KR102205218B1 - Towing-type high-speed three-dimensional shaping device and method for sinkholes and underground cavities - Google Patents

Abstract

The present invention relates to a traction-type high-speed three-dimensional shaping device and method of sinkholes and underground cavities. The device comprises: a sensor rod including a lidar sensor and which senses data for shaping a sinkhole in the underground sinkhole; a retractor; a ground controller; and a host computer. According to the present invention, the reliability of a shaping result can be enhanced through correction.

Description

Towing-type high-speed three-dimensional shaping device and method for sinkholes and underground cavities}

The present invention relates to a sinkhole (underground cavity) shaping, and more particularly, to a sinkhole and a traction type high-speed 3D shaping apparatus and method for preventing further collapse through rapid exploration and three-dimensional shaping of the sinkhole. About.

This part provides background information related to the content of the present application, and is not necessarily prior art.

Sudden ground subsidence around Seokchon Lake where skyscrapers are being built in 2014 maximized the fear of neighboring residents, and the government recognized this subsidence as a national disaster, and a special law on underground safety management was enacted and implemented. Such a phenomenon that the scale of ground subsidence is large and vertically generated is called a sink hole, and a sink hole with a diameter of 20 m and a depth of 100 m that occurred in Guatemala in 2007 occurred in the middle of an urban area, becoming a representative example of a sink hole accident. . In order to determine the risk of such a sinkhole, it is most important to determine the size and size of the sinkhole, and in particular, whether there is a risk factor for further collapse in which direction. The most effective method for such investigation is the method of performing a detailed investigation by inputting manpower. However, since the ground is weak and there is a high probability of further collapse, the input of manpower or equipment is not smooth, so a more effective and stable method is required.

On the other hand, the abandoned mines in Korea are scattered across the country in an unrecovered state of underground cavities formed by mining for a long time in the past.

Accordingly, there are cases in which the construction of existing facilities and new facilities is restricted due to stability problems, and recently, a ground stabilization project for mine settlement has been actively promoted.

However, Korea's mining environment varies greatly depending on region, geology, and mining conditions, and if the mine development characteristics are not met, an inefficient ground stabilization project will be implemented.

Therefore, in establishing and applying ground subsidence prevention measures, there is a need for a technology to stably carry out a ground stabilization project in a mine area by pursuing high efficiency of related reinforcement technologies to meet the conditions of mine as much as possible.

The ground stabilization method, which is currently applied for the stabilization of the ground in mines at home and abroad, is largely classified into a filling method for stabilizing an underground cavity and an upper reinforcement method for reinforcing the ground above the underground cavity.

In a broad sense, the ground stabilization method in a mine area can be said to be a measure to ensure that the things around the mine are safe and function properly through basic and detailed investigations (shaping the underground cavity).

In accordance with this, in recent years, exploration work for an underground cavity area has been actively conducted for drilling work such as ground stabilization work or oil exploration in mines.

As part of this, in the prior art, there has been an effort to shape the underground cavity area by installing a sensor in the underground cavity area and measuring the distance to the target. Registered Patent No. 10-1695479 as a patent document that can confirm the background technology of the present invention. No., Registration Patent No. 10-0708345, Publication No. 10-2015-0049207, and the like.

In addition, there is a method of investigating a drone equipped with a high-speed Lidar sensor in the field. An example of using a drone equipped with a high-speed lidar sensor at such a subsidence site is to estimate the degree of damage through geographical mapping of the subsidence situation by scanning the ground while flying around the site where subsidence occurs or is predicted to occur. And it was mainly applied to monitor state change.

However, such a method using a drone cannot be used at a deep depth (for example, 100m) where remote control cannot be performed due to the wireless signal not reaching, and also at a deep depth, it is difficult to accurately determine the location because the GPS signal does not arrive. Independent flight is also difficult, and it is difficult to establish a stable flight environment due to severe airflow changes occurring in the vertical air, which makes it difficult to utilize and practical.

