KR101569699B1 - Method and system for managing a magnetic marker of laying things underground - Google Patents

Abstract

The present invention relates to a magnetic underground marker management system and method for detecting the intensity of a magnetic field generated from a magnetic marker attached to a subterranean buried object to accurately locate and manage the location of the channel and facilities by estimating the location and depth of the underground object The underground facility magnetic marker management system according to the present invention allows the data of the map to be output on the screen through the map processing unit and displays the current position acquired through the GPS processing unit on the map, And the position and depth of the magnetic marker are calculated and output through the marker detection unit.

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a magnetic marker management system and method,

The present invention relates to a system and method for managing magnetic markers underground, and more particularly, to a system and method for managing underground buried magnetic markers by detecting the intensity of a magnetic field generated from a magnetic marker attached to an underground buried object, And more particularly, to a system and method for managing a magnetic underground magnetic marker that enables accurate identification and management of locations of pipelines and facilities.

Generally, infrastructures such as electric wires, communication lines, and water and sewerage systems are buried underground for reasons such as aesthetics, facility protection, or lack of paper. It is very important to detect the damage of these underground facilities as the infrastructure of the infrastructure becomes mainstream.

However, it is difficult to maintain the underground burial because it is difficult to know the location and the depth of the underground buried material and the information about the depth and the depth.

Conventionally, there is a problem that it is difficult to accurately grasp the position of the facilities buried in the underground while confirming with the naked eye using drawings such as paper construction drawings and completed drawings and simple features.

Therefore, when installing underground facilities or constructing buildings, it takes time and expense to accurately grasp the location of existing underground facilities, and works on underground facilities based on inaccurate information due to inaccurate information There is a problem that existing underground materials are destroyed during the construction or there is a risk of safety of the operator.

Korean Patent Publication No. 10-2012-0090284 (Publication date: August 17, 2012)

It is an object of the present invention to solve the above-mentioned problems, and it is an object of the present invention to accurately detect the location of pipelines and facilities by detecting the intensity of a magnetic field generated from magnetic markers attached to underground objects, And to provide a magnetic marker management system and method.

According to an aspect of the present invention, there is provided a portable terminal comprising: a magnetic marker provided at one side of a facility buried underground; A position of a magnetic marker detected by one or more detection sensors with respect to a magnetic field output from the magnetic marker, and a position of the magnetic marker detected by the one or more detection sensors based on a depth set corresponding to a magnetic force corresponding to the type and number of the magnetic markers A marker detection unit for estimating a depth according to the magnetic force detected through the detection sensor; An information providing unit for providing information on the facility; An information editing unit for editing information on the facility; A data storage unit for storing information on the facility and data on the map; A map processing unit for processing data on a map for guiding the position of the magnetic marker on a map and outputting the processed data on a screen and enlarging, reducing or moving the map; A GPS processor for acquiring a current position for searching for the position of the magnetic marker through a GPS satellite; And the map processing unit to output data on the map, and the current position acquired through the GPS processing unit is displayed on the map so that the approximate position of the facility can be grasped, And a controller for controlling the position and depth of the magnetic marker to be calculated and output through the magnetic marker.

A data input / output unit for retrieving, exporting, or printing information about the facility; A data analysis unit for analyzing information on the facility to provide a sectional view, a developed view, and statistics; And an additional function providing unit for calculating a distance or an area on the map or performing a function of designating the area of interest on the map as a bookmark.

In addition, the information on the facilities includes important information on photographs, structures, and depths, and location and line numbers, and other information on uniqueness.

The map processing unit processes data on a map including a base layer having a map image and a position coordinate value, an information layer related to a road line, a facility, and an installation, and outputs the processed data.

The controller may be configured such that the depth is set from i to n and the magnetic force detected from the first detection sensor through the marker detector is i (1 + 25) * (1 + 25) * (1 + 25) * (1 + 25) (1 + Merr2) <Sensor2 <Arr [i + 25] * (1 + Merr2) smaller than the second error rate constant (Arr i + 25) * (Arr [i + 50] * (1-Merr3) smaller than [i + 50] * (1+ third error rate constant) larger than the detected magnetic force is larger than [i + 50] * &Lt; Sensor3 < Arr [i + 50] * (1 + Merr3).

Also, the marker detection unit divides the magnetic force intensity difference from the first detection sensor to the nth detection sensor by a constant (x) for expressing the magnetic force from -99 to +99 with a Gaussian value, To +99. &Lt; / RTI &gt;

Also, the marker detecting unit outputs the magnetic flux density Bz calculated according to the following equation with respect to the intensity of the magnetic force with respect to the magnetic field detected through the detection sensor.

