KR20180051299A - Autonomous Compaction Device, Method and Program to improve a quality of a compaction near pipes - Google Patents

Abstract

The present invention relates to an apparatus, a method, and a computer program for autonomous driving compaction to improve quality of compaction around a pipeline. The apparatus for autonomous driving compaction to improve quality of compaction around a pipeline comprises: a compaction unit formed in a roller shape to perform compaction on the ground and drive; a pipeline detection module which is arranged on one side of a main body, and measures a distance between the main body and a pipeline positioned in a lateral direction of the main body to output pipeline separation distance information; and a driving control unit to receive the pipeline separation distance information from the pipeline detection module, and control at least one among a driving direction and a driving speed of the compaction unit to allow the received pipeline separation distance information to maintain a preset specific separation distance. Accordingly, the compaction apparatus autonomously searches and drives on a moving path in a pipeline-buried compaction area by an autonomous compaction function to effectively and safely perform a compaction work required at a site by a proper compaction pressure and a proper number of compactions.

Description

Technical Field [0001] The present invention relates to an autonomous running compaction apparatus, an autonomous running compaction method, and a computer program for improving the quality of piping surrounding compaction,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous running compaction apparatus, an autonomous running compaction method, and a computer program for improving pipeline surrounding quality.

In the case of soft ground, settlement problems may occur. When the structure, the embankment construction, and the embankment are installed on the soft compressive ground, many settlement occurs due to the long-term consolidation due to the load. The subsidence in the soft ground is large and causes the streaks over a long period of time.

Therefore, it is possible to improve the soft ground. This improvement method can be classified into two types according to the purpose of improvement and the applied ground: reinforcement (earthwork method, surface coating method), light weight (EPS), load balance Sand Compaction Pile, Rod Compaction, Vibroflotation, Condensed Consolidation), Compaction Method (Preloading, Sand Drain, Well Point, Vacuum Consolidation, Surface Drainage, (Mixed method, chemical solution injection, sintering, freezing) and so on.

Among them, compaction method means bringing the particles and particles closer to each other, and when the compaction is performed, the unit weight, strength, and bearing capacity of the soil are increased, and the permeability is reduced, the settlement is prevented, the frost heave The effect of suppressing the volume change is generated. According to the compaction curves shown in FIGS. 1, 2 and 3, as the water content increases, the dry unit weight increases, and when the water content exceeds the water content ratio (OMC), the water content in which the soil is finest is present. This is called optimum water content (wopt), and the side with the smaller water content ratio around the optimum water content is called the dry side, and the side with the larger water ratio is called the wet side.

The compaction equipment for the compaction method can be classified into a roller, a vibration type compaction, and an impact type compaction. The most important factors in selecting compaction equipment are soil type, initial water content, particle size distribution, construction type, and so on. The rollers include rollers such as Smooth-wheel rollers, Sheepsfoot rollers, Tamping rollers, Rubber-tired rollers, and Vibrating rollers as shown in FIGS. Vibration roller).

Korean Patent No. 10-1064620 U.S. Published Patent Application No. US 2015/0211199 A1 U.S. Published Patent US 2013/0082507 A1

However, in the case of pipeline buried construction, which has a large influence of the compaction operation, settlement is caused by unbalanced compaction, and pipeline damage has occurred. Particularly, in the case where the compaction area is narrow as in the case of the pipeline burial construction, such a problem is highlighted in the case of the compaction work which may damage the buried structure.

Pipeline compaction requires uniformity and high accuracy, resulting in a lot of quality deviations to be performed by manpower. This difficulty of compaction has caused additional budgeting and air delays to ensure uniform quality. In the BOMAG, Hired Group, Roadway, the remote control trench roller is provided with a compaction device which can remotely operate the start and stop and remote operation of the right and left steering parts. However, this still requires manpower, and there is a problem that the degree of compaction is still likely to occur depending on the subject of the operator.

Accordingly, the present invention has been made to solve the above-described problems.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a piping system capable of preventing compaction of a buried pipeline while performing compaction with the number of times of compaction input in a designated area of the piping system, And an object of the present invention is to provide an autonomous running compaction apparatus, an autonomous compaction method, and a computer program.

Hereinafter, specific means for achieving the object of the present invention will be described.

SUMMARY OF THE INVENTION A compaction unit configured at the lower end of the main body and configured in the form of a roller to perform compaction on the ground; A pipeline sensing module provided at at least one side of the main body and measuring a distance between the main body and a pipeline positioned at a side of the main body to output pipeline distance information; And a traveling control unit for receiving at least one of the traveling direction information and the traveling speed of the compaction unit such that the pipeline distance information is received from the pipeline detection module and the received pipeline distance information is maintained at a predetermined specific distance, Wherein the specific distance is input to the travel control unit or received from a server connected to the travel control unit via a wire / wireless network, or received by a worker client connected to the travel control unit via a wire / wireless network, The autonomous running compaction apparatus of the present invention is capable of autonomously running while maintaining the spacing distance.