Registered Patent No. 10-1695479 Registered Patent No. 10-0708345 Publication Patent No. 10-2015-0049207

The present invention is to solve the above-described problems, without being affected by changes in air flow in sinkholes (and vertical cavities under the ground) deep in the ground, while raising the lidar sensor by traction at high speed to increase the sinkhole. It is intended to provide a traction type high speed 3D shaping device and method for sinkholes and underground cavities that increase the reliability of shaping results through exploration (monitoring) and correction (section slope correction, rotation angle correction, shake correction, data defect correction). There is a purpose.

The traction type high-speed 3D shaping apparatus for a sinkhole and an underground cavity according to the present invention includes a sensor rod including a lidar sensor and sensing data for shaping a sinkhole in an underground sinkhole; A retractor installed on the ground and traction and lifting the sensor rod at a constant speed; A ground controller that applies power to the sensor rod and processes sensing data; The software includes a host computer that corrects based on the sensing data and then shapes the sinkhole in three dimensions, and the software changes the exploration information obtained in a spiral form by the lidar sensor into a strip line of the same depth. Sinkhole through one or more corrections of cross-sectional inclination correction, rotation angle correction to rotate the exploration information to the magnetic north as a reference position, shake correction to correct the exploration information to the center value, and data loss correction to correct errors in the exploration information It is characterized in that it is shaped in three dimensions.

According to the traction-type high-speed 3D shaping apparatus and method of the sinkhole and the underground cavity according to the present invention, the sensors form the sinkhole and the underground vertical cavity through continuous elevation from the floor and rotation by 360 degrees through continuous traction work on the ground. Since high-speed detection by sensing information is possible, rapid exploration is possible, and as a result, rapid countermeasures can be prepared to prevent further collapse and stabilize the ground. In addition, correction (section slope correction, rotation angle correction, shake correction, data By increasing the identity of the detection result and the actual sinkhole through defect correction), the reliability of large-scale sinkhole disaster site investigation is further improved, and the ground stabilization effect is maximized through stabilization measures. You can contribute.

1 is an overall configuration diagram of a traction type high-speed three-dimensional shaping apparatus for a sinkhole and an underground cavity according to the present invention.
Figure 2 is a configuration diagram of a sensor unit applied to the traction type high-speed three-dimensional shaping device of a sinkhole and an underground cavity according to the present invention.
3 is a conceptual diagram of a method for traction-type high-speed 3D shaping of a sinkhole and an underground cavity according to the present invention.
4 is a conceptual diagram of cross-sectional inclination correction by the method of traction-type high-speed three-dimensional shaping of a sinkhole and an underground cavity according to the present invention.
5 is a conceptual diagram of cross-sectional slope correction during correction of a method for traction-type high-speed three-dimensional shaping of a sinkhole and an underground cavity according to the present invention.
6 is a conceptual diagram of correction of a rotation angle during correction of a method for traction-type high-speed three-dimensional shaping of a sinkhole and an underground cavity according to the present invention.
7 is a process diagram of a rotation angle correction during correction of a method for traction type high-speed 3D shaping of a sinkhole and an underground cavity according to the present invention.
8 is a conceptual diagram of shake correction during correction of a method for traction-type high-speed three-dimensional shaping of a sinkhole and an underground cavity according to the present invention.
9 is a view showing a form of a defect that may be generated by the method of traction type high-speed 3D shaping of a sinkhole and an underground cavity according to the present invention.
10 is a view showing the correction of missing data in the traction-type high-speed 3D shaping method of a sinkhole and an underground cavity according to the present invention.
11 is a conceptual diagram of shape determination according to the method of traction type high-speed three-dimensional shaping of a sinkhole and an underground cavity according to the present invention.
12 to 14 are images showing a traction type high-speed three-dimensional shaping process of a sink hole and an underground cavity according to the present invention.

In the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users and operators. Therefore, the definition should be made based on the contents throughout this specification.

