KR102209753B1 - A method and apparatus for measuring a slope change amount based on image recognition, which real-time measurement of a relative slope change amount in comparison with a point in time when installed in a structure and a facility - Google Patents

Abstract

According to the present invention, provided is a device for measuring an amount of gradient variation of a structure, wherein the device for measuring an amount of gradient variation of a structure comprises: a bottom body (100) having a predetermined radius of curvature and having a spherical surface; a ball (200) placed on the upper surface of the bottom body (100) and moving according to gravity; and a camera (300) capturing an image of the bottom body (100) where the ball (200) is located. According to the present invention, an amount of gradient variation of a structure during a certain period of time can be accurately measured.

Description

A method and apparatus for measuring a slope change amount based on image recognition, which real-time measurement of a relative slope change amount in comparison with a point in time when installed in a structure and a facility}

The present invention relates to the field of construction, and more particularly, to an apparatus for measuring a change in inclination of a structure capable of measuring a change in inclination of a structure over a period of time, and a method for measuring a change in inclination of a structure using the same.

Sensors of various principles are applied to measure the horizontality, verticality, and inclination of objects (including sesorrules and structures). Since long ago, an analog level has been used that uses the characteristic of gravity in which a liquid is filled and sealed to the extent that air bubbles are formed in the main vessel tube and the horizontal surface of the liquid is maintained at a right angle to the center of the earth. Depending on the sensitivity of the main canister, type 1 detects a slope of 4 seconds (0.02mm/m), type 2 has a precision of 10 seconds (0.05mm/m), and type 3 has a precision of 20 seconds (0.1mm/m). The basic principle is that when the level is inclined, the bubbles move toward the higher inclination, so the grid lines are set on the left and right sides of the bubble tube, and the inclination is measured by reading the position of the grid line indicated by the bubble.

Electronic or digital measuring instruments have also been developed to measure the slope in digitized numbers and graphics. The basic principle is to measure the inclination by reading the coordinates indicated by the centrifugal weight (or the current required to maintain the center of the centrifugal weight) by installing a centrifugal weight. Since the centrifugal weight must be mounted, it is large and heavy. It is a precision instrument that is very expensive, but it can measure with precision of about 4 seconds, and the external interface is electronic so that the measured value can be transmitted to a computer.

Acceleration sensors manufactured with MEMS (Micro Electro Mechanical Systems) technology generally use the principle of generating electric charges by applying force when acceleration is generated in piezo materials.By measuring the gravitational acceleration in the three-axis direction and integrating it, the velocity And displacement can be found, but due to the integral constant generated in the process of integration, drift accumulates, so correction is required, so it is mainly used as a motion sensor for smartphones and automobiles rather than a precision measuring device.

Even if the tilt sensors are fixedly installed on an object, they are mainly used for measuring the tilt at the time of measurement. In the measured value, temperature compensation is performed by itself using a temperature sensor built into the sensor, but there is a limitation in that it is difficult to correct the temperature sensor, voltage characteristics, and sensor durability characteristics. However, for the safety of all facilities and structures on the ground, it is not the absolute verticality (the leaning tower of Pisa) relative to the center of the earth, but the presence or absence of a change in inclination at the present time compared to the time of construction is very important.

However, current inclination sensors require correction and initialization according to drift according to temperature, time, and circuit fluctuation (voltage), and there is inevitably a deviation according to the correction value, so it is possible to measure the amount of slope change that varies over a long period of time (~ several decades). There is no problem.

The present invention has been derived to solve the problems of the conventional tilt measurement apparatus described above, and an object of the present invention is an apparatus for measuring the tilt change amount of a structure capable of accurately measuring the tilt change amount of the structure during a certain period, and the structure using the same. It is to provide a method of measuring the amount of gradient change.

Another object of the present invention is to provide an apparatus for measuring a change in inclination of a structure capable of accurately measuring a change in inclination of a structure without being affected by the surrounding environment, and a method for measuring a change in inclination of a structure using the same.

Another object of the present invention is to provide an apparatus for measuring a change in inclination of a structure that is small in size and easy to move and install, and a method for measuring a change in inclination of a structure using the same.

Another object of the present invention is to provide an apparatus for measuring the amount of change in inclination of a structure equipped with a system capable of collecting the amount of change in inclination in real time, and a method of measuring the amount of change in inclination of a structure using the same.

Another object of the present invention is to provide an apparatus for measuring the amount of change in inclination of a structure, and a method for measuring the amount of change in inclination of a structure using the same, so as to check the overall inclination of the structure using a plurality of measuring devices.

