KR102554246B1 - nclination change measuring device equipped with a two-axis ball flow part - Google Patents

Abstract

According to the present invention, in the tilt change measuring device,
A ball 200 moving according to gravity along the flow guide 100; and
A camera 300 for photographing the ball 200 and the flow guide 100; including,
The flow guide 100,
An inclination change amount measuring device is provided, characterized in that it includes a top surface 110 on which the ball 200 is mounted as well as a downward curvature with a predetermined curvature.
According to the present invention, since the ball flow guide having a certain curvature can be easily produced without processing the entire floor through which the ball flows into a sphere, there is an effect of increasing the convenience of manufacturing and the accuracy of sensing.

Description

Inclination change measuring device equipped with a two-axis ball flow part}

The present invention relates to the field of construction, and more particularly, to a tilt change measurement device for a structure capable of measuring a tilt change amount of a structure for a certain period of time and a method for measuring the tilt change amount of a structure using the same.

Sensors of various principles are applied to measure the horizontality, verticality, and inclination of an object (including circumstance and structure). Since a long time ago, an analog spirit level has been used to fill and seal the main bubble tube with liquid to the extent that bubbles are formed, and to use the characteristic of gravity that the horizontal plane of the liquid maintains a right angle to the center of the earth. Depending on the sensitivity of the main gun tube, type 1 detects the inclination in 4 seconds (0.02mm/m), type 2 has an accuracy of 10 seconds (0.05mm/m), and type 3 has an accuracy of 20 seconds (0.1mm/m). The basic principle is that when the level is tilted, the bubble moves to the side with a higher slope, so the gradient is measured by setting grid lines on the left and right sides of the bubble tube and reading the position of the grid line pointed by the bubble.

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

Acceleration sensors made with MEMS (Micro Electro Mechanical Systems) technology use the principle that when acceleration is generated in piezo materials, force is applied to generate electric charges. and displacement can be found, but drift is accumulated due to the integral constant generated in the process of integration, so correction is required, so it is mainly used as a motion sensor for smartphones and automobiles rather than precision measuring devices.

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

However, the current tilt sensor requires correction and initialization due to drift caused by temperature, time, and circuit change (voltage), and there is inevitably a deviation according to the correction value, so it is difficult to measure the amount of change in tilt that varies over a long period of time (~tens of years). There is a problem that cannot be

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 frictional force on the floor where the ball moves ( Fig. 1).

In addition, since the entire bottom surface of the conventional sensor must be processed into a curved body having a certain curvature, precise processing is difficult. Accordingly, there is a problem in that a sensor including a curved body that is not precisely processed cannot derive accurate tilt information of a structure.

The present invention was derived to solve the above-described problems of the conventional tilt measuring device, and an object of the present invention is a tilt change measuring device for a structure capable of accurately measuring the tilt change of a structure for a certain period of time and a structure using the same It is to provide a method for measuring the amount of change in slope.

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

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

Another object of the present invention is to provide a tilt change measuring device of a structure equipped with a system capable of collecting the tilt change in real time and a method for measuring the tilt change of a structure using the same.

Another object of the present invention is to provide a tilt change measurement device for a structure and a method for measuring the tilt change of a structure using the device so that the overall tilt aspect of the structure can be checked using a plurality of measuring devices.

Another object of the present invention is to provide a method for measuring a change in inclination of a structure capable of providing a sensor capable of accurate measurement without processing the entire bottom plate into a curved surface.

According to one aspect of the present invention, in the tilt change measuring device, the ball 200 moves according to gravity along the flow guide 100; and a camera 300 for photographing the ball 200 and the flow guide 100, wherein the flow guide 100 is curved downward with a predetermined curvature and the ball 200 is mounted thereon. An upper surface 110; is provided with a tilt change amount measuring device comprising a.

In this case, the flow guide 100 may be a tilt change amount measuring device characterized in that it has a longitudinal direction (a) along the direction in which the ball 200 flows.

In addition, the flow guide 100 includes a first flow guide 100A placed in a predetermined direction; and a second flow guide 100B having a second longitudinal direction a2 orthogonal to the first longitudinal direction a1 of the first flow guide 100A. there is.

