetic, navigation, leisure, and location based service (LBS). For example, a GPS (Global Positioning System), which is one of the GNSSs 111, receives a signal containing visual information from four or more satellites and calculates a worker's position and / or speed using the received signal. Since the signal transmitted from the satellite includes errors due to various factors such as multipath and signal interference during the GNSS 111, the position information of the operator calculated using the signal transmitted from the satellite is also an error. Will accompany. Therefore, the error of the signal received from the satellite is measured by using a reference point whose position is accurately known, and the position information of the worker measured by the GNSS 111 is corrected using the measured error. The GNSS performing such correction is referred to as a differential global navigation satellite system (DGNSS), and the correction is performed by the DGNSS processing unit 711 to be described later.

The INS 112 acquires the position information of the operator using an inertial sensor composed of a gyro sensor and an acceleration sensor (accelerometer). The INS 112 measures the position information of the worker using the angular velocity and the acceleration measured from the gyro sensor and the acceleration sensor, respectively. In other words, the horizontal position information of the worker may be obtained using the angular velocity measured from the gyro sensor, and the vertical position information of the worker may be obtained using the acceleration measured from the acceleration sensor.

The WLS 113 is a technology that is utilized in the mobile communication technology field of the LBS field, for example, the location of the counterpart terminal, providing traffic information, and tracking the optimal route to a destination. base station to enable location tracking of mobile terminals. The WLS 113 may determine a location using signal arrival times from one or more signal sources or angles of arrival of the signals.

The USN 113 collects information through the USN sensor and allows a wireless network to be formed between USN nodes (eg, worker systems, base stations, etc.). That is, the USN 113 may share and manage the collected information with the field control system 200 and / or other worker systems through a wireless network formed between USN nodes. For example, USN nodes form a mesh network to extend a communication distance to enable wireless communication between the worker system 100 and the field control system 200 or between the worker systems. The USN system is an IBS (Indoor) location tracking technology of the Intelligent Building System (IBS), which is used in "Active-Badge", RADAR, and UWB.

In the present invention, the signal is received from a signal source (for example, TBM points installed in or around the work site, etc.) through the USN sensor to collect the signal strength, signal propagation time, etc., and the information collected through the USN sensor in the WLS Calculate the distance from the signal source using, and determine the position of the worker using the position information of the signal source and the distance information from the signal source. Preferably, the signal source is at least two. Therefore, the system for obtaining the position information of the worker in this way is referred to as USN-WLS system 113. In this regard, an example in which the USN-WLS system 113 acquires the vertical position information of the worker using the elevation of the TBM point will be described. When the worker is located in an area surrounded by TBM4, TBM5, TBM9, and TBM10 of FIG. 8, the USN-WLS system 113 receives signals from TBM5 and TBM9, and the worker system transmits TBM5 and The distance from TBM9 is calculated, and the vertical position information h5 and h9 of TBM5 and TBM9 and the distance from TBM5 and TBM9 can be used by the operator system to calculate vertical position information of the worker system. For higher accuracy, the operator system can receive signals from more TBM points in addition to TBM5 and TBM9 to calculate vertical position information.

In another embodiment, the data sensing unit 110 may further include any one or more of the camera 114, the temperature / humidity sensor 115, and the dust sensor 116. The camera 114 acquires an image of the work site, the temperature / humidity sensor 115 measures the temperature and / or humidity of the work site, and the dust sensor (dust concentration meter 116) measures the dust concentration of the work site. . In addition, the data sensing unit 110 may further include a sensor that can measure various information in the work site. For example, it may be a groundwater level, a sinking system, a displacement meter, a vibration meter, or the like. In addition, the data sensing unit 110 may receive a variety of information on the work site from the operator through voice input device (for example, a microphone) or a key input device through voice or text. For example, the voice input device or the key input device may be used to obtain various information in the work site obtained from a sensor that is difficult to install in the worker or various information in the work site acquired by the worker's sight, hearing, smell, taste, and touch. You can also receive input from the operator.

