KR102258271B1 - An apparatus for tracing drilling route and method for tracing drilling route using the same - Google Patents

Abstract

The present invention relates to a puncture path search apparatus and a puncture path search method using the same, the puncture path search apparatus includes a housing; A plurality of moving units installed in the housing to move the housing within the hole; A tilt sensor installed in the housing and measuring a tilt of the housing; A moving distance measuring unit that measures a moving distance of the housing; And a controller that generates path information of the hole by using tilt information measured by the tilt sensor and moving distance information measured by the moving distance measuring unit.

Description

A drilling path search device and a drilling path search method using the same {AN APPARATUS FOR TRACING DRILLING ROUTE AND METHOD FOR TRACING DRILLING ROUTE USING THE SAME}

The present invention relates to a puncture path search apparatus and a puncture path search method using the same, and more particularly, to a puncture path search apparatus for analyzing the state of a hole by searching a three-dimensional path of a punctured hole, and a puncture path search method using the same. .

When designing a tunnel, it is difficult to fully grasp the geological information at the depth of tunnel excavation. Therefore, it is only necessary to design the tunnel by predicting the geological condition based on rough information obtained from surface survey or drilling survey. Therefore, the appearance of unpredictable geological conditions during construction is a common situation that can occur during tunnel construction, and if proper and prompt on-site response is not carried out, it can cause enormous loss of life and property due to collapse and fall of the tunnel curtain. .

Although rapid on-site response to the geological condition of the tunnel is essential at the tunnel construction site, in most cases, objective information on this is insufficient, and the type, spacing, and thickness of the supporting stiffener are determined entirely according to the subjective judgment of the field engineer. The reality is that the site design is being carried out during the construction that makes changes, or that it is being implemented without clear geological information in front of the scene.

Stern caliber is an equipment that drills a hole in the tunnel before blasting to improve the free surface, and once it is executed, it is executed 50m, but it is not possible to drill 50m horizontally depending on the pressure applied to the equipment and the longitudinal gradient. Proceeds in the direction. This causes reconstruction of the predecessor diameter, increases the construction period of tunnel excavation, and causes economic loss. Accordingly, there is a trend of continuous research for securing an optimal drilling guide model and information on the front of the tunnel curtain for improving the pre-large-diameter drilling efficiency.

Korean Patent Application No. 10-2008-0138120

The present invention is to solve the problems of the prior art described above, an aspect of the present invention is to provide a puncturing path search device capable of accurately measuring geological state information and inclination information inside a punctured hole.

The problems of the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A drilling path search apparatus according to an embodiment of the present invention includes a housing; A plurality of moving units installed in the housing to move the housing within the hole; A tilt sensor installed in the housing and measuring a tilt of the housing; A moving distance measuring unit that measures a moving distance of the housing; And a controller that generates path information of the hole by using tilt information measured by the tilt sensor and moving distance information measured by the moving distance measuring unit.

In one embodiment, each of the moving units, a driving wheel; And a suspension connecting the driving wheel and the housing, and absorbing an impact transmitted to the housing through the driving wheel.

In one embodiment, the moving units may surround the housing at regular intervals.

In an embodiment, the moving distance measuring unit may include an encoder that measures the amount of rotation of the driving wheel.

In an embodiment, an image acquisition unit installed in the housing and photographing a periphery of the housing; And a light source unit installed in the housing and irradiating light in a moving direction of the housing.

In an embodiment, the image acquisition unit may include a 360 degree camera.

In an embodiment, the tilt sensor may include an IMU (Inertial Measurement Unit) sensor.

In an embodiment, the controller may obtain path information according to a moving position using the inclination information and the distance information.

In one embodiment, a waterproof case installed in the housing and accommodating the controller unit and the tilt sensor; And a battery unit installed in the housing and supplying power to the mobile units.

A method for searching a puncture path according to an embodiment of the present invention includes the steps of: (a) moving the puncturing path search device into a hole; (b) receiving tilt information measured by a tilt sensor mounted on the puncturing path search device, and receiving moving distance information measured by a moving distance measuring unit mounted on the puncturing path search device; And (c) analyzing the received tilt information and moving distance information to obtain path information of the hole.