According to an aspect of the present invention, there is provided an apparatus for measuring a change in inclination of a structure, comprising: a floor body 100 formed of a spherical surface having a predetermined radius of curvature; A ball 200 mounted on an upper surface of the bottom body 100 and moving according to gravity; And a camera 300 for photographing the floor body 100 on which the ball 200 is located. An apparatus for measuring a change in inclination of a structure is provided.

In this case, it may be a device for measuring the amount of change in inclination of the structure, further comprising: a transmitting/receiving unit 400 for transmitting the image information (a) generated by the camera 300 to the server 10.

In addition, a housing 500 in which an inner space 510 for accommodating the floor body 100, the ball 200, and the camera 300 is formed; I can.

In addition, a lighting device 600 for providing light to the inner space 510 may be a device for measuring the amount of change in inclination of the structure, further comprising.

In addition, the camera 300, the transmitting and receiving unit 400, and a control unit 700 for controlling the lighting device 600; may be a device for measuring the amount of change in inclination of the structure, characterized in that it further comprises.

In addition, it may be a device for measuring the amount of change in inclination of the structure further comprising a; ball receiving portion 520 for limiting the behavior of the ball 200 in the inner space 510.

In addition, the floor body 100 may be a device for measuring the amount of change in inclination of a structure, characterized in that the floor body 100 is located on the bottom surface of the inner space 510 and the camera 300 is located on the upper surface of the inner space 510 .

In addition, the floor body 100 and the camera 300 may be an apparatus for measuring a change in inclination of a structure, which is formed in the same space.

In addition, the ball receiving part 520 may be a partition wall 521 shielding the bottom surface and the upper surface, and the partition wall 521 may be a device for measuring a change in inclination of a structure, wherein the partition wall 521 is formed of a transparent body.

In addition, the bottom body 100 is formed of a transparent body, the ball 200 is formed of an opaque body, the light emitting unit 900 for emitting light from under the bottom body 100; characterized in that it further comprises It may be a device for measuring the amount of change in inclination of the structure.

In addition, the light-emitting unit 900 includes a lamp 910 that emits light; And a surface light-emitting body 920 that is surface-emitted by receiving light emitted from the lamp.

According to another aspect of the present invention, in a method of measuring a change in inclination of a structure using an apparatus for measuring a change in inclination of a structure, the floor body 100 on which the ball 200 is located is determined by the camera 300 A first step (S100) of photographing and generating first image information (a1) of the ball 200; And generating second image information (a2) of the ball 200 by photographing the bottom body 100 on which the ball 200 is located by the camera 300 after the first step (S200). A method of measuring a change in inclination of a structure, comprising: a second step (S200).

In this case, the controller 700 further comprises a third step (S300) of deriving a gradient change value using the first image information (a1) and the second image information (a2). It may be a method of measuring the amount of change in slope of.

In addition, in the third step (S300), the first position value (b1) of the ball 200 is derived from the first image information (a1), and the ball 200 is obtained from the second image information (a2). A position value derivation step (S310) of deriving a second position value (b2) of ); And a change value derivation step (S320) of deriving the gradient change value using the first position value (b1), the second position value (b2), and the radius of curvature (S320). It may be a method of measuring the amount of change.

According to another aspect of the present invention, there is provided a computer-readable recording medium in which a program for executing a method of measuring a change in inclination of a structure is recorded.

According to the present invention, there is an effect of accurately measuring the amount of change in the slope of the structure over a certain period of time.

According to the present invention, it is possible to accurately measure the amount of change in inclination of the structure without being affected by the surrounding environment.

According to the present invention, the size of the measuring device can be reduced, and the movement and installation of the measuring device are easy.

According to the present invention, there is an effect of collecting the amount of gradient change in real time.

According to the present invention, it is possible to check the overall slope of the structure by using a plurality of measuring devices.

1 and 2 are views showing a conventional tilt measurement equipment.
3 is a block diagram of an apparatus for measuring a change in slope according to an embodiment of the present invention.
4 is a block diagram of an apparatus for measuring a change in inclination according to another embodiment of the present invention.
5 is a view showing first image information acquired by a camera according to an embodiment of the present invention.
6 is a view showing second image information acquired by a camera according to an embodiment of the present invention.
7 and 8 are diagrams showing a method of measuring the amount of change in inclination of the entire structure using the device for measuring the amount of change in inclination according to an embodiment of the present invention.
9 is a block diagram of an apparatus for measuring a gradient change amount according to an embodiment of the present invention.
10 is a view showing a measurement reference line formed on a partition wall according to another embodiment of the present invention.
11 is a configuration diagram of an apparatus for measuring a change in inclination in which a lower light emitting part is formed according to another embodiment of the present invention.
12 is a block diagram of an apparatus for measuring a change in inclination in which a vibration unit is formed according to another embodiment of the present invention.
13 to 15 are views showing the action of the vibration unit of the device for measuring the amount of change in inclination in which the vibration unit is formed according to another embodiment of the present invention.

