KR101851706B1 - Surface inspection system of rock hole - Google Patents

Abstract

The present invention relates to a surface inspection system of a rock hole. An objective of the present invention is to quickly reach an accurate rock hole position, and then precisely and quickly measure surface roughness while effectively responding to a rock hole size to allow elaborate foundation construction. The surface inspection system of a rock hole comprises: a moving unit to move along in a pipe inserted to a rock hole drilled in water; and a remote unit to connect the moving unit by a cable on the ground to lift the moving unit, control a position and operation of the moving unit, and receive information collected by the moving unit. The moving unit includes: a fixed module lifted by the cable, and fixed on an inner circumferential surface of the pipe or a wall surface of the rock hole; and a measurement module which is coupled to be lifted to a lower side of the fixed module, and has a roughness measurement sensor to measure surface roughness of the rock hole.

Description

SURFACE INSPECTION SYSTEM OF ROCK HOLE

The present invention relates to a rock hole surface inspection system, and more particularly, to a rock hole surface inspection system which can precisely and quickly measure surface roughness while satisfactorily responding to a rock hole size after quickly reaching a precise rock hole position .

Civil engineering structures, such as bridges, are constructed on the basis of sea, river or river bases for the foundation. Typically, the foundation is drilled through the cover layer until the rock appears, forming a rock hole in the rock. At this time, the depth is about 100 to 200 meters. In order to prevent the penetration of water, it is common to insert a pipe on the water surface to perforate and to install a foundation pier by pouring concrete into the rock hole after the piercing is completed.

At this time, the foundation pier has a characteristic that the supporting force is increased as the coupling force between the poured concrete and the rock hole is strong, and the coupling characteristic between the rock hole and the concrete tends to vary depending on the surface characteristics of the rock hole. In addition, when the surface of the rock hole is realized with a proper roughness, the bonding force tends to increase due to an increase in the area coupled with concrete.

Therefore, the surface condition of the perforated hole after drilling the rock hole is very important for the rigidity of the structure, so the technique of inspecting the surface of the rock hole is also very important factor.

There have been proposed various apparatuses for inspecting the surface of a specific material, but ultrasonic waves are used for non-destructive inspection of the surface characteristics of a large object. For example, Japanese Patent Application Laid-Open No. 2008-111630 discloses a method of detecting a crack generated in a concrete wall by using ultrasonic waves. In the present invention, the depth of a crack generated by contacting an ultrasonic probe to a corresponding wall surface is detected, which is an exemplary example of a typical ultrasonic wave method.

Korean Patent Laid-Open Publication No. 2009-22295 discloses a method of inspecting defects in a coupling portion of a secondary barrier using ultrasonic waves. In the above-described invention, a method of detecting defects in a cargo applied to an LNG carrier is an exemplary non-destructive inspection method.

However, the above-described methods are usually performed in an external ground state, and thus separate devices are required to be applied to inspection of the surface of a rock hole formed at a depth of several tens of meters.

The simplest method is to attach an ultrasonic sensor to the end of a single lynch and inspect the surface of the rock hole by adjusting the length of the lynch.

However, this method has a merit that it is relatively simple. However, when the length is increased or the diameter is increased, it is difficult to maintain a certain distance from the surface of the sensor and the rock hole, and the surface position of the rock is not accurately known.

Korean Patent Publication No. 2009-0022295 (Mar. 4, 2009)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the related art as described above, and it is an object of the present invention to provide a method of accurately and rapidly measuring surface roughness, And to provide a ground surface inspection system for a rock hole in which basic construction is possible.

In order to accomplish the above object, according to the technical idea of the present invention, there is provided a system for inspecting a surface of a rock hole, comprising a moving unit for moving along a pipe inserted into a rock hole drilled underwater, And a remote part for controlling the position and operation of the moving part while supporting the moving part so as to be elevated and lowered, and receiving information collected by the moving part, wherein the moving part is fixed to the inner circumferential surface of the pipe or the wall surface of the rock hole A fixed module; A measurement module including a roughness measuring sensor coupled to the lower side of the fixing module so as to be able to ascend and descend and measuring the surface roughness of the rock hole; The present invention is characterized by its technical features.