Where ₀ denotes the permeability, M ₀ denotes the applied variable, b denotes the radius (radius), z denotes the distance, and L denotes the height.

And a depth DB in which a depth is set so as to correspond to the magnetic force data according to the type and the number of the magnetic markers, wherein the controller determines that the intensity of the magnetic force detected through the one or more detection sensors is a numerical value And a depth is estimated based on the magnetic force detected by the one or more detection sensors based on the depth DB and is controlled to be output on the screen through the data input / output unit.

According to another aspect of the present invention, there is provided a magnetic field detection system including a marker detection unit for detecting a magnetic field output from a magnetic marker installed on a side of a subterranean buried object through one or more detection sensors, A GPS processor, and a control unit, the method comprising: (a) the map processing unit processes data on a map for guiding the position of the magnetic marker on a map, and outputs the processed data on a screen ; (b) the GPS processing unit acquires a current position for searching for the position of the magnetic marker through a GPS satellite; (c) displaying the current position obtained by the GPS processing unit on the map by the map processing unit; (d) exposing the position of the magnetic marker according to the intensity of the magnetic force detected by the marker detecting unit through the at least one detecting sensor with respect to the magnetic field output from the magnetic marker; (e) calculating the depth according to the magnetic force detected by the one or more detection sensors based on depths set by the marker detection unit corresponding to the magnetic force according to the type and number of the magnetic markers; And (f) outputting, on the screen, the depth calculated by the control unit through the marker detection unit with respect to the magnetic marker.

In the step (a), the map processing unit may process data on a map including a base layer having a map image and a position coordinate value, a road linear shape, and an information layer related to facilities and fixtures, .

In the step (d), the marker detection unit may calculate a constant (x (t)) for expressing the magnetic force intensity difference from the first detection sensor to the nth detection sensor with a Gaussian value from -99 to +99, ) And output it as one of the Gaussian numbers from -99 to +99.

In the step (d), the marker detecting unit outputs a magnetic flux density (Bz) calculated according to the following equation with respect to the intensity of the magnetic force with respect to the magnetic field detected through the detection sensor.

Where ₀ denotes the permeability, M ₀ denotes the applied variable, b denotes the radius (radius), z denotes the distance, and L denotes the height.

In the step (e), when the depth is set from i to n and the magnetic force data corresponding to the depths i to n is stored in the depth DB, the first detection The magnetic force detected by the sensor corresponds to the magnetic force corresponding to i and the magnetic force corresponding to i + 1, and the magnetic force detected from the second detection sensor (Sensor2) is [i + 25] * (Arr [i + 25] * (1-Merr2) <Sensor2 <Arr i + 25] * (1 + Merr2) smaller than [i + 25] * (1+ second error rate constant) And the magnetic force detected from the third detection sensor (Sensor 3) is larger than [i + 50] * (1 - third error rate constant) and smaller than [i + 50] * (1+ third error rate constant) The depth value corresponding to Arr [i + 50] * (1-Merr3) <Sensor3 <Arr [i + 50] * (1 + Merr3) is calculated.

According to the present invention, it is possible to view the pipelines and facility information of a region to be managed through a map and a database (DB) built in the system at a glance, and to work with DGPS having a position error within 1m Can be easily found.

In addition, it is possible to easily check facility information on the ground as well as the ground in the worksite, and in the case of specific attribute information, the operator can directly edit the information.

In addition, by displaying the position information of the operator received from the DGPS on the map including the base layer having the position coordinate value, the road alignment, the facilities, and the layers related to the installation, the approximate position of the facility to be operated can be grasped.

Also, in the case of facilities with magnetic markers buried, it is possible to perform more precise location surveys than the location obtained by DGPS alone through magnetic marker detection.

In addition, since detailed information such as the type, depth, and size of the buried object is accurately displayed, it is possible to acquire the detailed attribute information of the buried object easily on site.

In addition, the map layer can be added / deleted to confirm the information of different kinds of facilities at a glance.