The sensor information integrator 120 integrates the information acquired by the data sensing unit 110 and transmits the information to the worker information transmitter 130. In this case, the information obtained by the data sensing unit 110 may be corrected by the sensor information integrating unit 120 and transferred to the worker information transmitting unit 130.

The worker information transmission unit 130 transmits the data received from the sensor information integration unit 120 to the field control system 200. At this time, the worker information transmitter 130 may transmit through the mesh network formed between the USN nodes. Therefore, the worker information transmitter 130, which cannot directly communicate with the base station due to the limitation of the communication area and the terrain of the base station, may also transmit data to the field control system 200 through the mesh network. For example, if a base station is installed at the entrance of a tunnel and there is worker system A, worker system B, and worker system C in a direction away from the base station, then the base station, worker system A, worker system B, and worker system C will have a mesh network. It can be formed and connected wirelessly. When the worker information transmitter 130 of the worker system C wants to transmit data, the worker information transmission unit 130 transmits the data to the worker system B that can communicate with the worker system B, the worker system B transmits the data to the worker system A, and the worker system A transmits the data to the base station. Will send the data. As a result, the worker system C may transmit data to the field control system 200 through the base station.

The instruction receiving unit 140 receives a predetermined message (eg, a work instruction, a risk notification message, etc.) from the field control system 200 or another worker system. In this case, the predetermined message transmitted from the field control system 200 or another worker system may be received through the aforementioned mesh network.

If the received message is a voice message, the instruction receiver 140 transmits the voice message to the bone conduction headset 150. The bone conduction headset 150 performs USN-based bone conduction voice communication. Referring to FIG. 6, there are air conduction and bone conduction methods in which a person can hear sound. Air conduction is the way in which sound is transmitted to the inner ear through the eardrum, and bone conduction is the sound transmitted to the cochlea through the cranial bone and through the auditory nerve to the brain. Say what is delivered. The operator system 100 performs bone conduction communication for smooth voice communication in a harsh environment due to the structural characteristics of the underground structure work site. Specifically, the electrical signal received by the instruction receiving unit 140 is converted into a signal of vibration through the bone conduction transducer (Bone Conduction Transducer) built in the bone conduction headset 150. Thus, the operator receives the signal of vibration through the bone conduction headset 150, it is possible to hear the sound through the vibration of the skull. In one embodiment, by using a high-frequency long-range USN of 2.45GHz band to configure a mesh network between the USN nodes it is possible to implement long-distance voice communication of more than 4km of high quality sound.

In addition, the instruction receiving unit 140 may output the received message to the status display unit 160. The status display unit 150 may display the received message in various forms such as a text and an image, for example, may be LED-based.

One or more components included in the operator system 100 according to the various embodiments described above are preferably microminiaturized and ultra-lightweighted MEMS (MicroElectroMechanical System, e.g. 10 cm * 10 cm * 5 cm, 5 cm * 5 cm * 2 cm, etc.) Can be implemented. In other words, each of all components or some of the components of the operator system 100 may be implemented as a miniaturization module (for example, a miniaturized chip, etc.), and then may be implemented as an MEMS integrated into one substrate (for example, a silicon substrate). have. As a variant, the miniaturization modules can be connected with a flexible cable. As described above, the worker system 100 is installed in the worker in consideration of the convenience of the worker wearing. In one embodiment, the operator system 100 may be installed on the outer top of the hard hat of FIG. 5, or may be installed on the upper head portion 503 of the hard hat by utilizing the empty space 501 in the hard hat designed for shock absorption. It can also be installed in work clothes. The components of the worker system 100 may be integrated and installed in one place or may be partially separated and installed in different places. For example, the GNSS 111, the INS 112, the WLS 113, the USN 113, the sensor information integrator 120, the worker information transmitter 130, and the instruction receiver 140 may be implemented by MEMS. Connected by a flexible cable and installed in the upper head portion 503 of the helmet, sensors (eg camera 114, temperature / humidity sensor 115, dust sensor 116, etc.) are attached to the outer top of the helmet. The bone conduction headset 150 and the status display unit 160 may be connected to the instruction receiver 140 in a wired / wireless manner.