As shown in Fig. 1, the traction type high-speed 3D shaping apparatus of the sinkhole and the underground cavity according to the present invention is a sensor rod (exploration equipment) that senses data for shaping the sinkhole in the sinkhole (vertical cavity). 100), the retractor 200 for pulling the sensor rod 100, the ground controller 300 for processing sensing data while applying power to the sensor rod 100, and corrected based on the sensing data through software It consists of a host computer 400 that shapes the sinkhole in three dimensions.

The sensor rod 100 includes a sensor body 110, a power supply unit 120, a rotation drive unit 130, and a sensor unit 140.

The sensor body 110 is for assembly of the above-described components of the sensor rod 100 and is connected to the retractor 200 through a traction cable 111. The sensor body 110 may be configured in two or more assembly types according to the function of each component, and a waterproof connector 112 is applied to a portion into which the traction cable 111 is inserted.

Heavy equipment, such as a crane, may be used to install the traction cable 111 in the center of the sink hole and the sensor rod 100.

The power supply unit 120 includes an I/F power board.

The I/F power board has a built-in DC-DC converter to convert a high voltage of 100V or higher into a 12V low voltage, and also has a built-in circuit for separating data and signals from the power supply.

The rotation driving unit 130 is composed of a driving motor unit 131, a rotation gear unit 132, and a rotation shaft 133.

The drive motor unit 131 adjusts rotation through control of a servo motor installed on one side of the sensor unit 140, for example.

The rotation gear unit 132 adjusts rotation through the control of the servo motor.

The rotation shaft 133 rotates by receiving rotational force through the rotation gear unit 132.

In addition, a slip ring is included so that power can be applied to the driving motor unit 131 even while the sensor rod 100 is rotating.

The sensor unit 140 includes a main control board 141, a sensor module 142 such as an inertial sensor, and a high-speed lidar sensor 143. It is distinguished from the sensor module 142 due to the function of the high-speed lidar sensor.

The main control board 141 converts the command transmitted from the ground controller 300 into a control signal using an interface control board (for example, a Field Programmable Gate Array (FPGA) device, etc.), and measures detected by the sensor unit 140 By receiving and managing data, the sensor module 142 is controlled.

The sensor module 142 includes an inertial measuring unit (IMU), an accelerometer, a gyro sensor, a magnetic field sensor, a rotation angle sensor, and a tilt (inclination) sensor, and these sensors include information and correction for 3D shaping, which will be described later. It senses information for

The inertial sensor (IMU) is a sensor assembly that measures the amount of movement and movement of the sensor body 110 by using a mixture of an accelerometer, gyroscope magnetic field sensor, rotation angle sensor, and tilt sensor, and is mounted on the sensor body 110.

The accelerometer measures the movement of the antenna attached to the sensor rod 100 in a rectangular coordinate system, a magnetic field sensor with an azimuth sensor detects a geomagnetic field to measure the azimuth, and the gyro sensor measures the measured rotation. When there is an error in the angle or inclination angle, the rotation angle or inclination angle is corrected by measuring the rotational angular velocity, and an inclination sensor (inclinometer) measures the inclination angle based on gravity.

The high-speed lidar sensor 143 is a sensor that calculates an accurate distance from an underground cavity (sink hole) to a target point, and is preferably rotatably connected to the sensor body 110 at the lower end of the sensor body 110.

That is, the sensor body 110 is configured to rotate when the sensor module 140 is calibrated, while the high-speed lidar sensor 143 is configured to rotate separately from the sensor body 110 (sensor module 142).

The sensor rod 100 may include a photographing unit (camera) for photographing an image of a target in an underground cavity.

The retractor 200 includes a traction motor 210, a traction motor control unit, a traction drum 220, and a depth indicator (encoder).

The traction motor 210 rotates and rotates in both directions through the control of the traction motor controller to rotate the traction drum 220 to unwind or wind the traction cable 111 by the traction drum 220.