And a compaction degree discrimination unit for measuring the displacement information generated when compaction is performed to generate compaction degree information and transmitting the compaction degree information to the travel control unit, the server or the worker client, And the server or the worker client determines the specific separation distance based on the compaction degree information.

And a location determination module for generating location information of the main body and transmitting the location information to the travel control unit, the server, or the client, wherein the travel control unit, the server, And the specific separation distance is determined based on the distance.

The pipeline detection module may generate pipeline fitting information composed of a two-dimensional circle, a two-dimensional ellipse, or a three-dimensional cylindrical shape, generate pipeline boundary information based on the pipeline fitting information, And the separation distance from the pipeline is measured based on the pipeline boundary information.

It is another object of the present invention to provide a self-propelled compaction apparatus in which a pipeline detection module provided at at least one side of a main body constituting an autonomous compaction apparatus measures a distance between the main body and a pipeline located at a side of the main body, A pipeline distance measurement step of outputting distance information; A travel distance comparing step in which the travel controller receiving the pipeline distance information from the pipeline sensing module compares the predetermined distance and the pipeline distance information to generate distance information; And a travel control step of controlling at least one of a traveling direction and a traveling speed of the compaction unit traveling on the ground, the compaction unit being configured in a roller shape at a lower end of the main body on the basis of the distance- The specific distance is input to the driving control unit or received from a server connected to the driving control unit through a wired / wireless network, or received from a worker client connected to the driving control unit via a wired / wireless network, The autonomous running of the pipeline is performed while maintaining the specific separation distance of the pipeline.

Also, before the distance comparison step, the compaction degree determination unit, which is a constitution of the autonomous running compaction apparatus, may measure the displacement information generated in performing compaction, generate compaction degree information, and transmit the compaction degree information to the driving control unit Determining compaction information to be transmitted; And a travel distance determining step of the travel control section determining the specific distance based on the received degree of compaction information; As shown in FIG.

In addition, before the distance comparison step, a position determining module, which is a component of the autonomous compaction apparatus, generates position information of the autonomous compaction apparatus and transmits the position information to the driving control unit. And a distance determining step of the travel controller determining the specific distance based on the received position information.

The step of measuring the pipeline separation distance may include: a random sampling step of the pipeline detection module collecting a plurality of points through the distance information at a random angle; Wherein the pipeline detection module generates ground fitting information by fitting a straight line or a plane with respect to the ground on the basis of the plurality of points and fitting the pipeline to a two-dimensional circle, a two-dimensional ellipse, or a three- And pipeline fitting steps to generate pipeline fitting information; Wherein the pipeline detection module includes an autonomous compaction apparatus boundary generating unit for generating autonomous compaction apparatus boundary information that is a boundary of the autonomous running compaction apparatus in the form of a plane or a straight line based on the ground fitting information and the position of the pipeline sensing module. Extraction step; The pipeline detection module extracts a nearest point that is the closest point to the autonomous running compaction equipment boundary information from the pipeline fitting information and extracts a plane or a straight line tangent to the nearest point on the pipeline fitting information A pipeline boundary extracting step of generating pipeline boundary information that is a boundary of the pipeline; And the pipeline detection module may determine a distance between the autonomous compaction equipment boundary information and the pipeline boundary information as a separation distance.

Also, before the distance comparison step, the compaction degree determination unit, which is a constitution of the autonomous running compaction apparatus, may measure the displacement information generated in performing compaction, generate compaction degree information, and transmit the compaction degree information to the driving control unit Determining compaction information to be transmitted; And a travel distance determining step of the travel controller determining the specific spacing distance based on the received degree of compaction degree information, wherein the step of determining the compaction information comprises: A random sampling step of collecting a plurality of points through the distance information to the plurality of points; Wherein the pipeline detection module generates ground fitting information by fitting a straight line or a plane with respect to the ground on the basis of the plurality of points and fitting the pipeline to a two-dimensional circle, a two-dimensional ellipse, or a three- The compaction degree determining unit compares the ground displacement according to the compaction operation based on the ground fitting information and the pipeline fitting information at the same position to generate the ground displacement A ground displacement comparison step of generating information; And a compaction degree determination step of determining a compaction degree based on the ground displacement information.

