KR102256065B1 - System and method for earthwork equipment, and recording medium recording a computer readable program for executing the method - Google Patents

Abstract

A system for managing earthwork equipment safety includes a topographic information acquisition unit, a location information acquisition unit, a 3D map information generation unit, a ground information acquisition unit, an inclination angle calculation unit, a reference value calculation unit, and a static safety evaluation unit. The topographic information acquisition unit acquires topographical information of a construction site. The location information acquisition unit acquires location information of the construction site. The 3D map information generation unit generates 3D map information of the construction site by combining the topographic information and the location information. The ground information acquisition unit acquires information on the physical properties of the ground at the construction site. The inclination angle calculation unit calculates an inclination angle of a slope of the construction site from the 3D map information. The inclination reference value calculation unit calculates an inclination reference value for evaluating the inclination angle of the slope from the physical property information of the ground. The static safety evaluation unit evaluates the static safety of the slope using the inclination angle and the inclination reference value. Therefore, the present invention can prevent overturning of heavy equipment.

Description

Earthwork equipment safety management system, method, and recording medium recording a computer-readable program for executing the method TECHNICAL FIELD [SYSTEM AND METHOD FOR EARTHWORK EQUIPMENT, AND RECORDING MEDIUM RECORDING A COMPUTER READABLE PROGRAM FOR EXECUTING THE METHOD}

The present invention relates to an accident prevention technology, and more particularly, to a system and method for preventing the overturning of earthmoving equipment on a slope.

Since more than 70% of Korea's land is mountainous, slopes are inevitably formed in large and small construction projects such as roads, railroads, and housing development. In addition, in the case of earthworks at a construction site, the formation of slopes and slopes in the process of cutting, filling, and compaction during construction is indispensable.

By the way, natural slopes formed naturally can be regarded as stable, but in the case of slopes formed in the construction process, the stability of the slopes itself must be examined. In addition, since various heavy equipment moves and works are carried out during the construction process, it is essential to evaluate the stability of the ground and slopes for additional loads.

In fact, the risk of accidents due to the fall of heavy equipment and the destruction of the slope during cutting and compaction work on the slope of the earthwork construction site is lurking everywhere, and the uncertainty about the stability review of the slope acts as a factor of lowering work productivity.

Slope failure patterns are largely divided into in-slope failure, slope tip failure, and slope bottom failure. Theories for slope stability analysis include the intercept method, Fellenius meshod, Bishop method, and Janbu method.

However, in the case of the prior art, there is a limitation in real-time stability analysis of a construction site that changes every moment due to boundary conditions and constraints for analysis, and it is impossible to analyze dynamic stability due to the live load of heavy equipment used in the construction site.

The fall of heavy equipment is caused by a collapse phenomenon caused by the occurrence of an imbalance of stress when heavy equipment works or moves on one side of the ground in equilibrium, when compaction of slopes is performed. However, since the weight of the equipment itself is very heavy in heavy equipment, and dynamic load is applied in the case of compaction type rollers, stability analysis based on dynamic load analysis theory is required.

In addition, in the case of a construction site, since the ground conditions change from time to time due to embankment, compaction, rainfall, etc., there is a technical limitation in performing an overturn stability analysis at a construction site using the conventional slope stability analysis theory.

KR 101009657 B1

The present invention was conceived to solve the above-described conventional problems, and an object of the present invention is to provide a system and method capable of preventing the fall of heavy equipment by analyzing the stability of the slope in consideration of the characteristics of the ground and the dynamic load characteristics of heavy equipment. It is done.

In order to achieve the above object, the earthwork equipment safety management system according to the present invention includes a topographic information acquisition unit, a location information acquisition unit, a three-dimensional map information generation unit, a ground information acquisition unit, an inclination angle calculation unit, a reference value calculation unit, and a static safety. Also includes an evaluation unit.

The topographic information acquisition unit acquires topographic information of the construction site, the location information acquisition unit acquires the location information of the construction site, and the three-dimensional map information generation unit generates 3D map information of the construction site by combining the topographic information and the location information. , The ground information acquisition unit acquires information on the physical properties of the ground of the construction site, the slope angle calculation unit calculates the slope angle of the slope of the construction site from 3D map information, and the slope reference value calculation unit evaluates the slope angle of the slope from the ground property information. The slope reference value is calculated, and the static safety evaluation unit evaluates the static safety of the slope using the slope angle and the slope reference value.

