KR102240634B1 - Method for preventing damage of underground facilties from excavating in construction field using gpas-ar system - Google Patents

Abstract

The present invention relates to a method for preventing damage to underground facilities during excavation construction. In the present invention, a user terminal equipped with a GPS module, an IMU sensor, a video camera, a display unit, and an AR module is installed in a driver's seat of an excavating equipment, and a GPS module is also installed in a bucket of the excavating equipment. By using the location information of the underground facilities in the construction site and the location information of the user terminal, the underground facilities are implemented in augmented reality on the live-action screen displayed on the terminal, so that the user can check the location of the underground facilities in real time during excavation work. In addition, when the bucket part is close to an underground facility, an alarm is sent to prevent damage to the underground facility during the excavation process.

Description

How to prevent damage to underground facilities during excavation work using GPS-AR system {METHOD FOR PREVENTING DAMAGE OF UNDERGROUND FACILTIES FROM EXCAVATING IN CONSTRUCTION FIELD USING GPAS-AR SYSTEM}

The present invention relates to a method for preventing damage to underground facilities such as water pipes and gas pipes buried in the basement of a construction site during excavation work.

The gas explosion accident at the Daegu subway construction site in 1995 resulted in a devastating result of 101 casualties. It is a disaster in which the leaked gas exploded when the gas pipe was damaged during the excavation of the subway. After the Daegu subway accident, the location of so-called lifelines such as water and sewage pipes, gas pipes, and power cables was checked in advance, and attention was paid to excavation construction, but accidents of damage to underground burials still occur frequently.

In order to prevent accidents of damage to underground facilities during excavation work, it is first of all important to identify the exact location of the underground facilities to be buried. In addition, even if the location has been identified, an identification mark is requested that allows workers on the ground to easily check and pay attention to the buried location during construction.

Currently, paper drawings or electronic drawings are used to determine the location of underground buried objects. The location information of pipelines identified by each underground burial facility operating institution is received and utilized in the form of paper drawings or 2D electronic drawings. However, regardless of the accuracy of the location information provided by each operating institution, it is not easy to apply this location information to the site.

In the case of paper drawings, it is inconvenient to obtain information separately from each operating institution (ex: gas corporation, local government, etc.), and to attach a mark separately to the construction site through expert surveying.

Recently, electronic tags (RFID, QR code) are attached to ground facilities in order to recognize the computerized location information provided by each operating institution in the field, and when the user approaches the tag, the location information is displayed on the screen of the terminal. System was developed. However, such a marker-based underground burial recognition system has the hassle of making a marker and attaching it to the ground burial. In addition, there is a problem in that work efficiency is deteriorated because the location of underground facilities at any point on the construction site is not displayed on the terminal and is only possible near the marker.

An object of the present invention is to solve the above-described problem, and to provide a method for preventing damage to the buried material by using a GPS-AR system to allow a worker to easily identify the location of an underground buried material in a construction site.

On the other hand, other objects not specified in the present invention will be additionally considered within a range that can be easily deduced from the detailed description and effects thereof below.

A method for preventing damage to underground facilities during excavation construction using a GPS-AR system according to an embodiment of the present invention for achieving the above object includes a video camera, an IMU sensor, a display unit, and an AR module for implementing augmented reality. Mounting a user terminal on the excavation equipment; Inputting first location information on an underground buried object passing through an excavation construction area to a user terminal equipped with the AR module; Transmitting second position information of the user terminal acquired through a GPS receiver and attitude information of the user terminal acquired through the IMU sensor to the AR module in real time; And the user terminal acquires a live image in real time through the video camera, and the AR module uses the first location information of the underground buried object and the second location information and posture information of the user terminal. It characterized in that it comprises a; step of expressing the location of the underground buried object in augmented reality on the live-action screen expressed on the display unit.

According to the present invention, it is preferable to include a step of acquiring the third position information of the excavation unit of the excavation equipment in real time and transmitting an alarm when the excavating unit is close to the underground buried material within a certain range.