Features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be interpreted in a conventional and dictionary meaning, and the inventor can appropriately define the concept of the term in order to describe his own invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention based on the principle that there is.

According to embodiments of the present invention, it is possible to precisely observe the geological state of the hole and the path of the hole (slope, etc.). Data corresponding to the ground can be accurately analyzed using precisely observed image information and slope information.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a schematic diagram showing a puncture data analysis system according to an embodiment of the present invention.
2 is a block diagram showing the puncturing data analysis system of FIG. 1.
3 is a diagram illustrating a third sensor unit of the puncture data analysis system of FIG. 1.
4 is a diagram illustrating a coupler of the third sensor unit of FIG. 3.
5 is a schematic diagram showing a puncture path search unit according to an embodiment of the present invention.
6 is a front view showing the puncturing path search unit of FIG. 5.
7 is a block diagram showing the puncturing path search unit of FIG. 5.
8 is a schematic diagram showing a puncture path search unit according to another embodiment of the present invention.
9 is a front view showing the puncturing path search unit of FIG. 8.
10 is a block diagram showing the puncturing path search unit of FIG. 8.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments make the disclosure of the present invention complete, and the general knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to the possessor, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same elements throughout the specification.

Embodiments described in the present specification will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary diagrams of the present invention. In the drawings, thicknesses of films and regions are exaggerated for effective description of technical content. Accordingly, the regions illustrated in the drawings have schematic properties, and the shapes of the regions illustrated in the drawings are for illustrating a specific shape of the region of the device and are not intended to limit the scope of the invention. In various embodiments of the present specification, terms such as first, second, and third are used to describe various elements, but these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terms used in this specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used herein, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, actions and/or elements in the stated component, step, operation and/or element. Or does not preclude additions.

In the present specification, “connection” may mean including both direct connection of the mentioned components and indirect connection through an intermediate medium.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used with meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

1 is a schematic diagram showing a puncture data analysis system according to an embodiment of the present invention. 2 is a block diagram showing the puncturing data analysis system of FIG. 1. 3 is a diagram illustrating a third sensor unit of the puncture data analysis system of FIG. 1. 4 is a diagram illustrating a coupler of the third sensor unit of FIG. 3.

1 to 6, the drilling data analysis system 10 according to an embodiment of the present invention is a drilling guide model corresponding to the ground G by analyzing data generated during the drilling process by the drilling apparatus 100 Can be created. The puncture data analysis system 10 includes a first sensor unit 200, a second sensor unit 300, a third sensor unit 400, a puncture path search unit 700, and a data analysis unit 600. I can. In addition, the puncture data analysis system 10 may further include a data logger 500.

In an embodiment, the drilling device 100 includes a base portion 110, a body portion 120, a driving unit 140, a hammer rod 130, a body moving unit 150, and a traveling unit 160. However, it is not limited thereto.

The base portion 110 may support the body portion 120. The body portion 120 may be located on the base portion 110, and may have a space in which a worker can enter.

The hammer rod 130 may be installed on the body 120. The hammer rod 130 may serve to excavate the ground (G). The hammer rod 130 may be provided in the shape of a pillar that is elongated in one direction. The hammer rod 130 may have a spiral screw on its outer circumferential surface. The screw may serve to discharge crushed sludge by rotating the hammer rod 130. A hammer bit may be installed at the tip of the hammer rod 130. The hammer bit may perform a function of hitting the ground G under excavation.

The driving unit 140 may provide rotational pressure, striking pressure, and propulsion pressure to the hammer rod 130. In an embodiment, the driving unit 140 may be installed on the body portion 120, but is not limited thereto. In an embodiment, the driving unit 140 may provide rotational pressure, strike pressure, and propulsion pressure provided to the hammer rod 130 in the form of hydraulic pressure or pneumatic pressure, but is not limited thereto.

In an embodiment, the hammer rod 130 may perform a piston reciprocating motion for drilling. To this end, the driving unit 140 may provide a striking pressure (pneumatic pressure) to reciprocate the hammer rod 130 with a piston.