According to this configuration, by calculating the static safety level of the slope of the construction site using the topographic information and the ground property information of the construction site, it is possible to quickly and effectively monitor the slope stability of the earthmoving site that changes in real time.

In this case, the reference value may be calculated using the angle of repose of the slope. According to this configuration, it is possible to easily analyze the safety factor of the slope using 3D slope spatial information and rough ground information.

In addition, a map display unit for displaying and outputting the safety level of the slope calculated on the 3D map information may be further included. According to such a configuration, it becomes possible to more intuitively recognize a slope with a low safety level.

In addition, a load information acquisition unit that acquires load information of earthmoving equipment located at the construction site, and a driving safety evaluation unit that evaluates the driving safety of the earthmoving equipment on the slope from the property information of the ground, terrain information, and load information. Can include. According to this configuration, it is possible to effectively calculate the safety factor of the inclined surface according to the simple operation of the earthmoving equipment.

In addition, a load acceleration history information acquisition unit that acquires load acceleration history information of earthmoving equipment, and work safety that evaluates the work safety of slopes for earthmoving equipment using ground property information, terrain information, and load acceleration history information. It may further include a calculation unit. According to this configuration, it is possible to effectively calculate the safety factor of the slope according to the operation as well as the running of the earthmoving equipment.

In addition, a separation distance calculation unit may further include a separation distance calculation unit that calculates a separation distance in a dangerous area, which is a distance between the earthwork equipment and an area evaluated as a dangerous area according to the work safety level in the vicinity, using the calculated work safety level. According to this configuration, it is possible to prevent the earthwork equipment from falling due to the collapse of the slope by allowing the earthwork equipment to be separated from the danger area by a predetermined distance.

In addition, when the work safety level is less than or equal to a preset standard, a danger signal output unit for outputting a danger signal to the earthmoving equipment may be further included. According to such a configuration, by outputting a danger signal to the earthwork equipment, it is possible to prevent the earthwork equipment from entering the dangerous area even in an unexpected situation such as carelessness of a worker.

In addition, it may further include a movement path output unit for outputting the safe movement path information of the earthmoving equipment on the 3D map information. According to this configuration, by using the safe movement path information output from the earthmoving equipment, it is possible to autonomously drive the earthmoving equipment.

In addition, the earthwork equipment safety management method according to the present invention is a method performed by the earthwork equipment safety management system, comprising: a terrain information acquisition step of acquiring topographic information of a construction site, a location information acquisition step of acquiring location information of a construction site , 3D map information generation step to generate 3D map information of construction site by combining topographic information and location information, ground information acquisition step to acquire ground property information of construction site, slope of construction site from 3D map information The slope angle calculation step of calculating the slope angle of the ground, the reference value calculation step of calculating the slope reference value for evaluating the slope angle from the ground property information, and the static safety evaluation step of evaluating the static safety of the slope using the slope angle and the slope reference value Includes.

In addition, a recording medium in which a computer-readable program for executing the method is recorded is also disclosed.

According to the present invention, by calculating the static and dynamic safety of the slope of the construction site using the topographic information and the ground property information of the construction site, it is possible to quickly and effectively monitor the slope stability of the earthwork site that changes in real time. .

In addition, it is possible to easily analyze the safety factor of the slope by using 3D slope spatial information and rough ground information.

In addition, it is possible to more intuitively recognize slopes with low safety level.

In addition, it is possible to effectively calculate the safety factor of the slope according to the simple operation of the earthmoving equipment.

In addition, it is possible to effectively calculate the safety factor of the slope according to the operation as well as the operation of the earthmoving equipment.

In addition, it is possible to prevent the earthwork equipment from overturning due to the collapse of the slope by making the earthmoving equipment spaced apart from the danger area.

In addition, by outputting a danger signal to the earthwork equipment, it is possible to prevent the earthwork equipment from entering the dangerous area even in an unexpected situation such as carelessness of a worker.

