KR102308530B1 - Survey system for underground facility using drone - Google Patents

Abstract

The present invention relates to a survey system for an underground facility using laser mounted on a drone, which is able to respectively place platform housings to each of two adjacent manholes communicating with the underground facility, release and move a wound wire of a roller mounted on the platform housing on one side to the platform housing on the other side through an autonomous vehicle, guide the driving along the wire placed along the relevant underground facility, make the drone perform a laser-inducing flight at the same time, provide the driving power to a survey vehicle through the drone's flight, make the survey vehicle perform a rail-type driving along the wire in the relevant underground facility, suppress the flow, movement, and vibration as much as possible, and acquire more precise survey data through a mounted survey unit. In accordance with the present invention, the survey system for the underground facility using laser mounted on the drone comprises: a first platform housing, a second platform housing, a roller, an autonomous vehicle, a vehicle fixing unit, a survey vehicle, the drone, a survey unit, a control unit, a first wireless communication module, a second wireless communication module, and a survey start alert unit.

Description

An underground facility survey system using a laser mounted on a drone {Survey system for underground facility using drone}

In the present invention, the platform housings are respectively disposed in two adjacent manholes communicating with the underground facility, and the winding wire of the roller mounted on one platform housing is released and moved to the other platform housing through the autonomous vehicle, and then positioned along the corresponding underground facility in this way At the same time, driving is guided along the wire, and the survey vehicle, which receives driving power through the drone's laser-guided flight, runs a rail-type run along the wire in the underground facility to minimize flow, movement and vibration, and It relates to an underground facility surveying system using a laser mounted on a drone that enables more accurate survey data to be acquired through a surveyor.

In general, underground facilities include water supply, sewerage, electric power and communication lines, city gas pipelines, and oil pipelines. It is important.

And recently, technologies using drones have been proposed for surveying underground facilities or underground spaces.

For example, in Korean Patent Application Laid-Open No. 10-2021-0039750, a lidar, a high-performance camera, and a thermal imaging camera included in an underground space exploration device are mounted on a drone (robot) to measure the shape of the underground space, and the drone , GPS, and a 9-axis gyro sensor are used to determine the location and various shapes of a specific space in three dimensions. It is possible to store underground facility information in the DB cloud server as a numerical map and an electronic map, but the technology used by drones during initial and post-surveying is posted.

And the present applicant proposes the present invention with the intention of allowing the surveying work on underground facilities to be carried out in a manner using a drone, while the work process can be carried out relatively easily, so that the survey results can be obtained more accurately. .

Korean Patent Laid-Open Patent No. 10-2021-0039750 (published on Dec. 12, 2021), “Real-time three-dimensional (3D) mapping system for underground space using drones” Korean Patent Registration No. 10-2073157 (2020.02.04. Announcement), “Real-time surveying system for underground facilities using airships”

In an embodiment of the present invention, the platform housing is respectively disposed in two adjacent manholes communicating with the underground facility, and the winding wire of the roller mounted on one platform housing is released and moved to the other platform housing through the autonomous vehicle, and then the corresponding underground facility While driving is guided along the wire located along Provided is an underground facility surveying system using a laser mounted on a drone that enables more accurate survey data to be acquired through a surveyor mounted thereon.

An underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention is installed in a first manhole of two adjacent manholes communicating with an underground facility, and includes a first platform housing with an open side, and one of the two manholes. A second platform housing installed in the second manhole and having an open side facing the first platform housing, a roller installed on an inner bottom surface of the first platform housing, on which a wire is wound, and one end of the wire In this detachably coupled state, an autonomous vehicle traveling from the first platform housing to the second platform housing along the underground facility, and a vehicle height preventing the autonomous vehicle traveling into the second platform housing from going backwards Government, a survey vehicle bound to the wire so as to travel within the underground facility along the wire, and a driving power to the survey vehicle while flying along the underground facility through a laser-guided flight that is bound to the survey vehicle It may include a drone to provide, and a surveying unit installed in the survey vehicle to obtain survey data for the underground facility.