The depth indicator is connected to the measuring wheel of the encoder 230 and displays the amount of movement of the traction cable 111 detected by the encoder 230 on a screen.

The encoder 230 has a measuring wheel installed in the center, and detects the amount of movement of the traction cable 111 wound around the traction drum 220.

The traction motor control unit controls the operation of the traction motor 210 through software, and the software is managed by an administrator.

The ground controller 300 includes a power control unit, an image receiving unit, and a communication control unit.

The power control unit converts AC 220V applied from AC power to DC 192V voltage, and controls power supply and power state.

The image controller receives sensing data (for example, an underground joint photographing image, measured distance information, etc.) transmitted from the sensor unit 140.

The communication control unit enables communication with the host computer 400.

In this case, the USB hub is connected to the host computer 400 through a universal serial bus (USB) communication method, and also allows a peripheral device such as an RS-232 converter and an RS-485 converter to be connected through a USB communication method.

The RS-232 converter converts RS-232 communication into a USB (Universal Serial Bus) communication method to enable communication, and is connected to the depth indicator of the retractor 200.

The RS-485 converter converts RS-485 communication into a universal serial bus (USB) communication method to enable communication, and is connected to the slip ring of the towing drum 220 of the retractor 200.

The host computer 400 performs an underground cavity 3D shaping algorithm by installing software (S/W) that operates an underground cavity 3D shaping and numerical operation system, and controls the overall operation of the sensor rod 100.

The host computer 400 corrects the data acquired for the three-dimensional shape of the underground cavity, and this correction is performed during measurement (section inclination correction, rotation angle correction, shake correction) and analysis (Glitch correction, rotation angle precision correction). ).

The method of traction-type high-speed three-dimensional shaping of sinkholes and underground cavities according to the present invention includes a process of inserting a sensor rod into the sinkhole-detecting shaping information-correcting-shaping determination, and a specific method is as follows.

1. Insert the sensor rod.

Loosen the traction cable 111 and insert the sensor rod 100 to the bottom of the sink hole.

2. Detection of shaping information.

Through the driving and driving control of the traction drum 220, while winding the traction cable 111 around the traction drum 220 at a constant speed, the lidar sensor 143 and the sensor module 142 are driven and controlled, and in this process, the It continuously detects the distance of the sinkhole from the sensor 143.

3. Calibration.

First, explaining the shape determination algorithm,

In order to investigate the sink hole, as shown in FIG. 3, the measurement is made while raising the exploration equipment from the lowermost end of the sink hole. The data is measured at regular depth intervals while moving the electrically driven cable winch at a constant speed (raising by pulling). Assuming that the measured depth is D ₀ ,D ₁ ,D ₂ ,,,Dm, if the points determined at the m-th depth are Pm(φ), φ = 0,1,2,,,359, and the measured angle of the lidar Corresponds to.

It shows the entire process of determining the value from the sensor value measured by the inertial sensor and the measured value of the high-speed lidar sensor, and the process of determining the center value and correction factor of the inertial sensor before measurement is performed through a stop state and a rotational motion, respectively. do. After positioning the exploration equipment at the maximum measurable depth, it calculates the point that determines the shape using the measured value of the high-speed lidar sensor while moving upward.

According to the present invention, since the lidar sensor rises while continuously rotating, according to the measured values, a linear trajectory is created, so that cross-sectional inclination correction (depth correction) is performed to create a shape based on the measured value of the same depth. .

In addition, since the probe is in a form in which the steel wire is twisted and wound in duplicate when the cable is manufactured, the body of the probe continues to rotate while moving vertically, and the measurement reference value of the high-speed lidar sensor rotates, and the amount of rotation is measured based on magnetic north. The rotation angle correction process to be corrected is performed.

In addition, the cable is extended and the exploration equipment is shaken from side to side by the rising airflow generated inside the sinkhole.The shake correction that corrects the center point of the lidar sensor by calculating the degree of shaking from the center based on the tilt angle measured from the tilt sensor. The process is carried out.