Figure 2 is a block diagram showing the configuration of a site control system according to an embodiment of the present invention. The site control system refers to a system for managing workers who work in the underground structure work site through the worker system. Referring to FIG. 2, the site control system 200 includes a site information collecting unit 210, a site information integrating unit 220, a site information transmitting unit 230, and an operator indicating unit 240.

The site information collection unit 210 receives data transmitted for each worker system 100. Data transmitted by the worker system 100 is as described above. In brief, the data transmitted by the worker system 100 may be information about a worker's location, a worker's status, work progress, and the like, and may be various types of data such as text, video, and voice.

The site information integration unit 220 receives and integrates the data transmitted for each worker system from the site information collection unit 210, and manages the worker using this. In this case, the site information integration unit 220 may process data received from the site information collection unit 210. In one embodiment, the site information integration unit 220 may provide a 3D Geographic Information System (GIS) -based worker management. In detail, the site information integrator 220 may monitor and display the 3D location of the worker based on a virtual reality (VR) using data received from the site information collector 210. It also manages real-time status information for each worker (eg age, gender, access time, underground space pollution level (dust, noise, vibration, etc.) by work location), and worker status using context awareness technology. Information analysis can provide risk alerts. Risk alerts may be provided to the site supervisor and / or operator by voice and / or text. In addition, it is possible to manage the on-site image information of the underground structure based on the Video GIS technology and perform three-dimensional analysis on it. Also, in case of accidents such as safety accidents, fires, explosions, earthquakes, and collapses, it analyzes the changes in the state of underground spaces over time (air scarcity, additional collapse risks, etc.) and provides a real-time simulation display. Notification (worker location information provided) can be provided. Automatic notification of the rescue may be provided by voice or text.

In addition, when the site information integration unit 220 determines that it is necessary to transmit a predetermined message (for example, a command or a risk notification message) to the worker system 100 based on the integrated site information, the worker instruction unit. The predetermined message is transmitted to the worker system 100 through the 240. In this case, the predetermined message may be voice or text. In a variant, the predetermined message may be input from the field supervisor and transmitted to the worker system 100 through the worker indicator 240.

The site information transmission unit 230 receives the site information integrated from the site information integration unit 220 and transmits the site information to the central control system 300.

3 is a block diagram showing the configuration of a central control system according to an embodiment of the present invention. The central control system refers to a system for managing the field control system. Referring to FIG. 3, the central control system 300 includes a site-specific data collection / storage unit 310, a site-specific emergency data classification unit 320, and a site-specific emergency data processing unit 330. The emergency request control system 340 may be further included.

The site-specific data collection / storage unit 310 receives and collects and stores the integrated information of the site from the site control system 200.

The emergency data classification unit 320 for each site analyzes the data collected in the data collection / storage unit 310 for each site to classify the emergency data, and the emergency data processing unit 330 for each site emergencyly classifies the data classified as emergency data. Process according to the type of data. For example, if it is determined that the evacuation of the underground space (dust, noise, vibration, etc.) exceeds the preset standard value or the evacuation of the worker is necessary due to the change of the state of the underground space (air scarcity, collapse risk, etc.) Emergency evacuation orders may be given to (100). The emergency evacuation instructions may be communicated to the operator system 100 by voice or text via the site control system 200.

When the emergency data classification unit 320 for each site determines that an emergency request is necessary for the rescue team according to the classified emergency data, the emergency data classification unit 320 may request the rescue team 350 through the emergency request control system 340.

Figure 4 is a block diagram showing the configuration of the underground structure work site support system according to an embodiment of the present invention, Figure 4 is a relationship between the operator system, the site control system and the central control system described above with reference to FIGS. It is shown overall. The underground work site support system includes a worker system and a site control system, and in a variant may further include a central control system.