In addition, the survey vehicle has a four-wheel drive and a vehicle body to which the surveying part is detachably coupled to an upper surface, a post installed in a vertical direction from the lower surface of the vehicle body, and a post installed at the lower end of the post to be detachably attached to the wire It includes a binding ring that is coupled possible, and is provided as a pair and is provided as a pair of wire connecting means respectively installed at the front and rear of the vehicle body, and a rope coupling part installed on the front surface of the vehicle body and fixed to the vehicle body and a rope to which one end in the longitudinal direction is coupled to the rope coupling unit, and a binding ring coupled to the other end in the longitudinal direction of the rope and detachably coupled to the drone; It may include a wireless communication module for transmitting and receiving signals and data.

In addition, the vehicle fixing unit includes a load sensing module installed on the bottom surface of the second platform housing, and when the load of the autonomous vehicle is sensed through the load sensing module, it protrudes upward from the bottom surface of the second platform housing. and a reverse sill module for preventing the autonomous vehicle from moving backward, wherein the load sensing module has a size that can be mounted on all wheels of the autonomous vehicle and is installed to be pressurized on the bottom surface of the second platform housing. and a weight sensing unit for sensing the load of the autonomous driving vehicle through the pressing force of the plate, wherein the reverse sill module is a pair positioned on both sides of the wire coupled to the autonomous driving vehicle. it could be

In addition, the underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention is installed in the second platform housing and a critical range for the load of the autonomous vehicle is set in advance, When a load detection signal within the critical range is transmitted, a control unit that operates the reversing hurdle module in a reversing preventing state for the autonomous vehicle and outputting a signal requesting flight of the drone, while connected to the control unit A first wireless communication module installed in the second platform housing and transmitting the flight request signal of the drone output from the control unit to a second wireless communication module installed in the first platform housing, and transmitted from the first wireless communication module The second wireless communication module for receiving a flight request signal for the drone, which operates as a flight request signal for the drone is received in the second wireless communication module, and tells the operator that the flight of the drone is possible It may further include a measurement start notification unit for informing.

According to an embodiment of the present invention, platform housings are respectively disposed in two adjacent manholes communicating with underground facilities, and the winding wire of a roller mounted on one platform housing is unwound and moved to the other platform housing through an autonomous vehicle, and then the corresponding corresponding While driving is guided along the wire located along the underground facility, the survey vehicle, which receives driving power through the drone’s laser-guided flight, runs a rail type along the wire in the underground facility to maximize flow, movement and vibration. As the survey data is acquired through the survey unit mounted thereon while suppressed, more accurate survey data can be obtained.

1 is a configuration diagram illustrating an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention;
2 is a block diagram illustrating the electrical configuration of an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention;
3 is a flowchart illustrating an operation process of an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention;
4 is a flowchart illustrating a control operation of a control unit in an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description of the present invention is an embodiment in which the present invention may be practiced, and reference is made to the accompanying drawings shown by way of example of the embodiment. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in relation to one embodiment. In addition, it should be understood that the position or arrangement of individual components in each described embodiment may be changed without departing from the spirit and scope of the present invention.

Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scopes equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

In the present invention, when a certain part “includes” a certain component in the whole, this means that other components may be further included, rather than excluding other components, unless specifically stated to the contrary. In addition, the “… wealth", "… The term “module” means a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.

An underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4 .

1 is a block diagram illustrating an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention, and FIG. 2 is an underground facility surveying using a laser mounted on a drone according to an embodiment of the present invention. It is a block diagram illustrating the electrical configuration of the system.

As shown, the underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention includes a first platform housing 100, a second platform housing 200, a roller 300, and an autonomous vehicle ( 400 ), the vehicle fixing unit 500 , the survey vehicle 600 , the drone 700 and the survey unit 800 . In addition, the underground facility survey system using a laser mounted on a drone according to an embodiment of the present invention includes a control unit 910, a first wireless communication module 920, a second wireless communication module 930, and a survey start notification unit ( 940) may be further included.

The first platform housing 100 is installed in the first manhole 20 of two adjacent manholes communicating with the underground facility 10 , and one side of the first platform housing 100 is open. In other words, one side of the first platform housing 100 facing the second platform housing 200 to be described later is open.