It is another object of the present invention to provide a self-propelled compaction apparatus in which a pipeline detection module provided at at least one side of a main body constituting an autonomous compaction apparatus measures a distance between the main body and a pipeline located at a side of the main body, A pipeline distance measurement step of outputting distance information; A travel distance comparing step in which the travel controller receiving the pipeline distance information from the pipeline sensing module compares the predetermined distance and the pipeline distance information to generate distance information; And a travel control step of controlling at least one of a traveling direction and a traveling speed of the compaction unit traveling on the ground, the compaction unit being configured in a roller shape at a lower end of the main body on the basis of the distance- The specific distance is input to the driving control unit or received from a server connected to the driving control unit through a wired / wireless network, or received from a worker client connected to the driving control unit through a wire / wireless network, Wherein the autonomous running is performed while maintaining the specific distance. The program may be stored in a computer-readable recording medium.

As described above, the present invention has the following effects.

First, according to one embodiment of the present invention, the compaction equipment searches for a movement path in a pipeline buried compaction zone by itself and runs by using an autogenous compaction function, and performs a compaction operation required in the field with a proper compaction pressure and a proper compaction frequency It is possible to perform safety and safety reliably.

Second, according to one embodiment of the present invention, it is possible to solve the problem of defective construction such as deviation and overload of the compaction number generated by performing compaction directly by subjective judgment of past workers, A shortening effect may be generated.

Third, according to an embodiment of the present invention, it is possible to prevent deformation of a buried pipeline while automatically navigating a traveling route in a pipeline buried compaction area.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and, together with the description, And shall not be interpreted.
Figures 1, 2 and 3 are graphs showing compaction curves,
Figures 4, 5 and 6 are graphs showing examples of compaction equipment rollers,
FIG. 7 is a block diagram showing the configuration of an autonomous compaction system for improving the quality of pipeline surrounding compaction according to an embodiment of the present invention;
FIG. 8 is a block diagram illustrating a configuration of an autonomous compaction apparatus for improving pipeline compaction quality according to an embodiment of the present invention. FIG.
9, 10, 11, and 12 are schematic diagrams illustrating an example of using a pipeline detection module according to an embodiment of the present invention,
FIG. 13 is a conceptual diagram mapping compaction degree information according to an embodiment of the present invention,
14 is an example of a table of compaction degree information stored in the DB 3 according to an embodiment of the present invention,
15 is a block diagram showing an autonomous running compaction apparatus 10 according to another embodiment of the present invention.
16 is a flowchart showing a forward running mode of the autonomous running compaction method according to an embodiment of the present invention,
17 is a flowchart illustrating a compaction area switching mode of the autonomous compaction method according to an embodiment of the present invention.
18 is a conceptual diagram illustrating a compaction area switching mode of the autonomous compaction method according to an embodiment of the present invention;
FIG. 19 is a conceptual diagram showing an application example of an autonomous running compaction method according to an embodiment of the present invention;
20 is a step diagram of an autonomous running compaction method according to an embodiment of the present invention;
FIG. 21 is a schematic diagram showing a method of determining a separation distance performed by the pipeline sensing module of the autonomous traveling compaction apparatus according to another embodiment of the present invention. FIG.
22 is a schematic diagram showing a method of determining the compaction degree performed by the pipeline sensing module of the autonomous traveling compaction apparatus according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following detailed description of the operation principle of the preferred embodiment of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may unnecessarily obscure the subject matter of the present invention.

The same reference numerals are used for portions having similar functions and functions throughout the drawings. In the specification, when a specific portion is connected to another portion, it includes not only a direct connection but also a case where the other portion is indirectly connected with another element in between. In addition, the inclusion of a specific constituent element does not exclude other constituent elements unless specifically stated otherwise, but may include other constituent elements.

Autonomous compaction equipment for improving the quality of piping compaction around

7 is a block diagram showing the configuration of an autonomous running compaction system 1 for improving pipeline surrounding compaction quality according to an embodiment of the present invention. 7, the autonomous running compaction system 1 according to an embodiment of the present invention includes a pipeline 11, a barrier film 12, an autonomous compaction apparatus 10, a server 2, a DB 3), and a worker client 4.

The pipeline 11 means a pipeline 11 to be installed in an area where a compaction operation is required.

The prevention film 12 refers to a starting point and an end point of the pipeline 11, or a curtain installed at a starting point and an end point of the compaction work.

The autonomous running compaction apparatus 10 is a compaction apparatus that is basically controlled by the worker client 4, but autonomously compulsorily travels so as to take a certain number of compaction times while maintaining a certain distance from the pipeline 11 Means a compaction device, and a detailed description thereof will be given below.