In addition, by using the safe movement path information output from the earthmoving equipment, it is possible to autonomously drive the earthmoving equipment.

1 is a schematic block diagram of an earthmoving equipment safety management system according to an embodiment of the present invention.
Figure 2 is a flow chart for performing real-time evaluation of the slope stability of the earthwork site in the system of Figure 1;
3 is a flowchart for performing equipment driving stability evaluation at an earthwork site in the system of FIG. 1.
4 is a diagram illustrating an example of calculating a separation distance from a hazardous area around the equipment.
5 is a diagram illustrating an example of outputting a movement path of earthmoving equipment.
6 is a schematic flowchart of a method for safety management of earthmoving equipment according to an embodiment of the present invention.
7 is a table of the slope slope of the soil cutting slope (civil engineering design guidelines (2010).
8 is a table of soil pile slope slope slope standard (civil engineering design guidelines (2010).
9 is a table of the angle of repose according to the type and water content of soil.
10 is a calculation flow chart of the Newmark equivalent static analysis method.
11 is a view showing an example of a map of the risk of overturning earthmoving equipment in a construction site on the map.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a schematic block diagram of an earthmoving equipment safety management system according to an embodiment of the present invention. In FIG. 1, the earthwork equipment safety management system includes a topographic information acquisition unit 110, a location information acquisition unit 120, a three-dimensional map information generation unit 130, a ground information acquisition unit 140, and an inclination angle calculation unit 150. , Inclination reference value calculation unit 160, static safety evaluation unit 170, map display unit 180, load information acquisition unit 210, driving safety evaluation unit 220, load acceleration history information acquisition unit 230 , A work safety degree calculation unit 240, a separation distance calculation unit 250, a danger signal output unit 260, and a movement path output unit 270.

The topographic information acquisition unit 110 acquires topographic information of a construction site, the location information acquisition unit 120 acquires location information of the construction site, and the three-dimensional map information generation unit 130 obtains topographic information and location information. Combined to generate 3D map information of the construction site.

2 is a flowchart for performing real-time evaluation of the stability of a slope of an earthwork site in the system of FIG. 1. As shown in FIG. 2, terrain information may be collected based on an image using a drone, a lidar, or the like, and 3D location coordinates may be input for the collected information.

The ground information acquisition unit 140 acquires information on the physical properties of the ground of the construction site, the inclination angle calculation unit 150 calculates the inclination angle of the slope of the construction site from the 3D map information, and the inclination reference value calculation unit 160 A slope reference value for evaluating the slope angle of the slope is calculated from the property information of, and the static stability evaluation unit 170 evaluates the static safety of the slope using the slope angle and the slope reference value.

In this case, the reference value may be calculated using the angle of repose of the slope. According to this configuration, it is possible to easily analyze the safety factor of the slope using 3D slope spatial information and rough ground information.

The map display unit 180 may display and output the safety level of the slope calculated on the 3D map information. According to such a configuration, it becomes possible to more intuitively recognize a slope with a low safety level.

The load information acquisition unit 210 acquires load information of earthmoving equipment located at the construction site, and the driving safety evaluation unit 220 travels for the earthwork equipment on the slope from the ground property information, terrain information, and load information. Evaluate the level of safety. According to this configuration, it is possible to effectively calculate the safety factor of the inclined surface according to the simple operation of the earthmoving equipment. 3 is a flowchart for performing equipment driving stability evaluation at an earthwork site in the system of FIG. 1.

The load acceleration history information acquisition unit 230 acquires load acceleration history information of the earthmoving equipment, and the work safety level calculation unit 240 uses the ground property information, terrain information, and load acceleration history information for the earthwork equipment. Evaluate the safety of work on the slope. According to this configuration, it is possible to effectively calculate the safety factor of the slope according to the operation as well as the running of the earthmoving equipment.

The separation distance calculation unit 250 calculates a danger area separation distance, which is a distance between the periphery of earthmoving equipment and an area evaluated as a risk area according to the work safety level by using the calculated work safety level. According to this configuration, it is possible to prevent the earthwork equipment from falling due to the collapse of the slope by allowing the earthwork equipment to be separated by a distance from the danger area. 4 is a diagram illustrating an example of calculating a separation distance from a hazardous area around the equipment.

