KR102531232B1 - Method and System for GPR Investigating on the basis of LiDAR and Positioning Information - Google Patents

Abstract

Disclosed is a GPR underground exploration device and an underground exploration method based on LiDAR and location information. The GPR underground exploration device of the present invention displays the location of the measurement point where the underground image is taken using the GPS coordinates generated by the GPS sensor, and when the accurate coordinates on the map are calculated using the LIDAR module, the GPS coordinates are corrected to the coordinates on the map. can do. In addition, the GPR underground exploration device can create a map of buried objects by displaying the searched underground facilities in the form of nodes and branches on a digital map.

Description

GPR underground exploration device and underground exploration method based on lidar sensor and location information {Method and System for GPR Investigating on the basis of LiDAR and Positioning Information}

The present invention relates to GPR underground exploration, and relates to a GPR underground exploration device capable of displaying surveyed underground facilities on a digital map while combining underground exploration results with accurate location information using a lidar sensor, and an underground exploration method thereof.

Ground Penetrating Radar (GPR) is a radar that probes under the surface of the earth using broadband impulse waveforms. When broadband electromagnetic waves are incident on the ground surface or the surface of a structure, the signals continuously reflected at the interface of the medium vary according to the characteristics of the medium, and by imaging these characteristics of the medium, the location, physical properties, size, boundary, etc. of the object existing in the ground can be determined. can be found The GPR exploration device is used in the field of underground buried material investigation, structure internal condition investigation, stratum structure and condition investigation, sinkhole exploration, and underground ruins investigation.

In the past, many lines for various communications, sewer, water supply, electricity distribution, natural gas cable TV, optical fiber, and traffic signals were buried underground without a plan, and as the location was not accurately recorded, the location of underground structures must be accurately identified. The need and demand for how to do it is growing. Therefore, the process of checking location information using GPS (Global Positioning System) is necessarily included in the GPR underground exploration process. On the other hand, the position calculated using GPS has some error and there is also a wave shadow depending on the region. Therefore, it is very difficult to perform GPR underground exploration in connection with accurate location information.

KR 10-2018-0072914 (Surface radar exploration positioning system through simultaneous utilization of geographic information system and road surface image information) The present invention describes that high-precision VRS-GPS location information, mobile communication-location information, and integrated location information generated by time-sequential matching of moving image information increase the accuracy of high-accuracy location information of several centimeters or less.

An object of the present invention relates to GPR underground exploration, and provides a GPR underground exploration device and an underground exploration method capable of displaying surveyed underground facilities on a digital map while combining the underground exploration results with accurate location information using a lidar sensor. is in

The GPR underground exploration device according to the present invention for achieving the above object includes a GPS sensor, a ground penetrating radar (GPR) sensor, an alarm lamp, an underground search module, a data processing module and a map generation module.

The GPS sensor detects and outputs the GPS coordinates of one measurement point belonging to the underground exploration route, the GPR sensor generates a 2D underground image of the measurement point, and the alarm lamp displays an alarm. The underground search module generates a multi-channel underground image using the plurality of GPR sensors and calculates image coordinates of a specific buried object buried in the underground based on the measurement point. The data processing module maps the GPS coordinates at the measurement point provided by the GPS sensor to the underground image generated by the GPR sensor in time synchronization, and in the underground image generated by the GPR sensor, a target buried object that was not in the previous underground image When it is newly recognized, a node is marked on the GPS coordinates and an alarm is displayed on the alarm lamp. The map generation module uses the image coordinates of the buried facility and the GPS coordinates of the measurement point generated by the data processing module to correct the coordinates of the buried facility, and displays the location of the buried facility on the underground exploration route of the digital map.

Coordinate search on map using LiDAR sensor

According to another embodiment, the GPR underground exploration device includes a plurality of coordinate identification marks disposed in a space other than the floor along the underground exploration route and a plurality of floor identification marks disposed on the floor along the underground exploration route, and lidar A module and a map information module may be further included.