Here, the third location information is obtained by attaching a separate GPS receiver to the excavation unit, or by acquiring relative location information between the user terminal and the excavator using a separate sensor unit, It can be identified in combination with the second location information.

According to an example of the present invention, when the location of the excavation unit is located in a dangerous area within a certain range of the underground buried material, the excavation operation of the excavating equipment is controlled, and in particular, the height of the excavating unit in the dangerous area is If it approaches within a certain range from the depth of placement of the excavator, the operation of the excavator may be stopped.

According to an example of the present invention, it is preferable that a certain range of the buried location of the underground material is set as a dangerous area, and the dangerous area is expressed in augmented reality on the display unit.

In addition, when it is not possible to obtain location information from an underground buried object operating institution, the first location information may be obtained through GPR exploration of the excavation work area.

According to the present invention, there is an advantage in that it is possible to identify the location of underground facilities in real time during underground excavation using GPS-AR technology, thereby preventing damage to the underground facilities caused by the excavation work.

In addition, in an example of the present invention, since the user terminal and the control unit of the excavation equipment are interlocked, the operation of the excavation equipment can be stopped when the bucket of the excavating equipment approaches the depth of arrangement of the underground facilities. There is an advantage in that it is possible to prevent damage to underground facilities even when it is not possible to accurately recognize the work in the area.

In the present invention, by setting a dangerous area including the periphery of an underground facility buried location, GPS precision and augmented reality implementation precision can be supplemented.

In addition, in the present invention, there is an advantage that it is possible to reinforce security management for major national facilities by expressing location information of underground facilities limited to the inside of the construction area.

On the other hand, even if it is an effect not explicitly mentioned herein, it is added that the effect described in the following specification and its provisional effect expected by the technical features of the present invention are treated as described in the specification of the present invention.

1 is a schematic flowchart of a method for preventing damage to underground facilities using a GPS-AR system according to an example of the present invention.
FIG. 2 schematically shows an example of an underground facility damage prevention system for implementing the method shown in FIG. 1.
3 schematically shows a construction site to which the present invention is applied.
4 is an example in which augmented reality is implemented on a display of a user terminal.
※ The accompanying drawings reveal that they are exemplified by reference for an understanding of the technical idea of the present invention, and the scope of the present invention is not limited thereto.

In describing the present invention, when it is determined that the subject matter of the present invention may be unnecessarily obscured as matters that are apparent to those skilled in the art for related known functions, detailed descriptions will be omitted.

The present invention relates to a system and method for preventing in advance damage to an underground facility buried by excavation equipment in the process of excavating the ground at a construction site.

The construction site includes not only large-scale sites for newly constructing buildings and subways, but also all construction sites where excavation work is in progress, such as emergency repair work on vehicle roads and pedestrian roads. In particular, underground buried objects are mainly so-called lifelines such as water pipes, gas pipes, power cables, and communication cables, and since they are buried along the road, the road can become a major construction site.

Hereinafter, a method for preventing damage to underground facilities during excavation construction using a GPS-AR system according to an example of the present invention will be described in more detail with reference to the accompanying drawings (hereinafter, referred to as “method for preventing damage to underground facilities”). .

1 is a schematic flowchart of a method for preventing damage to underground facilities according to an example of the present invention.

FIG. 2 is a schematic diagram of a system for preventing damage to underground facilities as an example of a system for implementing the method for preventing damage to underground facilities shown in FIG. 1.

3 schematically shows a construction site to which the present invention is applied.

First, referring to FIG. 2, the underground facility damage prevention system 100 according to an example for implementing the present invention is mounted on the server 10, the database 20, the user terminal 30, and the excavation equipment 40 Equipped with a GPS module. The user terminal 30 is equipped with a GPS module, an IMU sensor, an AR module, and a display unit. The server 10 is connected to at least one user terminal 30 and an underground facility operating institution 91, 92, 93 through a wired or wireless communication network.