In addition, the flow guide 100 may be a tilt change amount measuring device further comprising a rail groove 120 formed by being depressed downward in the upper surface 110.

In addition, the ball 200 may be a tilt change amount measuring device characterized in that it is mounted on the groove edge 121 formed on both sides of the upper surface of the rail groove 120.

In addition, it further includes a casing 400 in which the flow guide 100 is accommodated, wherein the flow guide 100 is installed on the inner space 410 of the casing 400. It can be a measuring device.

In addition, the first flow guide 100A and the second flow guide 100B are installed in the lower portion of the casing 400, and the camera 300 is installed in the upper portion of the casing 400. It may be a tilt change amount measuring device characterized by.

In addition, the casing 400 may be a tilt change amount measuring device comprising a; bottom body 420 on which the flow guide 100 is seated.

In addition, it may be a tilt change amount measuring device further comprising; a lighting device 500 for irradiating light onto the inner space 410.

According to another aspect of the present invention, in the method for measuring the tilt change of a structure using a tilt change amount measuring device, the flow guide 100 where the ball 200 is located is photographed by the camera 300 A first step (S100) of generating first image information (a1) of the ball 200; And generating second image information (a2) of the ball 200 by photographing the flow guide 100 where the ball 200 is located by the camera 300 after the first step (S200) A second step (S200); there is provided a method for measuring the change in inclination of a structure, characterized in that it comprises.

In this case, a structure characterized by further comprising a third step (S300) of the control unit 600 deriving 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. A position value derivation step of deriving a second position value b2 of ) (S310); and a change value derivation step (S320) of deriving the slope change value using the first position value b1, the second position value b2, and the radius of curvature (S320). It can be a way to measure 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 of measuring a tilt change amount of a structure is recorded.

According to the present invention, there is an effect of accurately measuring the amount of change in inclination of a structure for a certain period of time.

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

According to the present invention, the size of the measuring device can be miniaturized and the movement and installation of the measuring device can be easily performed.

According to the present invention, there is an effect of being able to collect the gradient change amount 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, it is possible to measure a fine inclination by removing the maximum static frictional force acting on the measurement ball.

According to the present invention, there is an effect of enabling accurate measurement without processing the entire bottom surface into a curved surface.

1 is a view showing a conventional tilt change measuring device.
2 is a cross-sectional view of an apparatus for measuring a tilt change amount according to an embodiment of the present invention;
3 is a plan view of a flow guide and a ball according to an embodiment of the present invention
Figure 4 is a perspective view of a flow guide according to another embodiment of the present invention
5 is a state diagram of a state in which a tilt change amount measuring device according to an embodiment of the present invention is installed;
6 is a state diagram in which the tilt change measurement device according to an embodiment of the present invention is tilted according to the tilt of the structure.
7 and 8 are views showing a state in which a tilt measuring device according to another embodiment of the present invention is installed in a structure in which a plurality of tilts occur.
9 is a perspective view of a flow guide of a tilt change measuring device according to another embodiment of the present invention.
10 is a cross-sectional view of an apparatus for measuring a tilt change amount according to another embodiment of the present invention.
11 and 12 are diagrams showing a process in which a ball of a tilt change measurement device according to an embodiment of the present invention tilts according to the tilt of a structure.
13 is a configuration diagram of a system including a tilt measuring device according to an embodiment of the present invention

An embodiment of an apparatus for measuring a change in tilt of a structure according to the present invention and a method for measuring a change in tilt of a structure using the same will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding Components are assigned the same reference numerals, and overlapping descriptions thereof will be omitted.

In addition, terms such as first and second used below are only identification symbols for distinguishing the same or corresponding components, and the same or corresponding components are not limited by terms such as first and second. no.

In addition, coupling does not mean only the case of direct physical contact between each component in the contact relationship between each component, but another configuration intervenes between each component so that the component is in the other configuration. It should be used as a concept that encompasses even the case of contact with each other.

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

The term structure in the present invention merely suggests one type to which the measurement equipment can be applied, and all objects to be measured are defined as being included in the scope of the structure.