Here, the measurement module may include: a measurement frame coupled to the lower side of the fixing module so as to be movable up and down; A sensor module including the roughness measuring sensor and a sensor actuator installed in the measuring frame and moving the roughness measuring sensor toward and away from the wall surface of the rocking hole; And the like.

The roughness measuring sensor may be installed radially so as to face the entire circumference of the wall surface of the rock hole.

The roughness measuring sensor in the measuring module may be a sonar sensor for measuring the surface roughness of the rock hole while generating ultrasonic waves.

Further, the distance to the wall surface of the rock hole is measured by the sonar sensor provided with the roughness measuring sensor, and the stroke of the sensor actuator is controlled based on the measured distance to the wall surface of the rock hole.

The roughness measuring sensor continuously measures the surface roughness of the rock hole in units of 1 mm while descending or rising along the rock hole with the measurement frame.

The measurement module may further include a loading device installed vertically downward from a lower end of the measurement frame to measure a bearing force of the rock hole tip.

The load device may include a load actuator fixed to the measurement frame, and a load plate attached to an end of the actuating part of the load actuator so as to be brought into contact with the end of the rock hole.

In addition, the loading device may be provided as a pair at the center of the lower end of the measurement frame and at a distance from the center point of the measurement frame, so that the bearing force can be measured along the circumferential direction of the rock hole tip.

The measurement module may further include a plurality of guide rollers installed on a side surface of the measurement frame and guiding the lifting and lowering of the measurement frame in contact with the wall surface of the rock hole, And a roller that is hingedly engaged with the operation portion of the roller actuator, and a roller that is rotatably installed on the roller body.

The measurement module may further include a contact sensor formed at a lower end of the measurement module so as to be downwardly in contact with the lower end of the rocker hole to recognize the position of the end of the rocker hole.

In addition, the fixing module and the measurement module may further include a level sensor for recognizing the depth of the rock hole, and the measurement module may further include a pressure sensor for measuring pressure.

The fixing module may include: a fixed frame connected to the cable; A transporting unit positioned inside the stationary frame to move the measuring module up and down; A hydraulic pressure portion for regulating the generation and passage of the hydraulic pressure; A plurality of pressing devices installed on a side surface of the stationary frame and fixing the stationary module to the inner circumferential surface of the pipe or the wall surface of the rock hole; A control unit for controlling the hydraulic unit and the transfer unit; And the like.

The pressure device may include a pressure actuator fixed on the fixed frame, a pressure plate mounted on the movable part of the pressure actuator, and a pressure sensor attached to the pressure plate to sense the pressure.

The measurement module may further include an impact generator having an end of the rock hole and an elastic wave transmitted through the surface layer of the rock hole at a position spaced apart from the impact generator and in contact with the end of the rock hole, And the ground strength at the tip of the rock hole is determined by the acoustic wave velocity transmitted through the surface layer of the rock hole.

The measurement module may further include a sound wave generator for generating a high frequency sound in the water inside the rock hole, separately from the impact generator, and the receiver is transmitted through the surface layer of the rock hole by the sound wave generated from the sound wave generator Wherein the acoustic wave generator generates a high frequency sound when the thickness of the slime remaining at the end of the rock hole is less than a predetermined value so that the slope remaining at the end of the rock hole The elastic wave is generated by a method in which the impact generator has a leading end of a rock hole to allow the receiver to receive the elastic wave.

The measuring module further includes a slime measuring device for measuring a slime thickness remaining at the tip of the rock hole. The slime measuring device includes a main body fixed to a lower end of the measuring module, And a resistance measured when the lifting unit passes through the slime is maintained. The resistance measured when the lifting unit penetrates the slime is measured by measuring the resistance while the lifting unit descends, And calculating a slime thickness by measuring a distance at which the elevation portion is displaced.

