KR102434412B1 - Apparatus for measuring the amount of change in inclination of a structure having a maximum static friction removal unit and a method for measuring the amount of change in inclination of the structure using the same - Google Patents

Abstract

According to the present invention, provided is an apparatus for measuring an inclination change of a structure, which comprises: a floor body (100) formed of a spherical surface with a prescribed radius of curvature; a ball (200) mounted on an upper surface of the floor body (100) and moving by gravity; and a camera (300) taking an image of the floor body (200) on which the ball (200) is located. According to the present invention, an inclination change of the structure during a certain period can be accurately measured.

Description

Apparatus for measuring the amount of change in inclination of a structure having a maximum static friction removal unit and a method for measuring the amount of change in inclination of the structure using the same}

The present invention relates to the field of construction, and more particularly, an apparatus for measuring the amount of change in inclination of a structure provided with a maximum static friction force removal unit capable of measuring the amount of change in inclination of a structure for a certain period of time, and a method for measuring the amount of change in inclination of a structure using the same is about

Sensors of various principles are applied to measure the horizontality, verticality, and inclination of objects (including seerule and structures). From a long time ago, an analog level using the characteristics of gravity that fills the main cell tube with liquid to the extent that air bubbles are formed and seals it and maintains the liquid horizontal plane perpendicular to the center of the earth has been used. Depending on the sensitivity of the main gun tube, type 1 detects an inclination of 4 seconds (0.02mm/m), type 2 has a precision of 10 seconds (0.05mm/m), and type 3 has a precision of 20 seconds (0.1mm/m). The basic principle is that when the level is tilted, the bubble moves to a higher slope, so scale lines are set on the left and right sides of the bubble tube, and the inclination is measured by reading the position of the scale line pointed to by the bubble.

Electronic or digital measuring instruments have also been developed to measure inclination with digitized numbers and graphics. The basic principle is that the centrifugal weight is installed and the inclination is measured by reading the coordinates pointed to by the centrifugal weight (or the current required to maintain the center of gravity). Although the price is very expensive as a precision instrument, it can measure with precision of about 4 seconds, and the external interface is electronic so that the measured value can be transmitted to the computer.

The acceleration sensor manufactured with MEMS (Micro Electro Mechanical Systems) technology uses the principle that a force is applied to generate an electric charge when an acceleration is generated in a normal piezo material. and displacement can be detected, but drift is accumulated due to the integration constant generated in the process of integration, so compensation is required.

Although the inclination sensors are fixedly installed on an object, they are mainly used for measuring the inclination at the measurement point. Although the temperature compensation is performed by itself using the temperature sensor built into the sensor from the measured value, there is a limitation in that it is difficult to perform corrections for the temperature sensor, voltage characteristics, and sensor durability characteristics. However, for the safety of all facilities and structures on the ground, it is very important whether there is a change in the inclination at the present time compared to the time of construction, not the absolute verticality (Leaning Tower of Pisa) relative to the center of the earth.

However, the current inclination sensor requires correction and initialization according to drift due to temperature, time, and circuit fluctuations (voltage), and there is inevitably a deviation depending on the correction value. There is an impossible problem.

In addition, the conventional sensor for measuring the degree of inclination by measuring the movement of the ball has a problem in that the ball does not move despite the inclination of the structure due to the maximum static friction force on the floor on which the ball moves.

The present invention has been derived to solve the problems of the conventional inclination measuring apparatus described above, and an object of the present invention is to accurately measure the inclination change amount of a structure for a certain period of time, and to measure the inclination change amount of a structure using the same. It is to provide a method for measuring the slope change amount.

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

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

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

Another object of the present invention is to provide an apparatus for measuring the amount of change in inclination of a structure and a method for measuring the amount of change in inclination of the structure using the same so that the overall inclination aspect of the structure can be checked using a plurality of measurement apparatuses.