Existing inclination (inclination) measurement methods have limitations in that they cannot know the temporal changes of facilities and structures after construction because they measure the inclination at the time of measurement even if the sensor is fixedly installed on the measuring object. An object of the present invention is to provide an image recognition-based tilt change measuring method and sensor that measure a relative tilt change in real time after comparing it with the time of installation in a structure or facility. In order to measure the relative tilt change after installation compared to the point of installation, which is most important in determining the stability of structures and facilities, the following important problems must 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 inclination sensor value of the object to be measured is affected by the error of the fixing method and the bracket or anchor bolt. That is, unless the accuracy and flatness of the mechanism for fixing the sensor in the measurement object is guaranteed, the measurement value does not represent the actual inclination of the measurement object.

Second, in order to measure the relative tilt change after comparing it with the time of installation of the structure and facility, a means for storing the measured value at the time of installation of the facility in the sensor itself is required. In other words, when measuring the slope, the amount of change in slope should be displayed together with the stored initial measured value. In addition, in the case of civil structures and facilities, it is difficult to access a fixed sensor after construction is completed, and a problem may occur in which it is impossible to press the initial value storage button of the sensor.

Third, in order to measure the relative tilt change after comparing the structure and facility installation time, the measured value of the tilt sensor must not be affected by changing environmental factors (temperature, supply voltage, sensor characteristic change due to long-term use). do. Existing sensor methods for measuring analog values such as capacitance or current are affected by environmental factors and tend to drift over time due to the nature of analog values. In order to correct this, a temperature sensor is added to correct the slope according to the temperature, but there is a problem in that the temperature sensor also has variations for each product and its characteristics change over time, but there is no means to correct it.

Fourth, since structures 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 enclosure is also limited because it must be fixed to brackets or anchor bolts of structures and facilities. There is a problem in that it is difficult to fix when the enclosure housing the inclination sensor is made small.

If it is possible to measure the relative inclination change afterwards compared to the time of installation in determining the safety of structures and facilities, the reliability of safety management of structures and facilities can be dramatically increased. It is important to measure the slope and the slope change together, but it has not been provided due to the lack of the above solution. In other words, in order to implement a tilt change measurement method and sensor that measures the relative tilt change in real time after comparing it with the time of installation in the structure and facility, 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 is guaranteed. A measuring instrument is used instead of a fixed sensor to measure the absolute slope of the reference points of the measurement object while constructing it. Since the main purpose of the fixed installation of the tilt sensor is to measure the changing tilt in real time after installation, the above problem is solved by configuring the absolute tilt value and the amount of tilt change relative to the initially set tilt value to be measured together.

Second, in order to measure the subsequent relative tilt change compared to the time of installation in the structure and facility, a permanent storage memory means (other than flash memory) is required in the sensor circuit as a means of storing the measured value at the time 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 slope measuring means and to output the amount of change in slope to the outside as compared with the initial measured value of the slope stored together with the measured value. In the case of civil structures and facilities, in order to solve the problem of not being able to press the initial value storage button of the sensor because it is difficult to access the fixed sensor after construction is completed, the current measurement value is converted to the initial measurement 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 a button to save the initial value.

Third, in order to measure the relative tilt change after comparing the structure and facility installation time, the measured value of the tilt sensor is not affected by changing environmental factors (temperature, supply voltage, sensor characteristic change due to long-term use). The slope measurement method shall be applied. The core method of commercially available inclinometers that measure the position of a pendulum is the servo accelerometer principle. One pendulum is placed in the magnetic field of the position sensor, and when it receives the action of gravity, it tilts in the direction of gravity. Since it has the gravitational force and the electromagnetic force to change in the opposite direction, the current value is measured and converted into a slope when equilibrium is achieved and it stops moving. 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 an analog measurement value into a slope, there is a problem in that temperature and environment compensation and initial zero point adjustment must be performed frequently. Therefore, a method of digitally measuring the position of the pendulum without the influence of temperature and environment is required. Alternatively, it is possible to improve and apply a digital absolute inclination measurement method in which the inclination is calculated by measuring the position of light or a specific pattern installed on the pendulum toward the center of the earth with an image sensor. If the method is applied, the influence of the environment can be removed because the slope is measured as a digital coordinate value rather than an analog value.