The hammer rod 130 may rotate clockwise or counterclockwise to change the hitting position of the ground (G), discharging the crushed sludge, and the like. To this end, the driving unit 140 may provide a rotational pressure (hydraulic pressure) to rotate the hammer rod 130.

The hammer rod 130 may advance to strike the ground (G). To this end, the driving unit 140 may provide a propulsion pressure (hydraulic pressure) for advancing the hammer rod 130.

The body moving unit 150 may be located between the body portion 120 and the base portion 110. The body moving unit 150 may move the body portion 120 on the base portion 110. In an embodiment, the body moving unit 150 may slide the body portion 120 on the base portion 110. For example, the body moving unit 150 may include a pair of rails.

The driving unit 160 may be installed on the base unit 110. The traveling unit 160 can move the perforation device 100 by moving the base unit 110. In an embodiment, the driving unit 160 may be composed of a plurality of wheels. Alternatively, in another embodiment, the driving unit 160 may be configured with a caterpillar.

The first sensor unit 200 may be connected to the driving unit 140. The first sensor unit 200 may obtain information on the strike pressure, the propulsion pressure, and the rotation pressure provided from the driving unit 140 to the hammer rod 130. In an embodiment, the first sensor unit 200 includes information on hitting pressure for reciprocating the piston of the hammer rod 130, information on the driving pressure for propelling the hammer rod 130, and rotational pressure for rotating the hammer rod 130 Information can be obtained. Each of the propulsion pressure information, the strike pressure information, and the rotation pressure information may include information on the size of hydraulic pressure or pneumatic pressure, flow rate of hydraulic pressure or pneumatic pressure, and the like.

The second sensor unit 300 may be connected to the hammer rod 130. The second sensor may acquire rotation information of the hammer rod 130 and vibration information of the hammer rod 130. The second sensor unit 300 may include a vibration sensor 320 and a displacement sensor 350. In addition, the second sensor unit 300 may include a case 330, a capacitor 310, and a sensor box 340.

The vibration sensor 320 may measure the vibration of the hammer rod 130 generated when the hammer rod 130 hits the ground (G). The hammer rod 130 may excavate the ground G while performing a piston reciprocating motion. However, in order to excavate the ground G, the hammer rod 130 must reciprocate the piston while maintaining a certain distance between the ground G and the hammer bit. For example, the hammer rod 130 may have high crushing efficiency of the ground G when striking the ground G while maintaining a distance of 2 to 5 cm from the ground G. However, when the distance between the hammer rod 130 and the ground G is close or far, the crushing efficiency of the ground G may be low. The vibration sensor 320 may measure vibration according to a distance between the hammer rod 130 and the ground G. That is, the vibration sensor 320 may obtain vibration information about the hammer rod 130 hitting the ground G. In an embodiment, the vibration sensor 320 may be a piezo sensor, but is not limited thereto.

The displacement sensor 350 may measure rotational speed information of the hammer rod 130. The hammer rod 130 may excavate the ground G while rotating. Since the hammer rod 130 is elongated in one direction, a sag phenomenon due to gravity may occur. The contact area and friction force between the hammer rod 130 and the ground G may increase due to the sagging phenomenon of the hammer rod 130. Accordingly, the rotational speed of the hammer rod 130 may be reduced, and accordingly, the ability to discharge sludge and the ability to change the hitting point of the hammer bit may be reduced. Accordingly, the rotation speed information of the hammer rod 130 may be information necessary for generating a perforation guide model. In addition, the hitting point of the hammer bit may be changed due to the sagging phenomenon of the hammer rod 130. A phenomenon in which the perforation path is directed to the right may occur by rotating the hammer rod 130 for correcting the hitting point in a clockwise direction.

The coupler 310 may connect the hammer rod 130 and the driving unit 140. The coupler 310 may be formed to be elongated in one direction. The coupler 310 may include a plurality of displacement sensor mounting portions to which the displacement sensors 350 are mounted around the periphery. The displacement sensor mounting portions may be arranged at regular intervals along the circumference of the coupler 310. The coupler 310 may include a vibration sensor mounting part to which the vibration sensor 320 is mounted. The case 330 may have an insertion hole into which the coupler 310 is inserted.