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

In this case, the transceiver 400 for transmitting the image information (a) generated by the camera 300 to the server 10; may be an apparatus for measuring the amount of inclination change of the structure, characterized in that it further comprises.

In addition, the bottom body 100, the ball 200, and the housing 500 having an internal space 510 for accommodating the camera 300; can

In addition, it may be an apparatus for measuring the amount of inclination change of the structure, characterized in that it further comprises; an illumination device 600 for providing light to the inner space 510 .

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

In addition, the ball receiving unit 520 for limiting the movement of the ball 200 in the inner space 510; it may be an apparatus for measuring the amount of inclination change of the structure, characterized in that it further comprises.

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

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

In addition, the ball receiving part 520 may be a partition wall 521 for shielding the bottom surface and the top surface, and the partition wall 521 may be an apparatus for measuring the amount of inclination change of a structure, characterized in that it is formed of a transparent material.

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

In addition, the light emitting unit 900 includes a lamp 910 that emits light; and a surface light-emitting body 920 that receives the light emitted from the lamp and emits surface light.

According to another aspect of the present invention, in the method of measuring the amount of change in the inclination of the structure using the apparatus for measuring the amount of change in the amount of inclination of the structure, the floor 100 on which the ball 200 is located is measured by the camera 300 . A first step of generating the first image information (a1) of the ball 200 by photographing (S100); And generating the second image information (a2) of the ball 200 by photographing the floor body 100 on which the ball 200 is located by the camera 300 after the first step (S200) A second step (S200); is provided a method for measuring the amount of change in the inclination of the structure, characterized in that it includes.

In this case, a third step (S300) in which the control unit 700 derives a gradient change value using the first image information a1 and the second image information a2; It may be a method of measuring the amount of change in the slope of .

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

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

According to the present invention, there is an effect that can accurately measure the amount of change in the slope of the structure for a certain period of time.

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

According to the present invention, the size of the measuring device can be miniaturized, and there is an effect that the measuring device can be easily moved and installed.

According to the present invention, there is an effect that the slope change amount can be collected in real time.

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

According to the present invention, there is an effect that a fine inclination can be measured by removing the maximum static friction force acting on the measuring ball.

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

An embodiment of an apparatus for measuring the amount of inclination change of a structure provided with a maximum static friction force removal unit according to the present invention and a method of measuring the amount of inclination change of a structure using the same will be described in detail with reference to the accompanying drawings. In doing so, the same or corresponding components are given the same reference numerals, and overlapping descriptions thereof will be omitted.

In addition, terms such as first, second, etc. used below are merely identification symbols for distinguishing the same or corresponding components, and the same or corresponding components are limited by terms such as first, second, etc. not.

In addition, in the contact relationship between each component, the term "coupling" does not mean only when there is direct physical contact between each component, but another component is interposed between each component, so that the component is in the other component It should be used as a concept that encompasses even the cases in which each is in contact.

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

The term of the structure in the present invention merely suggests a type to which the measuring equipment can be applied, and defines all objects subject to inclination measurement as being included in the scope of the structure.

The existing inclination (slope) measurement method measures the inclination at the time of measurement even if the sensor is fixed to the measurement target, so there is a limitation in that it is not possible to know the change over time of facilities and structures after construction. An object of the present invention is to provide an image recognition-based tilt change measurement method and a sensor for real-time measurement of a subsequent relative tilt change compared with the time of installation in a structure and facility. In order to measure the relative inclination change after installation compared to the installation time, which is the most important for determining the stability of structures and facilities, the following important problems should be solved.

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

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

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

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

If it is possible to measure the relative inclination change after installation compared to the time of installation in determining the safety of structures and facilities, the reliability of structure and facility safety management can be significantly improved. Although it is important to measure the slope and the slope change amount together, it has not been provided due to the lack of the above-mentioned solution so far. In other words, in order to implement a method and a sensor for measuring the relative inclination change in real time compared to the time of installation in structures and facilities, various problems are solved as follows.