Fourth, since structures and facilities must be installed, the size is limited even if a sensing method that is not affected by environmental changes is applied. The size of the enclosure is also limited because it must be fixed to brackets or anchor bolts of structures and facilities. In general, the size of sensors fixed to structures and facilities is sold around 50mm in diameter and 40mm in thickness. If necessary, an auxiliary plate is used to combine with the facility and structure fixing means. To meet this, a digital absolute inclination measurement method and sensor that measure the position of a ball moving toward the center of the earth while freely vibrating inside a sphere that can be realized in a thin structure are improved and applied. That is, a method of measuring the position of the ball (center coordinates or outer circle) by installing a ball (including a steel ball) that freely vibrates inside the hemisphere and moving toward the center of the earth can be proposed. In this case, the slope 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 (the pixel size of a 1/5 inch class 5M image sensor is 1.12um) and the radius of curvature is 50mm, the measurement accuracy is measured up to arctan (1um/50mm) = 0.0001 degree possible. If the radius of curvature of the sphere increases due to the case size limitation, a semicircular sphere cannot be used, and it can be manufactured in a form using a part of the sphere, resulting in a thin shape. Since the ball vibrating around the central axis of the hemisphere moves very sensitively to external shock, vibration, and seismic waves, it can also be used as a measurement sensor (shock sensor, vibration sensor, earthquake sensor, etc.) in the field.

However, there is a problem in that it is difficult to precisely process the hemispherical surface, and the present invention tries to solve the problem through the method presented below.

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

An apparatus for measuring the amount of change in inclination according to the present invention may include a ball 200 moving according to gravity along the flow guide 100 and a camera 300 for photographing the ball 200 and the flow guide 100 (Fig. 2).

Unlike the conventional tilt change measuring device, in which all the bottoms on which the balls are mounted are formed in hemispherical surfaces, the tilt change measuring device according to the present invention installs two flow guides 100 having a longitudinal direction at right angles in both directions ( There is a feature that allows you to specify the movement position of the ball 200 in the X direction and Y direction (Figs. 7 and 8).

The flow guide 100 of the tilt change measurement device according to an embodiment of the present invention is curved downward with a predetermined curvature and includes an upper surface 110 on which the ball 200 is mounted, and the ball 200 flows It has a longitudinal direction (a) along the direction.

The flow guide 100 is not required to be formed with an excessively long width compared to the diameter of the ball 200. Accordingly, in manufacturing the tilt change measuring device according to the present invention, it is sufficient to process only the width of the flow guide 100 into a curved surface, so that the ease of manufacturing is secured compared to processing the entire floor into a curved surface as in the prior art. In addition, it is possible to process curved surfaces that can be measured more accurately.

In addition, the flow guide 100 according to the present invention includes a rail groove 120 formed by being depressed downward in the upper surface 110, and in this case, the ball 200 is formed on both sides of the upper surface of the rail groove 120. 121) and flows in a state of being mounted (FIG. 4).

Accordingly, by forming the entire floor into a spherical surface, the static friction force and the motion friction force can be minimized compared to the case where the ball 200 flows, so that the position of the ball 200 can be changed even with a slight tilt of the structure.

Since the flow guide 100 according to the present invention guides only the movement of the ball 200 in a straight direction, two flow guides 100 installed in a right angle direction are required to determine the degree of inclination. Accordingly, the flow guide 100 includes a first flow guide 100A disposed in a predetermined direction and a second flow guide 100A having a second longitudinal direction a2 orthogonal to the first longitudinal direction a1 of the first flow guide 100A. It may include a flow guide (100B) (FIG. 2).

It may further include a casing 400 in which the flow guide 100 according to an embodiment of the present invention is accommodated (FIG. 2). In this case, the flow guide 100 may be installed on the inner space 410 of the casing 400. Since the ball 200 mounted on the flow guide 100 should not be affected by external factors other than the inclination of the structure, it is preferable to install it sealed by the casing 400.