An embodiment of an apparatus for measuring a change in inclination of a structure according to the present invention and a method for measuring a change in inclination of a structure using the same will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding Components are denoted by the same reference numbers, and redundant descriptions thereof will be omitted.

In addition, terms such as first and second used hereinafter are merely identification symbols for distinguishing the same or corresponding elements, and the same or corresponding elements are limited by terms such as first and second. no.

In addition, the term “couple” does not mean only a case in which each component is in direct physical contact with each other in the contact relationship between each component, but a different component is interposed between each component, and the component is It should be used as a concept that encompasses each contact.

The present invention relates to an apparatus for measuring an amount of change in inclination of a structure and a method equipment for measuring an amount of change in inclination of a structure using the same.

The term of the structure in the present invention is only to suggest a type to which the measuring equipment can be applied, and all objects subject to tilt measurement are defined as being included in the scope of the structure.

Existing inclination (inclination) measurement methods measure the inclination at the point of measurement even if the sensor is fixedly installed on the object to be measured, so there is a limit in that it is not possible to know changes over time in facilities and structures after construction. An object of the present invention is to provide a method and a sensor for measuring the amount of change in tilt based on image recognition for measuring the amount of change in the relative inclination in real time compared to the point at which the structure and facility are installed. In order to measure the relative inclination change after the installation compared to the point of installation, which is the most important in determining the stability of structures and facilities, the following important problems must be solved.

First, when the tilt sensor is fixed to the bracket or anchor bolt at the installation site, the tilt sensor value of the object to be measured is affected by the fixing method and the error of the bracket or anchor bolt. That is, if the accuracy and flatness of the device that fixes the sensor in the measurement object is not guaranteed, the measured value does not represent the actual inclination of the measurement object.

Second, in order to measure the amount of change in the relative inclination later compared to the time when the structure and the facility was installed, a means for storing the measured value at the time when the facility was installed in the sensor itself is required. That is, when measuring the inclination, the amount of change in the inclination should be displayed as well as compared with the stored initial measurement value. In addition, in the case of civil engineering structures and facilities, it is difficult to access the fixedly installed sensor after completion of construction, and thus a problem in that the initial value storage button of the sensor cannot be pressed may occur.

Third, in order to measure the relative change in inclination after the installation of the structure and facility, the measured value of the inclination sensor should not be affected by the changing environmental factors (temperature, supply voltage, sensor characteristics change due to long-term use). do. Conventional sensor methods that measure analog values such as capacitance or current are influenced by environmental factors, and drift over time tends to occur due to the characteristics of analog values. In order to compensate for this, a temperature sensor is added to correct the slope according to temperature, but there is a problem in that the temperature sensor also has a product-specific variation and its characteristics change over time, but there is no means to correct it.

Fourth, since structures and facilities must be installed, even if a sensing method that is not affected by environmental changes is applied, the size is limited. The minimum size of the sensor enclosure is also limited because it must be fixed to the bracket or anchor bolt of the structure and facility. There is a problem that it is difficult to fix the case in which the inclination sensor is built-in if it is made small.

If it is possible to measure the relative inclination change afterwards compared to the point at which it was installed in determining the safety of structures and facilities, the reliability of safety management of structures and facilities can be significantly improved. It is important to measure both the slope and the slope change amount, but it has not been provided due to the lack of the above solution until now. That is, in order to implement a tilt change measurement method and a sensor that measures the relative tilt change in real time compared to the point at which the structure and facility are installed, various problems are solved as follows.

First, since the inclination sensor is fixed to the bracket or anchor bolt at the installation site, the measurement value does not represent the actual inclination of the measurement object unless the accuracy of the device fixing the sensor in the measurement object is guaranteed. To measure while constructing the absolute inclination of the reference points to be measured, a measuring instrument is used instead of a fixed sensor. Since the main purpose of the fixed installation of the tilt sensor is to measure the tilt that changes in real time after installation, the problem is solved by configuring the absolute tilt value and the tilt change amount compared to the initially set tilt value.