The server 2 is a configuration for providing a network service between the autonomous running compaction apparatus 10 and the worker client 4 by wired or wireless connection with the autonomous running compaction apparatus 10 and the worker client 4. The DB 3 is connected to the server 2, and various data can be input / output. The information that can be stored in the DB 3 according to an embodiment of the present invention includes map information, pipeline 11 information (standard, material, etc.), autonomous compaction equipment 10 information (width, length, weight Etc.). The information of the DB 3 can be integrated with the information of the autonomous running compaction apparatus 10 and displayed on the worker client 4 or the autonomous running compaction apparatus 10. [ For example, map information including the degree of compaction or the number of compaction may be output to the worker client 4 by overlapping the compaction degree information or the running information with the map information of the DB 3.

FIG. 8 is a block diagram showing a configuration of an autonomous running compaction apparatus 10 for improving the quality of pipeline surrounding compaction according to an embodiment of the present invention. 8, the autonomous traveling compaction apparatus 10 according to an embodiment of the present invention includes a main body, a pipeline sensing module 102, an obstacle detection module 103, a separation distance control unit 101, A positioning unit 100, a power unit 105, a transmission / reception unit 106, a position determination module 107, and a compaction degree determination module 104.

The pipeline detection module 102 is installed on both sides or one side of the main body of the autonomous running compaction apparatus 10 to measure the distance between the autonomous traveling compaction apparatus 10 and the pipeline 11, . The pipeline sensing module may include an ultrasonic sensor, an RF sensor, an IR sensor, a laser sensor, a RADAR, a LIDAR, and the like. When an ultrasonic sensor is used in the pipeline sensing module, an ultrasonic output part and an ultrasonic sensor can be constructed. When a RADAR is used in the pipeline detection module, an electromagnetic wave output section and an electromagnetic wave receiving section can be constructed. The pipeline detection module measures the distance between the pipeline 11 and the autonomous compaction apparatus 10 and transmits the generated pipeline distance information to the travel control unit.

The prevention film detection module 103 is provided in the front portion and the rear portion of the autonomous running compaction apparatus 10 so as to recognize the barrier film 12 installed at the start and end points of the compaction of the pipeline 11, Information can be output. The prevention film detection module may include an ultrasonic sensor, an RF sensor, an IR sensor, a laser sensor, a RADAR, a LIDAR, and the like. When an ultrasonic sensor is used for the prevention film detection module, an ultrasonic output part and an ultrasonic sensor can be constituted. When RADAR is used in the prevention film detection module, an electromagnetic wave output section and an electromagnetic wave receiving section can be constituted. The prevention film detection module measures the distance between the barrier film 12 and the autonomous compaction apparatus 10 and transmits the generated barrier film separation distance information to the drive control unit.

With respect to the distance measurement method of the pipeline detection module 102 and the prevention film detection module 103, when the IR sensor is used, the module can be implemented at a low cost. However, the S / N ratio is low due to the sunlight Lt; / RTI > When RF is used, the accuracy is lower than that of the ultrasonic wave, but there is an advantage that there is no disadvantage of the ultrasonic wave. However, RF signal has many disadvantages such as interference due to reflections due to reflections and reflections on walls and windows. Because ultrasonic waves are relatively slow compared to RF signals, the TOA method and the TDOA method are used to calculate the time difference. Such an ultrasonic system is advantageous in that distance measurement is easy in the room. In addition, in the autonomous traveling compaction apparatus 10 according to the embodiment of the present invention, since the separation distance from the pipeline 11 is accurately measured, it is more advantageous to use an ultrasonic wave having a good linearity.

When an ultrasonic sensor is used as the sensor of the pipeline detection module 102 and the prevention film detection module 103, the following equation can be used.

In Equation (1), L is a pipeline separation distance or a separation distance, Δt is a time difference between an oscillation signal and an echo reception signal, and V is a sound wave velocity in a specific medium.

The spacing distance controller 101 is configured to determine the pipeline spacing distance information and the barrier spacing distance information to be maintained by the autonomous compaction apparatus 10. The distance control unit may be provided in the autonomous compaction apparatus 10 or may be provided in a computing device (for example, a worker client 4 or a server) connected to the autonomous compaction apparatus 10 and a wired / wireless network. The determination of the pipeline separation distance can be determined automatically or manually by the previously stored degree of compaction degree information. The determination of the prevention film separation distance can be made by a method in which the operator inputs data to the separation distance control unit or a method of computing using the speed of the autonomous traveling compaction apparatus 10 and the turning radius of the autonomous traveling compaction apparatus 10,

9, 10, 11, and 12 are schematic diagrams illustrating an example of using a pipeline detection module according to an embodiment of the present invention. 9, 10, 11, and 12, the autonomous traveling compaction apparatus 10 according to an embodiment of the present invention travels while maintaining a constant distance from the pipeline by the pipeline sensing module. As shown in FIGS. 9, 10, 11 and 12, the compaction area can be classified according to the pipeline separation distance. Assuming that the width of the rollers of the autonomous running compaction equipment 10 is 1.5 m, the widths of the compaction areas A and B can be set to 1.5 m, the pipeline separation distance of the compaction area A is 1.75 m, The pipeline separation distance can be set to 0.25 m.