The rock surface inspection system according to the present invention can be precisely located in a rock hole by remote control, and can perform a precise surface inspection on the rock surface at the tip of the rock hole in a state of being stably supported by the diameter of the rock hole or the structure corresponding to the inserted pipe And the support force can be measured, so that it is possible to carry out elaborate foundation work.

In addition, the present invention can selectively use one of the acoustic wave by the high frequency sound and the acoustic wave by the excitation in consideration of the thickness of the slime remaining in the underwater perforated rock hole, Can be measured.

Further, the present invention can accurately measure the slime thickness, which is measured only depending on the sense of the operator in the field, so that the strength of the ground at the end of the rock hole can be accurately measured and whether or not the slime is further grounded And so on.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a block diagram showing the entire configuration of a rock hole inspection system according to an embodiment of the present invention; FIG.
2 is a block diagram of a fixing module in a rock hole inspection system according to an embodiment of the present invention
3 is a view showing the configuration of depressions in a rock hole surface inspection system according to an embodiment of the present invention
FIG. 4 is a diagram showing the operation of the conveyance unit in the rock hole surface inspection system according to the embodiment of the present invention
5 is a block diagram of a hydraulic pressure section in a rock hole surface inspection system according to an embodiment of the present invention
6 is a block diagram of a pressure device in a rock hole surface inspection system according to an embodiment of the present invention
7 is a block diagram of a measurement module in a rock hole surface inspection system according to an embodiment of the present invention
8 is a block diagram of a control section in a rock hole surface inspection system according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A detailed description will be given of a rock hole surface inspection system according to embodiments of the present invention with reference to the accompanying drawings. The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. In the accompanying drawings, the dimensions of the structures are enlarged to illustrate the present invention, and are actually shown in a smaller scale than the actual dimensions in order to understand the schematic structure.

Also, the terms first and second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. On the other hand, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

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BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the overall configuration of a rock hole surface inspection system according to an embodiment of the present invention; FIG. The present invention relates to a rock hole surface inspection system that can more accurately examine the surface of a rock hole in consideration of the thickness of a slime remaining in a pipe inserted into an underwater drilled rock hole.

As shown in FIG. 1, the rock hole inspection system 100 according to the embodiment of the present invention is configured to detect the surface of the rock hole 1 while moving inside the pipe inserted in the underwater hole 1, And a controller for controlling the position and operation of the moving part while holding the moving part in a state of being fixed on the ground by connecting the moving part by a cable and receiving information collected by the moving part And a remote part 3 which is capable of accurately measuring the ground strength and supporting force of the end of the rock hole 1 and the remaining slime thickness so as to enable precise foundation construction .

Hereinafter, a rock hole surface inspection system according to an embodiment of the present invention will be described in detail.

In the rock hole inspection system according to the embodiment of the present invention, the moving unit 2 includes a fixing module 10 and a measuring module 110, which are located at upper and lower portions, respectively, as shown in FIG.

The fixed module 10 includes a fixed frame 20 for supporting the entirety of the fixed module 10, a transfer part 30 located inside the fixed frame 20, a hydraulic pressure part 40 for generating a hydraulic pressure, And a pressure unit 50 and a control unit 90 for fixing the fixing module 10 using the hydraulic pressure generated by the unit 40. [

The fixed frame 20 includes a fixed upper plate 21, a fixed lower plate 22 and a fixed bar 23 connecting the fixed upper plate 21 and the fixed lower plate 22 vertically. ) Is realized with the strength to support various loads generated by hydraulic pressure. 3, a depression 24 is formed at the lower end of the lower fixed plate 22 so that a part of the measurement frame 120 belonging to the measurement module 110 is inserted when the measurement module 110 is elevated So as to have structural stability.