In this way, a more accurate shape is reconstructed by reflecting the attitude change of the exploration equipment.

end. Section slope correction.

In the present invention, since the lidar sensor rises while continuously rotating, the distance is measured using a spiral trajectory as shown in (A) of FIG. 4, and the depth of data acquired at 359 degrees based on the depth at 0 degrees Unlike the depth at 0 degrees, an error occurs, and if the depth at the time of one rotation of the lidar sensor is shortened (shallow), the error in the shaping result of the sink hole can be reduced.

The present invention solves the above-described error in order to increase the reliability of the shaping result of the sink hole, and this is referred to as cross-sectional slope correction.

Section slope correction is to extract the strip line dmf measured at the same depth by calculating the average value of two measurements measured at the same location (angle) and at different depths (previous depth and later depth). Position, for example, is a weighted average using a position of 0 degrees as a reference position (see FIG. 4).

FIG. 5 is a graph showing the results of measuring the distance at intervals of 1 degree while the lidar sensor rotates from 0 degrees to 359 degrees, and cross-sectional inclination correction is possible through Equation (1) below.

-------------(1)

-------------(One)

I. Rotation angle correction.

As shown in FIG. 6, the rotation angle θ is an angle representing the amount of rotation of the reference point of the high-speed lidar sensor with respect to magnetic north. This rotation angle is measured using the values of the gyro sensor and the magnetic field sensor among the inertial sensors, and is based on the value of the magnetic field sensor, while when the value of the magnetic field sensor is judged as an error, the value of the gyro sensor is used as the reference. Is a method of constructing big data of the rotation angle based on the position of the sensor rod 100 and the value of the magnetic field sensor, and extracting the rotation angle corresponding to the position of the sensor rod 100 from the big data.

7 shows a process of determining the rotation angle, and in order to determine the rotation angle through a gyro sensor and a magnetic field sensor, a process of correcting before exploration must be preceded. Before the exploration equipment is put into operation, the gyro sensor value is used as the center value G _x,bias as shown in the formula below in a completely stopped state suspended through a pulley.

Gyro sensor value collected while rotating the head of the exploration equipment

G _z,o' ,G _z,1' ,G _z,2' ,,,,G _z,N-1' and the value of the magnetic field sensor are collected. In this case, the converted value S _z,gyro that can obtain the rotation angle of the gyro sensor can be determined through the following equation (2).

-------------- (2)

-------------- (2)

At this time, the value of the magnetic field sensor is also measured. If the minimum and maximum values of the x-axis are determined, the center value and the converted value of the x-axis for determining the rotation angle from the magnetic field sensor can be expressed as Equations (3) and (4). In the same way, the center value M _y,bias of the y-axis and the transformed value S _y,mag can also be determined through Equations (5)(6) below.

-----------------(3)

-----------------(3)

-----------------(4)

-----------------(4)

-----------------(5)

-----------------(5)

-----------------(6)

-----------------(6)

,

로 보정하게 된다. It was measured while moving the exploration equipment up and down, and the rotation angle was defined as θ _rot,m based on magnetic north. First of all, to determine the rotation angle using a magnetic field sensor, apply the center value and the converted value and calculate the sensor value through equations (7)(8).

,

Will be corrected to.

--------(7)

--------(7)

--------(8)

--------(8)

The magnetic field rotation angle θ _mag,m and the magnetic field strength M _n determined using the corrected magnetic field sensor value are determined by the following equations (9) (10).

----------------(9)

----------------(9)

-------------(10)

-------------(10)

At this time, the method of determining the rotation angle from the gyro sensor is as shown in Equation (11). The initial value is the value determined by the magnetic field sensor, and the accumulated value is used by determining the amount of rotation change per unit distance.