Referring to FIG. 4, the worker system 100-1, 100-2, 100-3 working at the work site A manages the work site A for data on the worker's position, the worker's state, and the work progress. Is transmitted to the on-site control system 200-1 installed on the site, the on-site control system 200-1 integrates and analyzes the data transmitted from the operator system (100-1,100-2,100-3) to the worker to send necessary messages such as work orders To the system 100-1, 100-2, 100-3. The site control system 200-1 transmits the integrated data of the shop floor A to the central control system 300 and receives the necessary message from the central control system 300. Similarly, the worker system (100-4,100-5,100-6) working at work site B transmits and receives necessary data to and from the site control system 200-2, and the worker system (100-7,100-) working at work site C. 8, 100-9 transmits and receives necessary data with the field control system 200-3, and the field control system 200-2, 200-3 transmits and receives necessary data with the central control system 300.

Hereinafter, a 3D location tracking method according to an embodiment of the present invention will be described with reference to FIGS. 7A, 7B, 8, and 9.

First, referring to FIG. 8, the three-dimensional position tracking method includes a GNSS 111, an inertial sensor 112 composed of a gyro sensor and an acceleration sensor, and a wireless mesh network-based data communication to increase accuracy. USN 113 capable of voice communication, two or more three-dimensional precision reference points (Base Station1, Base Station2) installed around the underground construction site, and TBM (Temporary Bench Mark: TBM 1 to TMB installed around and inside the underground construction site) 11) Points and underground structure design drawings (eg CAD data) can be utilized.

Referring to FIG. 7A, first, the 3D location tracking method collects data required for worker location tracking using the GNSS 111, the inertial sensor 112, and the USN-WLS system 113 (S700). Next, the transformation and / or error correction of the data collected in step S700 is performed (S710). Hereinafter, the operation of step S710 is referred to as 'internal correction'. Next, the horizontal position information and the vertical position information of the worker are calculated using the internally corrected data (S730). Hereinafter, the operation of step S730 is referred to as 'external correction'. Hereinafter, a detailed description will be given with reference to FIG. 7B.

The internal correction unit 710 performs internal correction on data necessary for tracking the location of the worker, collected using the GNSS 111, the inertial sensor 112, and the USN-WLS system 113 (S710). Internal correction 710 includes geodetic transformations of raw data collected from GNSS 111, inertial sensor 112, and USN-WLS system 113, TM and UTM mapping, GNSS geometry ( Geometry correction, differential correction, bias correction, etc., are performed. Hereinafter, the DGNSS processor 711, the inertial sensor processor 713, and the USN processor 715 included in the internal correction unit 710 will be described.

The DGNSS processor 711 performs internal correction on the data collected by the GNSS 111. The DGNSS processor 711 analyzes and processes the GRS80 ellipsoid-based latitude and longitude coordinates, the ellipsoid height, and the NMEA 0183 ASCII code information of the DOP, the orbit information, the number of satellites, and UTC time information for the satellite. . In one embodiment, the DGNSS processing unit 711 filters the GNSS reception information according to dilution of precision (DOP) information, and planes the GRS80 latitude and longitude coordinates (φ, λ) which are GNSS reception information using TM projection and UTM projection algorithms. It is converted into rectangular coordinates (X, Y) and calculates the elevation (h) of the ellipsoid height (H) of the domestic geoid high information GNSS. In addition, the correction information (ΔX, ΔY) is calculated by measuring the error of the signal received from the satellite at the reference points (Base Station1, Base Station2) whose position is known accurately. Therefore, the DGNSS processor 711 may correct the position information of the operator calculated based on the signal transmitted from the satellite, using the correction information ΔX and ΔY calculated at the reference points Base Station 1 and Base Station 2. .