4, the transfer unit 30 includes a feed motor 31 attached to the stationary upper plate 21, a feed motor 31 attached to the stationary upper plate 21, And a lead screw 32 connected to the rotation axis of the measurement module 110. The lead screw 32 is engaged with the upper part of the measurement frame 120 of the measurement module 110. [ Thus, when the feed motor 31 rotates and the lead screw 32 rotates together, the measuring frame 120 engaged with the lead screw 32 moves up and down. A plurality of conveying bars 26 are extended from the lower end of the lower fixed plate 22. The measuring frame 120 is moved up and down according to the rotation of the lead screw 32 in a state of being penetrated by the conveying bar 26. [ You will be guided to.

The hydraulic section 40 is installed in the fixed frame 20 as shown in FIG. The hydraulic unit 40 includes a hydraulic tank 41, a hydraulic pump 42 and a hydraulic control unit 43. The hydraulic pump 42 and the hydraulic control unit 43 are controlled by a control unit 90 Respectively. Here, the hydraulic pump 42 functions to pressurize the hydraulic oil stored in the hydraulic tank 41, and the hydraulic control unit 43 includes a plurality of valves and is connected to a path of hydraulic oil pressurized by the hydraulic pump 42 . The valves are preferably provided as solenoid valves.

6, the pressurizing device 50 includes a pressurizing actuator 51 and a pressure plate 51 attached to an end of the actuating part of the pressurizing actuator 51, (52). The pressure actuator 51 and the pressure plate 52 are provided along the circumferential direction of the stationary frame 20 and may be installed at the upper and lower portions, if necessary. Here, the pressure actuator 51 is operated by the hydraulic oil guided by the hydraulic pressure control unit 43. A plurality of pressure sensors 53 are attached to the pressure plate 52 to detect a pressing force or an amount of deformation generated in the pressure plate 52. The pressure sensor 53 detects the deformation in the up, down, left, and right directions and senses the total amount of deformation or pressing force of the pressure plate 52. The output of the pressure sensor 53 is transmitted to the controller 90, and stops the operation of the pressure actuator 51 when a certain load or more is applied.

The control unit 90 controls the operation of the transfer unit 30 and the hydraulic unit 40 and also receives and processes the signals from the pressure sensor 53. The control unit 90 may have a sealing structure inside and may supply the air pressure to the control unit 90 through a separate hose from the remote unit 3 if necessary so as to prevent the infiltration of water from the outside .

4, a level sensor 92 is attached to the lower end of the fixed frame 20 to sense the current depth and transmit the detected depth to the controller 90. The controller 90 controls the level sensor 92 ), And transmits the calculated depth to the remote unit 3.

Next, a measurement module 110 constituting a moving part 2 together with a fixing module 10 in a rock hole surface inspection system according to an embodiment of the present invention will be described.

The measuring module 110 adjusts the relative distance between the measuring module 110 and the fixing module 10 by the operation of the conveying part 30 belonging to the fixing module 10 and adjusts the supporting force of the end of the rocking hole 1, , The thickness of the slime, and the surface roughness of the wall surface of rock wall (1).

As shown in FIG. 7, the measurement module 110 also includes a measurement frame 120 that supports the entire structure. The measurement frame 120 includes a measurement upper plate 121, a measurement lower plate 122 and a measurement bar 123 vertically connecting the measurement upper plate 121 and the measurement lower plate 122. A protrusion 123 is formed on an upper end of the measurement top plate 121 to be inserted into a depression 24 formed in the lower fixed plate 22 of the fixing module 10 when the measurement module 110 is lifted, When the protrusion 123 is inserted into the depression 24, the load applied to the measurement frame 120 is transmitted through the depression 24, which is advantageous from the overall structural viewpoint. The measurement top plate 121 is engaged with the lead screw 32 and the transport bar 26 passes through the measurement top plate 121 to guide the elevating operation of the measurement frame 120.