The danger signal output unit 260 outputs a danger signal to earthmoving equipment when the work safety level is less than a preset standard. According to such a configuration, by outputting a danger signal to the earthwork equipment, it is possible to prevent the earthwork equipment from entering the dangerous area even in an unexpected situation such as carelessness of a worker.

The movement path output unit 270 may further include a movement path output unit that outputs safety movement path information of earthmoving equipment on the 3D map information. According to this configuration, by using the safe movement path information output from the earthmoving equipment, it is possible to autonomously drive the earthmoving equipment. 5 is a diagram illustrating an example of outputting a moving path of earthmoving equipment.

6 is a schematic flowchart of a method for safety management of earthmoving equipment according to an embodiment of the present invention. 6 shows a flow chart of a technique for evaluating equipment conduction risk according to the present invention.

As shown in FIG. 6, the present invention relates to a prevention technology for preventing the occurrence of accidents such as overturning and slope destruction of heavy equipment during movement and work of heavy equipment on the ground with weak bearing capacity. It can be composed of three steps of'applying'.

1. Investigation

Ground surface information is collected by scanning the external terrain shape of the ground surface in 3D based on the camera image image using a drone or the measurement information of the Lidar sensor. It performs 3D mapping by superimposing GPS location information on the collected topographic information, and grasps the existing slope information around the construction site.

Using the virtual ground data generation technology (kriging) technique, not only ground surface information but also stratum information is obtained, and representative geologic properties are obtained through on-site geotechnical surveys.

2. Interpretation

The slope stability evaluation method is largely divided into two types depending on the presence or absence of external loads.

1) Static slope stability analysis

-Slope stability analysis

According to the Civil Works Design Guideline (2010), it is a principle to perform slope stability analysis when there is a slope during earthwork. The analysis methods used for slope stability analysis are roughly divided into elastic or elastoplastic analysis that considers the deformation of the ground using a numerical analysis method such as the finite element method, and the limiting equilibrium analysis method that analyzes only the mechanical equilibrium relationship at the critical plane where failure occurs.

However, since numerical analysis methods such as the finite element method are difficult to use and take a lot of analysis time, the limiting equilibrium analysis method, which is relatively easy to analyze, is widely used. The limiting equilibrium analysis theory is based on Coulomb's theory, and it is basically an indeterminate equation, so the analysis is performed by assuming the geometric shape of the earth pressure acting on the side of the slope inner intercept method and the active fracture surface.

Bishop (1954), Morgenstern-Price (1965), Spenser (1967), Janbu (1968), and Fellenius (1977) applied the slope analysis method through different assumptions. Among the above methods, the calculation is relatively simple in practice, has sufficient precision, and the most widely used methods are the Fellenius method and Bishop's simple method.

However, in the case of slope stability analysis, there is a limitation that the slope collapse characteristics should be assumed by the intercept method, and a representative cross section should be calculated taking into account topography, geology, groundwater level distribution, and surrounding structures. It is unreasonable to perform slope stability monitoring of changing earthmoving sites.

-Angle of repose analysis

According to the Civil Works Design Guideline (2010), slope stability analysis can be omitted when the slope is small, the ground condition is stable, and the black cutting and soil pile slope slope criteria are satisfied. Fig. 7 is a table of soil cutting slope slope slope criteria (a table of civil engineering design guidelines (2010), and FIG. 8 is a table of soil pile slope slope slope reference (civil engineering design guidelines (2010)).

A method that can replace the existing slope stability analysis and evaluate the static stability of a slope using simple geological and topographic information is a method of calculating the safety factor using the angle of response.

This is the maximum slope angle at which the slope can maintain stability when no external force is applied to the soil. When expressed as the slope safety factor, the safety factor corresponds to S.F. = 1. For simplicity, the slope can be calculated by spraying sand little by little experimentally, and the angle can be measured. In the case of apparent adhesion due to moisture, the angle of repose of the slope can be calculated as follows.