First, since the inclination sensor is fixed to a bracket or anchor bolt at the installation site, the measurement value does not represent the actual inclination of the measurement object unless the accuracy of the mechanism for fixing the sensor on the measurement object is guaranteed. To measure while constructing the absolute inclination of the reference points of the measurement object, a measuring instrument is used instead of a fixed sensor. The fixed installation of the inclination sensor solves the above problem by configuring to measure the amount of change in inclination compared to the initially set inclination value along with the absolute inclination value as the main purpose is to measure the inclination that changes after installation in real time.

Second, in order to measure the relative inclination change after installation compared to the time when the structure and facility are installed, a permanent storage memory means (other than flash memory) is installed in the sensor circuit as a means to store the measured value at the time when the facility is installed in the sensor itself. include and a processor (CPU) for controlling the memory means. The processor (CPU) is configured to read the measured value from the gradient measuring means, and output the gradient change amount compared with the initial measured gradient stored together with the measured value to the outside. In the case of civil structures and facilities, to solve the problem of not being able to press the sensor's initial value save button because it is difficult to access the fixed sensor after construction is completed, the current measured value is converted to the initial measured value through an external communication line (or wireless communication). It is configured to send a command to save to the processor. The sensor enclosure should basically include an initial value save button.

Third, in order to measure the relative inclination change after the installation of structures and facilities, the measured value of the inclination sensor is not affected by environmental factors (temperature, supply voltage, sensor characteristics change due to long-term use). The slope measurement method should be applied. The core method of the commercialized inclinometer for measuring the position of the pendulum is the servo accelerometer principle, and a pendulum is placed in the magnetic field of the position sensor. Since it has the gravity and electromagnetic force to change in opposite directions, the current value is measured and converted into a gradient when equilibrium is achieved and it does not move. The basic principle of the MEMS type acceleration sensor also measures the acceleration and inclination by measuring the capacitance value between the tip of the cantilever and the electrode. Since these methods basically convert analog measurement values into slopes, there is a problem in that temperature and environmental compensation and initial zero adjustment must be frequently performed. Therefore, there is a need for a method to measure the position of the pendulum digitally so that it is not affected by temperature and environment. Alternatively, it is possible to improve and apply the digital absolute inclination measurement method, which calculates the inclination by measuring the position of light or a specific pattern installed in the pendulum with an image sensor. When the above method is applied, since the slope is measured as a digital coordinate value instead of an analog value, the environmental influence can be eliminated.

Fourth, since a structure and facilities must be installed, there is a limit to the size even if a sensing method that is not affected by environmental changes is applied. Since it must be fixed to the brackets or anchor bolts of structures and facilities, the size of the enclosure is also limited. In general, the size of sensors fixed to structures and facilities is sold in a diameter of 50mm and a thickness of 40mm. Auxiliary plates are used to combine with the facility and structure fixing means if necessary. To satisfy this, the digital absolute inclination measurement method and sensor that measure the position of the ball toward the center of the earth while freely vibrating inside a sphere that can be implemented with a thin structure are improved and applied. That is, a method of measuring the position of the ball (center coordinates or the outside of the circle) by installing a ball (including an iron ball) that vibrates freely on the inner surface of the hemisphere and moving the ball toward the center of the earth can be proposed. In this case, the inclination is calculated using the distance the ball moves in the X-axis and Y-axis directions from the center of the half-moon-shaped sphere and the radius of curvature of the half-moon-shaped sphere. If the pixel size of the image sensor (camera sensor) is 1um (1/5-inch class 5M image sensor has a pixel size of 1.12um) and the radius of curvature is 50mm, the measurement accuracy is up to arctan (1um/50mm) = 0.0001 degrees It is possible. If the radius of curvature of the sphere is increased due to the size limitation of the case, it is impossible to use a semicircle-sized sphere, and it can be manufactured in a form using a part of the sphere, making it thinner. Since the ball vibrating about the central axis of the hemispherical surface is very sensitive to external shocks, vibrations, and seismic waves, it can also be used as a measurement sensor (shock sensor, vibration sensor, earthquake sensor, etc.) in the relevant field.