7, the measurement module 110 includes a sound generator 171 for generating a high frequency sound in the water inside the rock hole, an impact generator 172 having a rock hole tip, 171) and a receiver (173) installed at a position spaced apart from the impact generator (172) so as to receive elastic waves transmitted through the surface layer of the rock hole by a sound wave and an exciter in contact with the end of the rock hole And a strength measuring device 170. As a result, as shown in FIG. 8, the ground strength at the tip of the rock hole can be obtained by the acoustic wave velocity transmitted through the surface layer of the rock hole at the control section 90.

It should be noted that the ground strength measuring apparatus 170 can selectively use the sound wave generator 171 and the impact generator 172 according to the thickness of the slime remaining at the tip of the rock hole. That is, when the thickness of the slime remaining at the tip of the rock hole is less than a predetermined value through the measurement of the slime measuring device 180, the sound wave generator 171 generates a high frequency sound, The receiver 173 receives the acoustic waves. However, if the thickness of the slime remaining at the end of the rock hole is equal to or larger than a predetermined value, the impact generator 172 is made to have the end of the rock hole, And causes the receiver 173 to receive the elastic wave transmitted through the surface layer. Here, in the case of the sound wave generator 171, since the frequency can be freely selected, the receiver 173 can receive the higher resolution acoustic waves. Therefore, the method of receiving the acoustic wave by causing the high-frequency sound generated by the acoustic wave generator 171 to be transmitted through the surface layer of the underwater and the rock hole to thereby receive the acoustic wave has a higher resolution than the method in which the impact generator 172 has the acoustic- It is advantageous to receive the elastic wave of The present invention is intended to accurately measure the slime thickness by the slime measuring device 180 and make it possible to use the method through the sound wave generator 171 if possible to more accurately measure the ground strength at the rock hole tip. The frequency of the high frequency sound generated by the sound wave generator 171 is usually in the range of 500 to 1 kHz, and the acoustic wave velocity is controlled by the control unit 90 in cooperation with the ground measuring apparatus as shown in FIG.

As shown in FIG. 7, the measurement module 110 further includes a slime measuring device 180 for measuring a slime thickness remaining at the end of the rock hole. The slime measuring device 180 includes a main body 181 fixed to the lower end of the measuring module 110 and a lift part 184 which descends from the main body 181 and reaches the tip of the rock hole through the slime, (182). According to such a configuration, the controller 90 determines whether the slider passes through the slider by measuring the resistance during the descent of the ascending / descending part 182. When the resistance measured when the ascending / descending part 182 passes through the slime is maintained The slim thickness is calculated by measuring the distance by which the elevating portion 182 is displaced. Since the difference in resistance when the elevating portion 182 passes through the water and through the slime and the difference in resistance when the sliding portion 182 is in contact with the tip of the rock hole are clear, 182) is in the water, it is not difficult to calculate the displacement distance from the moment when the slime is first drawn to the moment when it comes into contact with the tip of the rock hole.

When such a slime measuring device 180 is provided, an inaccurate method of sensibly determining the slime thickness by a method in which an operator manually lowers the reinforcing bar from the medallion to the tip of the rock hole is improved to improve the remaining slime thickness It is possible to determine exactly whether to perform additional work to measure and slurry the slurry to the ground and how to use the ground strength measuring device 170 as described above.

The measurement frame 120 includes a loading device 130 installed at a lower end of the measurement lower plate 122. The loader 130 includes a hydraulic load actuator 131 and a load plate 132 attached to an end of an operation part of the load actuator 131 .

The load actuator 131 is also operated by the hydraulic pressure control unit 43 and may include a separate sensor for sensing the stroke of the load plate 132. Further, the load actuator 131 is disposed at the center of the measurement lower plate 122, and may be installed at a position spaced apart by a certain distance. In the case of a plurality of structures as described above, since the bearing force can be measured along the circumferential direction of the tip of the rock hole 1, there is an advantage that the measurement level of the bearing force can be further increased.