The inertial sensor processing unit 713 internally corrects the data collected by the INS 112, for example, the INS 112 can accurately collect at least three axes and up to nine axes of sensor data more than 50 times per second. Do this. First, the inertial sensor processing unit 713 sets the inertial sensor 112 to a predetermined initial value (for example, 0) at reference points (Base Station 1 and Base Station 2) whose position is known accurately, and then the value measured by the inertial sensor and the Obtain the location information of the worker using the location information of the reference point. In addition, since the data collected by the INS 112 has a sensor error accumulated over time, the inertial sensor processing unit 713 uses the data of at least five consecutive GNSS 111 before and after each event to move the user. It estimates the sensor error movement and removes the error that does not fit. The combination of the GNSS 111 and the INS 112 enables the vector-based satellite signal tracking and the projection method of the satellite signal of the INS 112 by employing a combined Kalman filter for sensor error correction from the sensor stage. .

The USN processor 715 performs internal correction on the data collected by the USN-WLS system 113. For example, the USN-WLS system 113 may collect the strength of the estimated signal for each signal source, delay time of signal transmission, status information, and the like from at least three sources at least 10 times per second. Synchronization of data (SYNC) is automatically adjusted based on the criterion considering the visual information and dynamic characteristics of each system. The USN processing unit 715 is a INS (112) in the random signal source of the signal strength, distance estimation time error, and solution location, speed, direction information contained in the data collected by the USN-WLS system 113 The fundamental error is corrected by combining the continuity of In the case of a room where navigation of the GNSS 111 is not possible, the USN-WLS system 113 replaces the role of GNSS and follows the projection technique described above. The combination of the GNSS 111 and the USN-WLS 113 is the same radio navigation system, in which the GNSS signal is weak or the number of satellites is insufficient in the location around a tall building or a window, and the USN-WLS system 113 is used for the position calculation. In the case of less than three, which are insufficient numbers, a hybrid navigation algorithm for detecting distance information from a source of a radio wave source is employed. The combined navigation filter for the mixed navigation algorithm employs a combined Kalman filter or "UNCENTRALIZED KALMAN FILTER".

Integrated DB storage / management unit 720 is the internal structure of the GNSS (111), the inertial sensor 112 and the USN-WLS system 113, which is internally corrected by the internal correction unit 710, and the underground structure used for improving position accuracy Peripheral reference points (e.g. CP points), TBM points and major point points are databased to store, update and manage.

The external correction unit 730 is based on the integrated database (DB) managed by the integrated DB storage / management unit 720, precision 3D in consideration of the characteristics of the repeater (repeater), inertial sensor, USN-WLS system The position information (horizontal position information and vertical position information) is calculated.

In detail, the external correction unit 730 calculates three-dimensional position information (horizontal position information and vertical position information) by dividing the GNSS reception region and the GNSS reception region. As an example, referring to FIG. 8, the external compensator 730 is divided into a zone (① Zone) from a tunnel entrance capable of receiving GNSS to an internal 200m (① Zone) and an internal zone of at least 200m (② Zone) unable to receive GNSS. Three-dimensional location information can be calculated. However, since the 3D location information calculation is implemented by dividing the GNSS reception area and the impossible area, the division into ① Zone and ② Zone is not limited to 200m inside the underground structure.

In other words, the horizontal position correction unit 731 of the external compensator 730 is a zone (① Zone) in which repeater-based DGNSS information can be received in the underground structure and a zone in which DGNSS information cannot be received (② Zone). The horizontal position information of the worker is calculated, and the vertical position correction unit 733 of the external correction unit 730 calculates the vertical position information of the worker by dividing into ① Zone and ② Zone. Here, the DGNSS information refers to internally corrected GNSS information. Therefore, the area where GNSS reception is possible and the area where DGNSS information can be received are used as the same meaning.

① Zone is the area where DGNSS information signal is received. ① In the Zone, DGNSS information can be secured with an accuracy of about 1m ~ 2m.In case of horizontal position, internally corrected DGNSS information is used.In case of vertical position (h), the elevation of GNSS, acceleration sensor, TBM is used. Calculated using the weighted average solution (WAS). This is as shown in Equation 1 below.