The second platform housing 200 is installed in the second manhole 30 of the two manholes, and one side of the second platform housing facing the first platform housing 100 is opened.

The roller 300 is installed on the inner bottom surface of the first platform housing 100 , and the wire 350 is wound around the roller 300 .

The autonomous vehicle 400 travels from the first platform housing 100 to the second platform housing 200 along the underground facility 10 in a state where one end of the wire 350 is detachably coupled.

The vehicle fixing unit 500 functions to prevent the autonomous vehicle 400 traveling into the second platform housing 200 from moving backward. In addition, the vehicle fixing unit 500 includes a load sensing module 510 installed on the bottom surface of the second platform housing 200, and when the load of the autonomous vehicle 400 is sensed through this load sensing module 510, the second 2 It may be configured to include a reverse bump module 520 protruding upward from the bottom surface of the platform housing 200 to prevent the autonomous vehicle 400 from moving backward.

And the load sensing module 510 is a plate 511 that is installed so as to be pressurized on the bottom surface of the second platform housing 200 to a size that all wheels of the autonomous vehicle 400 can be raised, and the plate 511. It may be configured to include a weight sensing unit 512 that senses the load of the autonomous vehicle 400 through the pressing force of the. In other words, the load sensing module 510 corresponds to a configuration using a known technique for measuring a load as it is, and therefore, detailed description and illustration thereof will be omitted in this embodiment.

In addition, the reverse sill module 520 is configured as a pair positioned on both sides of the wire 350 coupled to the autonomous driving vehicle 400 . And in a state in which the reverse bump module 520 is embedded in the bottom surface of the second platform housing 200 and protrudes upward from the bottom surface of the second platform housing 200 through the control operation of the controller 910 to be described later. may be implemented in various forms through known technology, and detailed description and illustration thereof will be omitted in the present embodiment.

The survey vehicle 600 is guided to the wire 350 installed along the underground facility 10 by the autonomous vehicle 400 and is bound to the wire 350 so as to travel within the underground facility 10 . And the survey vehicle 600 may be configured to include a vehicle body 610, a wire connection means 620, a drone connection means 630 and a wireless communication module (640).

The vehicle body 610 drives four-wheel drive, and a measurement unit 800 to be described later is detachably coupled to the upper surface thereof. Here, the detachable coupling of the measurement unit 800 to the upper surface of the vehicle body 610 may be implemented in various ways through known techniques, and detailed description and illustration thereof will be omitted in this embodiment.

The wire connecting means 620 is a post 621 installed in a vertical direction from the lower surface of the vehicle body 610 and a binding ring 643 installed at the lower end of the post 621 and detachably coupled to the wire 350 . is comprised of And these wire connection means 620 are provided as a pair and are respectively installed in front and rear of the vehicle body 610 .

The drone connecting means 630 is installed on the front surface of the vehicle body 610, and the drone connecting means 630 has a length on the rope coupling part 631 and the rope coupling part 631 fixed to the vehicle body 610. It is configured to include a rope 632 to which one end of the direction is coupled, and a binding ring 633 coupled to the other end in the longitudinal direction of the rope 632 and detachably coupled to the drone 700 to be described later.

The wireless communication module 640 is installed in the vehicle body 610, and the wireless communication module 640 functions to transmit and receive various signals and data.

The drone 700 is bound to the survey vehicle 600 , and the drone 700 provides driving power to the survey vehicle 600 while flying along the underground facility 10 through laser-guided flight. In detail, although not shown in the drawings, the laser is irradiated from a pair of light emitting units mounted on the first platform housing 100 to a pair of light receiving units mounted on the second platform housing 200, respectively, and the drone 700 . may be flying while being guided between the two lasers irradiated in this way. Also, as another form, the drone 700 may be equipped with a lidar sensor using a laser and fly along the underground facility 10 based on sensing data of the lidar sensor.

The survey unit 800 is installed in the survey vehicle 600 to acquire survey data for the underground facility 10 .