The angle of repose of the sand and clay ground varies slightly depending on the type of soil and the moisture content, but typically, the wet mud has an inclination angle of 20 to 45 degrees, and the wet sand has an angle of repose of 20 to 35 degrees. The detailed angle of repose was summarized and marked in a table as in FIG. 9. 9 is a table of the angle of repose according to the type and water content of soil.

In the case of calculating the safety factor of slopes and slopes using the angle of repose, inputting 3D surface spatial information and rough ground information has the advantage of being able to easily analyze the safety factor of the slope. In order to obtain specific values for the safety factor of the slope, the previously introduced intercept method, Fellenius meshod, Bishop method, Janbu method, etc. can be used.

However, such an analysis method is inadequate to increase the productivity of the construction site and the user's convenience because boundary conditions, constraints, etc. are complex, and there are many necessary input variables (ground information).

Therefore, it is considered desirable to have a procedure in which the safety factor of the slope and slope is roughly divided into safety/risk through the angle of repose, and the construction is stopped in the risk group, and a precise analysis of the safety factor is performed.

2) Load slope stability analysis

As a method of analyzing the stability of a slope when a load is applied to the slope, the dynamic analysis method is largely divided into Pseudo Static Analysis and Dynamic Analysis.

-Pseudo Static Analysis

This is a method of calculating the safety factor for the dynamic load acting on the entire slope by a static analysis method by considering the dynamic load additionally acting on the static initial stress state of the existing slope by replacing it with the corresponding equivalent static load. Depending on the interpretation method, it can be divided into the progress method, the corrected progress method, and the Newmark method. 10 is a calculation flow chart of the Newmark equivalent static analysis method.

As for the dynamic load acting on the design, only the inertial force against the applied static load is considered, and the dynamic hydraulic pressure is excluded because its effect is insignificant. Analysis is very simple, and slope stability analysis can be easily performed using simple topographic information of the slope, ground information, and load recording of rollers.

This theory is generally used to analyze the response of a slope to an earthquake load, but it is basically based on the theory of limit state equilibrium and dynamic analysis, so it is not unreasonable to apply it to the analysis of slopes.

However, in order to perform the equivalent static analysis, the acceleration history information for the load is absolutely necessary. At this time, in the present invention, an accelerometer is attached to the heavy equipment to measure the acceleration response history to the dynamic load of the equipment, and can be replaced by the load history.

In addition, in the case of typical heavy construction equipment, the load history information of the equipment is provided by default, so the load history can be replaced by using the information.

In conclusion, based on the ground property + real-time topographic information + load acceleration history of the site, the risk of slope overturning of heavy equipment can be evaluated using the equivalent static analysis method, and the separation distance of the dangerous area around the equipment can be calculated.

-Dynamic analysis

The dynamic load analysis method is an analysis method that can consider large-scale embankment slopes or soil structure interactions. The dynamic characteristics of the load and the dynamic behavior of the structure can be considered, and it is a more precise analysis method than the equivalent static analysis method.

It is largely divided into frequency response analysis method and time history analysis method. However, in the case of the stability analysis of the slope and heavy equipment used in the construction site, the dynamic characteristics of the load are simple, there is no need to consider the dynamic behavior characteristics of the structure, and there is no need to calculate the induced displacement of a specific slope. Dynamic load analysis method is excluded.

3. Apply

Slope stability analysis results are superimposed on a 3D surface map containing GPS location information acquired in the survey stage to derive a fall risk map for each equipment in the construction area. 11 is a diagram showing an example of a map of the risk of earthwork equipment fall in a construction site on the map.

Through the linkage between the device and the GPS location information system, it is possible to transmit information on the safe movement path of the device to the user, and furthermore, it is possible to induce the driving on the safe movement path of the device.

According to the present invention, it is possible to minimize the occurrence of safety accidents caused by heavy equipment occurring in a construction site by preventing the overturning of heavy equipment. In addition, it is an invention that enables environmental awareness of the ground under the equipment, which is the most vulnerable among the environment around equipment, and is expected to be highly useful in unmanned construction in the future and increase social value.