A plurality of sensor boxes 340 may be provided. The plurality of sensor boxes 340 may be arranged along the circumference of the case 330. The sensor boxes 340 may contain a battery, a storage member, and a sensor controller for the vibration sensor 320 and the displacement sensor 350.

The third sensor unit 400 may obtain information on the propulsion speed of the hammer rod 130. In an embodiment, the third sensor unit 400 may include a wire 430, a wire fixing part 410, and a wire sensor 420.

The wire fixing part 410 may be installed on the base part 110. The wire 430 may connect the wire fixing part 410 and the wire sensor 420. The wire sensor 420 may measure the moving distance and the moving speed of the body 120 and the hammer rod 130 by measuring the displacement or speed of the wire 430. Accordingly, the third sensor unit 400 may obtain information on the propulsion speed of the hammer rod 130 excavating the ground G.

The puncture path search unit 700 may move inside the hole punctured by the hammer rod 130. The puncture path search unit 700 may acquire image information and tilt information of the punctured hole. Details of the puncturing path search unit will be described later.

The data logger 500 may receive information from the first sensor unit 200, the second sensor unit 300, and the third sensor unit 400 and store the corresponding information. The data logger 500 may be a data storage device.

In an embodiment, the data analysis unit 600 may generate a puncture guide model using information collected by the data logger 500. Alternatively, in another embodiment, the data analysis unit 600 may directly receive information from the sensor units and the puncture path analysis unit. In an embodiment, the data analysis unit 600 may be a computer, but is not limited thereto. The data analysis unit 600 may include software capable of data analysis and guide modeling. In the embodiment, the data analysis unit 600 and the data logger 500 are separated, but in other embodiments, the data analysis unit 600 and the data logger 500 may be integrated.

The data analysis unit 600 uses the information obtained from the first sensor unit 200, the second sensor unit 300, the third sensor unit 400, and the puncture path search unit 700 to provide the ground G. A corresponding perforation guide model can be created. For example, the data analysis unit 600 uses at least one of strike pressure information, rotation pressure information, propulsion pressure information, rotation information, vibration information, propulsion speed information, image information, and inclination information to determine the perforation guide model. Can be generated.

The data analysis unit 600 may analyze vibration information, propulsion speed information, and propulsion pressure information. Accordingly, the data analysis unit 600 may obtain propulsion pressure analysis information corresponding to the ground G excavated by the hammer rod 130. As described above, the impact force information may include the vibration information. When drilling the ground G, when maintaining an appropriate propulsion distance between the hammer bit of the hammer rod 130 and the ground G, the optimum crushing efficiency and/or drilling efficiency may be exhibited. However, it is difficult for the hammer rod 130 to maintain an appropriate propulsion distance with the ground G due to various factors that affect the crushing efficiency, such as physical properties of the ground G, the characteristics of joints, and the presence or absence of a crushing zone.

In an embodiment, the data analysis unit 600 may analyze the vibration information obtained by the vibration sensor 320 to obtain information on the impact force according to the distance between the hammer rod 130 and the ground G. The data analysis unit 600 may compare and analyze impact force information, propulsion pressure information, and propulsion speed information to obtain propulsion pressure analysis information corresponding to the ground G. For example, the propulsion pressure analysis information may include an effective propulsion pressure value for drilling the ground G. The data analysis unit 600 may generate a perforation guide model using the propulsion pressure analysis information. That is, the perforation guide model may include propulsion pressure analysis information. For example, the drilling guide model may include a driving pressure value that enables the hammer rod 130 to efficiently drill the ground G according to the characteristics of the ground G by the driving unit 140.

In addition, the data analysis unit 600 may analyze the propulsion speed information to analyze a change in propulsion speed of the hammer rod 130. Accordingly, the data analysis unit 600 may obtain a propulsion pressure value and a strike pressure value corresponding to the ground G by comparing and analyzing the impact pressure information corresponding to the analyzed propulsion speed change amount and the propulsion pressure information. The data analysis unit 600 may generate a perforation guide model by using the obtained driving pressure value and the hitting pressure value.