According to such a configuration, after measuring one end of the distal end force in the circumferential direction, the entire moving part 2 is rotated by the remote part 3 at a required angle, and then the measurement is performed.

In addition, the measurement lower plate 122 includes a contact sensor 161 for sensing the tip of the rock hole 1 to sense the tip contact of the measurement module 110. The measurement module 110 is also provided with a level sensor 162 to sense the current depth of the measurement module 110. It also includes a plurality of pressure sensors 163 to sense the pressure at the point.

The sensors 161, 162, and 163 also transmit measurement information to the controller 90. The controller 90 uses information measured by the sensors 161, 162, and 163 to determine the position And the depth and pressure at which the measurement module 110 is positioned.

The measurement module 110 includes a plurality of guide rollers 140 installed on a side surface of the measurement frame 120 to guide the lifting and lowering of the measurement frame in contact with the wall surface of the rock hole. The guide roller 140 includes a roller actuator 141 fixed to the measurement frame 120 and a roller body 142 hinged to the actuator of the roller actuator 141. The roller body 142 And a roller 143 rotatably installed. The roller actuator 141 is preferably constructed of an electric type and preferably includes a sensor or a counter for recognizing the stroke. The driving of the roller actuator 141 is controlled by the controller 90. When the controller 90 recognizes the stroke of the roller actuator 141 and the guide roller 140 moves out of the pipe and enters the wall surface of the rock hole And so on.

The measurement module 110 includes a sensor module 150 for sensing the roughness of the surface of the rock hole 10 at a lower end thereof. The sensor module 150 includes a sensor actuator 151 moving in the radial direction and a roughness measuring sensor 152 attached to an end of the sensor actuator 151 to detect surface roughness. The sensor actuator 151 and the roughness measurement sensor 152 are arranged radially with respect to the measurement frame 120. The arrangement interval of the sensor actuator 151 and the roughness measurement sensor 152 is such that an area sensed by one roughness measurement sensor 152 is partially overlapped, It is set so that information can be acquired. Therefore, when four roughness measuring sensors 152 are installed in four directions, it is not difficult to perform the function toward the wall surface of the rock hole.

It is preferable that the roughness measuring sensor 152 is provided with a sonar sensor using ultrasonic waves. In this case, the roughness measuring sensor generates ultrasonic waves and measures the surface roughness of the wall surface of the rocking hole as well as the distance to the wall surface of the rocking hole It is possible to do. If the roughness measuring sensor 152 can measure the distance to the wall surface of the rocking hole, it can be utilized for stroke control of the sensor actuator 151.

Here, the roughness measuring sensor 152 belongs to the measuring module 110 in a state where it is radially arranged in all directions and obtains accurate roughness information on the surface of the rock hole by continuously measuring 1 mm units while descending or rising along the rock hole. The roughness measuring sensor 152 is suitable for a frequency of about 2 MHz.

The sensor module 150 is also interlocked with the controller 90 and the sensed result is transmitted to the controller 90. The controller 90 calculates the surface roughness and displays the surface roughness using the transmitted result .

Next, the control unit 90 and the remote unit 3 will be described below.

The controller 90 controls the moving unit 2 as a whole as shown in FIG. 8 and the remote unit 3 stores and displays information obtained through the controller 90. The user And an operating section for operating the moving section 2. [ That is, the user instructs the operation of the moving unit 2 through the operation unit, and the control unit 90 controls various devices based on the information indicated through the operation unit.

8, the controller 90 receives the pressure information through the pressure sensor 163 and calculates the depth of the rock hole 1 through the level sensors 92 and 162. [ The control unit 90 controls the conveying unit 30. The control unit 90 drives the conveying motor 31 to adjust the distance between the measuring module 110 and the fixing module 10, When the test is performed, the measurement module 110 is operated so as to be connected to the fixed module 10, so that the load generated in the load test is absorbed by the fixed module 10.