In addition, according to the present invention, it is possible to increase the efficiency of use of construction equipment by providing a safe real-time moving path of the equipment as well as judgment on the safety of the equipment falling. In addition, it is expected to contribute to improving the productivity of the construction site construction stage, and to be used as an element technology for commercialization of the 2025 smart construction core technology promoted by the Ministry of Land, Infrastructure and Transport.

Although the present invention has been described by some preferred embodiments, the scope of the present invention should not be limited thereto, and modifications or improvements of the above embodiments supported by the claims will also have to be reached.

110: terrain information acquisition unit
120: location information acquisition unit
130: 3D map information generation unit
140: geotechnical information acquisition unit
150: inclination angle calculation unit
160: slope reference value calculation unit
170: static safety evaluation unit
180: map display unit
210: load information acquisition unit
220: driving safety evaluation unit
230: load acceleration history information acquisition unit
240: work safety level calculation unit
250: separation distance calculation unit
260: danger signal output
270: movement path output unit

Claims (10)

A topographic information acquisition unit for acquiring topographic information of a construction site;
A location information acquisition unit that acquires location information of the construction site;
A 3D map information generation unit for generating 3D map information of the construction site by combining the topographic information and the location information;
A ground information acquisition unit that acquires ground property information of the construction site;
An inclination angle calculator configured to calculate an inclination angle of the slope of the construction site from the 3D map information;
A slope reference value calculator configured to calculate a slope reference value for evaluating the slope angle of the slope from the ground property information; And
An earthwork equipment safety management system comprising a static safety level evaluation unit for evaluating the static safety level of the slope using the inclination angle and the inclination reference value,
A load acceleration history information acquisition unit for obtaining load acceleration history information of earthmoving equipment located at the construction site;
A work safety level calculation unit that evaluates work safety level of the slope with respect to the earthwork equipment by using the ground property information, the terrain information, and the load acceleration history information; And,
The earthwork equipment safety management system further comprising a separation distance calculating unit for calculating a danger area separation distance, which is a distance between the vicinity of the earthwork equipment and an area evaluated as a risk area according to the work safety level using the work safety level.
The method according to claim 1,
The reference value is an earthwork equipment safety management system, characterized in that calculated using the angle of repose of the slope.
The method according to claim 2,
And a map display unit for displaying and outputting the evaluated safety level of the slope on the 3D map information.
The method according to claim 1,
A load information acquisition unit that acquires load information of the earthwork equipment; And
Earthwork equipment safety management system, characterized in that it further comprises a driving safety evaluation unit for evaluating the driving safety of the earthmoving equipment on the slope from the physical property information of the ground, the terrain information, and the load information.
delete delete The method according to claim 1,
Earthwork equipment safety management system, characterized in that it further comprises a danger signal output unit for outputting a danger signal to the earthwork equipment when the work safety level is less than a preset standard.
The method according to claim 1,
Earthwork equipment safety management system, characterized in that it further comprises a movement path output unit for outputting the safe movement path information of the earthmoving equipment on the 3D map information.
As a safety management method performed by the earthwork equipment safety management system,
A topographic information acquisition step of acquiring topographic information of a construction site;
A location information acquisition step of acquiring location information of the construction site;
3D map information generation step of generating 3D map information of the construction site by combining the topographic information and the location information;
A ground information acquisition step of acquiring ground property information of the construction site;
An inclination angle calculation step of calculating an inclination angle of the slope of the construction site from the 3D map information;
A reference value calculation step of calculating an inclination reference value for evaluating an inclination angle of the slope from the physical property information of the ground; And
An earthwork equipment safety management method comprising a static safety evaluation step of evaluating the static safety of the slope using the inclination angle and the inclination reference value,
A load acceleration history information acquisition step of obtaining load acceleration history information of earthmoving equipment located at the construction site;
A work safety level calculation step of evaluating work safety level of the slope with respect to the earthwork equipment by using the ground property information, the terrain information, and the load acceleration history information; And,
Earthwork equipment safety management method further comprising the step of calculating a separation distance of the dangerous area, which is a distance between the vicinity of the earthwork equipment and an area evaluated as a risk area according to the work safety level using the work safety level. .
A recording medium on which a computer-readable program for executing the method of claim 9 is recorded.

Images