Second, in order to measure the amount of change in the relative inclination later compared to the time when the structure and facility was installed, a permanent storage memory means (other than flash memory) in the sensor circuit is a means to store the measured value at the time when the facility was installed in the sensor itself. Include. And a processor (CPU) for controlling the memory means. The processor (CPU) is configured to read the measured value from the inclination measuring means and output a gradient change amount compared to the initial gradient measurement value stored together with the measured value. In the case of civil engineering structures and facilities, in order to solve the problem that it is difficult to access the fixedly installed sensor after completion of construction, so that the initial value saving button of the sensor cannot be pressed, the current measured value is initially measured with an external communication line (or wireless communication). It is configured to pass the command to save as the processor. The sensor enclosure should basically include an initial value save button.

Third, in order to measure the relative change in inclination after the installation of structures and facilities, the measured value of the inclination sensor is not affected by the changing environmental factors (temperature, supply voltage, sensor characteristics change due to long-term use). The tilt measurement method should be applied. The core method of measuring the position of a commercially available pendulum is the principle of a servo accelerometer. One pendulum is placed in the magnetic field of the position detector, which is inclined in the direction of gravity when it is subjected to gravity. Since the gravitational force and the electromagnetic force to be changed are in opposite directions, the current value is measured and converted into a slope when equilibrium is established and stops moving. The basic principle of the MEMS type acceleration sensor is also measuring the acceleration and inclination by measuring the capacitance value between the end of the cantilever and the electrode. These methods basically convert an analog measurement value into a slope, so there is a problem that temperature and environment compensation and initial zero adjustment must be performed at any time. Therefore, there is a need for a method of digitally measuring the position of the pendulum without the influence of temperature and environment. Alternatively, it is possible to improve and apply a digital absolute inclination measurement method that calculates the inclination by measuring the position of light or a specific pattern installed in the pendulum toward the center of the earth with an image sensor. When the above method is applied, since the slope is measured using digital coordinate values rather than analog values, environmental influence can be eliminated.

Fourth, since structures and facilities must be installed, there is a size limitation even if a sensing method that is not affected by environmental changes is applied. The size of the enclosure is also limited because it must be fixed to the brackets or anchor bolts of structures and facilities. In general, the sizes of sensors fixed to structures and facilities are sold in a diameter of 50 mm and a thickness of 40 mm. If necessary, use an auxiliary plate to engage the installation and structure fixing means. In order to meet this, a digital absolute inclination measurement method and sensor that measures the position of the ball toward the center of the earth while vibrating freely inside a sphere that can be implemented in a thin structure is improved and applied. In other words, a method of measuring the position of the ball (center coordinates or outer circle) may be suggested since the ball moves toward the center of the earth by installing a ball (including an iron ball) that vibrates freely on the inner surface of the hemisphere. In this case, the inclination is calculated using the distance the ball moves in the X-axis and Y-axis directions from the center of the half-moon-shaped sphere and the radius of curvature of the half-moon-shaped sphere. If the image sensor (camera sensor) pixel size is 1um (1/5 inch 5M image sensor pixel size is 1.12um) and the radius of curvature is 50mm, the measurement accuracy is arctan (1um/50mm) = 0.0001 degrees. It is possible. If the radius of curvature of the sphere increases due to the case size limitation, a semicircle size sphere cannot be used, and it can be manufactured in a shape that uses a part of the sphere, making it thinner. The ball vibrating based on the center axis of the hemispherical surface moves very sensitively to external shocks, vibrations, and seismic waves, so it can be used as a measurement sensor (shock sensor, vibration sensor, earthquake sensor, etc.) in the field.

Hereinafter, an apparatus for measuring a change in inclination of a structure according to a sealing example of the present invention will be described with reference to the accompanying drawings.

The device for measuring the amount of change in inclination according to the present invention includes a floor body 100 formed of a spherical surface having a predetermined radius of curvature, a ball 200 and a ball 200 mounted on the upper surface of the floor body 100 and moving according to gravity. It may include a camera 300 for photographing the floor body 100 (FIG. 3).

The bottom body 100, the ball 200, and the camera 300 are accommodated in the inner space 510 of the housing 500 in which the inner space 510 is formed (FIG. 3).

In addition, it may further include a photographing button 800 for controlling the driving of the camera 300.

When the inclination of the structure is changed, the position of the ball 200 is also changed by gravity, so a change in the position of the ball 200 can be derived and the amount of change in the inclination of the structure can be measured.

Since the center of the ball 200 vibrating freely in the spherical bottom 100 always faces the direction of gravity, it is possible to simultaneously measure the inclination of the two axes by photographing the position of the ball 200 using the camera 300 Do. In the case of taking this configuration, there are advantages as follows.