In addition, the first flow guide 100A and the second flow guide 100B are installed at the lower portion of the casing 400, and the camera 300 may be installed at the upper portion of the casing 400 (FIG. 2). .

In addition, the casing 400 may further include a lighting device 500 for irradiating light onto the sealed inner space 410 .

The flow guide 100 of the tilt change measuring device according to an embodiment of the present invention is installed on the lower surface of the casing 400, or according to another embodiment of the present invention, an insertion groove into which the flow guide 100 is inserted is provided. It is also possible to be inserted into the formed bottom body 420 and manufactured in an integrated form with the bottom body 420 (FIG. 10).

An apparatus for measuring an amount of change in inclination according to an embodiment of the present invention may include an external lamp 600 that senses whether the position of the ball 200 on the flow guide 100 is changed and displays it externally.

Accordingly, it is possible for the observer to check whether the inclination of the structure changes according to whether the external lamp 600 emits light.

An apparatus for measuring a tilt change according to an embodiment of the present invention may further include a controller 700 that controls operations of the camera 300 , the lighting device 500 , and the external lamp 600 .

When a change in the position of the ball 200 is detected, the control unit 700 can operate the external lamp 600 and transmit tilt information related thereto to the external server 10 through the transmission/reception unit 800.

The flow guide 100 of the tilt change measuring device according to another embodiment of the present invention may further include a configuration of a location line 130 indicating the position of the ball 200 (FIG. 9). In this case, an effect capable of accurately sensing the position of the ball 200 on the image information captured by the camera 300 is obtained.

Since the center of the freely vibrating ball 200 in the two flow guides 100 installed at right angles always faces the direction of gravity, the position of the ball 200 is photographed using the camera 300 to simultaneously measure the inclination of the two axes. It is possible. In the case of adopting such a configuration, the following advantages are provided.

First, since the fixed installation of the tilt sensor in structures and facilities is mainly to measure the changing tilt after installation, it can measure the absolute tilt value and the amount of tilt change compared to the initially set tilt value, increasing the reliability of structure safety judgment. has the effect of increasing

Second, in order to measure the subsequent relative tilt change compared to the time of installation in the structure and facility, a permanent storage memory means for storing the measured value at the time the facility is installed in the sensor itself and a processor (CPU) for controlling the memory means By configuring it including, there is an effect of reducing the cost of building a measurement system because a separate data logger equipment is not required.

Third, it is configured to transmit a 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, so that the fixedly installed sensor can be accessed after the construction of civil structures and facilities is completed. solve problems that don't exist

Fourth, by directly measuring the slope with a digital value rather than an analog value, fundamentally there is no drift due to temperature, time, and power supply, so the measured value is always accurate and stable, so it is suitable for use in areas with large fluctuations in the external environment such as construction and civil engineering. There is an effect that can be applied to the field of safety diagnosis of structures where sensors are installed in locations where calibration is difficult.

Fifth, since the ball 200 freely oscillates in the spherical floor 100, the device can be miniaturized, the measurement range can be increased, and precision can be easily adjusted. It can also be used for precise measurement of

In addition, when the display means is included, it can be applied to machine tools that must be precisely leveled at all times.

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

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

The method for measuring the tilt change according to the present invention is a first step of generating first image information (a1) of the ball 200 by photographing the floor 100 on which the ball 200 is located by the camera 300. (S100), a second step of generating second image information (a2) of the ball 200 by photographing the floor 100 on which the ball 200 is located by the camera 300 after the first step (S200). 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.

In this case, the third step (S300) derives the first position value b1 of the ball 200 from the first image information a1 and the second position of the ball 200 from the second image information a2. The position value derivation step (S310) of deriving the value (b2) and the change value derivation step (S320) of deriving the gradient change value using the first position value (b1), the second position value (b2) and the radius of curvature. can include

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

A general inclination analysis method according to the position of the freely vibrating ball 200 in the spherical floor 100 is as follows.