The lidar module uses at least one LiDAR sensor to generate recognition information of the coordinate recognition table recognized at a measurement point belonging to the underground exploration route. Here, the recognition information includes the shape of the coordinate recognition table and the distance to the coordinate recognition table. The camera module photographs the floor identification mark using a camera disposed on the lower surface of the underground exploration device to face the floor and extracts identification information from the floor identification mark, and the map information module maps the plurality of coordinate identification marks and the floor identification mark. Save the phase coordinates. In this case, the data processing module extracts the coordinates on the map of the plurality of coordinate identification tables from the map information module based on the recognition information of the plurality of coordinate identification tables recognized and provided by the lidar module at the measuring point, and then extracts the plurality of coordinate identification tables from the map information module. In the case of calculating the map coordinates of the measurement point based on the map coordinates of the dog coordinate recognition table or extracting the map coordinates of the floor recognition table by inquiring the map information module by recognizing the identification information of the floor recognition table by the camera module , The data processing module maps the coordinates on the map to the underground image in time synchronization instead of the GPS coordinates.

According to another embodiment, the coordinate recognition table is preferably identified differently from each other in external shape as all or part of the ground structure on the underground exploration route.

Show branches extending from node

According to an embodiment, the data processing module, when marking the node at the GPS coordinates or map coordinates, if there is a node previously marked at the GPS coordinates or map coordinates, may mark the previously marked node again. . In this case, the map generation module may display the location of the buried facility connected to the node as branches based on GPS coordinates marked with the node or a plurality of underground images mapped to map coordinates.

Underground search method of the present invention

The present invention also extends to an underground exploration method of a movable underground exploration device. The underground exploration method of the present invention includes the steps of detecting and outputting the GPS coordinates of a measurement point belonging to an underground exploration route by a GPS sensor; scanning the ground of the measurement point by a plurality of ground penetrating radar (GPR) sensors; The underground search module generates a multi-channel underground image using the plurality of GPR sensors and calculates image coordinates of a specific buried object buried in the underground based on the measurement point from the underground image; mapping, by a data processing module, GPS coordinates at the measurement point provided by the GPS sensor to the underground image generated by the GPR sensor; Controlling, by the data processing module, to mark a node display of the underground image and display an alarm on an alarm lamp when the underground image generated by the GPR sensor newly recognizes a target buried object that was not present in the previous underground image; A map generating module displays the preset underground exploration route on a map, and displays the buried object on the underground exploration route using the image coordinates of the buried facility and the GPS coordinates of the measuring point generated by the data processing module. include

The GPR underground exploration device according to the present invention displays the location of the measurement point where the underground image is taken using the GPS coordinates generated by the GPS sensor, but when the accurate coordinates on the map are calculated using the LiDAR module, the GPS coordinates are mapped. It can be corrected with phase coordinates. Through this, it is possible to secure a map showing the exact location of the surveyed underground facility.

In addition, the GPR underground exploration device can create a map of buried objects by displaying the searched underground facilities in the form of nodes and branches on a digital map.

1 is a conceptual diagram of an underground exploration device according to an embodiment of the present invention;
2 is a block diagram of an underground exploration device of the present invention;
Figure 3 is a view explaining the recognition of the coordinate recognition table using the lidar sensor of the underground exploration device;
4 is a flowchart provided to explain an underground exploration method of an underground exploration device according to another embodiment of the present invention;
5 is a flowchart provided for explanation of an underground exploration method of an underground exploration device according to an embodiment of the present invention, and
6 is a conceptual diagram for explaining nodes and branches of the present invention.

The present invention will be described in more detail with reference to the following drawings.

1 and 2, the underground exploration device 100 of the present invention includes a plurality of GPR sensors 201, an underground search module 203, a LiDAR module 205, a GPS sensor 207, It includes a camera module 209, a map information module 211, an alarm lamp 103, a data processing module 213, and a map generation module 215, and is equipped with these components to confirm the location of the underground facility. It is implemented in the form of a means of transportation 10 such as a car or a wagon so as to move the exploration path A. The underground exploration route (A) does not have to be a road, but is preferably a place where a car or a cart can pass, such as a road.

While the underground exploration device 100 is transported along the underground exploration path, the GPR sensor 201 generates an underground image at the current position (hereinafter, measuring point x) on the route, and the underground search module 203 analyzes the underground image Recognizes specific underground facilities (eg, water and sewage pipes, communication cables, etc.) in the underground image.