First, since the main purpose of fixing the tilt sensor to the structure and facility is to measure the tilt that changes after installation, the absolute tilt value and the amount of tilt change compared to the initially set tilt value can also be measured, so the reliability of structural safety judgment It has the effect of increasing.

Second, in order to measure the amount of change in the relative inclination later compared to the time when the structure and the facility is installed, a permanent storage memory means for storing the measured value at the time when the facility is installed in the sensor itself and a processor (CPU) for controlling the memory means By including a separate data logger (Data Logger) equipment is not required, there is an effect of reducing the cost of building a measurement system.

Third, it is configured to transmit a command to store the current measured value as an initial measured value through an external communication line (or wireless communication) to the processor of the sensor circuit, so that after completing the construction of civil engineering structures and facilities, the fixedly installed sensor can be accessed. Solve the missing problem.

Fourth, by directly measuring the slope with a digital value rather than an analog value, there is essentially no drift due to temperature, time, and power supply, and the measured value is always accurate and stable. Therefore, it is used in fields with large external environment fluctuations such as construction and civil engineering. There is an effect that can be applied to the field of safety diagnosis of structures where sensors are installed in locations where calibration is difficult.

Fifth, since the ball 100 freely vibrating in the spherical floor 100 is used, the device can be miniaturized, the measurement range can be increased, and the precision can be easily adjusted, so the inclination of the telephone pole, etc. It can also be used for precise measurement.

In addition, when the display means is included, it can be applied to machine tools that must always be accurately horizontal.

Sixth, since a plastic ball that vibrates freely inside the hemisphere can be used, the influence of external electromagnetic waves is minimized, and thus it can be applied to fields where strong electromagnetic waves are generated, such as a transmission tower.

The apparatus for measuring the amount of change in inclination of a structure according to an embodiment of the present invention may further include a lighting device 600 that provides light to the inner space 510.

In addition, it may further include a ball receiving portion 520 for limiting the behavior of the ball 200 in the inner space 510 (Fig. 3). As the ball 200 flows in the inner space 510, the lighting device 600 or the camera 300 may be damaged, so in the present invention, the behavior of the ball 200 may be limited at times such as movement of the device. It includes a ball receiving unit 520 in a configuration.

According to an embodiment of the present invention, the bottom body 100 and the camera 300 are formed in the same space, and the ball receiving portion 520 may be a storage container 522 formed on the side of the inner space 510.

In this case, since there is no separate object between the camera 300 and the floor body 100, it is possible to obtain a high-quality photographed image.

According to another embodiment of the present invention, when the floor body 100 is located on the bottom of the inner space 510, and the camera 300 is located on the top of the inner space 510, the ball receiving unit 520 is It may be formed as a partition wall 521 shielding the upper surface. In this case, it is preferable that the partition wall 521 is formed of a transparent body so that the camera 300 can photograph the floor body 100 (FIG. 4).

In this case, a measurement reference line 523 through which the position of the ball 200 can be determined may be shown on the partition wall 521 (FIG. 10).

The apparatus for measuring the amount of change in inclination of a structure according to an embodiment of the present invention may further include a transmission/reception unit 400 that transmits the image information a generated by the camera 300 to the server 10.

In addition, it may further include a controller 700 that controls the camera 300, the transceiver 400, and the lighting device 600.

In this case, it is possible to check whether the position of the ball 200 has been moved by automatically transmitting the image information (a) acquired by the camera 300 to the server 10 in real time or every preset period.

Hereinafter, a method of measuring a change in inclination of a structure using the device for measuring a change in inclination of a structure according to an embodiment of the present invention will be described.

The method of measuring the amount of change in inclination of the structure according to the present invention is a first method of generating first image information a1 of the ball 200 by photographing the floor body 100 on which the ball 200 is located. After the first step (S100) and the first step (S200), the bottom body 100 on which the ball 200 is located is photographed by the camera 300 to generate the second image information a2 of the ball 200. A second step (S200) and a third step (S300) in which the controller 700 derives a gradient change value using the first image information a1 and the second image information a2.

In this case, in the third step (S300), the first position value b1 of the ball 200 is derived from the first image information a1, and the second position of the ball 200 is derived from the second image information a2. A position value derivation step (S310) for deriving a value (b2) and a change value derivation step (S320) for deriving a gradient change value using the first position value (b1), the second position value (b2), and the radius of curvature. Can include.

In the change value derivation step S320, the gradient change value may be derived through the following method.

The tilt analysis method according to the position of the ball 200 vibrating freely in the bottom body 100 formed in a hemispherical surface is as follows.