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

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

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

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

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

It is preferable that the surface of the floor 100 is coated with a nano-coated such as a diamond like carbon (DLC) method. In this case, the static friction coefficient of the floor body 100 can be lowered, so that the static friction force of the floor body 100 with respect to the ball 200 can be lowered.

Since the center of the free oscillating ball 200 in the spherical floor 100 always faces the direction of gravity, it is possible to simultaneously measure the inclination in the two-axis direction by photographing the position of the ball 200 using the camera 300 do. In the case of taking such a configuration, there are advantages as follows.

First, since the main purpose of the fixed installation of the inclination sensor in structures and facilities is to measure the slope that changes after installation, it is possible to measure the absolute slope value and the amount of slope change compared to the initially set slope value together, so the reliability of structural safety judgment has the effect of increasing

Second, in order to measure the relative inclination change thereafter compared to the time of installation in the structure and facility, a permanent storage memory means for storing the measured values at the time when the facility is installed in the sensor itself and a processor (CPU) for controlling the memory means It has the effect of reducing the cost of constructing the measurement system by eliminating the need for a separate data logger equipment.

Third, by configuring the command to save the current measurement value as the initial measurement value through an external communication line (or wireless communication) to the processor of the sensor circuit, it is possible to access the fixedly installed sensor after construction of civil structures and facilities is completed. solve non-existent problems

Fourth, by directly measuring the slope with a digital value rather than an analog value, there is essentially no drift due to temperature, time, and supply power, and the measured value is always accurate and stable, so It has the effect of being applicable to the field of structural safety diagnosis where sensors are installed in locations where calibration is difficult.

Fifth, since the ball 100 that vibrates freely in the floor 100 formed in a spherical surface is used, the device can be miniaturized, the measurement range can be enlarged, and the adjustment of precision can be easily performed, so the inclination of the telephone pole, etc. It can also be used for the purpose of measuring precisely.

In addition, when a display means is included, it can be applied to a machine tool that must always be precisely leveled.

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

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

In addition, it may further include a ball receiving part 520 for limiting the movement of the ball 200 in the inner space 510 (FIG. 3). As the ball 200 flows in the inner space 510, the lighting device 600 or the camera 300 may be damaged. It includes a ball receiving part 520 as a configuration.

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

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

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

In this case, a measurement reference line 523 for identifying the position of the ball 200 may be shown on the partition 521 ( FIG. 10 ).

The apparatus for measuring the amount of inclination change of a structure according to an embodiment of the present invention may further include a transceiver 400 for transmitting the image information (a) generated by the camera 300 to the server 10 .

In addition, the control unit 700 for controlling the camera 300, the transceiver 400, and the lighting device 600 may be further included.

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

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

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

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

In the step of deriving the change value ( S320 ), the gradient change value may be derived through the following method.

The slope analysis method according to the position of the free vibrating ball 200 on the floor 100 formed as a hemispherical surface is as follows.

To calculate the inclination by measuring the position of the free oscillating ball 200 in the hemispherical floor 100 with a camera sensor, a theoretical analysis is required in two fields. ① It must be converted into camera coordinates corresponding to the position of the ball on the hemispherical coordinate system (world coordinate system), and ② the normal vector of the h-projection plane (height h from the floor) according to the position of the free oscillating ball on the hemispherical plane must be calculated. Therefore, each will be described as follows.

Assuming that the position of the camera 300 is (X1, Y1, Z1), the pan angle of the camera 300 is p radian, and the tilt is t radian, any point on the world coordinate system (X, Y , Z) to the coordinates (Xc, Yc, Zc) on the camera coordinate system are as follows.

- Camera coordinate system and world coordinate system -

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

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

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

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

In addition, it is as follows to find out where each unit vector should be moved by referring to the coordinate system.