The underground search module 203 uses the GPR sensor 201 to scan the ground at a predetermined speed as shown in FIG. 1 to generate an underground image. When a target buried object to be searched is buried underground, the underground search module 203 generates an underground image using a radio signal received by the GPR sensor 201. In the underground image, the buried object is recognizable and displayed. A plurality of GPR sensors 205 are connected to the underground exploration device 100 to scan the ground with a plurality of channels as shown in FIG. You can create video.

The underground search module 203 may recognize image coordinates (horizontal coordinates and depth on a scan section based on a measurement point) of a buried object in an underground image through image processing of the underground image. For the image processing method of the underground search module 203, a conventionally known method may be used as it is, or the target buried object (communication cable, water supply and sewage pipe, sinkhole, etc.) may be recognized by an artificial intelligence algorithm, and the manager recognizes and tracks it. might as well make it happen.

The underground exploration device 100 uses 'GPS coordinates' generated by the GPS sensor 207 or the data processing module 213 when the underground search module 211 generates an underground image at the current location (hereinafter, measuring point x). By mapping one of the generated 'coordinates on the map' to the underground image in time synchronization, the exact coordinates of the measuring point where the underground image was created can be obtained. Here, the measurement point (x) is a reference point for measurement or calculation of the present invention, and becomes the current location of the underground exploration device 100. When the measuring point (x) is connected, the underground exploration device 100 becomes the trajectory of moving the underground exploration path (A). The lidar module 205, GPS sensor 207, and GPR sensor 201 installed in the underground exploration device 100 are arranged to obtain information based on the measurement point (x) including calculation error. The lidar module 205 recognizes at least one coordinate recognition table 110 at a measuring point belonging to an underground exploration route using at least one LiDAR sensor (not shown) and generates the recognition information. Here, referring to FIG. 3, the coordinate recognition tags 110a, 110b, and 110c are spaced apart from each other along the underground exploration route A, and have a special external shape or image as an identifier to distinguish them from other coordinate recognition tags. For example, the coordinate recognition tables 110a, 110b, and 110c may be ground structures exclusively manufactured for the present invention, or may be all or part of normal ground structures (buildings, bridges, fire hydrants, etc.). Accurate map coordinates of the coordinate recognition tables 110a, 110b, and 110c are stored in the map information module 211 described below. The recognition information includes the external shape/image (or identification information) of the coordinate recognition table 110 and the distance from the measurement point to the coordinate recognition table. The lidar sensor (not shown) measures the distance to the coordinate recognition table (110a, 110b, 110c) and recognizes the shape of the coordinate recognition table 110 in three dimensions can use a conventionally known method. The lidar module 205 recognizes the coordinate recognition tables 110a, 110b, and 110c in the image scanned by the lidar sensor (not shown), and outputs information about the corresponding coordinate recognition tables 110a, 110b, and 110c from the output of the lidar sensor. Extract recognition information.

The GPS sensor 207 calculates and outputs 'GPS coordinates' of the measurement point (x) using signals provided by a plurality of satellites by a global positioning system (GPS). Both GPS coordinates and map coordinates are coordinates defined by latitude and longitude on a map. However, the GPS coordinates are coordinates obtained using the GPS sensor 207, and are referred to as 'GPS coordinates' to distinguish them from other coordinates obtained by other methods in that the present invention corrects a certain error included in the GPS coordinates. .

The camera module 209 recognizes the floor recognition mark 111 attached to the floor on which the underground exploration device 100 travels. The camera module 209 has a camera 101 provided on the lower surface of the underground exploration device 100 facing the floor, and recognizes the floor recognition mark 111 from the image generated by the camera 101.

The camera module 209 is used to compensate for the limitations of the lidar module 205. Although the lidar module 205 can recognize the shape of an object, it cannot distinguish and recognize images. Therefore, if the coordinate recognition table is quite large, it is not a problem to distinguish and recognize the corresponding coordinate recognition table, but the site may not be able to prepare a large coordinate recognition table, and it may not be easy to set the shapes of multiple coordinate recognition tags differently. can At this time, the shape of the object may be recognized using an artificial intelligence algorithm, but a problem may occur in the lidar module 205 recognizing the coordinate recognition table. To solve this, a camera module 209 is used.