Here, the sum of the weights W ₁ , W _2, and W ₃ becomes W, ΔH _GNSS refers to a value where the vertical position information collected by the GNSS 111 is internally corrected by the DGNSS processor 711, and ΔH _{acceleration The sensor} refers to a value in which the vertical position information collected from the acceleration _sensor of the INS 112 is internally corrected by the inertial sensor processing unit 711, and _{ΔH TBM} is a signal from two or more TBM points through the USN-WLS system 113. Receives and measures the distance from the two or more TBM points, and refers to the vertical position information calculated using the vertical position information of the two or more TBM points and the distance from the two or more TBM points.

② Zone is the area where DGNSS information signal is not received. ② The horizontal position of the operator in the zone is calculated by the equal weight (EWS: Equal Weighted Solution) technique of the gyro sensor of the INS 112 and the sensor of the USN-WLS system 113, and the USN. It is determined using a two-step Inverse Distance Weighted Difference (IDWD) algorithm for calculating second-order correction horizontal coordinates by using node-based single trilateration network adjustment (STNA). In addition, the vertical position of the operator is calculated by using the vertical positioning algorithm using the WAS technique using the acceleration sensor and TBM elevation. This is as shown in Equation 2 below.

Here, the gyro (horizontal position coordinates) refers to a value in which the horizontal position information collected by the gyro sensor is internally corrected by the inertial sensor processing unit 713, and the USN horizontal position coordinates are horizontally collected by the USN-WLS system 113. The position information refers to a value that is internally corrected by the USN processing unit 715, and the sum of the weights W ₁ and W ₂ becomes W, and the _{ΔH acceleration sensor} and _{ΔH TBM} are the same as described above in Equation 1 above. .

The internal correction unit 710, the integrated DB storage / management unit 720, and the external correction unit 730 may be included in the sensor information integration unit 120 of the worker system 100. In the modification, the internal correction unit 710 is included in the sensor information integrator 120 of the operator system 100, and the external correction unit 730 is the field control system 200-for example, the site information integration unit ( 220)-. At this time, the integrated DB storage / management unit 720 may be included in the sensor information integration unit 120 or the field information integration unit 220 of the field control system 200.

The present invention described above can be applied not only to all sites of underground structures, such as tunnels, subways, underground cavities, underground spaces, but also on ground construction sites such as bridges, roads, complexes, dams, and the like. Applicable to

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

100: worker system 110: data sensing unit
111: GNSS 112: INS
113: WLS / USN 114: Camera
115: temperature / humidity sensor 116: dust sensor
120: sensor information integration unit 130: worker information transmission unit
140: instruction receiving unit 150: bone conduction headset
160: status display unit

Claims (25)