Therefore, the transformation matrix R is as follows.

Here, R is not a matrix that converts world coordinates into camera coordinates, but a matrix that transforms the coordinate axes. That is, R is the world coordinate axis->camera coordinate axis transformation matrix. In terms of coordinates, R means a matrix that converts camera coordinates -> world coordinates. coordinate transformation matrices opposite each other).

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

와 roll 각

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

with roll angle

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

와 roll 각

)를 설명하고 또한 이를 활용하기 위한 자세값 추정 알고리듬 및 시뮬레이션의 구성에 대해 설명한다. 그림 4-1은 시스템의 기본 구성을 나타내었다.Here, the operating principle of the sensor system (pitch angle

with roll angle

) and the configuration of the posture value estimation algorithm and simulation to utilize it. Figure 4-1 shows the basic configuration of the system.

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

: 볼의 h-투영면이 구와 만나서 생기는 원

: A circle formed when the h-projection plane of the ball meets the sphere

: 카메라센서 FOV axis를 중심으로 하는 원

: A circle centered on the camera sensor FOV axis

: h-투영면의 수직 벡터

: h - the vertical vector of the projection plane

: 원

가 이루는 센서면의 수직 벡터

: one

The vertical vector of the sensor plane formed by

: 구의 중심에서 투영면과 만나는 접점까지의 벡터

: vector from the center of the sphere to the point of contact with the projection plane

: 원

의 중심에서 추영면과 만나는 접점까지의 벡터

: one

vector from the center of

: 구의 반경

: radius of the sphere

: 구의 바닥에서 투영면까지의 가상 높이

: virtual height from the bottom of the sphere to the projection plane

: 원

의 반경

: one

radius of

: 중력 프레임의 Cartesian 좌표계의 성분

: Components of the Cartesian coordinate system of the gravitational frame

: 센서 접점 평면 프레임의 Cartesian 좌표계 성분

: Cartesian coordinate system component of sensor contact plane frame

로 설정하고 나머지의 길이는

로 정규화된 양으로 생각한다. 이때

의 범위는

이고

의 범위는

이다. 위 그림과 같이 반구면 내에 h-투영면 높이가

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

set to , and the remaining length is

Think of it as a normalized quantity. At this time

the range of

ego

the range of

to be. As shown in the figure above, the height of the h-projection plane within the hemisphere is

The volume occupied by this projection plane is

(1)

(One)

의 범위는 다음과 같다.where the volume

The range of is as follows.

에 정리하면 다음과 같은 다항식을 얻는다.this expression

Putting this together, we get the following polynomial:

(2)

(2)

범위의 값을 취하면 이것은 반구면 내에 볼의 h-투영면의 부피

가 주어졌을 경우의 높이에 해당한다.solve this expression

Taking the value of the range, this is the volume of the h-projection plane of the ball in the hemisphere

It corresponds to the height of the given case.

의 반경은 다음 그림으로부터 쉽게 추정할 수 있다.one

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

- Side view -

in other words,

(3)

(3)

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

는 구의 중심에서

번째 접점을 잇는 벡터이다. 또한

는 접점

부터 접점

를 잇는 벡터이다. 따라서Here, the h-projection plane (floor height h), which forms a normal vector according to the position of the ball, is in contact with the virtual hemispherical surface, and from the contact equation (derived to the hemispherical equation and the ball's center coordinate), the Assume that three points of contact are given, and based on this information, an expression for the direction of the hemisphere with respect to the gravity vector is derived. For this, consider the geometrical layout shown in Fig. 4-3. in the picture

is at the center of the sphere

It is a vector connecting the second point of contact. In addition

is the contact

contact from

is a vector connecting therefore

(4)

(4)

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

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

- Geometric arrangement of the point where the ball projection plane and the hemispherical surface meet (a) 3D layout (b) Layout view from the normal direction -

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

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

(5)

(5)

here

(6)

(6)

,

,

는 서로 120도 간격으로 떨어져 있음을 가정한다. 여기에서는 편의상

방향을 x축으로 설정하였다. 이제 이 세 접점

,

,

을 센서프레임에서 나타내보면, 먼저

평면에서의 azimuth는 각각

,

,

로 주어진다. 그리고

,

,

는 접점 방정식을 분석함으로 쉽게 얻을 수 있다.