Like the coordinate recognition table 110, the floor recognition mark 111 is used to recognize coordinates on a map of the underground exploration device 100. However, the coordinate recognition table 110 is recognized by the lidar module 205, but the camera module 209 recognizes the floor recognition table 111.

The floor recognition mark 111 has identification information in the form of an image or pattern (eg, QR code) so that identification information can be photographed and recognized by the camera 101, and is attached to the bottom of the underground exploration path A. Identification information of the floor identification mark 111 is similarly stored in the map information module 211, and map coordinates of each floor identification mark are stored in the map information module 211. Unlike the coordinate recognition marks 110a, 110b, and 110c, the floor recognition mark 111 is recognized by the camera module 209 at a certain distance, so the coordinates on the map of the recognized floor recognition mark 111 are the corresponding camera module 209 or underground exploration. It becomes the coordinates on the map of the device 100.

The map information module 211 stores the map coordinates of the plurality of coordinate identification marks 110 and the floor identification mark 111 . According to the embodiment, the map information module 211 may be provided in a server connectable to the underground exploration device 100.

The alarm lamp 103 displays an alarm so that the user can visually recognize it according to the control of the data processing module 213.

The data processing module 213 maps GPS coordinates at measurement points provided by the GPS sensor 207 to the underground image generated by the underground search module 203. However, the data processing module 213 calculates the geographic coordinates of the measuring point based on the recognition information of the plurality of coordinate recognition tables at the corresponding measurement point provided by the lidar module 205 or the floor recognition table recognized by the camera module 209. If the coordinates on the map can be extracted using (111), the coordinates on the map are mapped instead of the GPS coordinates.

The method of calculating the coordinates on the map of the measuring point based on the recognition information of the plurality of coordinate recognition tables at the corresponding measurement point provided by the lidar module 205 is, first of all, based on the recognition information of the plurality of coordinate recognition tables Coordinates on the map are extracted from the map information module 211. After the coordinates on the map of the plurality of coordinate recognition tables are extracted, the coordinates on the map of the measurement point are calculated using the trigonometric function method. For example, if the lidar module 205 recognizes only one or two coordinates at the measuring point, the coordinates on the map of the measuring point cannot be calculated, and in this case, the data processing module 213 uses the GPS sensor The GPS coordinates at the measurement point provided by (207) are used as they are.

The data processing module 213 marks a node display at corresponding coordinates (GPS coordinates or coordinates on a map) when recognizing a new underground facility in the underground image. If there is a node already marked at the corresponding coordinates, a new node is not marked again. Node marking is described again below.

The map generation module 215 displays the underground exploration route currently set and being explored on the digital map, displays the image coordinates of the buried facility or the coordinates on the map, and displays the corresponding node on the map if there is a node. In addition, the location of buried facilities extending from the node is displayed on the map as a branch.

Hereinafter, the underground exploration method of the underground exploration device 100 of the present invention will be described with reference to FIG. 4 .

<Arrangement of coordinate recognition table: S401>

As shown in FIG. 3 along the underground exploration route (A) requiring underground exploration, a plurality of coordinate recognition tags (110a, 110b, 110c) and floor recognition tags (111a, 111b) are spaced apart from each other, and then the coordinate recognition tags (110a, 110b) , 110c) and identification information (for example, shape) of the floor identification marks 111a and 111b and map coordinates are stored in the map information module 211 and managed. When the coordinate recognition table is all or part of a ground structure already installed in the underground exploration route (A), identification information of all or part of the ground structure and coordinates on the map are stored in the map information module 211.