And, if there is any unusual thing during the work, the bookmark function can display the area of interest on the map and check again.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram schematically showing the overall structure of a magnetic underground marker management system according to an embodiment of the present invention; FIG.
2 is a diagram illustrating an example in which at least one detection sensor is provided in a detection rod of a marker detector according to an embodiment of the present invention.
3 is a block diagram illustrating an internal functional block of the marker detection unit according to the embodiment of the present invention.
4 is a view showing a structure of a flux gate sensor as an example of a detection sensor according to an embodiment of the present invention.
FIG. 5 is a flowchart illustrating a method of managing a magnetic underground marker according to an embodiment of the present invention. Referring to FIG.
6 is a flowchart illustrating an operation of calculating the location and depth of an underground facility according to an embodiment of the present invention.
7 is a view showing an example of the operation screen of the underground facility magnetic marker management system according to the embodiment of the present invention.
8 is a view showing an example of a depth DB storing magnetic force data and depth according to the type and number of magnetic markers according to the embodiment of the present invention.
9 is a diagram illustrating a process of calculating a magnitude of a magnetic field for a magnetic field detected by at least one detection sensor according to an embodiment of the present invention.
FIG. 10 is a diagram illustrating a process of estimating a depth according to magnetic force data corresponding to the type and number of magnetic markers based on the depth DB according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that it is not intended to be limited to the particular embodiments of the invention but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A magnetic underground marker management system and method according to the present invention will be described in detail with reference to the accompanying drawings. In the following description with reference to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, and a redundant description thereof will be omitted.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram schematically showing the overall structure of a magnetic underground marker management system according to an embodiment of the present invention; FIG.

1, a magnetic underground marker management system 100 according to an embodiment of the present invention includes a magnetic marker 102, a marker detection unit 110, an information providing unit 120, A data processing unit 120, a data storage unit 130, a depth DB 132, a map processing unit 140, a GPS processing unit 150, a control unit 160, a data analysis unit 170, a data input / output unit 180, (182) and a control unit (190).

The magnetic markers 102 are installed on one side of a facility buried underground, and output a magnetic field for detecting the location of the underground facility. The types of the magnetic markers 102 are classified into a general type, a medium type, a large type, and a special type depending on magnitude and strength of a magnetic force.

The magnetic markers 102 are produced by permanently immersing permanent magnets (ferrites) of a certain magnetic force in a waterproof, moisture-proof, nickel-plated, urethane film coating process, etc., and are used for the upper and lower water pipes, city gas supply pipes, The underground facilities are attached to the underground facilities when the underground facilities are installed. Normally, the magnetic body is installed such that the N pole faces upward.

The marker detecting unit 110 detects the position of the magnetic markers according to the intensity of the magnetic force detected by the one or more detection sensors with respect to the magnetic field output from the magnetic markers 102 and corresponds to the magnetic force corresponding to the type and number of magnetic markers The depth is calculated according to the magnetic force detected by the one or more detection sensors based on the set depth.

That is, the marker detection unit 110 includes at least one detection sensor that detects the magnetic field of the magnetic marker 102 and outputs a magnetic force, and displays the position of the magnetic marker according to the intensity of the magnetic force detected through the at least one detection sensor And the depth is calculated according to the magnetic force detected through the at least one detection sensor based on the depth set corresponding to the magnetic force data according to the type and the number of the magnetic markers 102.

Here, the marker detection unit 110 includes at least one detection sensor in a detection rod of a predetermined length. As shown in FIG. 2, the first detection sensor (Sensor 1) is located at the end of the detection rod near the ground surface, And a second detection sensor (Sensor 2) to an nth detection sensor (Sensor n) are provided at 25 Cm intervals from the detection sensor (Sensor 1). 2 is a view illustrating an example in which one or more detection sensors are provided in a detection rod of a marker detection unit according to an embodiment of the present invention. In FIG. 2, only the first to third detection sensors (Sensor1) to (Sensor3) are shown, but the fourth detection sensor (Sensor4) and the like may be provided. However, when the second detection sensor (Sensor2) to the nth detection sensor (Sensor n) are provided at 25 Cm intervals from the first detection sensor 112a, the distance from the fourth detection sensor (Sensor 4) Cm or less.

The marker detection unit 110 measures a magnetic field through a fluxgate sensor, which is three detection sensors sequentially disposed from a leading edge positioned in a detection rod and facing the ground. Here, each fluxgate sensor is a vector sensor, and measures an average magnetic field component corresponding to each sensor axis.

The marker detection unit 110 not only detects the magnetic field output from the magnetic marker 102 installed in the underground facilities and outputs the intensity of the magnetic force as a numerical value but also corrects the detected magnetic field when the ambient noise is large, The intensity is estimated according to the magnetic force of the detected magnetic field, and the presence or absence of the magnetic marker is output according to the magnetic force of the detected magnetic field.

The marker detection unit 110 divides the magnetic force intensity difference from the first detection sensor to the n &lt; th &gt; detection sensor with respect to the intensity of the magnetic force by a constant (x) for expressing the Gaussian value from -99 to +99, It will be output as one of the Gaussian numbers up to +99.