In order to calculate the inclination by measuring the position of the freely vibrating ball 200 on the spherical floor 100 with a camera sensor, theoretical analysis in two fields is required. ① The position of the ball on the hemispherical coordinate system (world coordinate system) must be converted into camera coordinates, and ② the normal vector of the h-projection surface (height h from the floor) must be calculated according to the position of the freely oscillating ball on the hemispherical surface. Therefore, a description of each is as follows.

When the position of the camera 300 is (X1, Y1, Z1), the pan angle of the camera 300 is p radians, and the tilt is t radians, any point on the world coordinate system (X, Y , Z) into 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 method is to directly obtain a transformation matrix using unit vectors (see open CL).

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

When there is a certain linear transformation matrix T, T can be easily obtained by knowing where each coordinate axis unit vector goes by transformation 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) goes to (b1, b2, b3), and the Z-axis unit If the vector (0, 0, 1) becomes (c1, c2, c3), the transformation matrix T is as follows.

Using this method, the transformation matrix R, which transmits the X-axis to Xc, the Y-axis to Yc, and the Z-axis to Zc, is as follows.

In addition, referring to the coordinate system, where each unit vector should move is calculated as follows.

Therefore, the transformation matrix R is as follows.

Here, R is not a matrix that transforms world coordinates into camera coordinates, but a matrix that transforms 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 axis conversion and coordinate conversion have an inverse relationship to each other, R returned from solvePnP of openCV used in ball position calculation image recognition SW is world coordinates -> camera coordinate transformation matrices, opposite each other).

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

와 roll 각

(1) Slope calculation using normal vector of h-projection surface of ball ?? Pitch angle according to ball position

with roll angle

The normal of the h-projection surface (height h from the floor) of a ball freely oscillating on a hemispherical plane coincides with the direction of the specific force of the sum of acceleration and gravity. In particular, when the hemisphere is not accelerating, the direction of the normal vector coincides with the direction of gravity, so the relative tilt of the normal vector to the hemisphere can be measured, thereby estimating the posture of the ball within the hemisphere.

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

) is explained, and the configuration of the posture value estimation algorithm and simulation to utilize it is also explained. 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

: The circle formed when the h-projection surface 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 - perpendicular vector of the projection plane

: 원

가 이루는 센서면의 수직 벡터

: one

The normal vector of the sensor plane formed by

: 구의 중심에서 투영면과 만나는 접점까지의 벡터

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

: 원

의 중심에서 추영면과 만나는 접점까지의 벡터

: one

The vector from the center of to the point of contact with the projection plane

: 구의 반경

: radius of sphere

: 구의 바닥에서 투영면까지의 가상 높이

: Imaginary 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

: Components of the Cartesian coordinate system of the 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

and the length of the remainder is

considered as a normalized quantity. At this time

the range of

ego

the range of

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

When , the volume occupied by this projection surface is:

(1)

(One)

의 범위는 다음과 같다.volume here

The range of is as follows.

에 정리하면 다음과 같은 다항식을 얻는다.this expression

By rearranging, 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 a value in the range, this is the volume of the ball's h-projection within the hemisphere

corresponds to the height when is given.

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)

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) forming the normal vector according to the position of the ball touches the imaginary hemisphere, and from the tangent equation (derived from the hemisphere equation and the center coordinates of the ball) at 120° intervals. Consider that three contact points are given, and based on this information, derive an expression for the direction of the hemisphere with respect to the gravity vector. For this purpose, consider the geometric layout as shown in Figure 4-3. in the picture

is at the center of the sphere

is a vector connecting the second point. also

is the contact point

contact point

is a vector connecting thus

(4)

(4)

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

It is one of, and consecutive indices mean that it is converted into a circular type.

- Geometric layout of the point where the projection plane of the ball and the plane of the hemisphere meet (a) 3-dimensional layout (b) layout viewed 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 lie on the same plane, that is, 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 in the picture

,

,

are assumed to be spaced apart by 120 degrees from each other. For convenience here

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

,

,

In the sensor frame, first

azimuth in the plane is respectively

,

,

is given as and

,

,

can be easily obtained by analyzing the contact equation.

,

,

Using the fact that is a point on a 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 point of the liquid plane from

If are calculated respectively, put into the above formula, and the component of the sensor frame of the normal vector of the projection surface can be obtained as follows.