<Acquisition of measurement point information according to exploration start: S403, S405, S407>

In exploration, the GPS sensor 207, the GPR sensor 201, the camera module 209, and the lidar module 205 synchronize the measurement result at the current measurement point (x) based on the measurement time. Therefore, when exploration is initiated, the GPS sensor 207, the GPR sensor 201, and the LIDAR module 205 generate a measurement result at the current measurement point (x). In other words, the GPS sensor 207 generates the GPS coordinates of the measurement point (x), and the underground search module 203 generates a 2D underground image using the result of the GPR sensor 201 scanned at the measurement point (x), , The lidar module 205 controls the lidar sensor to scan the ground space and recognizes a plurality of coordinate recognition tables 110a, 110b, and 110c from the scan results to generate recognition information. The camera module 209 acquires identification information by recognizing the floor recognition tags 111a and 111b attached to the floor on which the underground exploration device 100 travels.

Generation or measurement cycles of the camera 101, the GPS sensor 207, the GPR sensor 201, and the lidar module 205 are different. The measurement period of the GPS sensor 207 is the shortest, and the image generation period of the camera 101 is the longest. It is preferable that the output of the other components be synchronized with the output of the component having the longest measurement period among the lidar modules 205, and even if there is a slight difference, it must be within the measurement time standard error range.

<Matching GPS coordinates with underground images: S409>

Steps S403, S405, and S407 are performed in real time, but steps S409 and later may be performed as a post-production process after the measurement of all or part of the underground exploration route (A) is completed.

The data processing module 213 first maps GPS coordinates at measurement points provided by the GPS sensor 207 on the basis of the measurement time to the underground image generated by the underground search module 203 . A method of mapping GPS coordinates to underground images may be stored as a separate mapping table or file.

<Data processing module calculates coordinates on map: S411>

The data processing module 213 is the coordinates on the map of the plurality of coordinate identification marks 110a, 110b, 110c recognized by the lidar module 205 in step S405 or the floor identification mark 111a recognized by the camera module 209 in step S407. , 111b) is extracted from the map information module 211.

The data processing module 213 calculates the coordinates on the map of the measurement point (x) using a trigonometric function method based on the coordinates on the map of the plurality of coordinate recognition tables 110a, 110b, and 110c, or maps the floor recognition tables 111a and 111b. Recognize the coordinates on the map as the coordinates of the measurement point (x). If the lidar sensor (not shown) recognizes only one or two coordinate recognition tables, the data processing module 213 abandons the coordinate calculation on the map by the coordinate recognition tables 110a, 110b, and 110c, and instead If there are coordinates on the map using the identification tags 111a and 111b, the coordinates on the map are used.

<Matching map coordinates instead of GPS coordinates of underground images: S413>

When the data processing module 213 calculates the map coordinates of the measurement point (x) in step S411, the map coordinates obtained in step S411 are mapped instead of the GPS coordinates mapped in step S409. If the data processing module 213 fails to calculate the map coordinates of the measurement point (x) in step S411, the GPS coordinates mapped in step S409 are maintained as they are.

In the above method, the underground exploration method of the underground exploration device 100 of the present invention is performed.

Since the recognition of buried objects may not be performed directly above the buried objects, the coordinates at the time of recognizing the buried objects may be slightly different from the coordinates of the buried objects. Therefore, when coordinate matching for the underground image is completed in steps S409 and S413, the map generation module 215 obtains the image coordinates of the underground facility through image analysis of the underground image, corrects the coordinates of the buried facility, and By displaying the coordinates of underground facilities, a map of the underground facilities is created.

Example: Mapping (nodes and branches)

The map generation module 215 displays the underground exploration route (A) currently set and explored on the digital map, and displays the image coordinates of buried objects or coordinates on the map, if there is a node, displays the corresponding node on the map. In addition, the location of buried facilities extending from the node is displayed on the map as a branch. Hereinafter, a method of displaying nodes and branches on a digital map by the data processing module 213 and the map generating module 215 will be described with reference to FIGS. 5 and 6 .

<Recognition of buried facilities in underground images: S501, S503>

When the underground search module 203 generates an underground image as in step S403 (S501), it recognizes an underground facility in the corresponding underground image and determines whether there is a new underground facility among the recognized underground facilities. Here, the underground facilities are preferably buried facilities for search purposes, such as communication cables, water and sewage pipes, sinkholes, and broadcasting cables. On the other hand, a new buried underground object means a buried object that is not recognized at the previous search time, except for a buried object recognized as an extension of the previous measurement point or the detected buried object at the previous time.