Then, the marker detection unit 110 outputs the magnetic flux density Bz calculated by the following equation (1) with respect to the intensity of the magnetic force for the magnetic field detected through the detection sensor.

Where ₀ denotes the permeability, M ₀ denotes the applied variable, b denotes the radius (radius), z denotes the distance, and L denotes the height.

The information providing unit 120 provides information on facilities. Here, the information on the facility includes the main information on the photograph, the structure and the depth, the location and the line number, and other information about the uniqueness.

The information editing unit 122 performs a function of editing information about facilities.

The data storage unit 130 stores information on facilities and data on maps. Here, the information on the facility includes the main information about the photograph, the structure and the depth, the location and the line number, and other information about the uniqueness.

The depth DB 132 is set at a depth corresponding to the magnetic force data according to the type and number of the magnetic markers.

The map processing unit 140 processes data on a map for guiding the position of the magnetic markers on a map, outputs the data on a screen, and enlarges, reduces, or moves the map. That is, the map processing unit 140 processes data on a map including a base layer having a map image and a position coordinate value, an information layer related to a road alignment, a facility, and an installation, do.

The GPS processing unit 150 acquires the current position for searching for the position of the magnetic marker through the GPS satellite.

The data analysis unit 160 analyzes the information on the facility and provides a sectional view, a developed view, and statistics.

The data input / output unit 170 performs a function of loading, exporting, or printing information about a facility. The data input / output unit 170 may be used to input the type and the number of the magnetic markers 102.

The additional function providing unit 180 calculates the distance or area on the map, or performs a function of bookmarking the area of interest on the map.

The control unit 190 controls the map processing unit 140 to output data on the map and displays the current position acquired through the GPS processing unit 150 on a map to determine an approximate position of the facility And the position and depth of the magnetic marker are calculated and output through the marker detection unit 110.

The control unit 190 controls the intensity of the magnetic force detected through the at least one detection sensor to be expressed as a numerical value through the data input and output unit and estimates the depth according to the magnetic force detected through the at least one detection sensor based on the depth DB And is controlled to be output on the screen through the data input / output unit.

The control unit 190 sets the depths i to n and sets the magnetic force data corresponding to the depths i to n in the state where the magnetic force detected from the first detection sensor through the marker detection unit 110 (i + 25) * (1 + 25) * (i + 25) * (i + 25) * and the magnetic force detected by the second detection sensor (1 + Merr2) <Sensor2 <Arr [i + 25] * (1 + Merr2) smaller than the first error rate constant (Arr i + (Arr [i + 50] * (1-Merr3) < i + 50) * (1 + 50) * (1- the third error rate constant) And a depth value corresponding to Sensor3 <Arr [i + 50] * (1 + Merr3) is output.

3 is a block diagram illustrating an internal functional block of the marker detection unit according to the embodiment of the present invention.

3, a marker detection unit 110 according to an embodiment of the present invention includes at least one detection sensor 112a, 112b, 112c, one or more sensor circuits 114a, 114b, 114c, and a microprocessor ).

The one or more detection sensors 112a, 112b and 112c detect magnetic fields through fluxgate sensors 112a, 112b and 112c which are sequentially spaced apart on one axis of the detection rod towards the underground facility.

At this time, when at least one detection sensor 112a, 112b, 112c touches the front end of the detection rod on the ground and vertically stands, the first detection sensor 112a is positioned on the ground, and the second detection sensor 112b And the third detection sensor 112c may be positioned at 50 Cm from the first detection sensor 112a and placed at 25 Cm from the detection sensor 112a. That is, the respective detection sensors can be installed in the detection rods at intervals of 25 Cm from the first detection sensor 112a. Also, when the fourth detection sensor (Sensor 4) is added to the third detection sensor (Sensor 3), the third detection sensor 112c can be tuned to within 25 cm and installed in the detection rod.

Each of the fluxgate sensors 112a, 112b and 112c measures the magnetic field generated by the magnetic markers 102 at their respective positions and provides the measured magnetic field data to the respective corresponding To the sensor circuits 114a, 114b, and 114c.

Each of the sensor circuits 114a, 114b and 114c includes an amplifier, an oscillator, a demodulator, a low pass filter, a comparator and an analog to digital converter, Etc., and is connected to each sensor and can process the analog magnetic field value from the sensor in a digital signal.

The digital data output from each of the sensor circuits 114a, 114b, and 114c is processed through the microprocessor 116 and output to the controller 190 for outputting the data in numerical or graph form. Accordingly, the controller 190 receives the digital signal corresponding to the intensity of the magnetic field, and calculates the intensity of the magnetic field generated in the magnetic marker 102.