-------(11)

-------(11)

When passing around a metal or magnetic body during the exploration process, the value of the magnetic field sensor changes rapidly. This degree of sudden change indicates that the magnetic field changes rapidly when the magnetic field strength is greater than 1. Using this point, the final θ _rot,m can be expressed as Equation (12).

When θ _rot,n = θ _mag,n' |M _n |≤ 1, when θ _gyro,n' |M _n |> 1 -------(12)

That is, after confirming the rotation angle of the measurement shape, the measurement shape is matched with the actual shape by rotating it by the rotation angle.

All. Shake correction.

As the cable is unfolded, the exploration equipment acts as a weight and moves the pendulum. In particular, when the sinkhole has a depth of 100m or more, since the temperature and air pressure are different between the surface and the underground, ascending airflow occurs mainly from the inside of the sinkhole toward the surface, causing more severe vibration. Such shaking changes the position of the center point of the measured value of the LiDAR sensor, which causes an error in determining the 3D shape. The degree of shaking dx _m and dy _m is determined through the degree of inclination of the exploration equipment θx,m, θy,m using an inclinometer (tilt sensor) as shown in FIG. 8.

Like the gyro sensor and the magnetic field sensor described above, the tilt sensor must also determine a center value for sensor calibration in a stationary state prior to exploration. The x, y-axis measurement values measured at standstill are used as I _x,bias and I _y,bias . At this time, the angles θ _x,m and θ _y,m inclined in the x-axis and y-axis directions are determined by the following equation (13).

-------------(13)

-------------(13)

Here, I _x,m , I _y,m means the current measured value, and 819 is the intrinsic correction factor value of the used tilt sensor SCA100T-200 model. That is, 819 depends on the tilt sensor.

을 이용하여 흔들림에 의한 변화량 Δ

는 D_m만큼 이동한 탐사장비를 하기의 식(14)과 같이 θ_x,m, θ_y,m, θ_rot,m■ 에 의한 연속적인 회전운동으로 계산할 수 있다. Rotation angle determined earlier

The amount of change due to shaking Δ

It can be calculated in a continuous rotational movement by _{θ x, m, θ y,} m, θ rot, m ■ as in equation (14) below the sensing device to move by D _m.

----------------식(14)

Expression (14)

=(0 0 -D_m)^T here,

=(0 0 -D _m ) ^T

to be.

la. Data loss correction.

As a verification of the result after completion of the measurement, FIG. 9 is a graph in which values measured at three depths (D _m+1 ,D _m ,D _m-1 ) are developed, and three types of defects are shown at the depth D _m .

The three types of defects are classified into Glihtch correction, local defect correction, and global defect correction based on the degree of defect and whether the adjacent depth measurement value is defective.

Glihtch correction is a form with less defects and no defects in adjacent depth measurements, and the correction method at this time is in the order of L _m '(n-1), L _m '(n1), L _m '(n+1) size. This is a correction that selects a median value after sorting by and a correction by median filter.

Local defect correction is a case in which the degree of binding is wider than the standard of Glihtch correction and there is no defect in the adjacent depth measurement value.It is a correction in which the average of the measurement values of the vertically adjacent depths is the correction value by interpolation between adjacent signals.

The distinction between glihtch correction and local defect correction is, for example, when the defect width is within 0.5cm (within 3 degrees based on the angle) and the local defect correction is more than that.

Wide-area defect correction is a case where the defect width is wide and there is a defect in the adjacent signal value, and it is corrected by the interpolation method between the curved surface estimation signals and the method is as shown in Equation (15) below.

----식(15)

----Eq. (15)

The result is a correction using the linearity before the start of the defect and after the end of the defect as shown in FIG. 10.

4. Shape determination.

을 고려하여 단면을 결정하는 과정은 다음과 같다. The previously defined rotation angle θ _rot,m and the degree of shaking Δ

The process of determining the cross section in consideration of is as follows.

As shown in FIG. 11, when the data measured at the m-th depth D _m is L _m (?? _m ), the data L _m '(???) corrected around magnetic north in consideration of the rotation angle θ _rot,m first. _m ') is determined through Equation (16).