,

,

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

,

,

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

The direction was set to the x-axis. Now these three points

,

,

is represented in the sensor frame, first

The azimuth in the plane is each

,

,

is given as and

,

,

can be easily obtained by analyzing the contact equation.

,

,

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

(7)

(7)

Substituting this into the normal vector expression above,

(8)

(8)

로부터 액체면의 접점

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

the contact of the liquid side from

If is calculated individually, put it in the above equation and the component of the sensor frame of the normal vector of the projection plane can be obtained as follows.

(9)

(9)

If the normal vectors of the inertia frame (gravity vector frame) and the sensor frame are displayed with Euler transform,

(10)

(10)

와 roll 각

를 구할 수 있다. By equating Equation (9) and Euler rotation (10) above, the pitch angle

with roll angle

can be obtained

If the measured values of the ball's center coordinates (contact equation -> h-projection plane 3 coordinates) are given above, the attitude angle can be calculated using this, and this equation suggests the equation to be programmed as the operation algorithm of the inclination sensor.

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

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

Accordingly, since the light emitted from the lamp 910 does not transmit only the ball 200, and only the area where the ball 200 is located, the brightness is darkly derived, the image information (a) photographed by the camera 300 shows the Precise inclusion of the position has the effect that it is possible.

According to another embodiment of the present invention, the apparatus for measuring the amount of inclination change of the structure according to the present invention may further include a flow force providing unit 1100 for removing the maximum static friction force of the ball 200 .

When the degree of inclination of the structure is weak, even if the floor body 100 is tilted, the movement of the ball 200 may not be made due to the static friction force between the ball 200 and the floor body 100 . Accordingly, the fluid force providing unit 1100 provides a fluid force to the ball 200 every predetermined period, thereby providing a moving force greater than or equal to the static friction force between the ball 200 and the floor body 100, and eventually the ball ( 200) may be moved according to gravity after movement.

The ball 200 in which the movement is generated by the fluid force providing unit 1100 may be stopped at the position of the floor 100 in which the deviation of the inclination of the structure is reflected.

Specifically, the flow force providing unit 1100 includes an inlet 1120 through which external air is introduced and a circulation fan 1110 provided in the inlet 1120 .

The air introduced through the inlet 1120 may provide a flow force to the ball 200 in a stationary state, and the degree of flow force provided to the ball 200 is adjusted according to the rotation speed of the circulation fan 1110 . it is possible to do

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

The apparatus for measuring the amount of inclination change of a structure according to another embodiment of the present invention may further include a configuration of the circulation fan control unit 2000 that determines the operation of the circulation fan 1110 .

Since a large amount of power is consumed when the circulation fan 1110 is operated at all times, the circulation fan control unit 2000 controls the circulation fan 1110 so that the circulation fan 1110 operates only in a situation where the maximum static friction force of the ball 200 must be removed. ) can be controlled.

For this purpose, when the mounted inclination detection sensor measures the inclination and generates inclination information, if the position of the ball 200 does not change, the circulation fan control unit 2000 operates the circulation fan 1110 to generate the inclination information. 200) of the maximum static friction force can be removed.

In this case, since the constant operation of the circulation fan 1110 is not required, the power required to maintain the device can be minimized, and thus, it is possible to implement a wireless measurement device.

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

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

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

Since the above has only been described with respect to some of the preferred embodiments that can be implemented by the present invention, the scope of the present invention as noted should not be construed as being limited to the above embodiments, and It will be said that the technical idea and the technical idea with the root are all included in the scope of the present invention.