The position determination module 107 can generate current position information of the autonomous running compaction apparatus 10 by the GPS module and transmit the current position information to the driving control section. The driving control unit can perform a navigation function by matching with the map of the pipeline stored in the pipeline map DB connected to the driving control unit based on the positional information of the autonomous traveling compaction equipment 10. [ In addition, when the compaction start point and the end point (or the position of the prevention film) stored in the pipeline map DB connected to the travel control unit are close to each other, the prevention film detection module can be executed or the direction switching mode can be performed. In addition, the position of the pipeline can be accurately grasped even after the pipeline is buried. Since the excessive compaction operation after the pipeline is buried causes damage to the buried pipeline, the presence of the highly accurate location determination module 107 has the effect of preventing damage to the pipeline.

The position determination module 107 according to another embodiment of the present invention receives a Wi-Fi signal from Wi-Fi APs (Access Points) installed in the barrier layer 12, And may be configured in a manner of estimating the relative position of the autonomous running compaction apparatus 10 by trilateration (usually with an accuracy of 2-4 m) according to the signal delay information and direction.

The driving control unit 100 controls the power unit by computing the traveling direction, traveling speed, traveling path, and the like of the autonomous traveling compaction equipment 10 by using the position information, the pipeline distance information, the barrier distance information, and the like. The running control unit can set the running mode of the front running mode and the compaction area changing mode of the autonomous running compaction apparatus 10. [ The driving control unit controls the power unit so that the autonomous running compaction apparatus 10 performs compaction while maintaining a specific distance from the pipeline. At this time, in the compaction area switching mode, the separation distance controller can determine which compaction area to compile, which can be performed based on compaction degree information.

The power section 105 may include a compaction roller, a motor or an engine, a steering section, a vibration section, and the like, and may be controlled by a travel control section.

The compaction degree determination module 104 is composed of a gyro sensor and an acceleration sensor, and generates displacement information by measuring displacement information generated during compaction. The compaction degree determination module can determine the compaction number by interlocking with the travel controller. When the acceleration value measured by the acceleration sensor is integrated twice, the displacement information can be derived. Since the compaction is repeated several times, the displacement information generated for each compaction operation can be derived, and compaction degree information can be estimated by comparing the displacement difference between the compaction operations.

13 is a conceptual diagram mapping compaction degree information according to an embodiment of the present invention. The compaction degree information determined by the compaction degree determination module can be displayed in the worker client 4 as shown in FIG. 13, and the compaction can be performed again on the area where the compaction is insufficient.

FIG. 14 shows an example of a table of compaction degree information stored in the DB 3 according to an embodiment of the present invention. As shown in FIG. 14, the table title 20 can be constituted by each compaction area, and the attribute 21 can be divided into a separation distance, a distance from a starting point, a displacement, a compaction degree classification value ), The number of times of compaction, and the coordinates of the radial coordinate. The attribute value 22 such as the degree of compaction according to the distance from the starting point or the value of the degree of coincidence can be classified and stored.

The transmission / reception unit 106 can store location information, pipeline separation distance information, separation distance information, compaction degree information, and the like in the DB 3 connected to the server 2 through the wired / wireless network . In addition, the traveling direction, traveling speed, traveling route, etc. transmitted from the client of the worker can be received through the server 2.

15 is a block diagram showing an autonomous running compaction apparatus 10 according to another embodiment of the present invention. 15, the autonomous traveling compaction apparatus 10 according to another embodiment of the present invention may include a transmission / reception unit, and a traveling control unit and a separation distance control unit may be provided in an external computing device such as the server 2 The transmission / reception unit, the travel control unit, and the separation distance control unit of the autonomous compaction apparatus 10 may be connected to a wired / wireless network. In this case, the autonomous compaction apparatus 10 can transmit the position information, the pipeline distance information, the barrier distance information, the compaction degree information, and the like to the travel control unit and the distance control unit through the transmission / reception unit. In addition, the traveling control unit can transmit the traveling direction, traveling speed, traveling path, etc. to the autonomous traveling compaction equipment 10 through the transmission / reception unit, and can set the traveling mode such as the forward traveling mode and the direction switching mode. The spacing distance controller can determine the spacing distance from the pipeline according to the compaction depth information and transmit it to the autonomous compaction apparatus 10. The map generation module 109 may be further provided. The map generation module 109 generates a map based on the information derived from the autonomous compaction apparatus 10 and provides the map to the worker client 4 or to easily plot the position of the autonomous running compaction apparatus 10 at present .