The control unit 910 is installed in the second platform housing 200 , and the control unit 910 sets a critical range for the load of the autonomous vehicle 400 in advance, and receives the load from the load sensing module 510 within the critical range. When the load detection signal is transmitted, the reverse bump module 520 is operated in a state of preventing the autonomous driving vehicle 400 from moving backward and a signal requesting the flight of the drone 700 is output.

The first wireless communication module 920 is installed in the second platform housing 200 in a state of being connected to the control unit 910 , and accordingly, the first wireless communication module 920 is the drone 70 output from the control unit 910 . ) transmits a flight request signal to the second wireless communication module 930 installed in the first platform housing 100 .

The second wireless communication module 930 receives a flight request signal for the drone transmitted from the first wireless communication module 920 .

The survey start notification unit 940 operates as a flight request signal for the drone 700 is received from the wireless communication module 930 to notify the operator that the flight start of the drone 700 is possible.

Next, an operation process of an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention and a control operation of the controller in the process will be described with reference to FIGS. 3 and 4 .

3 is a flowchart illustrating an operation process of an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention.

As shown, in step S110, the first platform housing is installed in the first manhole of the two manholes communicating with the underground facility.

In step S120, a second platform housing is installed in the second manhole of the two manholes.

In step S130, the binding between the wire of the roller installed on the inner bottom surface of the first platform housing and the autonomous vehicle is made.

In step S140, the wire is installed along the underground facility while the autonomous vehicle travels along the underground facility to the inside of the second platform housing.

In step S150, the vehicle fixing unit installed in the second platform housing operates to prevent the autonomous vehicle from moving backward.

In step (S160), a bond is made between the wire installed along the underground facility and the survey vehicle.

In step S170, a bond is made between the survey vehicle and the drone.

In step S180, while the drone is flying along the underground facility, the survey vehicle is driven along the underground facility, and in this process, the survey data for the underground facility is obtained from the surveying unit detachably mounted on the survey vehicle. acquire

4 is a flowchart illustrating a control operation of a control unit in an underground facility surveying system using a laser mounted on a drone according to an embodiment of the present invention.

As shown, the control unit receives a load detection signal from the load sensing module 510 in step S210.

Subsequently, in step S220 , it is determined whether the load detection signal received from the load sensing module 510 corresponds to a threshold range for a preset load.

Subsequently, in step S230, if it is determined that the load detection signal received through step S220 falls within the threshold range, the reverse sill module 520 is operated in a state of preventing reverse movement of the autonomous vehicle 400 and a signal requesting flight of the drone 700 is output. On the other hand, if it is determined that the load detection signal received through step S220 does not fall within the threshold range, the process returns to the previous step S210 and enters a state of waiting for a new load detection signal.

Subsequently, in step S40 , when the user end signal is input, the process ends, and when the user end signal is not input, the process returns to the previous step S210 and waits for a new load detection signal.

According to the above-described configuration, in the course of a survey using a drone for an underground facility, the first and second platform housings are disposed in two adjacent manholes communicating with the underground facility, and the winding wire of the roller mounted on the first platform housing The survey vehicle, which is unpacked and moved to the second platform housing through an autonomous vehicle, is guided along the wire positioned along the underground facility, and is provided with driving power through the laser-guided flight of the drone. The rail-type travel along the wire in the underground facility suppresses the flow, movement and vibration as much as possible, making it possible to acquire more accurate survey data through the survey unit mounted on it.

In addition, in the above-described work process, the operator located in the first platform housing sets the time of the drone flight and the driving toward the second platform housing of the survey vehicle and the start of the operation at which the surveying unit acquires the survey data installed in the first platform housing. Since it can be visually confirmed through the survey start notification unit, work convenience and efficiency can be improved.

As described above, in the present description, specific matters such as specific components and limited embodiments and drawings have been described, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments No, various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments and should not be written, and not only the claims described below, but also all of the claims and all equivalents or equivalent modifications to these claims will fall within the scope of the spirit of the present invention.