The data analysis unit 600 may obtain rotational pressure analysis information corresponding to the ground G by analyzing rotation information and rotational pressure information. The data analysis unit 600 may analyze rotation information to obtain torque information generated due to interference between the hammer rod 130 and the inner wall of the hole H. The data analysis unit 600 may compare and analyze torque information and rotational pressure information to obtain rotational pressure analysis information corresponding to the ground G. For example, the rotational pressure analysis information may include a rotational pressure value that is effective for drilling the ground G by analyzing a change in torque generated for each characteristic of the ground G. The data analysis unit 600 may generate a perforation guide model by using the rotational pressure analysis information. That is, the drilling guide model may include rotational pressure analysis information. For example, in the drilling guide model, the driving unit 140 may include a rotational pressure value that enables the hammer rod 130 to efficiently drill the ground G according to the characteristics of the ground G.

The data analysis unit 600 may analyze rotation information to obtain information on the sag of the hammer rod 130. When sagging occurs in the hammer rod 130, the friction between the wall surface W of the hole H and the hammer rod 130 increases and the rotation speed decreases, so that the data analysis unit 600 The amount of change in the rotational speed of the rod 130 may be analyzed, and the degree of deflection of the hammer rod 130 may be calculated from the analyzed amount of change in the rotational speed. In addition, the data analysis unit 600 may analyze the obtained sagging information on the hammer rod 130 to obtain the degree of sludge discharge and change information of the ground (G) hitting point of the hammer bit.

The data analysis unit 600 may analyze slope information and image information to obtain geological information of the ground G and sag information of the hammer rod 130. In an embodiment, the data analysis unit 600 may obtain geological information of the ground G by analyzing image information acquired by the puncturing path search unit 700. The data analysis unit may reflect the geological information of the ground G to calculate the above-described rotational pressure value, strike pressure value, and propulsion pressure value. For example, the data analysis unit 600 may obtain a rotational pressure value, a strike pressure value, and a propulsion pressure value capable of representing the optimum crushing efficiency and/or drilling efficiency according to the geological characteristics of the ground G. .

The data analysis unit 600 may obtain sag information of the hammer rod 130 by analyzing slope information of the hole H. In addition, the data analysis unit 600 may correct the corresponding deflection information by comparing the deflection information of the hammer rod 130 obtained by analyzing the rotation information. For example, the data analysis unit 600 may analyze rotation information to generate primary deflection information of the hammer rod 130, and may generate secondary deflection information of the hammer rod 130 by analyzing inclination information. . The data analysis unit 600 may improve the accuracy of the sag of the hammer rod 130 by analyzing the first sag information and the second sag information.

The data analysis unit 600 may generate a perforation guide model using geological information and sag information. Accordingly, the puncture guide model may include geological information and sag information.

The drilling guide model may be generated using propulsion pressure analysis information, rotational pressure analysis information, geological information, and deflection information. Accordingly, the perforation guide model may include a rotational pressure value, a driving pressure value, and a hitting pressure value according to the geological characteristics of the ground G. Therefore, when the user of the drilling device 100 acquires the geological information of the ground (G), the driving unit 140 determines the rotational pressure value, the propulsion pressure value, and the impact pressure value corresponding to the geology of the ground (G). By providing it to the hammer rod 130, crushing efficiency and/or drilling efficiency can be maximized.

5 is a schematic diagram showing a puncture path search unit according to an embodiment of the present invention. 6 is a front view showing the puncturing path search unit of FIG. 5. 7 is a block diagram showing the puncturing path search unit of FIG. 5.

5 to 7, the puncturing path search unit 700 according to an embodiment of the present invention may be a device for acquiring slope information and geological information of the punctured hole H. The puncture path search unit 700 may include a housing 710, a plurality of moving units 750, a tilt sensor 730, a moving distance measuring unit 740, and a controller 705. In addition, the puncture path search unit 700 may further include an image acquisition unit 720, a light source unit 760, a waterproof case 780, a communication unit 745, and a battery unit 770.