In order to calculate the inclination by measuring the position of the ball 200 vibrating freely in the bottom body 100 of the hemispherical surface with a camera sensor, theoretical analysis is required in two fields. ① In response to the position of the ball in the hemispherical coordinate system (world coordinate system), it must be converted into camera coordinates. ② The normal vector of the h-projection surface (height h from the floor) must be calculated according to the position of the ball vibrating freely in the hemisphere. Therefore, each will be described as follows.

When the position of the camera 300 is (X1, Y1, Z1), the pan angle of the camera 300 is p radians, and the tilt is t radians, an arbitrary point on the world coordinate system (X, Y , Z) to the coordinates (Xc, Yc, Zc) on the camera coordinate system is as follows.

-Camera coordinate system and world coordinate system-

The coordinate system transformation relationship can be obtained in two ways. One is to combine a series of rotation transformation matrices, and the other is to directly obtain the transformation matrix using unit vectors (see open CL).

The method of directly obtaining the transformation matrix is as follows.

When there is a certain linear transformation matrix T, T can be easily obtained by knowing where each coordinate axis unit vector goes by the transformation T. If, by T, the X-axis unit vector (1, 0, 0) goes to (a1, a2, a3), and the Y-axis unit vector (0, 1, 0) is (b1, b2, b3), Z-axis unit If the vector (0, 0, 1) becomes (c1, c2, c3), the transformation matrix T is as follows.

Using this method, the transformation matrix R that sends the X-axis as Xc, the Y-axis as Yc, and the Z-axis as Zc is as follows.

In addition, referring to the coordinate system to determine where each unit vector should move is as follows.

Therefore, the transformation matrix R is as follows.

Here, R is not a matrix that converts world coordinates to camera coordinates, but a matrix that transforms the coordinate axes. In other words, R is the world coordinate axis -> camera coordinate axis transformation matrix. In terms of coordinates, R means a matrix that converts camera coordinates -> world coordinates (coordinate axis transform and coordinate transform are inverse transform relations, and R returned from solvePnP of openCV used in ball position calculation image recognition software is world coordinate -> camera Coordinate transformation matrix, opposite each other).

The relational expression for calculating the inclination vector according to the position of the ball in the hemispherical equation is as follows.

와 roll 각

(1) Calculation of slope using the h-projection surface normal vector of the ball ?? Pitch angle according to ball position

And roll angle

The normal of the h-projection surface (height h from the floor) of a free-vibrating ball in the hemispherical surface coincides with the specific force direction of the sum of acceleration and gravity. In particular, when this hemisphere does not accelerate, the direction of the normal vector is consistent with the direction of gravity, so the attitude of the ball in the hemisphere can be estimated by measuring the relative inclination of the normal vector with respect to the hemisphere.

와 roll 각

)를 설명하고 또한 이를 활용하기 위한 자세값 추정 알고리듬 및 시뮬레이션의 구성에 대해 설명한다. 그림 4-1은 시스템의 기본 구성을 나타내었다.Here, the operating principle of the sensor system (pitch angle) that estimates the posture using the normal vector of the ball vibrating attenuated in the hemisphere

And roll angle

) And also the configuration of the attitude estimation algorithm and simulation to utilize it. Figure 4-1 shows the basic configuration of the system.

-Camera sensor and ball h -Geometry arrangement of projection surface-

: 볼의 h-투영면이 구와 만나서 생기는 원

: A circle created when the h-projection surface of the ball meets the sphere

: 카메라센서 FOV axis를 중심으로 하는 원

: Circle centered on the camera sensor FOV axis

: h-투영면의 수직 벡터

: h-projection plane vertical vector

: 원

가 이루는 센서면의 수직 벡터

: won

Vertical vector of the sensor surface

: 구의 중심에서 투영면과 만나는 접점까지의 벡터

: Vector from the center of the sphere to the point of contact with the projection surface

: 원

의 중심에서 추영면과 만나는 접점까지의 벡터

: won

Vector from the center of

: 구의 반경

: Sphere radius

: 구의 바닥에서 투영면까지의 가상 높이

: Virtual height from the bottom of the sphere to the projection surface

: 원

의 반경

: won

Radius of

: 중력 프레임의 Cartesian 좌표계의 성분

: Component of Cartesian coordinate system of gravity frame

: 센서 접점 평면 프레임의 Cartesian 좌표계 성분

: Cartesian coordinate system component of sensor contact plane frame

로 설정하고 나머지의 길이는

로 정규화된 양으로 생각한다. 이때

의 범위는

이고

의 범위는

이다. 위 그림과 같이 반구면 내에 h-투영면 높이가

일 때 이 투영면이 차지하는 체적은 다음과 같다.Here for convenience

And the rest of the length is

Think of it as a normalized quantity. At this time

The range of

ego

The range of

to be. The height of the h-projection surface within the hemisphere is

When is, the volume occupied by this projection surface is as follows.