----------식(16)

----------Eq. (16)

At this time, when the point P _m (?? _m ) on the sinkhole wall is defined as in Equation (17), it can be determined through Equation (18).

----------------식(17)

Expression (17)

---식(18)

---Equation (18)

Cross-sectional points obtained at regular depth intervals through the above-described process are configured in a form in which strip lines of the same depth are stacked as shown in FIG. 12. In order to construct a surface from these points, as shown in FIG. 13, two cross-sectional points are expressed as a triangular mesh, and the surface may be configured as shown in FIG. 14.

100: sensor rod, 110: sensor body
120: power supply unit, 130: rotation drive unit
140: sensor unit, 141: main control board
142: sensor module, 143: lidar sensor
200: retractor, 210: traction motor
220: traction drum, 230: encoder
300: ground controller, 400: host computer

Claims (8)

A sensor rod including a lidar sensor and sensing data for shaping a sink hole in an underground sink hole;
A retractor installed on the ground and traction and lifting the sensor rod at a constant speed;
A ground controller that applies power to the sensor rod and processes sensing data;
Comprising a host computer for shaping the sink hole in three dimensions after correction based on the sensing data through software,
The software uses the rotation angle correction to rotate the exploration information spirally obtained by the lidar sensor into a strip line of the same depth and rotates the exploration information to the magnetic north as a reference position, and the exploration information as a center value. The sinkhole is shaped in three dimensions by correcting shake correction and data deficit correction to correct errors in the exploration information, and the cross-sectional slope correction is the weighted average of two measured values measured at the same position and at the depths before and after. A traction type high-speed three-dimensional shaping device for a sinkhole and an underground cavity, characterized in that it is calculated and corrected by forming a strip strip having the same depth. The method according to claim 1, wherein the retractor is a traction motor, a traction motor control unit that controls the traction motor, a traction cable connected to the sensor rod is wound, and the traction cable is wound while rotating through the traction motor to traction and raise the sensor rod. A traction type high-speed 3D shaping apparatus for a sinkhole and an underground cavity, comprising: a traction drum and a depth indicator for displaying the depth of the traction cable. A first step of inserting a sensor rod including a lidar sensor into the sink hole;
A second step of measuring the distance of the sink hole through the lidar sensor while pulling the sensor rod and continuously rising to the ground side of the sink hole;
A third step of correcting the data detected through the second step;
And a fourth step of constructing three-dimensional information based on the data corrected through the third step and then shaping it into three dimensions,
The third step is to correct the cross-sectional inclination of changing the exploration information obtained in a spiral form by the lidar sensor into a strip line of the same depth, a rotation angle correction to rotate the exploration information to the magnetic north as a reference position, and the exploration information It is a data loss correction that corrects for errors in data and shake correction that is corrected by values.
In the third step, the cross-sectional slope correction is corrected by forming a strip band having the same depth by calculating a weighted average of the two measured values measured at the same location and at the previous and subsequent depths. Traction type high-speed 3D shaping method. delete The sinkhole according to claim 3, wherein the rotation angle correction calculates a rotation angle with respect to a reference angle from a value measured by at least one of a magnetic field sensor and a gyro sensor, and corrects a distance measurement value by the rotation angle. Traction type high-speed 3D shaping method of underground cavity. The method of claim 3, wherein the shake correction detects the inclination of the sensor rod based on the center position of the sensor rod in a stationary state and then corrects the amount of change by the slope. Three-dimensional shaping method. The sinkhole and underground cavity according to claim 3, wherein, in the correction of the defect, when there is no defect in the measured values of the depths before and after other adjacent depths, an intermediate value by median filtering or an average value by interpolation between adjacent signals Traction type high speed 3D shaping method 4. The method of claim 3, wherein the defect correction is performed by correcting the surface estimation signal interpolation method when there is a defect in the measured values of the depths before and after other adjacent depths.

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