The housing 710 may have an accommodation space therein. The housing 710 may serve to protect components such as the controller 705 and the tilt sensor 730 disposed in an internal accommodation space from an external environment. In an embodiment, the housing 710 may be provided in a cylindrical shape, but is not limited thereto.

The plurality of moving units 750 may be installed in the housing 710. The moving units 750 may move the housing 710. The moving units 750 may be arranged at regular intervals along the circumference of the housing 710. In an embodiment, the puncturing path search unit 700 may include six moving units 750. The three moving units 750 (hereinafter, referred to as a first group) may be arranged along the circumference of one side of the housing 710, and the remaining three moving units 750 (hereinafter, referred to as the second group). ) May be arranged along the circumference of the other side of the housing 710.

The moving units 750 included in the first group form an angle of about 120 degrees and may be arranged along the circumference of the housing 710. The moving units 750 included in the second group form an angle of about 120 degrees and may be arranged along the circumference of the housing 710. The mobile units 750 included in the first group and the mobile units 750 included in the second group may be spaced apart from each other. Also, the moving units 750 included in the first group and the moving units 750 included in the second group may be disposed parallel to each other.

Each of the moving units 750 may include a driving wheel 751 and suspensions 752 and 753. The driving wheel 751 may be provided in a circular shape. The driving wheel 751 may be located on the wall surface W of the perforated hole H.

The suspensions 752 and 753 may connect the driving wheel 751 and the housing 710. The suspensions 752 and 753 may absorb the shock transmitted to the housing 710 through the driving wheel. In an embodiment, the suspensions 752 and 753 may include a connection member 752 and an elastic member 753. The connection member 752 may connect the driving wheel 751 and the housing 710. In an embodiment, the connecting member 752 may be a hydraulic cylinder. Accordingly, the length of the connection member 752 may be variable.

The elastic member 753 may be installed on the connection member 752. The elastic member 753 may absorb impact through elongation and contraction. In an embodiment, the elastic member 753 may be a spring, but is not limited thereto.

The length of the connection member 752 may be adjusted so that the driving wheel 751 can move while in close contact with the wall surface W of the hole H. When the driving wheel 751 moves along the wall surface W of the hole H, it may receive an external force due to an inhomogeneous obstacle in the hole H. The external force received by the driving wheel 751 may be transmitted to the housing 710. However, the elastic member 753 may absorb the shock transmitted to the housing 710 while being contracted. That is, the overall length of the suspension can be reduced. When the external force applied from the driving wheel 751 is removed, the elastic member 753 may be extended to its original state by the elastic force. Accordingly, the driving wheel 751 may be in close contact with the wall surface W of the hole H.

The tilt sensor 730 may be installed in the housing 710. The tilt sensor 730 may measure the tilt of the housing 710. In an embodiment, the tilt sensor 730 may be an IMU (Inertial Measurement Unit) sensor, but is not limited thereto. The IMU (Inertial Measurement Unit) sensor may include a 3-axis gyro sensor 731, a 3-axis acceleration sensor 732, and a 3-axis geomagnetic sensor 733. Accordingly, the inclination sensor 730 may obtain acceleration information of the X, Y, and Z axes, and angular velocity information of the X, Y, and Z axes.

The moving distance measuring unit 740 may measure the moving distance of the housing 710. In an embodiment, the moving distance measuring unit 740 may be an encoder, but is not limited thereto. The encoder may be installed on each of the driving wheels. The encoder can measure the amount of rotation (number of revolutions) of the driving wheel. The encoder may calculate the moving distance of the housing 710 through the measured rotation amount (number of rotations) information. In addition, the encoder can measure the rotational speed of the driving wheel.

The controller 705 may generate path information of the hole H by using the tilt information measured by the tilt sensor 730 and the moving distance information measured by the moving distance measuring unit 740. In an embodiment, the controller 705 may calculate the location information of the housing 710 by using the moving distance information and inclination information measured by the moving distance measuring unit 740. The location information of the housing 710 may include X, Y, and Z coordinate information.