In the worker system in the underground construction site,
A data sensing unit having a GNSS, INS, and USN-WLS system, and collecting location information of a worker from the GNSS, INS, and USN-WLS systems;
A sensor information integrating unit integrating the information collected by the data sensing unit; And
And a worker information transmission unit for transmitting the information integrated in the sensor information integration unit to a site control system managing the worker system.
The worker system is implemented in the miniaturization module of each component is installed in the worker,
The sensor information integrating unit calculates the location information of the worker by integrating the location information collected from the GNSS, the inertial sensor of the INS, and the USN-WLS system when the worker is in an area where the GNSS can be received. And integrating the position information collected from the inertial sensor of the INS and the USN-WLS system when the worker is in an area where the reception of the GNSS is impossible.
The method of claim 1,
The miniaturization module is integrated into a substrate or connected by a flexible cable.
The method of claim 1,
An instruction receiver for receiving a message transmitted from the field control system or another worker system; And
When the received message is a voice message, a bone conduction headset converting the voice message into a vibration signal to perform bone conduction communication
Worker system further comprising a.
The method of claim 3,
Status display unit for displaying the received message
Worker system further comprising a.
The method of claim 1,
The worker information transmission unit,
And transmit information to the field control system through a mesh network formed between a base station and one or more worker systems. The method of claim 3,
The instruction receiving unit,
A worker system to receive a message over a mesh network formed between a base station and one or more worker systems.
delete The method of claim 1,
Location information collected from the USN-WLS system,
Receive a signal from two or more TBM points installed in the underground work site to calculate the distance from the two or more TBM points, using the location information of the two or more TBM points and the distance from the calculated two or more TBM points Calculating, worker system.
The method of claim 1,
The inertial sensor includes a gyro sensor and an acceleration sensor,
The position information includes horizontal position information and vertical position information.
The sensor information integration unit,
Internal correction unit for performing internal correction on the position information collected from the GNSS, INS and USN-WLS system-The internal correction performs conversion and error correction of the position information collected from the GNSS, INS and USN-WLS system To; And
An external correction unit configured to calculate horizontal position information and vertical position information of the worker using the internal corrected position information,
Horizontal position information of the worker,
When the worker is in an area where the GNSS can be received, the internally corrected horizontal position information of the GNSS, and when the worker is in an area where the GNSS cannot be received, the internally corrected horizontal position information of the gyro sensor and A first value obtained by averaging the internally corrected horizontal position information of the USN-WLS system and a second value of the horizontal position information by the adiabatic triangulation is calculated as an average value,
Vertical position information of the worker,
When the worker is in an area where the GNSS can be received, weights are applied to the internally corrected vertical position information of the GNSS, the internally corrected vertical position information of the acceleration sensor, and the internally corrected vertical position information of the USN-WLS system. Is calculated as an average value by applying a value, and when the worker is in an area where the reception of the GNSS is impossible, a weight is applied to the internally corrected vertical position information of the acceleration sensor and the internally corrected vertical position information of the USN-WLS system. Calculated as the average value by applying the worker system.
The method of claim 1,
The data sensing unit,
And one or more sensors capable of obtaining information about the worker or the job site.
The method of claim 10,
The data sensing unit,
It further comprises any one or more of a camera, temperature / humidity sensor, dust sensor, voice input device and key input device,
The voice input device receives voice information about the worker or the work site from the worker,
The key input device, the worker system receives the text information about the worker or the work site from the worker.
In the underground structure work site support system,
Worker system; And
Including on-site control system,
The worker system,
A data sensing unit having a GNSS, INS, and USN-WLS system, and collecting location information of a worker from the GNSS, INS, and USN-WLS systems;
A sensor information integrating unit integrating the information collected by the data sensing unit; And
It includes a worker information transmission unit for transmitting the information integrated in the sensor information integration unit to the field control system,
The worker system is implemented in the miniaturization module of each component is installed in the worker,
The sensor information integration unit,
If the worker is located in an area where the GNSS can be received, the location information of the worker is calculated by integrating the GNSS, the inertial sensor of the INS, and the location information collected from the USN-WLS system.
When the worker is in an area where the reception of the GNSS is impossible, the location information of the worker is calculated by integrating location information collected from the inertial sensor of the INS and the USN-WLS system.
The field control system,
A field information collecting unit which receives the information transmitted from the worker system; And
And a site information integration unit managing the worker system using the information received from the site information collection unit.
The method of claim 12,
The field control system,
Further comprising a worker indicator for transmitting a predetermined message to the worker system,
The field information integration unit,
And determining whether to transmit the predetermined message to the worker system based on the information received at the site information collection unit.
The method of claim 12,