For convenience of explanation, it is divided into server, database, user terminal, etc., but this is only for function description, and physically, the server and database may all be integrated into individual user terminals, and the server and database exist separately, and multiple The user terminal of may be configured to communicate with the server. That is, the system for implementing the method according to the present invention should be understood as a functional unit that implements a specific function, rather than grasping it based on physical independence. That is, all elements that perform a specific function may be included in the user terminal, and the user terminal can only serve as a display and configure the system in various ways, such as processing and processing all information on the server. I add it.

Referring to the drawings, in the present invention, first, position information on the outer boundary line 1 of a construction site is obtained. For example, it is possible to perform surveying in a traditional way, or to grasp the coordinates of the boundary line 1 of the construction area by using a GPS module or the like. As shown in FIG. 3, after measuring coordinates of points A, B to F at which the boundary line 1 is bent, coordinates for the entire boundary line 1 may be calculated based on this. The position coordinates obtained from the GPS module or digitally converted position coordinates after measurement are input to the system server 10, and the system server 10 stores the coordinates of the entire boundary line 1 in the database 20. Of course, as mentioned earlier, it can be entered directly into the user terminal without going through the server and database.

After obtaining the location information on the outer boundary line (1) of the construction site, the first location information in which the underground facilities (2, 3) within this boundary line are buried is obtained. The first location information can be obtained in the form of digital data from each operating institution (91, 92, 93) for each underground facility. For example, gas pipes can be secured through Korea Gas Corporation, power lines can be secured through KEPCO, and water pipes can be secured through local governments. Even if there is no computerized data and it is written on a paper drawing, it can be converted into digital data and used. If an underground facility clearly exists but the location information does not have data, in this embodiment, the first location information can be secured by performing a ground-penetrating radar (GPR) survey on a construction site. When the first location information is secured in the form of digital data, it is input to the system server 10 and stored in the database 20. In addition, even when the first location information is provided from the operating institution, safety can be enhanced by additionally verifying the accuracy of the location information through GPR exploration.

On the other hand, if there is an integrated management system of a national or local government that manages the location information and attribute information of underground facilities in an integrated manner, the above information can be obtained from the integrated system rather than individual institutions.

The most important point in obtaining and utilizing the first location information is security management. Gas pipes and power cables are major facilities in the country and require thorough security management. This is because the location information of underground facilities is provided according to strict procedures, but once the information is provided, management may be neglected in the process of use. In the present invention, for security management, it provides a method of providing location information of underground facilities in an AR module limited to a construction area. You can choose two methods. If the underground facility damage prevention system server 10 according to the present invention provides the location information on the boundary line 1 of the construction area to the operating institutions 91, 92, 93, the operating institution This is a method of providing the position by limiting it to the inside of the boundary line (1). In terms of security, this is the most advantageous method. However, since this method must process and provide data by the operating institution, it may be difficult to follow the above method in the form of data provision for each operating institution. Another method is that if the operating organization (91, 92, 93) is limited to the inside of the construction area and cannot provide data, and provides a wide range of location information data including the construction area, this data is not used as it is. , In the system server 10 according to the present invention, the first location information of the underground facility and the coordinates of the boundary line 1 are combined to find an intersection, and among the location information of the underground facility, only the information placed inside the construction area is separated separately. It is provided to the database 20 and the AR module. Through this, construction officials and AR module users can check the location of underground facilities limited to the inside of the construction area. Accordingly, it is possible to prevent information on important national facilities from leaking to the outside in the process of using the location information of underground facilities.

Meanwhile, attribute information on underground facilities may also be transmitted from the operating institution. For example, the shape, size, and material of the pipe are transmitted and stored in the database 20. Here, the system server may store the augmented reality expression form of the underground facility in the database 20 in 3D form based on the attribute information of the underground facility. Alternatively, information may be stored in a 2D form in the database 20, and the user terminal may convert it into the 3D form.

Accordingly, when the underground facilities are later implemented on the display in the form of augmented reality, it is possible to more realistically express the underground facilities according to the attribute information.