(1)

(One)

의 범위는 다음과 같다.Where the volume

The range of is as follows.

에 정리하면 다음과 같은 다항식을 얻는다.This expression

Summarizing to, we get the following polynomial.

(2)

(2)

범위의 값을 취하면 이것은 반구면 내에 볼의 h-투영면의 부피

가 주어졌을 경우의 높이에 해당한다.Solve this equation

Taking a value in the range, this is the volume of the h-projection surface of the ball within the hemisphere.

It corresponds to the height when is given.

의 반경은 다음 그림으로부터 쉽게 추정할 수 있다.won

The radius of can be easily estimated from the following figure.

-Side view-

In other words,

(3)

(3)

The slope extraction from the h-projection plane is as follows.

는 구의 중심에서

번째 접점을 잇는 벡터이다. 또한

는 접점

부터 접점

를 잇는 벡터이다. 따라서Here, the h-projection plane (floor height h) that forms the normal vector according to the position of the ball touches the imaginary hemisphere, and from the contact equation (derived from the hemisphere equation and the center coordinates of the ball), at 120° intervals. It is assumed that three contact points are given, and based on this information, an equation for the direction of the hemisphere for the gravity vector is derived. For this, consider the geometric layout diagram shown in Figure 4-3. In the picture

Is from the center of the sphere

It is a vector connecting the th contact point. Also

Is the contact

Contacts from

It is a vector connecting therefore

(4)

(4)

중의 하나이며 연속된 인덱스는 circular형으로 변환되는 것을 의미한다.Where the index is

It is one of, and the continuous index means that it is converted into a circular type.

-Geometric arrangement of the point where the ball projection surface meets the hemisphere (a) 3D layout (b) Layout viewed from the normal direction-

은 동일 평면, 즉 투영면 상에 있는 것을 볼 수 있다. 따라서 다음 식을 얻을 수 있다.In Figure 4-3

Can be seen to be coplanar, i.e. on the projection plane. Therefore, the following equation can be obtained.

(5)

(5)

here

(6)

(6)

,

,

는 서로 120도 간격으로 떨어져 있음을 가정한다. 여기에서는 편의상

방향을 x축으로 설정하였다. 이제 이 세 접점

,

,

을 센서프레임에서 나타내보면, 먼저

평면에서의 azimuth는 각각

,

,

로 주어진다. 그리고

,

,

는 접점 방정식을 분석함으로 쉽게 얻을 수 있다.

,

,

가 구면 상의 점이라는 것을 이용하면 센서 프레임의 Cartesian 성분으로 다음과 같이 나타낼 수 있다.In the sensor frame as shown

,

,

Are assumed to be 120 degrees apart from each other. Here for convenience

The direction was set as the x-axis. Now these three contacts

,

,

In the sensor frame, first

Each azimuth in the plane is

,

,

Is given by And

,

,

Can be easily obtained by analyzing the junction equation.

,

,

If is a point on a spherical surface, it can be expressed as the Cartesian component of the sensor frame as follows.

(7)

(7)

Substituting this into the normal vector equation above,

(8)

(8)

로부터 액체면의 접점

가 각각 계산되었다면 위의 식에 넣고 투영면의 법선벡터의 센서 프레임의 성분을 다음과 같이 구할 수 있다.Therefore, each sensor line

From the contact of the liquid surface

If is respectively calculated, the sensor frame component of the normal vector of the projection surface can be obtained as follows by putting it in the above equation.

(9)

(9)

If the normal vector of the inertia frame (gravity vector frame) and the sensor frame is expressed by Euler transform,

(10)

(10)

와 roll 각

를 구할 수 있다. Equation (9) above and Euler rotation (10) are equalized to

And roll angle

Can be obtained.

If a measurement of the ball's center coordinates (contact equation -> h-projection 3 coordinates) is given, the attitude angle can be calculated using this, and this equation suggests an equation to be programmed as the operation algorithm of the tilt sensor.

According to another embodiment of the present invention, the floor body 100 of the apparatus for measuring the amount of change in inclination of the structure according to the present invention is formed of a transparent body, and the ball 200 is formed of an opaque body, but light from the bottom of the floor body 100 It may include a light-emitting unit 900 that emits light (FIG. 11).

In this case, the light-emitting unit 900 may include a lamp 910 that emits light and a surface light-emitting body 920 that emits light by receiving light emitted from the lamp.