And a central control system for receiving and analyzing predetermined information from the field control system to classify emergency data and processing the emergency data according to types.
The field control system,
On-site information transmitting unit for transmitting the information integrated in the on-site information integrating unit to the central control system based on the information received in the on-site information collecting unit
Underground structure work site support system further comprising.
The method of claim 12,
Wherein the miniaturization module is integrated onto the substrate or connected by a flexible cable.
The method of claim 12,
The worker system,
An instruction receiver for receiving a message transmitted from the field control system or another worker system; And
When the received message is a voice message, a bone conduction headset converting the voice message into a vibration signal to perform bone conduction communication
Underground structure work site support system further comprising.
17. The method of claim 16,
The worker system,
Status display unit for displaying the received message
Underground structure work site support system further comprising.
The method of claim 12,
The worker information transmission unit,
The underground structure workplace support system for transmitting information to the field control system through a mesh network formed between a base station and one or more worker systems.
17. The method of claim 16,
The instruction receiving unit,
An underground construction site support system for receiving messages through a mesh network formed between a base station and one or more worker systems.
delete The method of claim 12,
The inertial sensor of the INS includes a gyro sensor and an acceleration sensor,
The position information includes horizontal position information and vertical position information.
The sensor information integration unit,
Internal correction unit for performing internal correction on the position information collected from the GNSS, INS and USN-WLS system-The internal correction performs conversion and error correction of the position information collected from the GNSS, INS and USN-WLS system To include,
The field information integration unit,
An external correction unit configured to calculate horizontal position information and vertical position information of the worker using the internal corrected position information,
Horizontal position information of the worker,
When the worker is in an area where the GNSS can be received, the internally corrected horizontal position information of the GNSS, and when the worker is in an area where the GNSS cannot be received, the internally corrected horizontal position information of the gyro sensor and A first value obtained by averaging the internally corrected horizontal position information of the USN-WLS system and a second value of the horizontal position information by the adiabatic triangulation is calculated as an average value,
Vertical position information of the worker,
When the worker is in an area where the GNSS can be received, weights are applied to the internally corrected vertical position information of the GNSS, the internally corrected vertical position information of the acceleration sensor, and the internally corrected vertical position information of the USN-WLS system. Is calculated as an average value by applying a value, and when the worker is in an area where the reception of the GNSS is impossible, a weight is applied to the internally corrected vertical position information of the acceleration sensor and the internally corrected vertical position information of the USN-WLS system. Underground structure shop floor support system, calculated as the average value by applying.
The method of claim 12,
Location information collected from the USN-WLS system,
Receive a signal from two or more TBM points installed in the underground work site to calculate the distance from the two or more TBM points, using the location information of the two or more TBM points and the distance from the calculated two or more TBM points Underground structure shop floor support system to calculate.
The method of claim 12,
The inertial sensor includes a gyro sensor and an acceleration sensor,
The position information includes horizontal position information and vertical position information.
The sensor information integration unit,
Internal correction unit for performing internal correction on the position information collected from the GNSS, INS and USN-WLS system-The internal correction performs conversion and error correction of the position information collected from the GNSS, INS and USN-WLS system To; And
An external correction unit configured to calculate horizontal position information and vertical position information of the worker using the internal corrected position information,
Horizontal position information of the worker,
When the worker is in an area where the GNSS can be received, the internally corrected horizontal position information of the GNSS, and when the worker is in an area where the GNSS cannot be received, the internally corrected horizontal position information of the gyro sensor and A first value obtained by averaging the internally corrected horizontal position information of the USN-WLS system and a second value of the horizontal position information by the adiabatic triangulation is calculated as an average value,
Vertical position information of the worker,
When the worker is in an area where the GNSS can be received, weights are applied to the internally corrected vertical position information of the GNSS, the internally corrected vertical position information of the acceleration sensor, and the internally corrected vertical position information of the USN-WLS system. Is calculated as an average value by applying a value, and when the worker is in an area where the reception of the GNSS is impossible, a weight is applied to the internally corrected vertical position information of the acceleration sensor and the internally corrected vertical position information of the USN-WLS system. Underground structure shop floor support system, calculated as the average value by applying.
The method of claim 12,
The data sensing unit,
And one or more sensors capable of obtaining information about the worker or the work site.
25. The method of claim 24,
The data sensing unit,
It further comprises any one or more of a camera, temperature / humidity sensor, dust sensor, voice input device and key input device,
The voice input device receives voice information about the worker or the work site from the worker,
The key input device, the underground structure work site support system for receiving text information about the worker or the work site from the worker.

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