Autonomous compaction method to improve the quality of compaction around pipeline

16 is a flowchart showing a forward running mode of the autonomous running compaction method according to an embodiment of the present invention in connection with an autonomous running compaction method for improving the quality of piping surrounding compaction. As shown in FIG. 16, the autonomous travel compaction method according to an embodiment of the present invention may include a pipeline distance measurement step, a separation distance comparison step, and a travel adjustment step in a forward running mode.

The pipeline separation distance measurement step S10 is a step in which the pipeline detection module generates pipeline separation distance information and transmits the pipeline separation distance information to the separation distance control unit.

The step S11 of comparing the spacing distance is a step of comparing the previously calculated spacing distance with the spacing distance information measured by the pipeline sensing module, and transmitting the comparison information to the driving controller.

The driving adjustment step S12 is a step in which the driving control unit adjusts at least one of the traveling direction and the traveling speed based on the comparison information in which the separation distance information is compared.

17 is a flowchart illustrating a compaction area switching mode of the autonomous compaction method according to an embodiment of the present invention. 18 is a conceptual diagram showing a compaction area switching mode of the autonomous compaction method according to an embodiment of the present invention. As shown in FIGS. 17 and 18, the autonomous running compaction method according to an embodiment of the present invention includes a step of measuring a separation distance, a step of comparing a separation distance, a step of selecting a compaction area, and a traveling adjustment step in a compaction area switching mode .

In step S20, the prevention film detection module generates barrier film separation distance information and transmits the generated barrier film separation distance information to the separation distance control part.

The separation distance comparison step S21 may be previously set in the separation distance control unit or may be compared with the separation distance previously calculated by the speed and braking friction coefficient of the autonomous traveling compaction equipment 10 and the distance information measured by the prevention film detection module, The step of outputting whether or not the specific distance to be diverted is reached.

The compaction area selection step S22 is a step of selecting a next area to be compaction based on the compaction degree information in the separation distance control unit when the specific separation distance at which the direction change should be performed is reached in step S21. Information on the selected compaction area is transmitted to the running control unit.

The driving adjustment step S23 means that the driving control unit receives the information about the selected compaction area in S22 and carries out the traveling adjustment for switching the compaction area to the compaction area.

19 is a conceptual diagram showing an application example of an autonomous running compaction method according to an embodiment of the present invention. As shown in FIG. 19, the autonomous running compaction method according to an embodiment of the present invention can be applied to various types of trenches. 20 is a step diagram of an autonomous compaction method according to an embodiment of the present invention. The burial step may be repeatedly applied after the compaction operation as shown in FIG.

FIG. 21 is a flowchart illustrating a method of determining a separation distance performed by the pipeline detection module of the autonomous running compaction apparatus according to another embodiment of the present invention, Fig. 3 is a schematic diagram showing a method of determining a separation distance performed by the pipeline detection module of Fig. As shown in FIG. 21, the method of determining the separation distance performed by the pipeline sensing module includes a random sampling step, a ground and pipeline fitting step, an autonomous compaction apparatus 10 boundary extraction step, a pipeline boundary extraction step, And a distance determining step. Computing in the present method may be performed in the distance control unit, the server 2, or the worker client 4.

The random sampling step S30 is a step of collecting a plurality of points 30 through the distance information at a random angle in the pipeline detection module.

The surface and pipeline fitting step S31 is to fit the surface fitting information 31 using a linear function for the ground based on the points 30 collected on the plane to generate the ground fitting information 31, Function or a three-dimensional cylindrical shape. In this step, the ground fitting information 31 and pipeline fitting information 32 are generated.

The autonomous traveling compaction equipment boundary extracting step S32 is a step of extracting autonomous traveling compaction equipment boundary information (step S32) based on the ground fitting information 31 and the position of the pipeline sensing module 33).

The pipeline boundary extraction step S32 extracts a point 30 closest to the autonomous compaction equipment boundary information 33 from the pipeline fitting information 32 and extracts a plane or a straight line tangent to the point 30 Thereby generating pipeline boundary information 34 that is the boundary of the pipeline.

The separation distance determination step S33 is a step of determining a straight line distance between the autonomous traveling compaction equipment boundary information 33 and the pipeline boundary information 34 as a separation distance.