The controller 705 may generate tilt information (hereinafter referred to as position tilt information) according to the location of the housing 710 using the calculated location information and the measured tilt information. The controller 705 may generate path information of the hole H by using the location information and the location inclination information. The path information of the hole H may include X, Y, Z coordinate information and slope information of the hole H.

The controller 705 may calculate the moving speed information of the housing 710 by using the rotation speed information of the driving wheel measured by the encoder.

The image acquisition unit 720 may be installed in the housing 710. In an embodiment, the image acquisition unit 720 may be installed in front of the housing 710, but is not limited thereto. The image acquisition unit 720 may acquire image information by photographing the periphery of the housing 710. In an embodiment, the image acquisition unit 720 may be a 360 degree camera, but is not limited thereto. The 360 degree camera may generate image information by photographing horizontal and vertical 360 degrees in all directions. Image information captured by the image acquisition unit 720 may be transmitted to the controller 705.

The light source unit 760 may irradiate light in the moving direction of the housing 710. Since the inside of the hole H in which the puncturing path search unit 700 moves is dark, it may be difficult for the image acquisition unit 720 to acquire image information. As the light source unit 760 irradiates light in the moving direction of the housing 710, the image acquisition unit 720 can easily acquire image information even inside the hole H. The light source unit 760 may be installed in front of the housing 710. The light source unit 760 may include a plurality of LEDs.

The waterproof case 780 may be installed inside the housing 710. The waterproof case 780 may form an accommodation space therein. A controller 705, a tilt sensor 730, and the like may be embedded in the receiving space of the waterproof case 780. Accordingly, the housing 710 may primarily perform a waterproof function such as the controller 705, and the waterproof case 780 may secondarily perform a waterproof function such as the controller 705.

The communication unit 745 may perform wired or wireless communication with the outside of the housing 710. In an embodiment, the communication unit 745 may perform wireless communication with the outside, but is not limited thereto. Accordingly, the communication unit 745 may transmit hole (H) path information, measured moving distance information, tilt information, image information, and the like generated by the controller 705 to the outside. In addition, the communication unit 745 may receive control input information from the outside. The communication unit 745 may transmit the received control input information to the controller 705. Accordingly, the controller 705 may control the mobile units 750, the image acquisition unit 720, the light source unit 760, and the like according to the user's intention in response to the control input information.

The battery unit 770 may be installed in the housing 710. The battery unit 770 may store power. Accordingly, the battery unit 770 may supply power to the mobile units 750, the light source unit 760, the image acquisition unit 720, and the controller 705.

8 is a schematic diagram showing a puncture path search unit according to another embodiment of the present invention. 9 is a front view showing the puncturing path search unit of FIG. 8. 10 is a block diagram showing the puncturing path search unit of FIG. 8. For convenience of description, descriptions of the same components as those described in FIGS. 5 to 7 will be omitted or briefly described.

8 to 10, the drilling path search unit 700 according to an embodiment of the present invention includes a housing 710, a plurality of movement units 750, a tilt sensor 730, and a movement distance measurement unit ( 740), an image acquisition unit 720, a light source unit 760, and a controller 705. In addition, the puncturing path search unit 700 may further include a scanning unit 790, a waterproof case 780, a communication unit 745, and a battery unit 770.

The scan unit 790 may detect an object in the moving direction of the housing 710. In an embodiment, the scan unit 790 may be a lidar sensor, which is a sensor using a wavelength of light. The scan unit 790 may transmit the scanned scan information to the controller 705. The scan information may include information on a path located in the moving direction of the housing 710. For example, the scan information may include information such as an obstacle and a bend of the hole H.

The controller 705 may control the moving units 750 so that the housing 710 can move along the path of the hole H using the scan information. For example, the controller 705 may autonomously drive the housing 710 using the scan information.

On the other hand, it is possible to search for a puncture path using the aforementioned puncture path search device

The puncture path search method according to the present invention includes the steps of moving the above-described puncture path search device into the hole, receiving tilt information measured by a tilt sensor mounted on the puncturing path search device, and measuring the moving distance mounted on the puncturing path search device. It may include receiving the moving distance information measured by the unit, and analyzing the received tilt information and the moving distance information to obtain path information of the hole.