4, each of the fluxgate sensors 112a, 112b and 112c includes a magnetic field core 430 periodically saturated by the drive coil 420 and a sense coil 410 for measuring a magnetic field inside the coil, . The drive coil 420 is wound around the magnetic field core 430 and the sense coil 410 is wound transversely to the drive coil 420. 4 is a view showing a structure of a flux gate sensor as an example of a detection sensor according to an embodiment of the present invention. Generally, the sense coil 410 does not detect the magnetic field generated by the drive coil 420, which is the toroid, but if an additional external magnetic field is applied, the pure magnetic field generated by the hysteresis of the drive coil 420, Gt; 410 &lt; / RTI &gt; With this special structure, the sensitivity to the external magnetic field is related to the direction of the sense coil 410. [

The measurement range of each of the fluxgate sensors 112a, 112b and 112c is 100 μT (1 G) and has a resolution of about 100 nT (1 mG). Therefore, the fluxgate sensors 112a, 112b, and 112c can sensitively detect magnetic field variations of a predetermined magnitude.

However, the linearity of the sensor is not so important because the marker detection unit 110 detects the difference between the measured magnetic fields using three fluxgate sensors 112a, 112b, and 112c that are located at different positions. The output of the fluxgate sensors 112a, 112b and 112c is an easy to use 5V square wave whose frequency is changed according to the magnitude of the magnetic field where the fluxgate sensors 112a, 112b and 112c are located.

The marker detecting unit 110 performs a calibration function for correcting the detected magnetic field when the ambient noise is large and a sensitivity adjusting function for amplifying the detected magnetic field when the magnetic field is weak.

Although not shown in the drawing, the apparatus further includes a horizontal module unit for outputting a tilt value of the gyro sensor measuring the X-axis and Y-axis coordinates of the detection rod to the control unit 190, . That is, the horizontal module transmits the horizontal level measured through the gyro sensor to the control unit 190, and the controller 190 receives the digital signal corresponding to the horizontal level, calculates the horizontal level of the device, And outputs it as a sound signal or on the screen. Accordingly, the user can grasp the vertical state of the apparatus through a format such as a number, a graph, or the like that can recognize the horizontal degree.

FIG. 5 is a flowchart illustrating a method of managing a magnetic underground marker according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 5, the underground embedded magnetic marker management system 100 according to an embodiment of the present invention processes data on a map for guiding the position of a magnetic marker on a map on a map processing unit 140 And outputs it on the screen (S510).

Here, the map processing unit 140 processes data on a map including a base layer having a map image and position coordinate values, an information layer related to a road line, a facility, and an installation, and outputs the processed data on the screen .

Then, the GPS processing unit 150 acquires the current position for searching for the position of the magnetic marker through the GPS satellite (S520).

Next, the map processing unit 140 displays the current position acquired by the GPS processing unit 150 on the map (S530).

Therefore, the user moves to the position where the magnetic marker is located while confirming the current position through the DGPS with a position error of 1m or less. The user then detects the exact position of the magnetic marker through the marker detection unit 110.

Next, the marker detecting unit 110 displays the position of the magnetic marker according to the intensity of the magnetic force detected through the at least one detecting sensor in the process shown in FIG. 6 for the magnetic field output from the magnetic marker at step S540.

Then, the marker detection unit 110 calculates the depth according to the magnetic force detected by the one or more detection sensors based on the depth set corresponding to the magnetic force according to the type and the number of the magnetic markers in the process as shown in FIG. 6 (S550).

Next, the control unit 190 outputs the depth calculated by the marker detection unit 110 to the magnetic marker on the screen (S560).

6 is a flowchart illustrating an operation of calculating the location and depth of an underground facility according to an embodiment of the present invention.

6, the underground embedded magnetic marker management system 100 according to an embodiment of the present invention is configured such that the marker detection unit 110 outputs the magnetic marker 102 output from the magnetic marker 102 through one or more detection sensors 112a to 112c (S610).

That is, each of the detection sensors 112a to 112c detects the magnetic field output from the magnetic marker 102 with the magnetic flux density Bz calculated according to Equation (1).

Next, the marker detection unit 110 calculates the intensity of the magnetic force with respect to the magnetic field detected through the detection sensors 112a to 112c (S620).

That is, the marker detecting unit 110 calculates the intensity of the magnetic force with respect to the magnetic field detected through the detection sensors 112a to 112c by the process shown in FIG. 9 is a diagram illustrating a process of calculating a magnitude of a magnetic field for a magnetic field detected by at least one detection sensor according to an embodiment of the present invention. 9, the marker detection unit 110 includes a first detection sensor (Sensor 1) and a second detection sensor (Sensor 1) as shown in FIG. 9, Magnetic force data is read from the third detection sensor (Sensor 3) (S910).