When the first location information on the underground facility is confirmed, the danger zone 6 is set based on the first location information. The danger zone 6 may be determined in the range of about tens to several hundred cm on both sides based on the underground facilities 2 and 3, and is also determined based on the depth of the underground facilities. For example, the danger zone 6 is set to 1m left and right and above the gas pipe. When the danger zone 6 is set in this way, it is stored in the database 20 through the server 10.

Setting the danger zone is to complement the accuracy of GPS and augmented reality implementation. Although the GPS system has recently improved its precision, there may be a difference in precision depending on the GPS receiver. In addition, since high-precision GPS receivers are expensive, there are limitations in use. In addition, even if the GPS precision is high, the precision may be degraded when implemented in augmented reality. Approaching this error problem from the viewpoint of improving precision is not desirable because it cannot be solved in a short period of time in terms of cost and current technical level. In the present invention, the problem of precision was solved in reverse by extending to the danger zone around the underground facilities.

In the present invention, the user terminal 30 is mounted around the driver's seat of the excavation equipment 40. The user terminal 30 may be mainly a tablet PC. In this embodiment, the user terminal 30 is equipped with a GPS module, an IMU sensor, an AR module, a video camera module, and a display panel. The GPS module detects the current location of the user terminal, that is, the second location information in real time, and transmits it to the AR module. Of course, if the GPS module installed in the user terminal is not precise, a precise GPS module may be separately installed near the user terminal, and location information may be transmitted through wired or wireless communication with the user terminal.

The IMU sensor detects the attitude information of the user terminal. The IMU sensor is composed of an acceleration sensor that detects movement in three axes of front, back, up and down, left and right in a three-dimensional space, and a gyroscope sensor that detects three-axis rotation of pitch, roll, and yaw. . Using the IMU sensor, it detects posture information such as the direction and angle that the front of the user terminal is facing and transmits it to the AR module in real time.

In addition, the video camera module of the user terminal acquires a live image and acquires it in real time.

In the AR module, augmented reality is implemented by integrating the location information on the boundary line, the first location information on the underground facility, and a live-action screen obtained in real time from the camera module of the user terminal, and as shown in FIG. 4, the user terminal 30 On the display of. In other words, by using the location and posture of the user terminal and the angle of view information of the camera module, it is possible to grasp the boundary (position coordinates) of the area currently displayed on the display of the user terminal in the construction area, and to accurately grasp the detailed location within the display screen. I can. Here, by using the first location information of the underground facility and the location information on the dangerous area, the underground facility and the dangerous area are expressed in augmented reality on the display screen.

The AR module is generally installed in a user terminal in the form of a computer program such as an app, and the augmented reality implementation technology is a known technology, so a detailed description thereof will be omitted.

In addition, in addition to displaying underground facilities and dangerous areas through augmented reality, information on the type and depth of arrangement of underground facilities may be displayed on the user terminal.

Since the above augmented reality implementation process continues in real time, when the excavation equipment moves, the data is newly updated accordingly, so that the user can safely perform excavation work in all areas of the construction area.

Referring to FIG. 4, on the display of the user terminal 30, an underground facility 2 and a danger area 6 are superimposed on a live-action screen on the ground of a construction area to be expressed as augmented reality. By paying attention to the excavation work in the danger zone 6 while checking the user terminal placed next to the driver's seat, the excavation driver can prevent unintentional damage to the underground facilities.

On the other hand, the present invention provides a method that can more directly prevent damage to the underground facilities caused by the excavation work.

In the present invention, the excavation unit of the excavation equipment 40, for example, in the case of a forkrain, checks the third position information and altitude information of the bucket, and sends a warning to the user through an alarm when the bucket is located in the danger zone 6, Furthermore, it is possible to stop the operation of the excavation unit by interlocking with the control unit of the excavation equipment.

In terms of configuration, a GPS module is separately attached to the excavator to check the location of the excavator, or the relative distance between the excavator and the user terminal is detected using a separate sensor, and then the location information of the GPS attached to the user terminal and the You can also check the position of the excavator in combination. For example, by attaching a marker to the excavator and photographing with a camera mounted on the body of the excavator, the relative distance between the excavator and the user terminal is calculated through movement of the marker, and the accurate third position information of the excavator is combined with the second position information. Can be secured. The technology for checking the position of the marker and tracking the movement with a camera is implemented by intelligent CCTV technology, which is a widely used technology, and thus a detailed description thereof will be omitted.