The example of FIG. 6 is a diagram explaining the process of scanning the underground facilities 31, 33, and 35 in the underground image on the basis of the time axis, and the pipe 35 was recognized before the time t1, and the new pipe at the time t2 (33) was recognized, and another pipe (31) was recognized at the time t3. Here, since the recognized times, t1, t2, and t3 are displayed based on the time point at which the underground search module 203 has completed recognition, they are recognized while passing the buried object.

<Node display: S505 to S509>

If there is a new underground facility among the underground facilities recognized in step S503, the data processing module 213 marks the node display at the corresponding coordinates (GPS coordinates or map coordinates). If there is a node already marked at the corresponding coordinates, the existing node is used as it is and a new node is not marked again. In (a) of FIG. 6 , the pipe 35 discovered at the time point t1 has already been found before, so the node is not marked. At time t2, two pipes 33 and 35 are recognized, and among them, pipe 35 is newly discovered, so at time t2, node N1 is marked. At time t3 again, as the pipe 35 is newly discovered, node N3 is marked at time t3.

The map generation module 215 displays the image coordinates or map coordinates of buried facilities on the map, and if there are nodes N1 and N3, the nodes are displayed on the digital map. At this time, as the coordinates of the node on the digital map, the coordinates marked in S507 or S509 are used, or the coordinates marked in S507 or S509 are corrected and used based on the image coordinates of the buried facility calculated from the underground image. FIG. 6(b) shows nodes and branches displayed on the digital map 50 according to the exploration in FIG. 6(a). Portions a1 and a2 indicated by thin dotted lines are exploration paths, and nodes N1 and N3 are displayed on the paths. Branches (thick solid lines or thick dotted lines) extending from the nodes N1 and N3 indicate underground facilities. In the case of exploration along the new exploration route a2, the pipe 33 or 35 found at the node N1 may be found as a new underground facility. However, since there is an existing node N1 at that point, a new node is not created. However, the pipe 33 found while exploring along the new exploration route a2 past the node N1 is indicated by a branch extending from the node N1.

On the other hand, the coordinates of the node may differ slightly from the location of the actual underground facility when the new underground facility is recognized, but this degree of difference is negligible. Nonetheless, depending on the embodiment, GPS coordinates or coordinates on a map of buried facilities, not coordinates at the time of recognizing buried facilities, may be used as corresponding node coordinates. To this end, based on the image coordinates of the buried facility calculated from the underground image, the coordinates of the measurement point at the time of recognizing the new underground facility may be corrected.

<Alarm display: S511>

The data processing module 213 displays an alarm by turning on the alarm lamp 103 when it is confirmed that there is a new underground facility among the underground facilities recognized in step 503.

Nodes are displayed in the above way.

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and is common in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Of course, various modifications and implementations are possible by those with knowledge of, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims (8)