Next, the marker detection unit 110 obtains a value obtained by dividing the magnetic force data difference between the first detection sensor and the third detection sensor by a constant (x) for expressing the Gaussian value from -99 to +99 (S920).

At this time, since the first detection sensor (Sensor 1) is located nearer to the ground surface than the third detection sensor (Sensor 3), the intensity of the magnetic force detected through the first detection sensor (Sensor 1) Is much larger than the intensity of the magnetic force detected through the magnetic field. Therefore, the magnetic force data difference between the first detection sensor and the third detection sensor may be a value obtained by subtracting the value of the third detection sensor (Sensor 3) from the value of the first detection sensor (Sensor 1).

If the value (Sensor1-Sensor3 / x) obtained by dividing the magnetic force data difference between the first and third detection sensors by a constant (x) is less than or equal to +99 (S930-No) , The result value (nResult) is set to +99 (S940). If the result is smaller than or equal to (S930-YES) Is set to -99 (S960), and if it is equal to or larger than the predetermined value (S950-YES), the resultant value is set and output (S970).

When the intensity value of the magnetic force is calculated by the process shown in FIG. 9, the marker detection unit 110 outputs the magnetic force data on the screen as shown in FIG. 7, as shown in FIG.

Accordingly, the user can determine that the magnetic marker 102 is buried in the place where the intensity of the magnetic force is highest while checking the intensity of the magnetic force indicated by the Gaussian value displayed on the screen.

Next, the marker detection unit 110 receives the type and number of magnetic markers from the user (S630).

That is, as shown in FIG. 7, the marker detection unit 110 receives a type (a general type, an intermediate type, a large type, a special type, etc.) and the number of magnetic markers from a user through a touch screen or a button. 7 is a view showing an example of the operation screen of the underground facility magnetic marker management system according to the embodiment of the present invention.

At this time, as shown in FIG. 8, the depth DB 132 stores correspondence between magnetic force data and depth information according to the types of magnetic markers, that is, general type, medium type, large type, special type, and the number thereof. 8 is a view showing an example of a depth DB storing magnetic force data and depth according to the type and number of magnetic markers according to the embodiment of the present invention. Here, the unit of the magnetic force data is Gauss (G). In addition, the depth DB 132 stores data of -99 to +99 with respect to the magnitude of the magnetic force depending on the type and number of magnetic markers.

Then, the marker detection unit 110 calculates the depth based on the magnetic force detected through the at least one detection sensor based on the depth DB in which the depth is set so as to correspond to the magnetic force data corresponding to the type and the number of the magnetic markers (S640 ).

That is, the marker detection unit 110 can estimate the depth by the process shown in FIG. 10 is a diagram illustrating a process of calculating depths according to magnetic force data corresponding to types and numbers of magnetic markers based on the depth DB according to an embodiment of the present invention. 10, the marker detection unit 110 reads magnetic force data from each detection sensor (S1010). Next, the marker detection unit 110 checks the type and the number of the magnetic markers (S1020). Next, based on the depth DB shown in FIG. 8, the marker detection unit 110 determines whether the magnetic force data detected from the first detection sensor is between a magnetic force corresponding to i and a magnetic force corresponding to i + 1 (Arr [ i]> Sonsor1> Arr [i + 1]), the magnetic force data detected from the second detection sensor is compared with the magnetic force corresponding to [i + 25] * (1 + Merr2) < Sensor2 < Arr [i + 25] * (1 + Merr2) (S104), the magnetic force data detected from the third detection sensor is compared with the magnetic force corresponding to [i + 50] * (the first error rate constant) and the magnetic force corresponding to [i + 50] * (Arr i + 50) * (1-Merr 3) <Sensor 3 <Arr i + 50] * (1 + Merr 3) (S1050) On the screen (S1060). Here, i corresponds to the depth value Cm in the depth DB 390, and Arr [i] is an object to be compared with the value of the first detection sensor as a value in i Cm among the table data stored in the DB. Arr [i + 25] is an object to be compared with the value of the second detection sensor as a value at i + 25 Cm among the table data stored in the DB. Since the difference between the first detection sensor and the second detection sensor is 25 Cm, The value is plus 25. Merr2 represents a second error rate constant with respect to the value of the second detection sensor as a constant value calculated based on the experience value data. Arr [i + 50] is a value at i + 50 Cm among the table data stored in the DB, and is an object to be compared with the value of the third detection sensor. Since the distance difference between the first detection sensor and the third detection sensor is 50 Cm, 50 is added to the i value. Merr3 represents a third error rate constant with respect to the value of the third detection sensor as a constant value calculated based on the experiential value data.