When the third location information is input to the user terminal in real time, the user terminal may check whether the third location information is in the danger area, and display an alarm or transmit an alarm sound as shown in FIG. 4. In an example of the present invention, an alarm may be displayed on the front panel of the excavator by interlocking with the user terminal and the head up display (HUD) module of the excavator.

In particular, if the depth (altitude) of the bucket is within the danger zone, it can stop the operation by sending a signal to the control unit of the excavation equipment.

Accordingly, there is an advantage in that it is possible to prevent damage to underground facilities due to excavation work even in a situation where the user of the excavation equipment does not recognize the location of the excavation unit.

If the existing GPS-AR technology has been studied only on a method of expressing an object on a user terminal using location information and augmented reality implementation technology, the present invention allows the GPS-AR technology to be practically effectively used in the industrial field. Focus on That is, the user's carelessness may exist as a'constant' rather than a'variable', and a study was conducted on a method to prevent damage to underground facilities caused by excavation even under such conditions. A method of controlling the operation of excavation equipment was prepared by linking the GPS-AR system.

The present invention is expected to significantly reduce the risk of unintentionally damaging underground facilities during underground excavation construction.

The scope of protection of the present invention is not limited to the description and expression of the embodiments explicitly described above. In addition, it is added once again that the scope of protection of the present invention may not be limited due to obvious changes or substitutions in the technical field to which the present invention pertains.

100 ... Underground facility damage prevention system using GPS-AR
10 ... system server, 20 ... database
30 ... user terminal, 40 ... excavation equipment
91,92,93 ... Underground facilities operating institution

Claims (9)

Mounting a user terminal equipped with a video camera, an IMU sensor, a display unit, and an AR module for realizing augmented reality to the excavation equipment;
Inputting first location information on an underground buried object passing through an excavation construction area to a user terminal equipped with the AR module;
Transmitting the second location information of the user terminal acquired through a GPS receiver and the attitude information of the user terminal acquired through the IMU sensor to the AR module in real time; And
The user terminal acquires a live image in real time through the video camera, and the AR module displays the user terminal using the first location information of the underground buried object and the second location information and posture information of the user terminal. Including; a step of expressing the location of the underground buried object in augmented reality on the live-action screen expressed on the unit,
Acquiring the third location information of the excavation unit of the excavation equipment in real time, and transmitting an alarm when the excavation unit is close to the underground buried material within a certain range; and
A certain range of left and right sides and upper sides based on the underground buried object is set as a danger zone, the danger zone is expressed in augmented reality on the display unit, or the underground buried object and the danger zone are expressed in augmented reality together, and the depth of the excavation part When (altitude) is located in the danger zone, the excavation operation of the excavation equipment is controlled,
The first location information of the underground buried material in the excavation work area is obtained from the operating institution of the underground buried material, and the boundary line and the underground buried material are combined by combining the boundary line of the excavation work area and the coordinates of the first location information of the underground buried material. A method for preventing damage to underground facilities during excavation construction using a GPS-AR system, characterized in that an intersection is found, and only information arranged inside a construction zone is separately provided to the AR module among the first location information of the underground buried object.
delete The method of claim 1,
The third location information is obtained by attaching a separate GPS receiver to the excavation unit, wherein the method for preventing damage to underground facilities during excavation construction using a GPS-AR system. The method of claim 1,
The third location information is an underground facility during excavation construction using a GPS-AR system, characterized in that after acquiring relative location information between the user terminal and the excavator, it is identified by combining it with the second location information of the user terminal. How to prevent breakage. delete delete delete delete The method of claim 1,
A method for preventing damage to underground facilities during excavation construction using a GPS-AR system, further comprising: acquiring the first location information for the excavation construction area through GPR exploration.

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