According to another embodiment of the present invention, when the separation distance is determined, the position of the pipeline sensing module, particularly, for example, the ultrasonic sensor or the ultrasonic wave source, and the effect Is generated. Further, even when the compaction operation is performed to some extent and the pipeline is buried, an effect that the boundary line of the pipeline below the ground can be clearly grasped can be obtained. Even if pipelines exist under the ground, applying the same compaction process can cause pipeline damage.

22 is a block diagram of an autonomous traveling compaction apparatus 10 according to another embodiment of the present invention. Referring to FIG. 22, FIG. 5 is a schematic diagram showing a method of determining the compaction degree performed by the pipeline detection module of FIG. As shown in FIG. 22, the compaction degree determination method performed by the pipeline sensing module may include a random sampling step, a ground and pipeline fitting step, a ground height comparing step, and a compaction degree determining step. Computing in the present method may be performed in the distance control unit, the server 2, or the worker client 4.

The random sampling step S40 is a step of collecting the distance information at a random angle in the pipeline detection module.

The floor and pipeline fitting step S41 is a step of fitting the floor surface fitting information 31 using a linear function for the ground based on the points 30 collected on the plane to generate the floor surface fitting information 31, Function. In this step, the ground fitting information 31 and pipeline fitting information 32 are generated.

The ground displacement comparing step S42 is a step of comparing the ground displacement according to the compaction operation based on the ground fitting information (past compaction work ground fitting information 35) and the pipeline fitting information 32 when the compaction is performed at the same position . In this step, how much the height of the ground changes between the compaction operations is calculated, and the ground displacement information is generated.

The compaction degree determining step (S43) is a step of determining the compaction degree based on the ground displacement information. If the displacement of the ground between each compaction operation is reduced below a certain level, it can be determined that the degree of compaction is sufficient.

According to another embodiment of the present invention, it is possible to determine the compaction degree by a more precise method, and there is no need to add a separate sensor such as an acceleration sensor, a gyro sensor, or a pressure sensor.

With respect to a computer program, an autonomous driving compaction method according to an embodiment of the present invention may be protected by a computer program that is stored on a recording medium such as a USB to allow the computing device to perform an autonomous driving compaction method.

As described above, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

1: Autonomous compaction system
2: Server
3: DB
4: Worker client
10: Autonomous compaction equipment
11: Pipeline
12: Protective film
20: Table title
21: Properties
22: Property Value
30: Points
31: Ground fitting information
32: Pipeline fitting information
33: Autonomous compaction equipment boundary information
34: pipeline boundary information
35: Past compaction work Ground fitting information
100:
101:
102: Pipeline detection module
103: Protection film detection module
104: Compaction degree discrimination module
105:
106: Transmitting /
107: Position determination module
109: map generation module

Claims (10)