Accordingly, the marker detecting unit 110 outputs the depth calculated by the process shown in FIG. 10 on the screen or outputs the calculated depth as shown in FIG. 7 (S650).

That is, the marker detection unit 110 increases the sound frequency of the message that notifies the presence of the magnetic marker to a predetermined standard or higher when the strength of the detected magnetic field strength is higher than a certain standard.

In addition, the marker detecting unit 110 can amplify the intensity of the detected magnetic field by using the amplification function when the intensity intensity of the detected magnetic field is finer than a predetermined standard.

In addition, the marker detection unit 110 corrects the noise existing in the detected magnetic field.

The marker detection unit 110 may also output tilt values of the gyro sensor measuring the X-axis and the Y-axis, which measure whether the marker is perpendicular to the paper surface through the horizontal module unit.

As described above, according to the present invention, by detecting the intensity of a magnetic field generated from a magnetic marker attached to a subterranean buried object and estimating the position and depth of the underground object, it is possible to accurately grasp the position of the channel and the facility, A magnetic marker management system and method can be realized.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. Only. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

The present invention relates to a magnetic underground marker management system and method for detecting the intensity of a magnetic field generated from a magnetic marker attached to a subterranean buried object to accurately locate and manage the location of a channel and a facility by estimating the location and depth of the underground object .

100: underground magnetic marker management system 102: magnetic marker
110: marker detection unit 112a, 112b, 112c:
114a, 114b, 114c: sensor circuit 116: microprocessor
120: Information providing unit 122: Information editing unit
130: Data storage unit 132: Depth DB
140: map processor 150: GPS processor
160: Control section 170: Data analysis section
180: data input / output unit 182:
190: control unit 410: sense coil
420: drive coil 430: magnetic field core

Claims (13)

A magnetic marker installed on one side of a facility buried underground;
A position of a magnetic marker detected by one or more detection sensors with respect to a magnetic field output from the magnetic marker, and a position of the magnetic marker detected based on a depth set corresponding to a magnetic force corresponding to the type and the number of the magnetic markers, A marker detection unit for estimating a depth according to the magnetic force detected through the detection sensor;
An information providing unit for providing information on the facility;
An information editing unit for editing information on the facility;
A data storage unit for storing information on the facility and data on the map;
A map processing unit for processing data on a map for guiding the position of the magnetic marker on a map and outputting the processed data on a screen and enlarging, reducing or moving the map;
A GPS processor for acquiring a current position for searching for the position of the magnetic marker through a GPS satellite; And
So that data on the map is output on the screen through the map processing unit and the approximate position of the facility can be grasped by displaying the current position acquired through the GPS processing unit on a map, And a controller for controlling the position and depth of the magnetic marker to be calculated and output,
The marker detection unit includes the at least one detection sensor in a detection rod having a predetermined length. A first detection sensor is positioned at an end of the detection rod. A second detection sensor is disposed at the other end of the detection rod with respect to the first detection sensor. , A third detection sensor and an n < th &gt; detection sensor are sequentially provided at intervals of 25 cm,
Wherein the control unit sets the depth DB from i to n based on the depth DB in a state in which the magnetic force data corresponding to the depth i to n is stored in the depth DB,
It is determined whether the magnetic force detected from the first detection sensor Sensor1 corresponds to the magnetic force Arr [i] detected from the first detection sensor, Arr [i + 1]
(1 + Merr2) < Arr [i + 25] * (1 + Merr2) detected from the second detection sensor when the magnetic force detected from the second detection sensor And,
Arr [i + 50] * (1-Merr3) <magnetic force detected from the third detection sensor <Arr [i + 50] * (1 + Merr3) where the magnetic force detected from the third detection sensor And the depth value is outputted by judging whether the depth value is outputted.
From here,
i is a depth value (Cm) in the depth DB, Arr [i] is a magnetic force value in i Cm of the table data stored in DB, Merr2 is a constant value calculated on the basis of experiential data, And Merr3 denotes a third error rate constant for the value of the third detection sensor as a constant value calculated based on the experience value data.
The method according to claim 1,
A data input / output unit for retrieving, exporting, or printing information on the facility;
A data analysis unit for analyzing information on the facility to provide a sectional view, a developed view, and statistics; And
An add-on providing unit configured to calculate a distance or an area on the map, or to bookmark a region of interest on the map;
Wherein the magnetic marker management system further comprises:
The method according to claim 1,
Wherein the information on the facilities includes key information on photographs, structures, and depths, and location, line numbers, and other information related to uniqueness.
The method according to claim 1,
Wherein the map processing unit processes data on a map including a base layer having a map image and a position coordinate value and an information layer related to a road linear shape and facilities and an installation, Underground Embedded Magnetic Marker Management System.
delete The method according to claim 1,
The marker detection unit divides the magnetic force intensity difference from the first detection sensor to the nth detection sensor with respect to the intensity of the magnetic force by a constant (x) for expressing the Gaussian value from -99 to +99, Gt; Gaussian &lt; / RTI &gt; magnetic marker management system.
The method according to claim 1,
Wherein the marker detection unit outputs the intensity of the magnetic force for the magnetic field detected through the detection sensor as a magnetic flux density Bz calculated according to the following equation.