delete In the movable underground exploration device,
a GPS sensor that detects and outputs GPS coordinates of a measurement point belonging to a preset underground exploration route;
A plurality of ground penetrating radar (GPR) sensors for scanning the ground of the measuring point;
An underground search module for generating a multi-channel underground image using the plurality of GPR sensors and calculating image coordinates of a specific buried object buried in the underground image based on the measurement point;
an alarm lamp displaying an alarm;
The GPS coordinates at the measuring point provided by the GPS sensor are time-synchronously mapped to the underground image generated by the underground search module, but when a target buried object not found in the previous underground image is newly recognized in the underground image, the GPS coordinate A data processing module that controls to mark a node and display an alarm on the alarm lamp;
A map generating module for correcting the recognized coordinates of the buried facility using the image coordinates of the buried facility and the GPS coordinates of the measurement point generated by the data processing module, and displaying the location of the buried facility on an underground exploration route of a digital map;
A plurality of coordinate identification tables disposed in a space other than the floor along the underground exploration route;
a plurality of floor identification marks disposed on the floor along the underground exploration route;
A lidar module for generating recognition information of the coordinate recognition table recognized at a measurement point belonging to the underground exploration route using at least one LiDAR sensor. The recognition information includes the shape of the coordinate recognition table and the distance to the coordinate recognition table;
A camera module for photographing the floor identification mark using a camera disposed on a lower surface of the underground exploration device to face the floor and extracting identification information from the floor identification mark; and
Including a map information module for storing the coordinates on the map of the plurality of coordinate identification marks and floor identification marks,
The data processing module extracts the coordinates on the map of the plurality of coordinate identification tables from the map information module based on the recognition information of the plurality of coordinate identification tables provided by the lidar module by recognizing at the measuring point, and then extracts the plurality of coordinate identification tables. When the map coordinates of the measurement point are calculated based on the map coordinates of or the camera module recognizes the identification information of the floor recognition mark and queries the map information module to extract the map coordinates of the floor recognition mark, the GPS Mapping the coordinates on the map to the underground image in time synchronization instead of the coordinates and marking the node on the coordinates on the map,
The map generating module displays the buried object on the underground exploration route using the coordinates on the map instead of the GPS coordinates.
According to claim 2,
The data processing module, when marking the node at the GPS coordinates or map coordinates, if there is a node already marked at the GPS coordinates or map coordinates, marks the previously marked node again,
The map generation module is an underground exploration device, characterized in that for displaying the position of the buried facility connected from the node as branches based on a plurality of underground images mapped to GPS coordinates or map coordinates marked with the node.
According to claim 2,
The coordinate recognition table is all or part of the ground structure on the underground exploration route, characterized in that it is identified differently with different external shapes or images.
delete In the underground exploration method of the movable underground exploration device,
detecting and outputting, by a GPS sensor, the GPS coordinates of a measurement point belonging to a preset underground exploration route;
A plurality of GPR sensors scanning the ground of the measuring point;
The underground search module generates a multi-channel underground image using the plurality of GPR sensors and calculates image coordinates of a specific buried object buried in the underground image based on the measurement point;
mapping, by a data processing module, GPS coordinates at the measuring point provided by the GPS sensor to the underground image generated by the GPR sensor;
Controlling, by the data processing module, to mark a node display on the GPS coordinates and display an alarm on an alarm lamp when the underground image generated by the underground search module newly recognizes a target buried object not present in a previous underground image;
Displaying the preset underground exploration route on a map by a map generating module, and displaying the buried object on the underground exploration route using the image coordinates of the buried facility and the GPS coordinates of the measuring point generated by the data processing module;
Managing, by a map information module, coordinates on a map of a plurality of floor identification marks disposed on the floor along an underground exploration section and a plurality of coordinate identification marks disposed in a space other than the floor;
A lidar module uses at least one LiDAR sensor to generate recognition information of the coordinate recognition table recognized at a measurement point belonging to the underground exploration section, and the recognition information includes the shape of the coordinate recognition table and the coordinate recognition table. including the distance to;
photographing the floor identification mark using a camera disposed so that a camera module faces the floor on a lower surface of the underground exploration device and extracting identification information from the floor identification mark; and
Based on the recognition information of the plurality of coordinate identification tables recognized and provided by the lidar module at the measurement point, the coordinates on the map of the plurality of coordinate identification tables are extracted from the map information module, and then the coordinates on the map of the plurality of coordinate identification tables are based. When the coordinates on the map of the measuring point are calculated or the camera module recognizes the identification information of the floor identification mark and queries the map information module to extract the coordinates on the map of the floor identification mark, the data processing module is the GPS coordinate Instead, mapping the coordinates on the map to the ground image in time synchronization, and marking the node on the coordinates on the map instead of the GPS coordinates,
The underground exploration method of the underground exploration device, characterized in that the map generation module displays the buried object on the underground exploration route using the coordinates on the map instead of the GPS coordinates.
According to claim 6,
In the step of marking the node, when marking the node at the GPS coordinates or map coordinates, if there is a node already marked at the GPS coordinates or map coordinates, the data processing module marks the previously marked node again, ,
The map generation module is an underground exploration method of an underground exploration device, characterized in that for displaying the location of the buried facility connected from the node as branches based on a plurality of underground images mapped to GPS coordinates or map coordinates marked with the node .
According to claim 7,
The coordinate recognition table is an underground exploration method of an underground exploration device, characterized in that it is identified differently from each other in different external shapes or images as all or part of the ground structure on the underground exploration route.

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