main body;
A compaction unit configured at the lower end of the main body and configured in the form of a roller to perform compaction on the ground;
A pipeline sensing module provided at at least one side of the main body and measuring a distance between the main body and a pipeline positioned at a side of the main body to output pipeline distance information; And
A travel control unit for receiving at least one of the pipeline distance information from the pipeline detection module and controlling at least one of a traveling direction and a traveling speed of the compaction unit so that the received pipeline distance information is maintained at a predetermined specific distance;
Lt; / RTI >
The specific distance may be inputted to the driving control unit, received by a server connected to the driving control unit through a wired / wireless network, or received by a worker client connected to the driving control unit via a wired / wireless network,
Wherein the autonomous running is performed while maintaining the specified distance from the pipeline.
The method according to claim 1,
A compaction degree discrimination unit for generating compaction degree information by measuring displacement information generated when compaction is performed, and transmitting the compaction degree information to the travel control unit, the server or the worker client;
Further comprising:
Wherein the travel control unit, the server, or the worker client determines the specific separation distance based on the compaction degree information.
The method according to claim 1,
A location determining module for generating location information of the main body and transmitting the location information to the travel controller, the server or the client;
Further comprising:
Wherein the travel control unit, the server, or the client determines the specific separation distance based on the location information.
The method according to claim 1,
The pipeline detection module generates pipeline fitting information composed of a two-dimensional circle, a two-dimensional ellipse, or a three-dimensional cylindrical shape, generates pipeline boundary information based on the pipeline fitting information, And the distance between the pipeline and the pipeline is measured based on the line boundary information.
Autonomous compaction equipment for improving the quality of compaction around the pipeline.
A pipeline detection module provided on at least one side of a main body constituting an autonomous compaction apparatus of the autonomous traveling compaction apparatus comprises a pipeline for measuring the distance between the main body and the pipeline located on the side of the main body, A step of measuring a separation distance;
A travel distance comparing step in which the travel controller receiving the pipeline distance information from the pipeline sensing module compares the predetermined distance and the pipeline distance information to generate distance information; And
A running control step of controlling at least one of a running direction and a running speed of the compaction unit that is running in the form of a roller at the lower end of the main body based on the distance comparison information and compiling the ground surface;
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The specific distance may be inputted to the driving control unit, received by a server connected to the driving control unit through a wired / wireless network, or received by a worker client connected to the driving control unit via a wired / wireless network,
Wherein the autonomous traveling compaction apparatus is adapted to autonomously travel while maintaining the specified separation distance from the pipeline.
6. The method of claim 5,
Before the spacing distance comparison step,
A compaction degree determination step of determining a compaction degree, which is a constitution of the autonomous running compaction apparatus, a compaction information discrimination step of generating compaction degree information by measuring displacement information generated in performing compaction and transmitting the compaction degree information to the driving control part; And
The travel control unit may determine the specific distance based on the received degree of compaction information;
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Autonomous Compaction Method for Improving the Quality of Compaction around the Pipeline.
6. The method of claim 5,
Before the spacing distance comparison step,
A position determining module that is a component of the autonomous running compaction apparatus, the position determining module generating position information of the autonomous traveling compaction equipment and transmitting the position information to the driving control unit; And
A travel distance determining step of the travel controller determining the specific distance based on the received position information;
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Autonomous Compaction Method for Improving the Quality of Compaction around the Pipeline.
6. The method of claim 5,
The pipeline separation distance measuring step may include:
A random sampling step of the pipeline detection module collecting a plurality of points through a distance information of a side at a random angle;
Wherein the pipeline detection module generates ground fitting information by fitting a straight line or a plane with respect to the ground on the basis of the plurality of points and fitting the pipeline to a two-dimensional circle, a two-dimensional ellipse, or a three- And pipeline fitting steps to generate pipeline fitting information;
Wherein the pipeline detection module includes an autonomous compaction apparatus boundary generating unit for generating autonomous compaction apparatus boundary information that is a boundary of the autonomous running compaction apparatus in the form of a plane or a straight line based on the ground fitting information and the position of the pipeline sensing module. Extraction step;
The pipeline detection module extracts a nearest point that is the closest point to the autonomous running compaction equipment boundary information from the pipeline fitting information and extracts a plane or a straight line tangent to the nearest point on the pipeline fitting information A pipeline boundary extracting step of generating pipeline boundary information that is a boundary of the pipeline; And
Wherein the pipeline detection module determines a distance between the autonomous traveling compaction equipment boundary information and the pipeline boundary information as a separation distance;
/ RTI >
Autonomous Compaction Method for Improving the Quality of Compaction around the Pipeline.
6. The method of claim 5,
Before the spacing distance comparison step,
A compaction degree determination step of determining a compaction degree, which is a constitution of the autonomous running compaction apparatus, a compaction information discrimination step of generating compaction degree information by measuring displacement information generated in performing compaction and transmitting the compaction degree information to the driving control part; And
The travel control unit may determine the specific distance based on the received degree of compaction information;
Further comprising:
Wherein the compaction information determination step comprises:
A random sampling step of the pipeline detection module collecting a plurality of points through a distance information of a side at a random angle;
Wherein the pipeline detection module generates ground fitting information by fitting a straight line or a plane with respect to the ground on the basis of the plurality of points and fitting the pipeline to a two-dimensional circle, a two-dimensional ellipse, or a three- And pipeline fitting steps to generate pipeline fitting information;
A ground displacement comparison step of generating ground displacement information by performing ground displacement comparison according to compaction operation based on the ground fitting information and the pipeline fitting information at the same position in the compaction degree determination section; And
A compaction degree determination step of determining the compaction degree based on the ground displacement information;
/ RTI >
Autonomous Compaction Method for Improving the Quality of Compaction around the Pipeline.
A pipeline detection module provided on at least one side of a main body constituting an autonomous compaction apparatus of the autonomous traveling compaction apparatus comprises a pipeline for measuring the distance between the main body and the pipeline located on the side of the main body, A step of measuring a separation distance;
A travel distance comparing step in which the travel controller receiving the pipeline distance information from the pipeline sensing module compares the predetermined distance and the pipeline distance information to generate distance information; And
A running control step of controlling at least one of a running direction and a running speed of the compaction unit that is running in the form of a roller at the lower end of the main body based on the distance comparison information and compiling the ground surface;
Lt; / RTI >
The specific distance may be inputted to the driving control unit, received by a server connected to the driving control unit through a wired / wireless network, or received by a worker client connected to the driving control unit via a wired / wireless network,
Characterized in that the autonomous traveling compaction apparatus autonomously travels while maintaining the specified separation distance from the pipeline. The method of claim 1, further comprising:

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