Where ₀ denotes the permeability, M ₀ denotes the applied variable, b denotes the radius (radius), z denotes the distance, and L denotes the height.
The method of claim 2,
Further comprising a depth DB in which a depth is set so as to correspond to magnetic force data corresponding to the type and the number of the magnetic markers,
Wherein the control unit controls the intensity of the magnetic force detected through the at least one detection sensor to be expressed as a numerical value through the data input and output unit and estimates the depth according to the magnetic force detected through the at least one detection sensor based on the depth DB Wherein the control unit controls the data input / output unit so as to be output on the screen.
A marker detecting unit for detecting a magnetic field output from a magnetic marker provided at one side of the underground buried object through one or more detection sensors, and a map processing unit, a GPS processing unit, and a control unit, ,
(a) processing the map data to map the position of the magnetic marker on a map and outputting the data on a screen;
(b) the GPS processing unit acquires a current position for searching for the position of the magnetic marker through a GPS satellite;
(c) displaying the current position obtained by the GPS processing unit on the map by the map processing unit;
(d) exposing the position of the magnetic marker according to the intensity of the magnetic force detected by the marker detecting unit through the at least one detecting sensor with respect to the magnetic field output from the magnetic marker;
(e) calculating the depth according to the magnetic force detected by the one or more detection sensors based on depths set by the marker detection unit corresponding to the magnetic force according to the type and number of the magnetic markers; And
and (f) outputting, on the screen, the depth calculated by the controller through the marker detection unit with respect to the magnetic marker,
The marker detection unit includes the at least one detection sensor in a detection rod having a predetermined length. A first detection sensor is positioned at an end of the detection rod. A second detection sensor is disposed at the other end of the detection rod with respect to the first detection sensor. , And the third to nth detection sensors are sequentially provided at intervals of 25 cm,
Wherein the step (e) comprises: setting the depths from i to n, and storing, in the depth DB, the magnetic force data corresponding to the depths i to n,
It is determined whether the magnetic force detected from the first detection sensor Sensor1 corresponds to the magnetic force Arr [i] detected from the first detection sensor, Arr [i + 1]
(1 + Merr2) < Arr [i + 25] * (1 + Merr2) detected from the second detection sensor when the magnetic force detected from the second detection sensor And,
Arr [i + 50] * (1-Merr3) <magnetic force detected from the third detection sensor <Arr [i + 50] * (1 + Merr3) where the magnetic force detected from the third detection sensor And calculating a depth value by judging whether or not it is appropriate,
From here,
i is a depth value (Cm) in the depth DB, Arr [i] is a magnetic force value in i Cm of the table data stored in DB, Merr2 is a constant value calculated on the basis of experiential data, And Merr3 is a third error rate constant with respect to the value of the third detection sensor as a constant value calculated based on the experience value data.
The method of claim 9,
In the step (a), the map processing unit may process data on a map including a base layer having a map image and a position coordinate value, a road linear shape, an information layer related to facilities and fixtures, And outputting the magnetic markers.
The method of claim 9,
Wherein the marker detecting unit detects the magnetic force intensity difference from the first detection sensor to the nth detection sensor with respect to the intensity of the magnetic force as a constant (x) for expressing the difference in magnetic force from -99 to +99 with a Gaussian value And outputs one of the Gaussian numbers from -99 to +99.
The method according to claim 9 or 11,
Wherein the marker detection unit outputs the intensity of the magnetic force for the magnetic field detected through the detection sensor as a magnetic flux density Bz calculated according to the following equation.

Where ₀ denotes the permeability, M ₀ denotes the applied variable, b denotes the radius (radius), z denotes the distance, and L denotes the height.


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