The control unit 90 controls the pressing device 50 to fix the fixing module 10 to the rock hole 1 when it reaches a specific position based on the information obtained through the sensors. At this time, the pressurizing device 50 operates by using the hydraulic pressure generated in the hydraulic pressure unit 40, and additionally measures the pressing force sensed by the pressure sensor 53 to measure the pressure of the pipe inserted into the rock hole 1 .

The controller 90 operates the guide roller 140 so that the guide roller 140 operates the conveying unit 30 after the pressurizing unit 50 is operated and fixed, And is guided by the fixing module 10 to be guided to the rock hole 1 accurately. At this time, the sensor module 150 also protrudes outward to measure the roughness of the inner surface of the rock hole 1, and the process ends when the conveying portion 30 is in the maximum stroke state.

In the case of the load test, the stationary module 10 and the measurement module 120 are tightly coupled to each other. Then, the remote part 3 is adjusted to lower the moving part 2, The load device 50 is operated to fix the fixing module 10, and then the load device 130 is operated to perform a load test. The operation of the loading device 130 is controlled by operating the hydraulic pressure unit 40, and the hydraulic pressure is transmitted to the remote unit 3 through the control unit 90. If necessary, another loading device 130 is operated to perform the loading test in the circumferential direction of the end. At this time, the remote unit 3 adjusts the cable 4 and rotates the moving unit 2 to perform intermittent testing.

The control unit 90 receives surface information of the rock hole 1 measured by the sensor module 150 and transmits the surface information to the remote unit 3. At this time, the controller 90 operates the pressurizing device 50 at the corresponding position to fix the fixing module 10. Thereafter, the sensor actuator 151 is operated to operate the roughness measuring sensor 152 so as to approach the rock hole 1, and then the feeding unit 30 is driven to feed the measuring module 110 downward .

According to the control, the roughness measuring sensor 152 transmits the roughness information of the longitudinal direction of the rock hole 1 to the remote unit 3. The roughness measuring sensor 152 is installed in the measuring module 110 in a radial manner so as to acquire all the roughness information of the circumferential direction of the rock hole 1 with water.

The control unit 90 calculates the elastic wave velocity in cooperation with the ground strength measuring apparatus 170 and also plays a role of determining the slime thickness in cooperation with the slime measuring apparatus 180.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is clear that the present invention can be suitably modified and applied in the same manner. Therefore, the above description does not limit the scope of the present invention, which is defined by the limitations of the following claims.

1: rock hole 2: moving part
3: Remote part 4: Support cable
10: Fixing module 20: Fixing frame
30: conveying section 40: hydraulic section
50: pressurizing device 90:
110: measurement module 120: measurement frame
130: Loading device 140: Guide roller
150: sensor module 170: ground strength measuring device
180: slime measuring device

Claims (17)