(9)

(9)

If the normal vector of the inertial frame (gravity vector frame) and sensor frame is expressed as Euler transform,

(10)

(10)

와 roll 각

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

with roll angle

can be obtained.

If the measured value of the center coordinates of the ball (contact equation -> h-3 coordinates of the projection plane) is given above, the attitude angle can be calculated using this.

In addition, in the present invention, the position of the ball 200 on the flow guide 100 corresponding to the inclination value is calculated through an experiment in advance to calculate a reference value, and based on this, the change in inclination of the structure according to the position of the ball 200 is measured. It is possible. That is, during actual measurement, it is possible to check the tilt change of the structure based on the coordinates measured in advance through the experiment.

In this case, in preparing the reference value table, a predetermined correction formula may be additionally used in preparation for the case where the inclination of the ball changes due to the fine roughness of the flow guide 100 of the actual product.

A method for measuring a tilt change amount of a structure according to an embodiment of the present invention may be implemented in the form of program instructions 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, etc. alone or in combination. Program instructions recorded on the medium may be those specially designed and configured for the present invention or those known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like.

Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to act as one or more software modules to perform 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, as noted, the scope of the present invention should not be construed as being limited to the above embodiments, and the scope of the present invention described above It will be said that the technical idea and the technical idea together with the root are all included in the scope of the present invention.

100: flow guide
200: ball
300: camera
400: Casing
500: lighting device
600: control unit
700: transceiver

Claims (13)

In the tilt change measuring device,
A ball 200 moving according to gravity along the flow guide 100; and
A camera 300 for photographing the ball 200 and the flow guide 100; including,
The flow guide 100,
An upper surface 110 on which the ball 200 is mounted along with a downward curved load with a predetermined curvature; includes,
The flow guide 100 has a longitudinal direction (a) along the direction in which the ball 200 flows,
The flow guide 100 is
A first flow guide (100A) placed in a predetermined direction; and
A second flow guide 100B having a second longitudinal direction a2 orthogonal to the first longitudinal direction a1 of the first flow guide 100A;
The flow guide 100,
It further includes; a rail groove 120 formed by being depressed downward in the upper surface 110;
The ball 200 is mounted on the groove edge 121 formed on both sides of the upper surface of the rail groove 120,
Further comprising a casing 400 in which the flow guide 100 is accommodated,
The flow guide 100 is installed on the inner space 410 of the casing 400,
The first flow guide 100A and the second flow guide 100B are installed under the casing 400,
Tilt change amount measuring device, characterized in that the camera 300 is installed on the top of the casing (400).
delete delete delete delete delete delete According to claim 1,
The casing 400 is a floor body 420 on which the flow guide 100 is seated;
Tilt change amount measuring device characterized in that it comprises.
According to claim 1,
A lighting device 500 for irradiating light onto the inner space 410;
Tilt change amount measuring device characterized in that it further comprises.
In the method for measuring the tilt change amount of a structure using the tilt change amount measuring device of claim 9,
A first step (S100) of generating first image information (a1) of the ball 200 by photographing the flow guide 100 where the ball 200 is located by the camera 300; and
After the first step (S100), the flow guide 100 where the ball 200 is located is photographed by the camera 300 to generate second image information a2 of the ball 200. Step 2 (S200);
A method for measuring the gradient change of a structure, characterized in that it comprises.
According to claim 10,
A third step (S300) of the controller 600 deriving a gradient change value using the first image information (a1) and the second image information (a2);
A method for measuring the amount of change in inclination of a structure, characterized in that it further comprises.
According to claim 11,
The third step (S300) is
The first position value (b1) of the ball 200 is derived from the first image information (a1), and the second position value (b2) of the ball 200 is derived from the second image information (a2). Deriving position value derivation step (S310); and
A change value derivation step (S320) of deriving the gradient change value using the first position value b1, the second position value b2 and the radius of curvature;
A method for measuring the gradient change of a structure, characterized in that it comprises.
A computer-readable recording medium having a program recorded thereon for executing the method of measuring a tilt change amount of a structure according to claim 12.

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