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

Claims (15)

In the apparatus for measuring the amount of slope change of a structure,
a bottom body 100 formed of a spherical surface having a predetermined radius of curvature;
The ball 200 is mounted on the upper surface of the bottom body 100 and moves according to gravity;
a camera 300 for photographing the floor 100 on which the ball 200 is located; and
Including a; fluid force providing unit 1100 for providing a fluid force to the ball 200;
a housing 500 having an internal space 510 for accommodating the bottom body 100, the ball 200, and the camera 300; and
Further comprising a fixing part 1200 constraining the housing 500,
The fluid force providing unit 1100,
an inlet 1120 through which external air is introduced;
a circulation fan 1110 provided in the inlet 1120; and
A circulation fan control unit 2000 for controlling the circulation fan 1110; including,
The circulation fan control unit 2000 operates the circulation fan 1110 when the sensor for measuring whether the floor body 100 is tilted generates tilt information. .
According to claim 1,
Transceiver 400 for transmitting the image information (a) generated by the camera 300 to the server 10;
Inclination change measurement device of the structure, characterized in that it further comprises.
delete 3. The method of claim 2,
A lighting device 600 that provides light to the inner space 510;
Inclination change measurement device of the structure, characterized in that it further comprises.
5. The method of claim 4,
a control unit 700 for controlling the camera 300, the transceiver 400, and the lighting device 600;
Inclination change measurement device of the structure, characterized in that it further comprises.
6. The method of claim 5,
A ball receiving part 520 for limiting the movement of the ball 200 in the inner space 510;
Inclination change measurement device of the structure, characterized in that it further comprises.
7. The method of claim 6,
The bottom body 100 is located on the bottom surface of the inner space 510,
The camera 300 is an apparatus for measuring the amount of inclination change of a structure, characterized in that it is located on the upper surface of the inner space (510).
8. The method of claim 7,
The floor body 100 and the camera 300 are inclination change measuring apparatus of a structure, characterized in that formed in the same space.
9. The method of claim 8,
The ball receiving part 520 is a partition wall 521 for shielding the bottom surface and the top surface,
The partition wall 521 is an apparatus for measuring the amount of inclination change of a structure, characterized in that it is formed of a transparent material.
10. The method of claim 9
The bottom body 100 is formed of a transparent body,
The ball 200 is formed of an opaque body,
The light emitting part 900 for emitting light from the bottom of the floor 100;
Inclination change measurement device of the structure, characterized in that it further comprises.

11. The method of claim 10
The light emitting unit 900 is
a lamp 910 that emits light; and
The surface light emitting body 920 which receives the light emitted from the lamp and emits surface light;
A device for measuring the amount of inclination change of a structure, characterized in that it comprises.
In the method of measuring the amount of change in the inclination of the structure using the apparatus for measuring the amount of change in the inclination of the structure of claim 9,
A first step (S100) of generating the first image information (a1) of the ball 200 by photographing the floor body 100 on which the ball 200 is located by the camera 300; and
After the first step (S100), the second image information (a2) of the ball (200) is generated by photographing the floor body (100) on which the ball (200) is located by the camera (300) Step 2 (S200);
Method for measuring the amount of change in the slope of the structure, characterized in that it comprises.
13. The method of claim 12,
A third step (S300) in which the control unit 700 derives a gradient change value using the first image information a1 and the second image information a2;
Method for measuring the amount of change in the slope of the structure, characterized in that it further comprises.
14. The method of claim 13,
The third step (S300) is
A first position value b1 of the ball 200 is derived from the first image information a1, and a second position value b2 of the ball 200 is derived from the second image information a2. a position value deriving step (S310) to be derived; and
A change value deriving step (S320) of deriving the gradient change value using the first position value (b1), the second position value (b2), and the radius of curvature;
Method for measuring the amount of change in the slope of the structure, characterized in that it comprises.
A computer-readable recording medium in which a program for executing the method of measuring the amount of inclination change of the structure according to claim 14 is recorded.

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