Accordingly, since the light emitted from the lamp 910 does not pass through only the ball 200, only the area where the ball 200 is located has a dark brightness, so that the image information (a) captured by the camera 300 It has the possible effect of including the location accurately.

According to another embodiment of the present invention, the apparatus for measuring the amount of change in inclination of a structure according to the present invention may include a vibration unit 110 that provides a vibration load to the ball 200 (FIG. 12).

When the degree of inclination of the structure is weak, even if the floor body 100 is inclined, the ball 200 may not move due to the static friction force of the ball 200 and the floor body 100. Accordingly, the vibrating unit 1100 provides a vibration load to the ball 200 every predetermined period, thereby providing a moving force greater than the static friction force of the ball 200 and the floor body 100, and eventually the ball 200 moves. After the movement can be made according to the gravity.

13 to 15, the effect of the vibrating unit 1100 according to the present invention can be confirmed. When the vibration unit 1100 is provided, a fixing unit 1200 for restraining the housing 500 may be further included in order to prevent the position of the housing 500 from being changed.

The method of measuring the amount of change in inclination of a structure according to an embodiment of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium.

The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like.

Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The above-described hardware device may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

Since the above is only described with respect to some of the preferred embodiments that can be implemented by the present invention, as well known, the scope of the present invention should not be limited to the above embodiments and should not be interpreted. It will be said that both the technical idea and the technical idea together with the fundamental are included in the scope of the present invention.

100: bottom body
200: ball
300: camera
400: transceiver
500: housing
600: lighting device
700: control unit

Claims (15)

In the device for measuring the amount of change in inclination of the structure,
A bottom body 100 formed of a spherical surface having a predetermined radius of curvature;
A ball 200 mounted on an upper surface of the bottom body 100 and moving according to gravity;
A camera 300 photographing the bottom body 100 on which the ball 200 is located;
A vibration unit 1100 for providing a vibration load to the ball 200; And
Including; the bottom body 100, the ball 200, and a housing 500 in which an inner space 510 for accommodating the camera 300 is formed,
The floor body 100 is located on the bottom surface of the inner space 510,
The camera 300 is located on the upper surface of the inner space 510,
The bottom body 100 is formed of a transparent body,
The ball 200 is formed of an opaque body,
A light-emitting unit 900 for emitting light under the bottom body 100; further includes,
A ball receiving part 520 that limits the behavior of the ball 200 in the inner space 510; further includes,
The ball receiving part 520 is a partition wall 521 shielding the bottom surface and the upper surface,
The partition wall 521 is a device for measuring a change in inclination of a structure, characterized in that formed of a transparent body.
The method of claim 1,
Transmitting/receiving unit 400 for transmitting the image information (a) generated by the camera 300 to the server 10;
The device for measuring the amount of change in inclination of the structure, characterized in that it further comprises.
delete The method of claim 2,
A lighting device 600 that provides light to the inner space 510;
The device for measuring the amount of change in slope of the structure, characterized in that it further comprises.
The method of claim 4,
A control unit 700 for controlling the camera 300, the transmission/reception unit 400, and the lighting device 600;
The device for measuring the amount of change in inclination of the structure, characterized in that it further comprises.
delete delete delete delete delete According to claim 1
The light-emitting unit 900 is
A lamp 910 emitting light; And
A surface light-emitting body 920 that receives light emitted from the lamp and emits surface light;
A device for measuring the amount of change in inclination of a structure, comprising: a.
In the method of measuring the amount of change in inclination of the structure using the device for measuring the amount of change in inclination of the structure of claim 5,
A first step (S100) of generating first image information (a1) of the ball 200 by photographing the bottom body 100 on which the ball 200 is located by the camera 300; And
After the first step (S200), a second image information (a2) of the ball 200 is generated by photographing the bottom body 100 on which the ball 200 is positioned by the camera 300. Step 2 (S200);
Method for measuring the amount of change in inclination of the structure comprising a.
The method of claim 12,
A third step (S300) in which the control unit 700 derives a gradient change value using the first image information a1 and the second image information a2;
Method for measuring the amount of change in the slope of the structure, characterized in that it further comprises.
The method of claim 13,
The third step (S300) is
The first position value (b1) of the ball 200 is derived from the first image information (a1), and the second position value (b2) of the ball 200 is derived from the second image information (a2). A deriving position value derivation step (S310); And
A change value derivation step (S320) of deriving the gradient change value using the first position value (b1), the second position value (b2), and the radius of curvature;
Method for measuring the amount of change in inclination of the structure comprising a.
A computer-readable recording medium in which a program for executing the method of measuring the amount of change in inclination of the structure according to claim 14 is recorded.

Images