In order to search for a puncture path according to the present invention, first, the above-described puncture path search device is moved into a puncture hole to be searched. Next, while the puncturing path search device moves through the hole, the tilt information is received when the tilt information is measured using a tilt sensor installed in the puncturing path search device. At this time, since the moving distance measuring unit is mounted on the drilling path search apparatus, the moving distance information measured from the moving distance measuring unit is also received. By analyzing the received inclination information and moving distance information in this way, it is possible to obtain the path information of the hole. Here, details of the puncturing path search apparatus have been described above, and detailed descriptions thereof will be omitted.

Although the present invention has been described in detail through specific embodiments, this is for explaining the present invention in detail, and the present invention is not limited thereto, and within the technical idea of the present invention, by those of ordinary skill in the art. It is clear that modifications or improvements are possible.

All simple modifications or changes of the present invention belong to the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

10: perforation analysis system 100: perforation device
120: main body 130: hammer rod
200: first sensor unit 300: second sensor unit
400: third sensor unit 600: data analysis unit
700: sky path search unit

Claims (10)

By a drilling device comprising a drive unit that provides the hammer rod with rotational pressure for rotating the hammer rod excavating the ground, a striking pressure for reciprocating the hammer rod with a piston, and a driving pressure for propelling the hammer rod. In a puncture path search apparatus for transmitting data on the hole to a puncture data analysis system for analyzing data on a punctured hole,
housing;
A plurality of moving units installed in the housing to move the housing within the hole;
A tilt sensor installed in the housing and measuring a tilt of the housing;
A moving distance measuring unit that measures a moving distance of the housing;
An image acquisition unit installed in the housing and photographing the periphery of the housing to acquire image information of the hole; And
A controller for generating path information of the hole using tilt information measured by the tilt sensor and moving distance information measured by the moving distance measuring unit,
The moving units are arranged at regular intervals along the circumference of the housing,
Each of the mobile units,
A driving wheel that rotates and moves along the wall of the hole;
A connecting member that connects the driving wheel and the housing and has a length variable corresponding to a shape change of a wall surface of the hole in which the driving wheel moves, so that the moving driving wheel is in close contact with the wall surface of the hole; And
It includes an elastic member that has elasticity and is installed on the connection member, when the length of the connection member is reduced, absorbs an impact while being compressed, and applies a tensile force to the connection member so that the reduced length of the connection member is restored,
The path information of the hole includes information on the slope of the hole,
The slope information of the hole and the image information of the hole are included in the data for the hole transmitted to the puncture analysis system,
The perforation analysis system, by analyzing the slope information of the hole and the image information of the hole to obtain the geological information of the ground, and the sag information of the hammer rod, obtained geological information of the ground, and the sag of the hammer rod A drilling path search device for generating a drilling guide model corresponding to the ground using information.
delete delete The method of claim 1,
The moving distance measurement unit,
A drilling path search device comprising an encoder that measures the amount of rotation of the driving wheel.
The method of claim 1,
A drilling path search apparatus further comprising a light source unit installed in the housing and irradiating light in a moving direction of the housing.
The method of claim 1,
The image acquisition unit is a puncture path search apparatus including a 360 degree camera.
The method of claim 1,
The tilt sensor,
A puncture path search device including an Inertial Measurement Unit (IMU) sensor.
The method of claim 1,
The controller,
A puncturing path search device for obtaining path information according to a moving position using the inclination information and the distance information.
The method of claim 1,
A waterproof case installed in the housing and accommodating the controller unit and the tilt sensor; And
The drilling path search apparatus further comprises a battery unit installed in the housing and supplying power to the mobile units.
(a) moving the drilling path search device according to claim 1 into the hole;
(b) receiving tilt information measured by a tilt sensor mounted on the puncturing path search device, and receiving moving distance information measured by a moving distance measuring unit mounted on the puncturing path search device; And
(c) analyzing the received tilt information and moving distance information to obtain path information of the hole.

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