A moving part for moving along the inside of the pipeline inserted to the underwater hole, a moving part connected to the moving part by a cable so as to be movable up and down while controlling the position and operation of the moving part, Lt; RTI ID = 0.0 &gt; a &lt; / RTI &
The moving unit includes:
A fixing module fixed to the inner peripheral surface of the pipe or the wall surface of the rock hole while lifting up and down by the cable;
A measurement module including a roughness measuring sensor coupled to the lower side of the fixing module so as to be able to ascend and descend and measuring the surface roughness of the rock hole; &Lt; / RTI &
The measurement module includes: a measurement frame coupled to the lower side of the fixing module so as to be able to move up and down; A sensor module including the roughness measuring sensor and a sensor actuator installed in the measuring frame and moving the roughness measuring sensor toward and away from the wall surface of the rocking hole; &Lt; / RTI &
Wherein the measuring module further comprises a contact sensor formed on the lower end of the measurement module so as to be downwardly long and the lower end of the measurement module is in contact with the end of the rocking hole to recognize the position of the end of the rocking hole. delete The method according to claim 1,
Wherein the roughness measuring sensor is installed radially so as to face the entire circumference of the wall surface of the rock hole. The method of claim 3,
Wherein the roughness measurement sensor in the measurement module is provided with a sonar sensor for measuring the surface roughness of the rock hole while generating ultrasonic waves. 5. The method of claim 4,
Wherein the rocker hole surface inspection system measures the distance to the rocker hole wall surface by the sonar sensor provided with the roughness measurement sensor and controls the stroke of the sensor actuator based on the measured distance to the rocker hole wall surface. The method of claim 3,
Wherein the roughness measuring sensor continuously measures the surface roughness of the rock hole in units of 1 mm while descending or rising along the rock hole with the measurement frame. The method according to claim 1,
Wherein the measurement module further comprises a load device installed vertically downward from a lower end of the measurement frame to measure a bearing force of the rock hole tip. 8. The method of claim 7,
Wherein the load device includes a load actuator fixed to the measurement frame and a load plate attached to an end of an operating portion of the load actuator to contact the end of the rock hole. 9. The method of claim 8,
Wherein the loading device is provided in pairs at the center of the lower end of the measuring frame and at a distance from the center of the measuring frame so that the bearing force can be measured along the circumferential direction of the end of the rockhole hole . The method according to claim 1,
The measurement module further includes a plurality of guide rollers installed on a side surface of the measurement frame and guiding the elevation of the measurement frame while contacting the wall surface of the rock hole,
Wherein the guide roller includes a roller actuator fixed to the measurement frame, a roller body hinged to the operation portion of the roller actuator, and a roller rotatably installed on the roller body. delete The method according to claim 1,
The fixing module and the measurement module are each provided with a level sensor capable of recognizing the depth of the rock hole,
Wherein the measurement module further comprises a pressure sensor for measuring pressure. 2. The apparatus of claim 1,
A fixed frame connected to the cable;
A transporting unit positioned inside the stationary frame to move the measuring module up and down;
A hydraulic pressure portion for regulating the generation and passage of the hydraulic pressure;
A plurality of pressing devices installed on a side surface of the stationary frame and fixing the stationary module to the inner circumferential surface of the pipe or the wall surface of the rock hole;
A control unit for controlling the hydraulic unit and the transfer unit; Wherein the rock hole surface inspection system comprises: 14. The method of claim 13,
Wherein the pressure device includes a pressure actuator fixed on the fixed frame, a pressure plate mounted on the moving part of the pressure actuator, and a pressure sensor attached to the pressure plate to detect a pressing force. The method according to claim 1,
The measurement module is provided with an impact generator having a rock hole tip and an acoustic wave transmitted through the surface layer of the rock hole at a position spaced apart from the impact generator so as to be in contact with the rock hole tip, Wherein a receiver is provided to determine the ground strength at the tip of the rock hole by the acoustic wave velocity transmitted through the surface layer of the rock hole. 16. The method of claim 15,
The measurement module may further include a sound wave generator for generating a high frequency sound in the water inside the rock hole, separately from the impact generator, and the acoustic wave propagating through the surface layer of the rock hole at the receiver by the sound wave generated from the sound wave generator To obtain the ground strength at the tip of the rock hole,
Wherein when the thickness of the slime remaining at the end of the rock hole is less than a predetermined value, the sound generator causes a high frequency sound to be generated, and if the thickness of the slime remaining at the end of the rock hole is a predetermined value or more, And the acoustic wave is generated by the acoustic wave generating means so that the receiver receives the acoustic wave. 17. The method of claim 16,
The measurement module may further include a slime measuring device for measuring a slime thickness remaining at the tip of the rock hole,
The slime measuring apparatus includes a main body fixed to a lower end of a measurement module, and a lifting portion that is lowered from the main body and passes through the slime so as to reach the tip of the rocking hole. The resistance is measured while the lifting portion descends And determining a slime thickness by measuring a distance at which the elevation portion is displaced while the resistance measured when the elevation portion passes through the slime is maintained.

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