10: underground facility 20: first manhole
30: second manhole 100: first platform housing
200: second platform housing 300: roller
350: wire 400: autonomous vehicle
500: vehicle fixing unit 510: load sensing module
511: plate 512: weight sensing unit
520: reverse bump module 600: survey vehicle
610: vehicle body 620: wire connection means
621: post 622: binding ring
640: drone connection means 641: rope coupling part
642: rope 643: binding ring
640: wireless communication module 700: drone
800: survey unit 910: control unit
920: first wireless communication module 930: second wireless communication module
940: Survey start notification unit

Claims (3)

The first platform housing 100 installed in the first manhole 20 among the two adjacent manholes communicating with the underground facility 10, one side of which is open;
a second platform housing 200 installed in the second manhole 30 among the two manholes, and having an open side facing the first platform housing 100;
a roller 300 installed on the inner bottom surface of the first platform housing 100 and on which the wire 350 is wound;
an autonomous vehicle 400 that travels from the first platform housing 100 to the second platform housing 200 along the underground facility 10 from the first platform housing 100 in a state in which one end of the wire 350 is detachably coupled;
a vehicle fixing unit 500 for preventing the autonomous vehicle 400 traveling in the second platform housing 200 from moving backward;
a survey vehicle 600 coupled to the wire 350 so as to travel within the underground facility 10 along the wire 350;
a drone 700 that is coupled to the survey vehicle 600 and provides driving power to the survey vehicle 600 while flying along the underground facility 10 through laser-guided flight;
An underground facility surveying system using a laser mounted on a drone including a surveying unit 800 installed in the survey vehicle 600 to obtain survey data for the underground facility 10 . The method of claim 1,
The survey vehicle 600 is
a vehicle body 610 that drives four-wheel drive and that the measurement unit 800 is detachably coupled to the upper surface;
It includes a post 621 installed in the vertical direction from the lower surface of the vehicle body 610 and a binding ring 643 installed at the lower end of the post 621 and detachably coupled to the wire 350, one Wire connecting means 620 provided in pairs and respectively installed in front and rear of the vehicle body 610;
A rope 632 installed on a front surface of the vehicle body 610, a rope coupling part 631 fixed to the vehicle body 610, and a rope 632 having one end coupled to the rope coupling part 631 in the longitudinal direction, and the Drone connection means 630 coupled to the other end in the longitudinal direction of the rope 632 and including a binding ring 633 detachably coupled to the drone 700; and
An underground facility surveying system using a laser mounted on a drone, which is installed in the vehicle body (610) and includes a wireless communication module (640) for transmitting and receiving various signals and data. 3. The method of claim 2,
The vehicle fixing unit 500 detects the load of the autonomous vehicle 400 through a load sensing module 510 installed on the bottom surface of the second platform housing 200 and the load sensing module 510 . When the second platform housing 200 protrudes upward from the bottom surface and includes a reverse bump module 520 for preventing the autonomous vehicle 400 from moving backward, the load sensing module 510 is The self-driving vehicle through the pressing force of the plate 511 and the plate 511 installed to be pressurized on the bottom surface of the second platform housing 200 to a size that all wheels of the vehicle 400 can be raised on. As long as it includes a weight sensing unit 512 for sensing the load of 400 , and the reverse sill module 520 is located on both sides of the wire 350 coupled to the autonomous vehicle 400 , respectively. made in pairs,
It is installed in the second platform housing 200 , and when a critical range for the load of the autonomous vehicle 400 is set in advance and a load detection signal within the critical range is transmitted from the load sensing module 510 , the reverse a control unit 910 that operates the bump module 520 in a state of preventing backward movement with respect to the autonomous vehicle 400 and outputs a signal requesting flight of the drone 700;
It is installed in the second platform housing 200 in a state of being connected to the control unit 910 , and the flight request signal of the drone 700 output from the control unit 910 is installed in the first platform housing 100 . a first wireless communication module 920 for transmitting to the second wireless communication module 930;
the second wireless communication module 930 for receiving a flight request signal for the drone transmitted from the first wireless communication module 920; and
The second wireless communication module 930 operates as a flight request signal for the drone 700 is received, and a survey start notification unit 940 notifies the operator that the flight of the drone 700 is possible. Underground facility surveying system using a laser mounted on a drone, characterized in that it includes.

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